example-robot-data-loaders 4.4.0__0-py313-none-any.whl

cmeel.prefix/lib/python3.13/site-packages/example_robot_data/utils.py

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+import sys
+import typing
+from os.path import dirname, exists, join
+
+import numpy as np
+import pinocchio as pin
+from pinocchio.robot_wrapper import RobotWrapper
+
+try:
+    from .path import EXAMPLE_ROBOT_DATA_MODEL_DIR, EXAMPLE_ROBOT_DATA_SOURCE_DIR
+except ImportError:
+    pass
+
+
+def getModelPath(subpath, verbose=False):
+    source = dirname(dirname(dirname(__file__)))  # top level source directory
+    paths = [
+        # function called from "make release" in build/ dir
+        join(dirname(dirname(dirname(source))), "robots"),
+        # function called from a build/ dir inside top level source
+        join(dirname(source), "robots"),
+        # function called from top level source dir
+        join(source, "robots"),
+    ]
+    try:
+        EXAMPLE_ROBOT_DATA_MODEL_DIR
+
+        # function called from installed project
+        paths.append(EXAMPLE_ROBOT_DATA_MODEL_DIR)
+        # function called from off-tree build dir
+        paths.append(EXAMPLE_ROBOT_DATA_SOURCE_DIR)
+    except NameError:
+        pass
+    paths += [join(p, "../../../share/example-robot-data/robots") for p in sys.path]
+    for path in paths:
+        if exists(join(path, subpath.strip("/"))):
+            if verbose:
+                print(f"using {path} as modelPath")
+            return path
+    raise OSError(f"{subpath} not found")
+
+
+def readParamsFromSrdf(
+    model,
+    SRDF_PATH,
+    verbose=False,
+    has_rotor_parameters=True,
+    referencePose="half_sitting",
+):
+    if has_rotor_parameters:
+        pin.loadRotorParameters(model, SRDF_PATH, verbose)
+    model.armature = np.multiply(
+        model.rotorInertia.flat, np.square(model.rotorGearRatio.flat)
+    )
+    pin.loadReferenceConfigurations(model, SRDF_PATH, verbose)
+    q0 = pin.neutral(model)
+    if referencePose is not None:
+        q0 = model.referenceConfigurations[referencePose].copy()
+    q0 = pin.normalize(model, q0)
+    return q0
+
+
+class RobotLoader:
+    path = ""
+    urdf_filename = ""
+    srdf_filename = ""
+    sdf_filename = ""
+    sdf_root_link_name = ""
+    sdf_parent_guidance: typing.ClassVar = []
+    urdf_subpath = "robots"
+    srdf_subpath = "srdf"
+    sdf_subpath = ""
+    ref_posture = "half_sitting"
+    has_rotor_parameters = False
+    free_flyer = False
+    model_path = None
+
+    def __init__(self, verbose=False):
+        self.verbose = verbose
+        if self.urdf_filename:
+            if self.sdf_filename:
+                raise AttributeError("Please choose between URDF *or* SDF")
+            df_path = join(self.path, self.urdf_subpath, self.urdf_filename)
+            builder = RobotWrapper.BuildFromURDF
+            if self.model_path is None:
+                self.model_path = getModelPath(df_path, self.verbose)
+            self.df_path = join(self.model_path, df_path)
+            self.robot = builder(
+                self.df_path,
+                [join(self.model_path, "../..")],
+                pin.JointModelFreeFlyer() if self.free_flyer else None,
+            )
+        else:
+            df_path = join(self.path, self.sdf_subpath, self.sdf_filename)
+            try:
+                builder = RobotWrapper.BuildFromSDF
+                if self.model_path is None:
+                    self.model_path = getModelPath(df_path, self.verbose)
+                self.df_path = join(self.model_path, df_path)
+                if tuple(int(i) for i in pin.__version__.split(".")) > (2, 9, 1):
+                    self.robot = builder(
+                        self.df_path,
+                        package_dirs=[join(self.model_path, "../..")],
+                        root_joint=(
+                            pin.JointModelFreeFlyer() if self.free_flyer else None
+                        ),
+                        root_link_name=self.sdf_root_link_name,
+                        parent_guidance=self.sdf_parent_guidance,
+                    )
+                else:
+                    self.robot = builder(
+                        self.df_path,
+                        package_dirs=[join(self.model_path, "../..")],
+                        root_joint=(
+                            pin.JointModelFreeFlyer() if self.free_flyer else None
+                        ),
+                    )
+            except AttributeError:
+                raise ImportError("Building SDF models require pinocchio >= 3.0.0")
+
+        if self.srdf_filename:
+            self.srdf_path = join(
+                self.model_path, self.path, self.srdf_subpath, self.srdf_filename
+            )
+            self.robot.q0 = readParamsFromSrdf(
+                self.robot.model,
+                self.srdf_path,
+                self.verbose,
+                self.has_rotor_parameters,
+                self.ref_posture,
+            )
+
+            if pin.WITH_HPP_FCL and pin.WITH_HPP_FCL_BINDINGS:
+                # Add all collision pairs
+                self.robot.collision_model.addAllCollisionPairs()
+
+                # Remove collision pairs per SRDF
+                pin.removeCollisionPairs(
+                    self.robot.model, self.robot.collision_model, self.srdf_path, False
+                )
+
+                # Recreate collision data since the collision pairs changed
+                self.robot.collision_data = self.robot.collision_model.createData()
+        else:
+            self.srdf_path = None
+            self.robot.q0 = pin.neutral(self.robot.model)
+        root = getModelPath(self.path)
+        self.robot.urdf = join(root, self.path, self.urdf_subpath, self.urdf_filename)
+
+        if self.free_flyer:
+            self.addFreeFlyerJointLimits()
+
+    def addFreeFlyerJointLimits(self):
+        ub = self.robot.model.upperPositionLimit
+        ub[:7] = 1
+        self.robot.model.upperPositionLimit = ub
+        lb = self.robot.model.lowerPositionLimit
+        lb[:7] = -1
+        self.robot.model.lowerPositionLimit = lb
+
+    def generate_capsule_name(self, base_name: str, existing_names: list) -> str:
+        """Generates a unique capsule name for a geometry object.
+
+        Args:
+            base_name (str): The base name of the geometry object.
+            existing_names (list): List of names already assigned to capsules.
+
+        Returns:
+            str: Unique capsule name.
+        """
+        i = 0
+        while f"{base_name}_capsule_{i}" in existing_names:
+            i += 1
+        return f"{base_name}_capsule_{i}"

cmeel.prefix/share/example-robot-data/hook/python_path.dsv

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+prepend-non-duplicate;PYTHONPATH;lib/python3.13/site-packages

example_robot_data_loaders-4.4.0.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: example-robot-data-loaders
+Version: 4.4.0
+Summary: Set of robot URDFs for benchmarking and developed examples.
+Requires-Python: >=3.8
+License-Expression: BSD-3-Clause
+License-File: LICENSE
+Project-URL: Changelog, https://github.com/Gepetto/example-robot-data/blob/devel/CHANGELOG.md
+Home-page: https://github.com/cmake-wheel/example-robot-data-loaders
+Project-URL: Upstream, https://github.com/gepetto/example-robot-data
+Requires-Dist: cmeel
+Requires-Dist: pin
+Requires-Dist: example-robot-data == 4.4.0
+Provides-Extra: build
+Requires-Dist: pin[build] ; extra == "build"
+Description-Content-Type: text/markdown
+
+# Example robot URDFs
+
+[![pipeline status](https://gitlab.laas.fr/gepetto/example-robot-data/badges/master/pipeline.svg)](https://gitlab.laas.fr/gepetto/example-robot-data/-/commits/master)
+[![conde version](https://img.shields.io/conda/vn/conda-forge/example-robot-data.svg)](https://anaconda.org/conda-forge/example-robot-data)
+[![conde download](https://anaconda.org/conda-forge/example-robot-data/badges/downloads.svg)](https://anaconda.org/conda-forge/example-robot-data)
+[![PyPI version](https://badge.fury.io/py/example-robot-data.svg)](https://badge.fury.io/py/example-robot-data)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/gepetto/example-robot-data/master.svg)](https://results.pre-commit.ci/latest/github/gepetto/example-robot-data/master)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+
+
+This repository includes a set of robot descriptions that are aimed to be used in benchmarking, unit-tests, teachings,
+tutorials or show-cases. These source files do not intend to substitute their original repositories.
+
+## :penguin: Installation
+
+### :package: From Debian / Ubuntu packages, with [robotpkg](http://robotpkg.openrobots.org)
+
+1. If you have never added robotpkg's software repository, [do it now](http://robotpkg.openrobots.org/debian.html):
+   ```bash
+   sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
+   deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
+   EOF
+
+   curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+   sudo apt update
+   ```
+
+2. installation of example-robot-data and its python utils:
+   ```bash
+   sudo apt install robotpkg-py3\*-example-robot-data
+   ```
+
+### :snake: From <img src="https://s3.amazonaws.com/conda-dev/conda_logo.svg" height="18">
+
+As simple as that:
+```bash
+   conda install example-robot-data -c conda-forge
+```
+
+### :turtle: With ROS
+
+Just clone it (with `--recursive`) into a catkin workspace.
+
+### :file_folder: From source
+
+Clone it (with `--recursive`), create a `build` directory inside, and:
+```bash
+cmake .. && make && make install
+```
+
+## :robot: Show a robot with [gepetto-gui](https://github.com/gepetto/gepetto-viewer-corba)
+
+`python -m example_robot_data -h` to list available robots.
+
+## :copyright: Credits
+
+### :writing_hand: Written by
+
+- [Carlos Mastalli](https://cmastalli.github.io/), Heriot-Watt University :uk:
+- [Guilhem Saurel](https://github.com/nim65s), LAAS-CNRS :fr:
+
+### :construction_worker: With contributions from
+
+- [Justin Carpentier](https://jcarpent.github.io/), INRIA :fr:
+- [Pierre Fernbach](https://pfernbach.github.io/), LAAS-CNRS :fr:
+- [Florent Lamiraux](https://gepettoweb.laas.fr/index.php/Members/FlorentLamiraux), LAAS-CNRS :fr:
+- [Wolfgang Merkt](http://www.wolfgangmerkt.com/research/), University of Oxford :uk:
+- [Josep Martí Saumell](https://www.iri.upc.edu/staff/jmarti), IRI: CSIC-UPC :es:
+- [Louis Montaut](https://lmontaut.github.io/), INRIA :fr:, CTU :czech_republic:
+- [Sergi Martinez](https://www.romilab.org/team/sergi-martinez), Heriot-Watt University :uk:

example_robot_data_loaders-4.4.0.dist-info/RECORD

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example_robot_data_loaders-4.4.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: cmeel 0.57.3
+Root-Is-Purelib: false
+Tag: py313-none-any
+Build: 0
+

example_robot_data_loaders-4.4.0.dist-info/licenses/LICENSE

@@ -0,0 +1,30 @@
+BSD 3-Clause License
+
+Copyright (C) 2018-2020 LAAS-CNRS, University of Edinburgh, INRIA
+Copyright note valid unless otherwise stated in individual files.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.