robotic 0.2.8.dev4__cp311-cp311-manylinux2014_x86_64.whl → 0.3.4.dev5__cp311-cp311-manylinux2014_x86_64.whl

robotic/rai-robotModels/pr2/pr2_modifications.g

@@ -46,8 +46,8 @@ Edit l_gripper_r_finger_tip_joint: { gripL }
 Edit laser_tilt_mount_joint: { laser }
 
 ## FT sensors
-r_ft_sensor (r_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0, .0, .0356, .02] }
-l_ft_sensor (l_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0, .0, .0356, .02] }
+r_ft_sensor (r_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0356, .02] }
+l_ft_sensor (l_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0356, .02] }
 Edit r_wrist_roll_joint: { to: "t(.0356 0 0)" }
 Edit l_wrist_roll_joint: { to: "t(.0356 0 0)" }
 

robotic/rai-robotModels/ranger/ranger.g

@@ -0,0 +1,33 @@
+## create standard base frame before including
+
+ranger_base { multibody: true, multibody_gravity: false }
+
+ranger_transX(ranger_base) { joint: transX, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
+ranger_transY(ranger_transX) { joint: transY, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
+ranger_rot(ranger_transY) { joint: hingeZ, limits: [-5 5] }
+#ranger_rot(ranger_transY) { joint: circleZ, limits: [-1.1 -1.1 1.1 1.1], ctrl_H: 2. }
+#ranger_rot(ranger_transY) { }
+
+Prefix: ranger_
+Include: <ranger_mini_conv.g>
+Prefix!
+
+ranger_coll(ranger_base_link) { Q:[0, 0, -.14], shape: ssBox, size: [.75, .5, .3, .05], color:[1.,1.,1.,.5], contact: 1 }
+
+Edit ranger_fr_Link_0: { color:[.9] }
+Edit ranger_fl_Link_0: { color:[.9] }
+Edit ranger_br_Link_0: { color:[.9] }
+Edit ranger_bl_Link_0: { color:[.9] }
+Edit ranger_base_link_0: { color:[.9] }
+
+Edit ranger_base_link(ranger_rot): { Q:[0, 0, .315], mass: 20 }
+
+Edit ranger_fr_joint: { limits: [-3, 3] },
+Edit ranger_fl_joint: { limits: [-3, 3] },
+Edit ranger_br_joint: { limits: [-3, 3] },
+Edit ranger_bl_joint: { limits: [-3, 3] },
+        
+Edit ranger_fr_joint: { joint: none },
+Edit ranger_fl_joint: { joint: none },
+Edit ranger_br_joint: { joint: none },
+Edit ranger_bl_joint: { joint: none },

robotic/rai-robotModels/ranger/ranger_clean.g

@@ -0,0 +1,18 @@
+base_link: { mass: 0.162716, inertia: [0.0007237, -1.55745e-08, -3.42379e-12, 0.000744047, 2.24935e-07, 2.14413e-05] },
+base_link_0(base_link): { Q: [0, 0, 0, 1, -1, 0, 0], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/ranger_mini3.h5>, visual: True },
+fr_joint_origin(base_link): { Q: [0.25, -0.19, -0.1] },
+fl_joint_origin(base_link): { Q: [0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+br_joint_origin(base_link): { Q: [-0.25, -0.19, -0.1] },
+bl_joint_origin(base_link): { Q: [-0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+fr_joint(fr_joint_origin): { joint: hingeZ, joint_scale: -1 },
+fl_joint(fl_joint_origin): { joint: hingeZ, joint_scale: -1 },
+br_joint(br_joint_origin): { joint: hingeZ, joint_scale: -1 },
+bl_joint(bl_joint_origin): { joint: hingeZ, joint_scale: -1 },
+fr_Link(fr_joint): { mass: 2.2786, inertia: [0.0063625, -1.0581e-07, -4.0831e-07, 0.006363, -3.4944e-08, 0.010465] },
+fl_Link(fl_joint): { mass: 2.2786, inertia: [0.0063695, -2.1067e-08, -0.00016867, 0.006363, -1.0301e-08, 0.010458] },
+br_Link(br_joint): { mass: 2.2786, inertia: [0.0063627, -2.1069e-08, -1.587e-05, 0.006363, 9.3201e-09, 0.010465] },
+bl_Link(bl_joint): { mass: 2.2786, inertia: [0.0063656, -8.1498e-08, -0.00011049, 0.006363, 6.6847e-08, 0.010462] },
+fr_Link_0(fr_Link): { Q: [-0.248, -0.113, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5>, visual: True },
+fl_Link_0(fl_Link): { Q: [-0.248, 0.1265, 0.191, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5>, visual: True },
+br_Link_0(br_Link): { Q: [-0.241, -0.11, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5>, visual: True },
+bl_Link_0(bl_Link): { Q: [-0.241, 0.13, 0.2, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5>, visual: True }

robotic/rai-robotModels/ranger/ranger_mini_conv.g

@@ -0,0 +1,14 @@
+base_link: { mass: 25.7056, com: [0.0326128, 0.0718265, -0.00166507], inertia: [0.711027, 0.000383359, 0.0416814, 1.36554, 0.00276036, 1.84066] },
+base_link_0(base_link): { Q: [0, 0, 0, 0.707388, -0.706825, 0, 0], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/ranger_mini3.h5> },
+fr_joint_origin(base_link): { Q: [0.25, -0.19, -0.1] },
+fl_joint_origin(base_link): { Q: [0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+br_joint_origin(base_link): { Q: [-0.25, -0.19, -0.1] },
+bl_joint_origin(base_link): { Q: [-0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+fr_joint(fr_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.34089, com: [-0.49413, -0.335584, 0.280301], inertia: [0.00931857, -3.63082e-06, -4.19248e-06, 0.0101184, 0.000264633, 0.00405613] },
+fl_joint(fl_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.33115, com: [-0.493868, 0.257102, 0.304992], inertia: [0.00930652, 2.87129e-06, -2.07991e-05, 0.0101544, -0.000255253, 0.0040282] },
+br_joint(br_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.34089, com: [-0.48713, -0.332584, 0.280301], inertia: [0.00931857, -3.63082e-06, -4.19248e-06, 0.0101184, 0.000264633, 0.00405613] },
+bl_joint(bl_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.33115, com: [-0.486868, 0.260602, 0.313992], inertia: [0.00930652, 2.87129e-06, -2.07991e-05, 0.0101544, -0.000255253, 0.0040282] },
+fr_Link_0(fr_joint): { Q: [-0.248, -0.113, 0.155, 0.000563312, -0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5> },
+fl_Link_0(fl_joint): { Q: [-0.248, 0.1265, 0.191, 0.000563312, 0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5> },
+br_Link_0(br_joint): { Q: [-0.241, -0.11, 0.155, 0.000563312, -0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5> },
+bl_Link_0(bl_joint): { Q: [-0.241, 0.13, 0.2, 0.000563312, 0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5> }

robotic/rai-robotModels/robotiq/robotiq.g

@@ -1,11 +1,11 @@
 robotiq_base: { X: [0, 0, 1] }
 
-Include: <robotiq_clean.g>
+Include: <robotiq_arg2f_85_model_conv.yml>
 Edit robotiq_arg2f_base_link (robotiq_base): {}
 
 # add F/T sensor
 
-ftsensor (robotiq_base): { Q: [0, 0, -.035], shape: mesh, color: [0.2, 0.2, 0.2], mesh: <meshes/visual/robotiq_ft300.ply> }
+ftsensor (robotiq_base): { Q: [0, 0, -.035], shape: mesh, color: [0.2, 0.2, 0.2], mesh: <meshes/robotiq_ft300.ply> }
  
 
 # define a gripper, palm and fingers

robotic/rai-robotModels/robotiq/robotiq_arg2f_85_model_conv.yml

@@ -0,0 +1,19 @@
+robotiq_arg2f_base_link: {shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_base_link.h5>, mass: 0.22652, inertia: [0.00020005, -4.2442e-10, -2.9069e-10, 0.00017832, -3.4402e-08, 0.00013478]}
+finger_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, -0.0306011, 0.054904, 6.123233995736766e-17, 0.0, 0.0, 1.0]}
+left_inner_knuckle_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, -0.0127, 0.06142, 6.123233995736766e-17, 0.0, 0.0, 1.0]}
+right_outer_knuckle_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, 0.0306011, 0.054904]}
+right_inner_knuckle_joint_origin (robotiq_arg2f_base_link): {pose: [0.0, 0.0127, 0.06142]}
+finger_joint (finger_joint_origin): {joint: hingeX, limits: [0.0, 0.8], color: [0.792156862745098, 0.819607843137255, 0.933333333333333, 1.0] },
+finger_metal_l(finger_joint): {pose: [1 -1 0 0], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>}
+left_inner_knuckle_joint (left_inner_knuckle_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>}
+right_outer_knuckle_joint (right_outer_knuckle_joint_origin): {joint: hingeX, limits: [0.0, 0.81], mimic: finger_joint, color: [0.792156862745098, 0.819607843137255, 0.933333333333333, 1.0]}
+finger_metal_r(right_outer_knuckle_joint): {pose: [1 -1 0 0], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>}
+right_inner_knuckle_joint (right_inner_knuckle_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>}
+left_outer_finger_0 (finger_joint): {pose: [0.0, 0.0315, -0.0041], shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>}
+left_inner_finger_joint_origin (finger_joint): {pose: [0.0, 0.0376, 0.043000000000000003]}
+right_outer_finger_0 (right_outer_knuckle_joint): {pose: [0.0, 0.0315, -0.0041], shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>}
+right_inner_finger_joint_origin (right_outer_knuckle_joint): {pose: [0.0, 0.0376, 0.043000000000000003]}
+left_inner_finger_joint (left_inner_finger_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>}
+right_inner_finger_joint (right_inner_finger_joint_origin): {joint: hingeX, limits: [0.0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1.0], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>}
+left_inner_finger_pad_0 (left_inner_finger_joint): {pose: [0.0, -0.0220203446692936, 0.03242], shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1.0]}
+right_inner_finger_pad_0 (right_inner_finger_joint): {pose: [0.0, -0.0220203446692936, 0.03242], shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1.0]}

robotic/rai-robotModels/robotiq/robotiq_clean.g

@@ -1,24 +1,24 @@
 robotiq_arg2f_base_link: { mass: 0.22652, inertia: [0.00020005, -4.2442e-10, -2.9069e-10, 0.00017832, -3.4402e-08, 0.00013478] }
 robotiq_arg2f_base_link_0(robotiq_arg2f_base_link): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_base_link.ply>, meshscale: 0.001, visual: True }
-finger_joint_origin(robotiq_arg2f_base_link): { rel: [0, -0.0306011, 0.054904, 6.12323e-17, 0, 0, 1] }
-left_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { rel: [0, -0.0127, 0.06142, 6.12323e-17, 0, 0, 1] }
-right_outer_knuckle_joint_origin(robotiq_arg2f_base_link): { rel: [0, 0.0306011, 0.054904, 1, 0, 0, 0] }
-right_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { rel: [0, 0.0127, 0.06142, 1, 0, 0, 0] }
-finger_joint(finger_joint_origin): { joint: hingeX, limits: [0, 0.8, 2, -1, 1000], ctrl_limits: [2, -1, 1000] }
-left_inner_knuckle_joint(left_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
-right_outer_knuckle_joint(right_outer_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.81, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
-right_inner_knuckle_joint(right_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+robotiq_arg2f_base_link>finger_joint(robotiq_arg2f_base_link): { Q: [0, -0.0306011, 0.054904, 6.12323e-17, 0, 0, 1] }
+robotiq_arg2f_base_link>left_inner_knuckle_joint(robotiq_arg2f_base_link): { Q: [0, -0.0127, 0.06142, 6.12323e-17, 0, 0, 1] }
+robotiq_arg2f_base_link>right_outer_knuckle_joint(robotiq_arg2f_base_link): { Q: [0, 0.0306011, 0.054904, 1, 0, 0, 0] }
+robotiq_arg2f_base_link>right_inner_knuckle_joint(robotiq_arg2f_base_link): { Q: [0, 0.0127, 0.06142, 1, 0, 0, 0] }
+finger_joint(robotiq_arg2f_base_link>finger_joint): { joint: hingeX, limits: [0, 0.8, 2, -1, 1000], ctrl_limits: [2, -1, 1000] }
+left_inner_knuckle_joint(robotiq_arg2f_base_link>left_inner_knuckle_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+right_outer_knuckle_joint(robotiq_arg2f_base_link>right_outer_knuckle_joint): { joint: hingeX, limits: [0, 0.81, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+right_inner_knuckle_joint(robotiq_arg2f_base_link>right_inner_knuckle_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
 left_outer_knuckle_0(finger_joint): { shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_knuckle.ply>, meshscale: 0.001, visual: True }
-left_outer_finger_0(finger_joint): { rel: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
-left_inner_finger_joint_origin(finger_joint): { rel: [0, 0.0376, 0.043, 1, 0, 0, 0] }
+left_outer_finger_0(finger_joint): { Q: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
+left_outer_finger>left_inner_finger_joint(finger_joint): { Q: [0, 0.0376, 0.043, 1, 0, 0, 0] }
 left_inner_knuckle_0(left_inner_knuckle_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_knuckle.ply>, meshscale: 0.001, visual: True }
 right_outer_knuckle_0(right_outer_knuckle_joint): { shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_knuckle.ply>, meshscale: 0.001, visual: True }
-right_outer_finger_0(right_outer_knuckle_joint): { rel: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
-right_inner_finger_joint_origin(right_outer_knuckle_joint): { rel: [0, 0.0376, 0.043, 1, 0, 0, 0] }
+right_outer_finger_0(right_outer_knuckle_joint): { Q: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
+right_outer_finger>right_inner_finger_joint(right_outer_knuckle_joint): { Q: [0, 0.0376, 0.043, 1, 0, 0, 0] }
 right_inner_knuckle_0(right_inner_knuckle_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_knuckle.ply>, meshscale: 0.001, visual: True }
-left_inner_finger_joint(left_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
-right_inner_finger_joint(right_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+left_inner_finger_joint(left_outer_finger>left_inner_finger_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+right_inner_finger_joint(right_outer_finger>right_inner_finger_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
 left_inner_finger_0(left_inner_finger_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_finger.ply>, meshscale: 0.001, visual: True }
-left_inner_finger_pad_0(left_inner_finger_joint): { rel: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375, 0], color: [0.9, 0.9, 0.9, 1], visual: True }
+left_inner_finger_pad_0(left_inner_finger_joint): { Q: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1], visual: True }
 right_inner_finger_0(right_inner_finger_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_finger.ply>, meshscale: 0.001, visual: True }
-right_inner_finger_pad_0(right_inner_finger_joint): { rel: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375, 0], color: [0.9, 0.9, 0.9, 1], visual: True }
+right_inner_finger_pad_0(right_inner_finger_joint): { Q: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1], visual: True }

robotic/rai-robotModels/scenarios/ballFinger.g

@@ -1,5 +1,5 @@
 base { X:[0 0 .5], multibody, multibody_gravity: false }
-jointX(base){ joint:transX, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
-jointY(jointX){ joint:transY, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
+jointX(base){ joint:transX, mass:.01, inertia:[.01,.01,.01], limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
+jointY(jointX){ joint:transY, mass:.01, inertia:[.01,.01,.01], limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
 jointZ(jointY){ joint:transZ, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
 finger(jointZ){ shape:sphere, size:[.02], color:[.5 1 1], contact:1, mass: .1 }

robotic/rai-robotModels/scenarios/liftRing.g

@@ -1,4 +1,4 @@
-world: { multibody: true }
+world: {}
 
 table (world): {
  shape: ssBox, Q: "t(0 0. .6)", size: [1., 2., .1, .02], color: [.3, .3, .3]
@@ -41,6 +41,6 @@ target (table): {
 #Include: <panda_fixGripper.g>
 #Include: <panda_fixRobotiq.g>
 Include: <../panda/panda.g>
-(table panda_base): { joint: rigid, Q: "t(.3 .8 .05) d(-90 0 0 1)" }
+Edit panda_base(table): { joint: rigid, Q: "t(.3 .8 .05) d(-90 0 0 1)" }
 
 Edit panda_finger_joint1: { joint_active: false }

robotic/rai-robotModels/scenarios/pandaFloatingGripper.g

@@ -1,4 +1,4 @@
-base { multibody, multibody_gravity: false }
+base { multibody, multibody_gravity: false, mass: 1. }
 
 floatX (base){ joint:transX, limits:[-2 2], mass:.01 }
 floatY (floatX){ joint:transY, limits:[-2 2], mass:.01 }

robotic/rai-robotModels/scenarios/pandaSingle.g

@@ -3,7 +3,7 @@ world: {}
 ### table
 
 table(world): {
- shape: ssBox, Q: "t(0 0. .6)", size: [2.5, 2.5, .1, .02], color: [.3, .3, .3],
+ shape: ssBox, Q: [0 0. .6], size: [2.5, 2.5, .1, .02], color: [.3, .3, .3],
  contact: 1, logical: { },
  friction: .1
 }

robotic/rai-robotModels/scenarios/panda_fixRobotiq.g

@@ -13,13 +13,13 @@ Edit panda_joint7: { q: -.5 }
 
 Delete: panda_hand_joint_origin
 Delete: panda_hand_joint
-Delete: panda_hand
-Delete: panda_hand_0
+#Delete: panda_hand
+#Delete: panda_hand_0
 Delete: panda_finger_joint1_origin
 Delete: panda_finger_joint2_origin
 Delete: panda_finger_joint1
 Delete: panda_finger_joint2
-Delete: panda_leftfinger_0
+#Delete: panda_leftfinger_0
 Delete: panda_rightfinger_0
 #Delete: panda_coll_hand
 #Delete: panda_coll_finger1

robotic/rai-robotModels/tests/arm.g

@@ -1,25 +1,24 @@
 
-stem: { X: "t(0 0 1)", shape: capsule, size: [0.1, 0.1, 2, .1] }
+stem { X: "t(0 0 1)" shape:capsule size=[2 .1] }
 
-arm1: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm2: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm3: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm4: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm5: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm6: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm7: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
+arm1(j1) { shape:capsule Q:[0 0 .2], size=[.4 .1] contact:-1, }
+arm2(j2) { shape:capsule Q:[0 0 .2], size=[.4 .1] contact:-1, }
+arm3(j3) { shape:capsule Q:[0 0 .2], size=[.4 .1] contact:-1, }
+arm4(j4) { shape:capsule Q:[0 0 .2], size=[.4 .1] contact:-1, }
+arm5(j5) { shape:capsule Q:[0 0 .2], size=[.4 .1] contact:-1, }
+arm6(j6) { shape:capsule Q:[0 0 .2], size=[.4 .1] contact:-1, }
+arm7(j7) { shape:capsule Q:[0 0 .2], size=[.4 .1] contact:-1, }
 
-(stem arm1): { joint: hingeX, limits:[-2,2], pre: "t(0 0 1) d(90 1 0 0)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
+j1(stem) { joint:hingeX A: "t(0 0 1) d(90 1 0 0)" limits:[-2 2] }
+j2(arm1) { joint:hingeX A: "t(0 0 0.2) d(45 0 0 1)" limits:[-2 2] }
+j3(arm2) { joint:hingeX A: "t(0 0 0.2) d(45 0 0 1)" limits:[-2 2] }
+j4(arm3) { joint:hingeX A: "t(0 0 0.2) d(45 0 0 1)" limits:[-2 2] }
+j5(arm4) { joint:quatBall A: "t(0 0 0.2) d(45 0 0 1)" limits:[0 -1 -1 -1 1.5 1 1 1] }
+j6(arm5) { joint:hingeX A: "t(0 0 0.2) d(45 0 0 1)" limits:[-2 2] }
+j7(arm6) { joint:hingeX A: "t(0 0 0.2) d(45 0 0 1)" limits:[-2 2] }
 
-(arm1 arm2): { joint: hingeX, limits:[-2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
-(arm2 arm3): { joint: hingeX, limits:[-2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
-(arm3 arm4): { joint: hingeX, limits:[-2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
-(arm4 arm5): { joint: quatBall, limits:[-2,-2,-2,-2,2,2,2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
-(arm5 arm6): { joint: hingeX, limits:[-2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
-(arm6 arm7): { joint: hingeX, limits:[-2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
+target: { X: "t(.7 -.5 1.2)", shape: sphere, size: [.05], color: [0, .5, 0] }
 
-target: { X: "t(.7 -.5 1.2)", shape: sphere, size: [.1, .1, .1, .05], color: [0, .5, 0] }
+obstacle: { X: "t(1. -1.5 1.)", shape: sphere, size: [.5], color: [1, 0, 0], contact, }
 
-obstacle: { X: "t(1. -1.5 1.)", shape: sphere, size: [1., .1, 5., .5], color: [1, 0, 0], contact, }
-
-endeff(arm7): { shape: marker, Q: "T t(0 0 .3)", size: [.1, .1, .1, 0] } # a marker shape at the tip of arm7
+endeff(arm7): { shape: marker, Q: "T t(0 0 .3)", size: [.1] } # a marker shape at the tip of arm7

robotic/rai-robotModels/tests/compound.g

@@ -1,11 +1,8 @@
 
-world: {}
-
 table: { X: [0, 0, .1], shape: ssBox, size: [2, 2, .1, .02], color: [.3, .3, .3] }
 
 obj: { X: [0, 0, 2], shape: marker, size: [.3] }
-
-part1 (obj): { Q: "t(0 -.5 0) d(90 0 1 0)", shape: capsule, size: [.5, .05], color: [.9, .9, .9], mass: 1 }
-part2 (obj): { Q: "t(0 .5 0)", shape: capsule, size: [1., .05], color: [.9, .9, .9] }
-part3 (obj): { Q: "t(0 .25 0) d(90 1 0 0)", shape: capsule, size: [1.5, .05], color: [.9, .9, .9] }
+part1 (obj): { Q: "t(0 -.5 0) d(90 0 1 0)", shape: sphere, size: [.15], color: [.9, .9, .9], mass: 1 }
+part2 (obj): { Q: "t(0 .5 0)", shape: capsule, size: [1., .05], color: [.9, .9, .9], mass: 1 }
+part3 (obj): { Q: "t(0 .25 0) d(90 1 0 0)", shape: capsule, size: [1.5, .05], color: [.9, .9, .9], mass: 1 }
 part4 (obj): { Q: "t(.3 1. 0) d(90 1 0 0)", shape: ssBox, size: [.5, .5, .5, .05], color: [.9, .9, .9], mass: 1 }

robotic/rai-robotModels/ur10/ur10.g

@@ -1,8 +1,8 @@
 Prefix: "ur_"
-Include: <ur10_clean.g>
+Include: <ur10_conv.g>
 Prefix: false
 
-Edit ur_world_joint_origin: { rel: [0, 0, 0] }
+Edit ur_world_joint_origin: { pose: [0, 0, 0] }
 
 Edit ur_shoulder_pan_joint: { q: 0.0 }
 Edit ur_shoulder_lift_joint: { q: -2.0 }

robotic/rai-robotModels/ur10/ur10_clean.g

@@ -1,32 +1,32 @@
 world: {  }
-world_joint_origin(world): { rel: [0, 0, 1, 1, 0, 0, 0] }
+world_joint_origin(world): { pose: [0, 0, 1, 1, 0, 0, 0] }
 world_joint(world_joint_origin): { joint: rigid }
 base_link(world_joint): { mass: 4, inertia: [0.00610633, 0.00610633, 0.01125] }
 base_link_0(base_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Base.dae>, visual: True }
-shoulder_pan_joint_origin(base_link): { rel: [0, 0, 0.1273, 1, 0, 0, 0] }
+shoulder_pan_joint_origin(base_link): { pose: [0, 0, 0.1273, 1, 0, 0, 0] }
 shoulder_pan_joint(shoulder_pan_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319, 2.16, -1, 330], ctrl_limits: [2.16, -1, 330] }
 shoulder_link(shoulder_pan_joint): { mass: 7.778, inertia: [0.0314743, 0.0314743, 0.0218756] }
 shoulder_link_0(shoulder_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Shoulder.dae>, visual: True }
-shoulder_lift_joint_origin(shoulder_link): { rel: [0, 0.220941, 0, 0.707107, 0, 0.707107, 0] }
+shoulder_lift_joint_origin(shoulder_link): { pose: [0, 0.220941, 0, 0.707107, 0, 0.707107, 0] }
 shoulder_lift_joint(shoulder_lift_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 2.16, -1, 330], ctrl_limits: [2.16, -1, 330] }
 upper_arm_link(shoulder_lift_joint): { mass: 12.93, inertia: [0.421754, 0.421754, 0.0363656] }
 upper_arm_link_0(upper_arm_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/UpperArm.dae>, visual: True }
-elbow_joint_origin(upper_arm_link): { rel: [0, -0.1719, 0.612, 1, 0, 0, 0] }
+elbow_joint_origin(upper_arm_link): { pose: [0, -0.1719, 0.612, 1, 0, 0, 0] }
 elbow_joint(elbow_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 3.15, -1, 150], ctrl_limits: [3.15, -1, 150] }
 forearm_link(elbow_joint): { mass: 3.87, inertia: [0.11107, 0.11107, 0.0108844] }
 forearm_link_0(forearm_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Forearm.dae>, visual: True }
-wrist_1_joint_origin(forearm_link): { rel: [0, 0, 0.5723, 0.707107, 0, 0.707107, 0] }
+wrist_1_joint_origin(forearm_link): { pose: [0, 0, 0.5723, 0.707107, 0, 0.707107, 0] }
 wrist_1_joint(wrist_1_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 3.2, -1, 54], ctrl_limits: [3.2, -1, 54] }
 wrist_1_link(wrist_1_joint): { mass: 1.96, inertia: [0.00510825, 0.00510825, 0.0055125] }
 wrist_1_link_0(wrist_1_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Wrist1.dae>, visual: True }
-wrist_2_joint_origin(wrist_1_link): { rel: [0, 0.1149, 0, 1, 0, 0, 0] }
+wrist_2_joint_origin(wrist_1_link): { pose: [0, 0.1149, 0, 1, 0, 0, 0] }
 wrist_2_joint(wrist_2_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319, 3.2, -1, 54], ctrl_limits: [3.2, -1, 54] }
 wrist_2_link(wrist_2_joint): { mass: 1.96, inertia: [0.00510825, 0.00510825, 0.0055125] }
 wrist_2_link_0(wrist_2_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Wrist2.dae>, visual: True }
-wrist_3_joint_origin(wrist_2_link): { rel: [0, 0, 0.1157, 1, 0, 0, 0] }
+wrist_3_joint_origin(wrist_2_link): { pose: [0, 0, 0.1157, 1, 0, 0, 0] }
 wrist_3_joint(wrist_3_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319, 3.2, -1, 54], ctrl_limits: [3.2, -1, 54] }
 wrist_3_link(wrist_3_joint): { mass: 0.202, inertia: [0.000526462, 0.000526462, 0.000568125] }
 wrist_3_link_0(wrist_3_link): { shape: mesh, mesh: <ur_description/meshes/ur10/visual/Wrist3.dae>, visual: True }
-ee_fixed_joint_origin(wrist_3_link): { rel: [0, 0.0922, 0, 0.707107, 0, 0, 0.707107] }
+ee_fixed_joint_origin(wrist_3_link): { pose: [0, 0.0922, 0, 0.707107, 0, 0, 0.707107] }
 ee_fixed_joint(ee_fixed_joint_origin): { joint: rigid }
 ee_link(ee_fixed_joint): {  }

robotic/rai-robotModels/ur10/ur10_conv.g

@@ -0,0 +1,17 @@
+world: {  },
+world_joint_origin(world): { Q: [0, 0, 1] },
+world_joint(world_joint_origin): { joint: rigid, shape: mesh, color: [0.371451, 0.371451, 0.371451, 1], mesh: <meshes/base.h5>, mass: 0.328598, inertia: [0.000876246, -3.50721e-07, -2.99737e-08, 0.000730367, 2.05527e-06, 0.00143972] },
+shoulder_pan_joint_origin(world_joint): { Q: [0, 0, 0.1273] },
+shoulder_pan_joint(shoulder_pan_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/shoulder.h5>, mass: 0.909582, inertia: [0.00565017, -6.93355e-06, -8.74462e-06, 0.00537262, -4.97716e-05, 0.00439801] },
+shoulder_lift_joint_origin(shoulder_pan_joint): { Q: [0, 0.220941, 0, 0.707107, 0, 0.707107, 0] },
+shoulder_lift_joint(shoulder_lift_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/upperarm.h5>, mass: 2.43496, inertia: [0.159184, 1.47112e-05, -8.39265e-05, 0.157564, 0.000647215, 0.0100854] },
+elbow_joint_origin(shoulder_lift_joint): { Q: [0, -0.1719, 0.612] },
+elbow_joint(elbow_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/forearm.h5>, mass: 1.75122, inertia: [0.0968559, -9.76006e-06, 1.57892e-05, 0.0958587, 0.000947383, 0.00463623] },
+wrist_1_joint_origin(elbow_joint): { Q: [0, 0, 0.5723, 0.707107, 0, 0.707107, 0] },
+wrist_1_joint(wrist_1_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/wrist1.h5>, mass: 0.361159, inertia: [0.000895857, 1.09527e-06, 9.37493e-07, 0.000848918, -1.01451e-05, 0.000646337] },
+wrist_2_joint_origin(wrist_1_joint): { Q: [0, 0.1149, 0] },
+wrist_2_joint(wrist_2_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/wrist2.h5>, mass: 0.361992, inertia: [0.000898399, -5.86223e-07, -1.0802e-06, 0.000648368, -1.06317e-05, 0.000850769] },
+wrist_3_joint_origin(wrist_2_joint): { Q: [0, 0, 0.1157] },
+wrist_3_joint(wrist_3_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, color: [0.464314, 0.464314, 0.464314, 1], mesh: <meshes/wrist3.h5>, mass: 0.108345, inertia: [8.36376e-05, 4.10321e-09, 1.31385e-08, 0.000134503, -9.21218e-09, 8.00354e-05] },
+ee_fixed_joint_origin(wrist_3_joint): { Q: [0, 0.0922, 0, 0.707107, 0, 0, 0.707107] },
+ee_fixed_joint(ee_fixed_joint_origin): { joint: rigid }

robotic/ry-h5info

@@ -2,25 +2,20 @@
 
 import argparse
 import h5py
+from robotic.src.h5_helper import *
 
 parser = argparse.ArgumentParser(description='h5-file info')
 
 parser.add_argument('FILE', type=str,
                     help='h5-file name')
 
-def print_attrs(name, obj):
-    if isinstance(obj, h5py.Dataset):
-        print('   ', name, obj.name, obj.shape, obj.dtype)
-    else:
-        print('---', name)
-
 def main():
     args = parser.parse_args()
 
     print('=== file', args.FILE)
     try:
-        with h5py.File(args.FILE, 'r') as fil:
-            fil.visititems(print_attrs)
+        h5 = H5Reader(args.FILE)
+        h5.print_info()
     except KeyboardInterrupt:
         sys.exit(1)
 

robotic/ry-test

@@ -10,15 +10,16 @@ C.addFile(ry.raiPath('panda/panda.g'), 'b_').setPosition([0,0,.5])
 C.addFrame('box1') .setShape(ry.ST.ssBox,[.3, .3, .3, .05]) .setPosition([1.3, 0, 2.]) .setMass(3)
 C.addFrame('box2') .setShape(ry.ST.ssBox,[.3, .3, .3, .05]) .setPosition([.5, .0, 1.8]) .setMass(3)
 
-#C.view(False)
+C.view(False)
+time.sleep(.5)
 
 q0 = C.getJointState()
 qT = q0
 qT[0] += 1.
 
-sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=1) #try verbose=2
+sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=2) #try verbose=3 or 1
 
-[X, q, V, qDot] = sim.getState()
+state = sim.getState()
 
 tau=.01
 
@@ -33,7 +34,7 @@ for t in range(int(4./tau)):
     #    C.view(False, f'Note: the sim operates *directly* on the given config\nt:{t:4d} = {tau*t:5.2f}sec')
 
     if (t%100)==0:
-        sim.setState(X, q, V, qDot)
-        q0 = q
+        sim.setState(*state)
+        #q0 = q
         sim.resetSplineRef()
         sim.setSplineRef(qT, [1.])

robotic/ry-urdfConvert.py

@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+
+# from config_mujoco import *
+# from config_urdf import *
+# from mesh_helper import *
+from robotic.src.yaml_helper import *
+import robotic as ry
+import argparse
+import glob
+import os
+
+parser = argparse.ArgumentParser(
+    description='Utility to clean meshes in meshes/')
+
+parser.add_argument('file', type=str, help='urdf file', nargs='?', default='none')
+
+parser.add_argument('-view', help='view mesh', action="store_true", default=True)
+parser.add_argument('-flipDaeYZ', help='view mesh', action="store_true", default=False)
+parser.add_argument('-pruneRigidJoints', help='view mesh', action="store_true")
+parser.add_argument('-recomputeInertias', help='view mesh', action="store_true")
+parser.add_argument('-processMeshes', help='view mesh', action="store_true", default=True)
+parser.add_argument('-meshlab', help='apply meshlab filters', action="store_true", default=False)
+
+def main():
+    args = parser.parse_args()
+
+    if args.file=='none':
+        # args.file = '/home/mtoussai/git/rai-robotModels/pr2/pr2.urdf'
+        args.file = '/home/mtoussai/git/rai-robotModels/panda/panda_arm_hand.urdf'
+        # args.file = '/home/mtoussai/git/rai-robotModels/g1/g1_description/g1_29dof.urdf'
+        # args.file = '/home/mtoussai/git/rai-robotModels/ranger/ranger_mini.urdf'
+
+    print('=== URDF CONVERT ===', args.file)
+
+    path, file = os.path.split(args.file)
+    filebase, _ = os.path.splitext(file)
+
+    if args.flipDaeYZ:
+        ry.params_add({'assimp/daeFlipYZ': False})
+
+    C = ry.URDFLoader(args.file, visualsOnly=True, meshPathRemove='package://').C
+
+    C.processStructure(args.pruneRigidJoints, True, False, False)
+    C.processInertias(args.recomputeInertias)
+    C.processStructure(args.pruneRigidJoints, True, False, False)
+
+    os.system('rm -Rf meshes/')
+    C.writeMeshes('meshes/', copyTextures=True)
+
+    print('#frames: ', C.getFrameDimension())
+    with open(f'{filebase}_conv.g', 'w') as fil:
+        #yaml.dump(C.asDict(), file, default_flow_style=False)
+        fil.write(C.write())
+
+    yaml_write_dict(C.asDict(), f'{filebase}_conv.yml')
+
+    C.view(True)
+    # C.animate()
+
+    if args.processMeshes:
+        for file in sorted(glob.glob('meshes/*.h5')):
+
+            M = ry.MeshHelper(file)
+            if M.mesh is None:
+                continue
+
+            M.repair(mergeTolerance=1e-4)
+            print('  watertight:', M.mesh.is_watertight)
+            print('  oriented:', M.mesh.is_winding_consistent)
+            M.report()
+            M.export_h5()
+
+if __name__ == "__main__":
+    main()

robotic/ry-view

@@ -2,9 +2,10 @@
 
 import robotic as ry
 import argparse
+import os
 
 parser = argparse.ArgumentParser(
-    description='View a g-file (robotic model description) during editing')
+    description='View a file (.g .yml .h5 or some mesh file). If config file, you can edit while viewing')
 
 parser.add_argument('FILE', type=str,
                     help='g-file name')
@@ -13,12 +14,33 @@ parser.add_argument('-v', '--version', action='version',
 
 def main():
     args = parser.parse_args()
-    
-    try:
+
+    ext = os.path.splitext(args.FILE)[1]
+
+    print('=== viewing file:', args.FILE)
+
+    if ext in ['.g', '.yml']:
+        print('    assuming this is a configuration')
+        try:
+            C = ry.Config()
+            C.watchFile(args.FILE)
+        except KeyboardInterrupt:
+            exit(1)
+
+    elif ext in ['.h5']:
+        print('    assuming this is a h5 object (mesh & decomp & inertia)')
+        C = ry.Config()
+        C.addH5Object('object', args.FILE)
+        print(C.write())
+        C.view(True)
+
+    else:
+        print('    assuming this is a mesh file (using assimp to load)')
         C = ry.Config()
-        C.watchFile(args.FILE)
-    except KeyboardInterrupt:
-        sys.exit(1)
+        f = C.addFrame('mesh')
+        f.setMeshFile(args.FILE)
+        print(C.write())
+        C.view(True)
 
 if __name__ == "__main__":
     main()