robotic 0.2.9.dev1__cp38-cp38-manylinux2014_x86_64.whl → 0.3.0__cp38-cp38-manylinux2014_x86_64.whl

robotic/include/rai/Kin/kin_physx.h

@@ -15,6 +15,7 @@ struct PhysX_Options {
   RAI_PARAM("physx/", int, verbose, 1)
   RAI_PARAM("physx/", bool, yGravity, false)
   RAI_PARAM("physx/", double, angularDamping, .1)
+  RAI_PARAM("physx/", double, jointFriction, 0.05)
   RAI_PARAM("physx/", double, defaultFriction, 1.)
   RAI_PARAM("physx/", double, defaultRestitution, .1) //restitution=1 should be elastic...
   RAI_PARAM("physx/", double, motorKp, 1000.)
@@ -41,12 +42,11 @@ struct PhysXInterface {
   void removeJoint(rai::Joint* j);
   void postAddObject(rai::Frame* f);
 
-  void view(bool pause=false, const char* txt=nullptr);
-
   void setGravity(float grav);
   void disableGravity(rai::Frame* f, bool disable=true);
   void addForce(rai::Vector& force, rai::Frame* b);
   void addForce(rai::Vector& force, rai::Frame* b, rai::Vector& pos);
 
+  rai::Configuration& getDebugConfig();
   rai::PhysX_Options& opt();
 };

robotic/include/rai/Logic/folWorld.h

@@ -129,7 +129,7 @@ struct FOL_World : TreeSearchDomain {
   void addObject(const char* name);
   template<class T> void addValuedFact(const StringA& symbols, const T& x) {
     NodeL parents;
-    for(const String& s:symbols) parents.append(KB[s]);
+    for(const String& s:symbols) parents.append(KB.findNode(s));
     start_state->add<T>(0,  x, parents);
   }
   void addTerminalRule(const char* literals);

robotic/include/rai/Optim/testProblems_Opt.h

@@ -107,12 +107,12 @@ struct SimpleConstraintFunction : NLP {
   virtual void evaluate(arr& phi, arr& J, const arr& _x) {
     CHECK_EQ(_x.N, 2, "");
     phi.resize(4);
-    if(!!J) { J.resize(4, 2); J.setZero(); }
+    if(!!J) { J.resize(4, 2).setZero(); }
 
     //simple squared potential, displaced by 1
     arr x(_x);
     x(0) -= 1.;
-    phi({0, 1}) = x;
+    phi({0, 1+1}) = x;
     if(!!J) J.setMatrixBlock(eye(2), 0, 0);
     x(0) += 1.;
 

robotic/include/rai/Optim/utils.h

@@ -67,8 +67,8 @@ struct Conv_NLP_SlackLeastSquares : NLP {
   virtual void evaluate(arr& phi, arr& J, const arr& x) {
     arr Pphi, PJ;
     P->evaluate(Pphi, PJ, x);
-    phi = Pphi.sub(pick);
-    J = PJ.sub(pick);
+    phi = Pphi.pick(pick);
+    J = PJ.pick(pick);
     for(uint i=0; i<pick.N; i++) {
       if(P->featureTypes(pick(i))==OT_ineq) {
         if(phi(i)<0.) { phi(i)=0.; J[i]=0.; } //ReLu for g

robotic/include/rai/PathAlgos/ConfigurationProblem.h

@@ -31,7 +31,7 @@ struct QueryResult {
 stdOutPipe(QueryResult)
 
 struct ConfigurationProblem {
-  rai::Configuration C;
+  rai::Configuration& C;
   arr limits;
   uintA sphericalCoordinates;
 
@@ -43,8 +43,9 @@ struct ConfigurationProblem {
   //user info
   int verbose=0;
   uint evals=0;
+  double queryTime=0.;
 
-  ConfigurationProblem(const rai::Configuration& _C, bool _useBroadCollisions=true, double _collisionTolerance=1e-3, int _verbose=0);
+  ConfigurationProblem(rai::Configuration& _C, bool _useBroadCollisions=true, double _collisionTolerance=1e-3, int _verbose=0);
 
   void setExplicitCollisionPairs(const StringA& _collisionPairs);
 

robotic/include/rai/PathAlgos/RRT_PathFinder.h

@@ -78,7 +78,7 @@ struct RRT_PathFinder : NonCopyable {
   arr path;
 
   //setup
-  void setProblem(const Configuration& C);
+  void setProblem(Configuration& C);
   void setStartGoal(const arr& _starts, const arr& _goals);
   void setExplicitCollisionPairs(const StringA& collisionPairs);
 

robotic/include/rai/ry/types.h

@@ -17,8 +17,9 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 #include <pybind11/numpy.h>
+#include <pybind11/pytypes.h>
 
-pybind11::dict graph2dict(const rai::Graph& G);
+pybind11::dict graph2dict(const rai::Graph& G, const rai::NodeL& parents={}, bool parentsInKeys=true);
 rai::Graph dict2graph(const pybind11::dict& dict);
 
 pybind11::list graph2list(const rai::Graph& G);
@@ -308,7 +309,7 @@ template <> struct type_caster<rai::Graph> {
   }
 
   static handle cast(const rai::Graph& G, return_value_policy, handle) {
-    return graph2dict(G).release();
+    return graph2dict(G, rai::NodeL{}).release();
   }
 };
 

robotic/mujoco-import.py

@@ -0,0 +1,10 @@
+from config_mujoco import *
+import sysconfig
+
+pysite = sysconfig.get_paths()["purelib"]
+file = pysite+"/gymnasium_robotics/envs/assets/kitchen_franka/kitchen_assets/kitchen_env_model.xml"
+# file = '/home/mtoussai/git/MuJoCo2Rai/kitchen_dataset/RUSTIC_ONE_WALL_SMALL.xml'
+
+print('=====================', file)
+C = Config_Mujoco(file, visualsOnly=True)
+C.view(True)

robotic/rai-robotModels/g1/g1.g

@@ -1,5 +1,14 @@
 ## create standard base frame before including
 
-g1_base: { X:[0, 0, .79], multibody: true, multibody_fixedBase: false }
-Include: <g1_clean.g>
+g1_base: { X:[0, 0, .79], multibody: true, multibody_fixedBase: false, multibody_gravity: true }
+Include: <g1_29dof_conv.yml>
 Edit pelvis(g1_base): {}
+
+Edit left_hip_pitch_joint { q: -.25 }
+Edit right_hip_pitch_joint { q: -.25 }
+        
+Edit left_knee_joint { q: .5 }
+Edit right_knee_joint { q: .5 }
+
+Edit left_ankle_pitch_joint { q: -.25, motorLambda: .02, motorMass: 100 }
+Edit right_ankle_pitch_joint { q: -.25, motorLambda: .02, motorMass: 100 }

robotic/rai-robotModels/g1/g1_clean.g

@@ -1,99 +1,64 @@
-pelvis: { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/pelvis.ply>, mass: 3.813, inertia: [0.010549, 0, 2.1e-06, 0.0093089, 0, 0.0079184] },
+pelvis: { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/pelvis.h5>, mass: 0.793878, com: [0.000297452, 1.17304e-05, -0.0760703], inertia: [0.00280151, -1.42902e-07, -1.26125e-06, 0.00275155, -1.1233e-07, 0.00255542] },
 left_hip_pitch_joint_origin(pelvis): { Q: [0, 0.064452, -0.1027] },
 right_hip_pitch_joint_origin(pelvis): { Q: [0, -0.064452, -0.1027] },
-waist_yaw_joint(pelvis): { joint: hingeZ, limits: [-2.618, 2.618, 32, -1, 88], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/waist_yaw_link.ply>, ctrl_limits: [32, -1, 88] },
-pelvis_contour_link(pelvis): { mass: 0.001, inertia: [1e-07, 1e-07, 1e-07] },
-pelvis_contour_link_0(pelvis): { shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/pelvis_contour_link.ply>, visual: True },
-left_hip_pitch_joint(left_hip_pitch_joint_origin): { joint: hingeY, limits: [-2.5307, 2.8798, 32, -1, 88], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/left_hip_pitch_link.ply>, ctrl_limits: [32, -1, 88] },
-right_hip_pitch_joint(right_hip_pitch_joint_origin): { joint: hingeY, limits: [-2.5307, 2.8798, 32, -1, 88], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/right_hip_pitch_link.ply>, ctrl_limits: [32, -1, 88] },
-waist_yaw_link(waist_yaw_joint): { mass: 0.244, inertia: [9.9587e-05, -1.833e-06, -1.2617e-05, 0.00012411, -1.18e-07, 0.00015586] },
+waist_yaw_joint(pelvis): { joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/waist_yaw_link.h5>, mass: 0.168083, inertia: [8.83938e-05, -2.82438e-09, -9.9721e-06, 0.000103081, -2.02902e-09, 0.000150067] },
+pelvis_contour_link_0(pelvis): { shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/pelvis_contour_link.h5> },
+left_hip_pitch_joint(left_hip_pitch_joint_origin): { joint: hingeY, limits: [-2.5307, 2.8798], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/left_hip_pitch_link.h5>, mass: 0.264573, inertia: [0.000474721, 4.31311e-06, 5.93997e-06, 0.000392354, 4.96908e-05, 0.000375138] },
+right_hip_pitch_joint(right_hip_pitch_joint_origin): { joint: hingeY, limits: [-2.5307, 2.8798], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/right_hip_pitch_link.h5>, mass: 0.264569, inertia: [0.000474711, -4.31398e-06, 5.94077e-06, 0.000392343, -4.96889e-05, 0.000375138] },
 waist_roll_joint_origin(waist_yaw_joint): { Q: [-0.0039635, 0, 0.035] },
-left_hip_pitch_link(left_hip_pitch_joint): { mass: 1.35, inertia: [0.001811, 3.68e-05, -3.44e-05, 0.0014193, 0.000171, 0.0012812] },
 left_hip_roll_joint_origin(left_hip_pitch_joint): { Q: [0, 0.052, -0.030465, 0.996179, 0, -0.0873386, 0] },
-right_hip_pitch_link(right_hip_pitch_joint): { mass: 1.35, inertia: [0.001811, -3.68e-05, -3.44e-05, 0.0014193, -0.000171, 0.0012812] },
 right_hip_roll_joint_origin(right_hip_pitch_joint): { Q: [0, -0.052, -0.030465, 0.996179, 0, -0.0873386, 0] },
-waist_roll_joint(waist_roll_joint_origin): { joint: hingeX, limits: [-0.52, 0.52, 37, -1, 50], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/waist_roll_link.ply>, ctrl_limits: [37, -1, 50] },
-left_hip_roll_joint(left_hip_roll_joint_origin): { joint: hingeX, limits: [-0.5236, 2.9671, 32, -1, 88], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_hip_roll_link.ply>, ctrl_limits: [32, -1, 88] },
-right_hip_roll_joint(right_hip_roll_joint_origin): { joint: hingeX, limits: [-2.9671, 0.5236, 32, -1, 88], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_hip_roll_link.ply>, ctrl_limits: [32, -1, 88] },
-waist_roll_link(waist_roll_joint): { mass: 0.047, inertia: [7.515e-06, 0, 0, 6.398e-06, 9.9e-08, 3.988e-06] },
+waist_roll_joint(waist_roll_joint_origin): { joint: hingeX, limits: [-0.52, 0.52], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/waist_roll_link.h5>, mass: 0.0221562, inertia: [4.0451e-06, 7.41165e-11, -2.63317e-11, 3.67093e-06, 3.77707e-11, 2.32541e-06] },
+left_hip_roll_joint(left_hip_roll_joint_origin): { joint: hingeX, limits: [-0.5236, 2.9671], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_hip_roll_link.h5>, mass: 0.388504, inertia: [0.00122176, -2.52983e-06, -0.000212212, 0.00118448, -1.72307e-06, 0.00069136] },
+right_hip_roll_joint(right_hip_roll_joint_origin): { joint: hingeX, limits: [-2.9671, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_hip_roll_link.h5>, mass: 0.388501, inertia: [0.00122175, 2.52204e-06, -0.000212212, 0.00118447, 1.73174e-06, 0.000691349] },
 waist_pitch_joint_origin(waist_roll_joint): { Q: [0, 0, 0.019] },
-left_hip_roll_link(left_hip_roll_joint): { mass: 1.52, inertia: [0.0023773, -3.8e-06, -0.0003908, 0.0024123, 1.84e-05, 0.0016595] },
 left_hip_yaw_joint_origin(left_hip_roll_joint): { Q: [0.025001, 0, -0.12412] },
-right_hip_roll_link(right_hip_roll_joint): { mass: 1.52, inertia: [0.0023773, 3.8e-06, -0.0003908, 0.0024123, -1.84e-05, 0.0016595] },
 right_hip_yaw_joint_origin(right_hip_roll_joint): { Q: [0.025001, 0, -0.12412] },
-waist_pitch_joint(waist_pitch_joint_origin): { joint: hingeY, limits: [-0.52, 0.52, 37, -1, 50], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/torso_link.ply>, ctrl_limits: [37, -1, 50] },
-left_hip_yaw_joint(left_hip_yaw_joint_origin): { joint: hingeZ, limits: [-2.7576, 2.7576, 32, -1, 88], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_hip_yaw_link.ply>, ctrl_limits: [32, -1, 88] },
-right_hip_yaw_joint(right_hip_yaw_joint_origin): { joint: hingeZ, limits: [-2.7576, 2.7576, 32, -1, 88], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_hip_yaw_link.ply>, ctrl_limits: [32, -1, 88] },
-torso_link(waist_pitch_joint): { mass: 8.562, inertia: [0.065675, -8.597e-05, -0.00173725, 0.0535352, 8.6899e-05, 0.0308081] },
-logo_link(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], mass: 0.001, inertia: [1e-07, 1e-07, 1e-07] },
-logo_link_0(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/logo_link.ply>, visual: True },
-head_link(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], mass: 1.036, inertia: [0.00408505, -2.543e-06, -6.9455e-05, 0.00418521, -3.726e-06, 0.00180791] },
-head_link_0(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/head_link.ply>, visual: True },
-waist_support_link(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], mass: 0.001, inertia: [1e-07, 1e-07, 1e-07] },
-waist_support_link_0(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/waist_support_link.ply>, visual: True },
-left_shoulder_pitch_joint_origin(waist_pitch_joint): { Q: [0.0039563, 0.10022, 0.23778, 0.990264, 0.139201, 1.38722e-05, -9.86868e-05] },
-right_shoulder_pitch_joint_origin(waist_pitch_joint): { Q: [0.0039563, -0.10021, 0.23778, 0.990264, -0.139201, 1.38722e-05, 9.86868e-05] },
-left_hip_yaw_link(left_hip_yaw_joint): { mass: 1.702, inertia: [0.0057774, -0.0005411, -0.0023948, 0.0076124, -0.0007072, 0.003149] },
+waist_pitch_joint(waist_pitch_joint_origin): { joint: hingeY, limits: [-0.52, 0.52], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/torso_link.h5>, mass: 4.46637, com: [0.00435575, 0.00507317, 0.15113], inertia: [0.0736175, -4.25291e-06, -0.0008917, 0.0665665, 0.000409521, 0.0246276] },
+left_hip_yaw_joint(left_hip_yaw_joint_origin): { joint: hingeZ, limits: [-2.7576, 2.7576], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_hip_yaw_link.h5>, mass: 0.681619, inertia: [0.0044275, -0.000108056, -0.00166275, 0.00545319, -0.000187376, 0.001876] },
+right_hip_yaw_joint(right_hip_yaw_joint_origin): { joint: hingeZ, limits: [-2.7576, 2.7576], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_hip_yaw_link.h5>, mass: 0.681613, inertia: [0.00442747, 0.000108056, -0.00166275, 0.00545319, 0.000187351, 0.00187597] },
+left_shoulder_pitch_joint_origin(waist_pitch_joint): { Q: [0.0039563, 0.10022, 0.23778, 0.990264, 0.139201, 4.05418e-05, -9.10379e-05] },
+right_shoulder_pitch_joint_origin(waist_pitch_joint): { Q: [0.0039563, -0.10021, 0.23778, 0.990264, -0.139201, 4.05418e-05, 9.10379e-05] },
+logo_link_0(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/logo_link.h5> },
+head_link_0(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/head_link.h5> },
+waist_support_link_0(waist_pitch_joint): { Q: [0.0039635, 0, -0.054], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/waist_support_link.h5> },
 left_knee_joint_origin(left_hip_yaw_joint): { Q: [-0.078273, 0.0021489, -0.17734, 0.996179, 0, 0.0873386, 0] },
-right_hip_yaw_link(right_hip_yaw_joint): { mass: 1.702, inertia: [0.0057774, 0.0005411, -0.0023948, 0.0076124, 0.0007072, 0.003149] },
 right_knee_joint_origin(right_hip_yaw_joint): { Q: [-0.078273, -0.0021489, -0.17734, 0.996179, 0, 0.0873386, 0] },
-left_shoulder_pitch_joint(left_shoulder_pitch_joint_origin): { joint: hingeY, limits: [-3.0892, 2.6704, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_shoulder_pitch_link.ply>, ctrl_limits: [37, -1, 25] },
-right_shoulder_pitch_joint(right_shoulder_pitch_joint_origin): { joint: hingeY, limits: [-3.0892, 2.6704, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_shoulder_pitch_link.ply>, ctrl_limits: [37, -1, 25] },
-left_knee_joint(left_knee_joint_origin): { joint: hingeY, limits: [-0.087267, 2.8798, 20, -1, 139], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_knee_link.ply>, ctrl_limits: [20, -1, 139] },
-right_knee_joint(right_knee_joint_origin): { joint: hingeY, limits: [-0.087267, 2.8798, 20, -1, 139], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_knee_link.ply>, ctrl_limits: [20, -1, 139] },
-left_shoulder_pitch_link(left_shoulder_pitch_joint): { mass: 0.718, inertia: [0.0004291, -9.2e-06, 6.4e-06, 0.000453, 2.26e-05, 0.000423] },
+left_shoulder_pitch_joint(left_shoulder_pitch_joint_origin): { joint: hingeY, limits: [-3.0892, 2.6704], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_shoulder_pitch_link.h5>, mass: 0.126023, inertia: [0.000160485, -1.66228e-07, 3.91865e-07, 0.000151496, 1.75614e-05, 0.000138798] },
+right_shoulder_pitch_joint(right_shoulder_pitch_joint_origin): { joint: hingeY, limits: [-3.0892, 2.6704], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_shoulder_pitch_link.h5>, mass: 0.126023, inertia: [0.000160483, 1.65124e-07, 3.90512e-07, 0.000151492, -1.75623e-05, 0.000138793] },
+left_knee_joint(left_knee_joint_origin): { joint: hingeY, limits: [-0.087267, 2.8798], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_knee_link.h5>, mass: 0.876712, inertia: [0.00648182, 3.3975e-05, -0.000127209, 0.00672925, -0.000358869, 0.00109586] },
+right_knee_joint(right_knee_joint_origin): { joint: hingeY, limits: [-0.087267, 2.8798], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_knee_link.h5>, mass: 0.876714, inertia: [0.00648176, -3.398e-05, -0.000127209, 0.00672918, 0.000358822, 0.00109587] },
 left_shoulder_roll_joint_origin(left_shoulder_pitch_joint): { Q: [0, 0.038, -0.013831, 0.990268, -0.139172, 0, 0] },
-right_shoulder_pitch_link(right_shoulder_pitch_joint): { mass: 0.718, inertia: [0.0004291, 9.2e-06, 6.4e-06, 0.000453, -2.26e-05, 0.000423] },
 right_shoulder_roll_joint_origin(right_shoulder_pitch_joint): { Q: [0, -0.038, -0.013831, 0.990268, 0.139172, 0, 0] },
-left_knee_link(left_knee_joint): { mass: 1.932, inertia: [0.011329, 4.82e-05, -4.49e-05, 0.011277, -0.0007146, 0.0015168] },
 left_ankle_pitch_joint_origin(left_knee_joint): { Q: [0, -9.4445e-05, -0.30001] },
-right_knee_link(right_knee_joint): { mass: 1.932, inertia: [0.011329, -4.82e-05, 4.49e-05, 0.011277, 0.0007146, 0.0015168] },
 right_ankle_pitch_joint_origin(right_knee_joint): { Q: [0, 9.4445e-05, -0.30001] },
-left_shoulder_roll_joint(left_shoulder_roll_joint_origin): { joint: hingeX, limits: [-1.5882, 2.2515, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_shoulder_roll_link.ply>, ctrl_limits: [37, -1, 25] },
-right_shoulder_roll_joint(right_shoulder_roll_joint_origin): { joint: hingeX, limits: [-2.2515, 1.5882, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_shoulder_roll_link.ply>, ctrl_limits: [37, -1, 25] },
-left_ankle_pitch_joint(left_ankle_pitch_joint_origin): { joint: hingeY, limits: [-0.87267, 0.5236, 37, -1, 50], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_ankle_pitch_link.ply>, ctrl_limits: [37, -1, 50] },
-right_ankle_pitch_joint(right_ankle_pitch_joint_origin): { joint: hingeY, limits: [-0.87267, 0.5236, 37, -1, 50], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_ankle_pitch_link.ply>, ctrl_limits: [37, -1, 50] },
-left_shoulder_roll_link(left_shoulder_roll_joint): { mass: 0.643, inertia: [0.0006177, -1e-06, 8.7e-06, 0.0006912, -5.3e-06, 0.0003894] },
+left_shoulder_roll_joint(left_shoulder_roll_joint_origin): { joint: hingeX, limits: [-1.5882, 2.2515], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_shoulder_roll_link.h5>, mass: 0.246281, inertia: [0.000394956, 2.09873e-08, -1.93073e-07, 0.000469736, 1.57454e-05, 0.000272781] },
+right_shoulder_roll_joint(right_shoulder_roll_joint_origin): { joint: hingeX, limits: [-2.2515, 1.5882], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_shoulder_roll_link.h5>, mass: 0.246283, inertia: [0.000394966, -1.6719e-08, -1.89014e-07, 0.000469741, -1.57405e-05, 0.000272773] },
+left_ankle_pitch_joint(left_ankle_pitch_joint_origin): { joint: hingeY, limits: [-0.87267, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_ankle_pitch_link.h5>, mass: 0.0197524, inertia: [2.78775e-06, -2.27316e-10, -5.8987e-07, 4.52084e-06, -3.84759e-10, 2.51425e-06] },
+right_ankle_pitch_joint(right_ankle_pitch_joint_origin): { joint: hingeY, limits: [-0.87267, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_ankle_pitch_link.h5>, mass: 0.0197524, inertia: [2.78777e-06, 2.213e-10, -5.89865e-07, 4.52084e-06, 3.98325e-10, 2.51424e-06] },
 left_shoulder_yaw_joint_origin(left_shoulder_roll_joint): { Q: [0, 0.00624, -0.1032] },
-right_shoulder_roll_link(right_shoulder_roll_joint): { mass: 0.643, inertia: [0.0006177, 1e-06, 8.7e-06, 0.0006912, 5.3e-06, 0.0003894] },
 right_shoulder_yaw_joint_origin(right_shoulder_roll_joint): { Q: [0, -0.00624, -0.1032] },
-left_ankle_pitch_link(left_ankle_pitch_joint): { mass: 0.074, inertia: [8.4e-06, 0, -2.9e-06, 1.89e-05, 0, 1.26e-05] },
 left_ankle_roll_joint_origin(left_ankle_pitch_joint): { Q: [0, 0, -0.017558] },
-right_ankle_pitch_link(right_ankle_pitch_joint): { mass: 0.074, inertia: [8.4e-06, 0, -2.9e-06, 1.89e-05, 0, 1.26e-05] },
 right_ankle_roll_joint_origin(right_ankle_pitch_joint): { Q: [0, 0, -0.017558] },
-left_shoulder_yaw_joint(left_shoulder_yaw_joint_origin): { joint: hingeZ, limits: [-2.618, 2.618, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_shoulder_yaw_link.ply>, ctrl_limits: [37, -1, 25] },
-right_shoulder_yaw_joint(right_shoulder_yaw_joint_origin): { joint: hingeZ, limits: [-2.618, 2.618, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_shoulder_yaw_link.ply>, ctrl_limits: [37, -1, 25] },
-left_ankle_roll_joint(left_ankle_roll_joint_origin): { joint: hingeX, limits: [-0.2618, 0.2618, 37, -1, 50], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/left_ankle_roll_link.ply>, ctrl_limits: [37, -1, 50] },
-right_ankle_roll_joint(right_ankle_roll_joint_origin): { joint: hingeX, limits: [-0.2618, 0.2618, 37, -1, 50], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/right_ankle_roll_link.ply>, ctrl_limits: [37, -1, 50] },
-left_shoulder_yaw_link(left_shoulder_yaw_joint): { mass: 0.734, inertia: [0.0009988, 7.9e-06, 0.0001412, 0.0010605, -2.86e-05, 0.0004354] },
+left_shoulder_yaw_joint(left_shoulder_yaw_joint_origin): { joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_shoulder_yaw_link.h5>, mass: 0.330191, inertia: [0.00075724, 1.01914e-05, 0.000118153, 0.000781633, -6.07748e-05, 0.000303097] },
+right_shoulder_yaw_joint(right_shoulder_yaw_joint_origin): { joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_shoulder_yaw_link.h5>, mass: 0.330189, inertia: [0.000757238, -1.01934e-05, 0.000118161, 0.000781632, 6.07703e-05, 0.000303094] },
+left_ankle_roll_joint(left_ankle_roll_joint_origin): { joint: hingeX, limits: [-0.2618, 0.2618], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/left_ankle_roll_link.h5>, mass: 0.456098, inertia: [0.000287801, 6.50248e-08, 8.30648e-05, 0.00151895, -1.18792e-07, 0.0016069] },
+right_ankle_roll_joint(right_ankle_roll_joint_origin): { joint: hingeX, limits: [-0.2618, 0.2618], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/right_ankle_roll_link.h5>, mass: 0.45609, inertia: [0.0002878, -9.56202e-08, 8.30614e-05, 0.00151893, 1.13682e-07, 0.00160687] },
 left_elbow_joint_origin(left_shoulder_yaw_joint): { Q: [0.015783, 0, -0.080518] },
-right_shoulder_yaw_link(right_shoulder_yaw_joint): { mass: 0.734, inertia: [0.0009988, -7.9e-06, 0.0001412, 0.0010605, 2.86e-05, 0.0004354] },
 right_elbow_joint_origin(right_shoulder_yaw_joint): { Q: [0.015783, 0, -0.080518] },
-left_ankle_roll_link(left_ankle_roll_joint): { mass: 0.608, inertia: [0.0002231, 2e-07, 8.91e-05, 0.0016161, -1e-07, 0.0016667] },
-right_ankle_roll_link(right_ankle_roll_joint): { mass: 0.608, inertia: [0.0002231, -2e-07, 8.91e-05, 0.0016161, 1e-07, 0.0016667] },
-left_elbow_joint(left_elbow_joint_origin): { joint: hingeY, limits: [-1.0472, 2.0944, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_elbow_link.ply>, ctrl_limits: [37, -1, 25] },
-right_elbow_joint(right_elbow_joint_origin): { joint: hingeY, limits: [-1.0472, 2.0944, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_elbow_link.ply>, ctrl_limits: [37, -1, 25] },
-left_elbow_link(left_elbow_joint): { mass: 0.6, inertia: [0.0002891, 6.53e-05, 1.72e-05, 0.0004152, -5.6e-06, 0.0004197] },
+left_elbow_joint(left_elbow_joint_origin): { joint: hingeY, limits: [-1.0472, 2.0944], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_elbow_link.h5>, mass: 0.133212, inertia: [0.000105606, 4.41256e-05, 1.51768e-05, 0.000221879, -4.66813e-06, 0.000221601] },
+right_elbow_joint(right_elbow_joint_origin): { joint: hingeY, limits: [-1.0472, 2.0944], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_elbow_link.h5>, mass: 0.133212, inertia: [0.000105601, -4.41257e-05, 1.5176e-05, 0.000221877, 4.66758e-06, 0.000221596] },
 left_wrist_roll_joint_origin(left_elbow_joint): { Q: [0.1, 0.00188791, -0.01] },
-right_elbow_link(right_elbow_joint): { mass: 0.6, inertia: [0.0002891, -6.53e-05, 1.72e-05, 0.0004152, 5.6e-06, 0.0004197] },
 right_wrist_roll_joint_origin(right_elbow_joint): { Q: [0.1, -0.00188791, -0.01] },
-left_wrist_roll_joint(left_wrist_roll_joint_origin): { joint: hingeX, limits: [-1.97222, 1.97222, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_wrist_roll_link.ply>, ctrl_limits: [37, -1, 25] },
-right_wrist_roll_joint(right_wrist_roll_joint_origin): { joint: hingeX, limits: [-1.97222, 1.97222, 37, -1, 25], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_wrist_roll_link.ply>, ctrl_limits: [37, -1, 25] },
-left_wrist_roll_link(left_wrist_roll_joint): { mass: 0.085445, inertia: [4.82154e-05, -4.24511e-06, 5.10599e-09, 3.7229e-05, -1.23525e-09, 5.48211e-05] },
+left_wrist_roll_joint(left_wrist_roll_joint_origin): { joint: hingeX, limits: [-1.97222, 1.97222], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_wrist_roll_link.h5>, mass: 0.0819051, inertia: [5.76855e-05, -6.70778e-07, 1.09252e-09, 4.18275e-05, -1.21848e-09, 6.33789e-05] },
+right_wrist_roll_joint(right_wrist_roll_joint_origin): { joint: hingeX, limits: [-1.97222, 1.97222], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_wrist_roll_link.h5>, mass: 0.0819045, inertia: [5.76834e-05, 6.70746e-07, 8.73074e-10, 4.18274e-05, 8.19224e-10, 6.33769e-05] },
 left_wrist_pitch_joint_origin(left_wrist_roll_joint): { Q: [0.038, 0, 0] },
-right_wrist_roll_link(right_wrist_roll_joint): { mass: 0.085445, inertia: [4.82154e-05, 4.24511e-06, 5.10599e-09, 3.7229e-05, 1.23525e-09, 5.48211e-05] },
 right_wrist_pitch_joint_origin(right_wrist_roll_joint): { Q: [0.038, 0, 0] },
-left_wrist_pitch_joint(left_wrist_pitch_joint_origin): { joint: hingeY, limits: [-1.61443, 1.61443, 22, -1, 5], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_wrist_pitch_link.ply>, ctrl_limits: [22, -1, 5] },
-right_wrist_pitch_joint(right_wrist_pitch_joint_origin): { joint: hingeY, limits: [-1.61443, 1.61443, 22, -1, 5], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_wrist_pitch_link.ply>, ctrl_limits: [22, -1, 5] },
-left_wrist_pitch_link(left_wrist_pitch_joint): { mass: 0.48405, inertia: [0.000165796, -1.23121e-05, 1.2317e-05, 0.000429541, 8.14177e-07, 0.000429537] },
+left_wrist_pitch_joint(left_wrist_pitch_joint_origin): { joint: hingeY, limits: [-1.61443, 1.61443], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_wrist_pitch_link.h5>, mass: 0.102165, inertia: [6.54114e-05, -1.39886e-06, 1.39875e-06, 0.000133698, 1.78434e-08, 0.000133699] },
+right_wrist_pitch_joint(right_wrist_pitch_joint_origin): { joint: hingeY, limits: [-1.61443, 1.61443], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_wrist_pitch_link.h5>, mass: 0.102164, inertia: [6.54077e-05, 1.39993e-06, 1.3996e-06, 0.000133692, -1.67215e-08, 0.000133692] },
 left_wrist_yaw_joint_origin(left_wrist_pitch_joint): { Q: [0.046, 0, 0] },
-right_wrist_pitch_link(right_wrist_pitch_joint): { mass: 0.48405, inertia: [0.000165796, 1.23121e-05, 1.2317e-05, 0.000429541, -8.14177e-07, 0.000429537] },
 right_wrist_yaw_joint_origin(right_wrist_pitch_joint): { Q: [0.046, 0, 0] },
-left_wrist_yaw_joint(left_wrist_yaw_joint_origin): { joint: hingeZ, limits: [-1.61443, 1.61443, 22, -1, 5], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_wrist_yaw_link.ply>, ctrl_limits: [22, -1, 5] },
-right_wrist_yaw_joint(right_wrist_yaw_joint_origin): { joint: hingeZ, limits: [-1.61443, 1.61443, 22, -1, 5], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_wrist_yaw_link.ply>, ctrl_limits: [22, -1, 5] },
-left_wrist_yaw_link(left_wrist_yaw_joint): { mass: 0.0845765, inertia: [4.92913e-05, -4.57355e-07, 4.45868e-06, 5.97334e-05, 4.32172e-07, 3.92808e-05] },
-left_rubber_hand(left_wrist_yaw_joint): { Q: [0.0415, 0.003, 0], mass: 0.17, inertia: [0.000100995, 3.61859e-05, -7.43015e-07, 0.000281359, 3.3019e-06, 0.000218948] },
-left_rubber_hand_0(left_wrist_yaw_joint): { Q: [0.0415, 0.003, 0], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_rubber_hand.ply>, visual: True },
-right_wrist_yaw_link(right_wrist_yaw_joint): { mass: 0.0845765, inertia: [4.92913e-05, 4.57355e-07, 4.45868e-06, 5.97334e-05, -4.32172e-07, 3.92808e-05] },
-right_rubber_hand(right_wrist_yaw_joint): { Q: [0.0415, -0.003, 0], mass: 0.17, inertia: [0.000100995, -3.61859e-05, -7.43015e-07, 0.000281359, -3.3019e-06, 0.000218948] },
-right_rubber_hand_0(right_wrist_yaw_joint): { Q: [0.0415, -0.003, 0], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_rubber_hand.ply>, visual: True }
+left_wrist_yaw_joint(left_wrist_yaw_joint_origin): { joint: hingeZ, limits: [-1.61443, 1.61443], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_wrist_yaw_link.h5>, mass: 0.235411, com: [0.0788504, -0.00205286, 0.0021586], inertia: [0.000185982, 6.57578e-05, -7.51085e-06, 0.000766002, 3.21636e-06, 0.000670575] },
+right_wrist_yaw_joint(right_wrist_yaw_joint_origin): { joint: hingeZ, limits: [-1.61443, 1.61443], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_wrist_yaw_link.h5>, mass: 0.235418, com: [0.0788478, 0.00205232, 0.00215915], inertia: [0.00018599, -6.5759e-05, -7.50542e-06, 0.000766053, -3.21646e-06, 0.000670623] },
+left_rubber_hand_0(left_wrist_yaw_joint): { Q: [0.0415, 0.003, 0], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_rubber_hand.h5> },
+right_rubber_hand_0(right_wrist_yaw_joint): { Q: [0.0415, -0.003, 0], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_rubber_hand.h5> }

robotic/rai-robotModels/objects/shelf.g

@@ -10,6 +10,6 @@ shelf: { X: "t(1. 1. 0) d(120 0 0 1)" fixed }
 (shelf): { shape: ssBox, color: [0, .3, .7], Q: "T t(0 0 1.5)", size: [.6, 1., .1, .02], contact }
 (shelf): { shape: ssBox, color: [0, .3, .7], Q: "T t(0 0 1.95)", size: [.6, 1., .1, .02], contact }
 
-target(shelf): { shape: sphere, color: [1., 0., 0.], Q: "T t(0 0 1.25)", size: [0, 0, 0, .07] }
+target(shelf): { shape: sphere, color: [1., 0., 0.], Q: "T t(0 0 1.25)", size: [.07] }
 
 

robotic/rai-robotModels/panda/panda.g

@@ -1,7 +1,7 @@
 ## create standard base frame before including
 
 panda_base: { multibody: true, multibody_gravity: false }
-Include: <panda_clean.g>
+Include: <panda_arm_hand_conv.yml>
 Edit panda_link0(panda_base): {}
 
 ## simpler collision models

robotic/rai-robotModels/panda/panda_arm_hand_conv.g

@@ -0,0 +1,24 @@
+panda_link0: { shape: mesh, mesh: <meshes/link0.h5> },
+panda_joint1_origin(panda_link0): { pose: [0, 0, 0.333] },
+panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link1.h5> },
+panda_joint2_origin(panda_joint1): { pose: [0.707107, -0.707107, 0, 0] },
+panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link2.h5> },
+panda_joint3_origin(panda_joint2): { pose: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5> },
+panda_joint4_origin(panda_joint3): { pose: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5> },
+panda_joint5_origin(panda_joint4): { pose: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5> },
+panda_joint6_origin(panda_joint5): { pose: [0.707107, 0.707107, 0, 0] },
+panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5> },
+panda_joint7_origin(panda_joint6): { pose: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5> },
+panda_joint8_origin(panda_joint7): { pose: [0, 0, 0.107] },
+panda_joint8(panda_joint8_origin): { joint: rigid },
+panda_hand_joint_origin(panda_joint8): { pose: [0.92388, 0, 0, -0.382683] },
+panda_hand_joint(panda_hand_joint_origin): { joint: rigid, shape: mesh, mesh: <meshes/hand.h5> },
+panda_finger_joint1_origin(panda_hand_joint): { pose: [0, 0, 0.0584] },
+panda_finger_joint2_origin(panda_hand_joint): { pose: [0, 0, 0.0584] },
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04], shape: mesh, mesh: <meshes/finger.h5> },
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04], mimic: "panda_finger_joint1" },
+panda_rightfinger_0(panda_finger_joint2): { pose: [-1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5> }

robotic/rai-robotModels/panda/panda_arm_hand_conv.yml

@@ -0,0 +1,24 @@
+panda_link0: {shape: mesh, mesh: <meshes/link0.h5>}
+panda_joint1_origin (panda_link0): {pose: [0.0, 0.0, 0.333]}
+panda_joint1 (panda_joint1_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1.0, 1.0, 1.0, 1.0], mesh: <meshes/link1.h5>}
+panda_joint2_origin (panda_joint1): {pose: [0.7071067811882787, -0.7071067811848163, 0.0, 0.0]}
+panda_joint2 (panda_joint2_origin): {joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1.0, 1.0, 1.0, 1.0], mesh: <meshes/link2.h5>}
+panda_joint3_origin (panda_joint2): {pose: [0.0, -0.316, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint3 (panda_joint3_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5>}
+panda_joint4_origin (panda_joint3): {pose: [0.0825, 0.0, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint4 (panda_joint4_origin): {joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5>}
+panda_joint5_origin (panda_joint4): {pose: [-0.0825, 0.384, 0.0, 0.7071067811882787, -0.7071067811848163, 0.0, 0.0]}
+panda_joint5 (panda_joint5_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5>}
+panda_joint6_origin (panda_joint5): {pose: [0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint6 (panda_joint6_origin): {joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5>}
+panda_joint7_origin (panda_joint6): {pose: [0.088, 0.0, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint7 (panda_joint7_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5>}
+panda_joint8_origin (panda_joint7): {pose: [0.0, 0.0, 0.107]}
+panda_joint8 (panda_joint8_origin): {joint: rigid}
+panda_hand_joint_origin (panda_joint8): {pose: [0.9238795325113726, 0.0, 0.0, -0.38268343236488267]}
+panda_hand_joint (panda_hand_joint_origin): {joint: rigid, shape: mesh, mesh: <meshes/hand.h5>}
+panda_finger_joint1_origin (panda_hand_joint): {pose: [0.0, 0.0, 0.0584]}
+panda_finger_joint2_origin (panda_hand_joint): {pose: [0.0, 0.0, 0.0584]}
+panda_finger_joint1 (panda_finger_joint1_origin): {joint: transY, limits: [0.0, 0.04], shape: mesh, mesh: <meshes/finger.h5>}
+panda_finger_joint2 (panda_finger_joint2_origin): {joint: transY, joint_scale: -1.0, limits: [0.0, 0.04], mimic: panda_finger_joint1}
+panda_rightfinger_0 (panda_finger_joint2): {pose: [-1.0341155355510722e-13, 0.0, 0.0, 1.0], shape: mesh, mesh: <meshes/finger.h5>}

robotic/rai-robotModels/panda/panda_clean.g

@@ -1,45 +1,21 @@
-panda_link0: {  }
-panda_link0_0(panda_link0): { shape: mesh, mesh: <franka_description/meshes/visual/link0.ply>, mass: 1., visual: True }
-panda_joint1_origin(panda_link0): { rel: [0, 0, 0.333, 1, 0, 0, 0] }
-panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link1(panda_joint1): {  }
-panda_link1_0(panda_link1): { shape: mesh, mesh: <franka_description/meshes/visual/link1.ply>, mass: 1., visual: True }
-panda_joint2_origin(panda_link1): { rel: [0, 0, 0, 0.707107, -0.707107, 0, 0] }
-panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link2(panda_joint2): {  }
-panda_link2_0(panda_link2): { shape: mesh, mesh: <franka_description/meshes/visual/link2.ply>, mass: 1., visual: True }
-panda_joint3_origin(panda_link2): { rel: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link3(panda_joint3): {  }
-panda_link3_0(panda_link3): { shape: mesh, mesh: <franka_description/meshes/visual/link3.ply>, mass: 1., visual: True }
-panda_joint4_origin(panda_link3): { rel: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link4(panda_joint4): {  }
-panda_link4_0(panda_link4): { shape: mesh, mesh: <franka_description/meshes/visual/link4.ply>, mass: 1., visual: True }
-panda_joint5_origin(panda_link4): { rel: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] }
-panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link5(panda_joint5): {  }
-panda_link5_0(panda_link5): { shape: mesh, mesh: <franka_description/meshes/visual/link5.ply>, mass: 1., visual: True }
-panda_joint6_origin(panda_link5): { rel: [0, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link6(panda_joint6): {  }
-panda_link6_0(panda_link6): { shape: mesh, mesh: <franka_description/meshes/visual/link6.ply>, mass: 1., visual: True }
-panda_joint7_origin(panda_link6): { rel: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link7(panda_joint7): {  }
-panda_link7_0(panda_link7): { shape: mesh, mesh: <franka_description/meshes/visual/link7.ply>, mass: 1., visual: True }
-panda_joint8_origin(panda_link7): { rel: [0, 0, 0.107, 1, 0, 0, 0] }
-panda_joint8(panda_joint8_origin): { joint: rigid }
-panda_link8(panda_joint8): {  }
-panda_hand_joint_origin(panda_link8): { rel: [0, 0, 0, 0.92388, 0, 0, -0.382683] }
-panda_hand_joint(panda_hand_joint_origin): { joint: rigid }
-panda_hand(panda_hand_joint): {  }
-panda_hand_0(panda_hand): { shape: mesh, mesh: <franka_description/meshes/visual/hand.ply>, mass: .1, visual: True }
-panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
-panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
-panda_leftfinger(panda_finger_joint1): {  }
-panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }
+panda_link0: { shape: mesh, mesh: <meshes/link0.h5> },
+panda_joint1_origin(panda_link0): { Q: [0, 0, 0.333] },
+panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link1.h5>, mass: 0.54041, inertia: [0.00456315, -4.84504e-08, 2.96537e-08, 0.00410729, 0.000986596, 0.00188739] },
+panda_joint2_origin(panda_joint1): { Q: [0, 0, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link2.h5>, mass: 0.5439, inertia: [0.00464633, 9.63904e-08, 7.04706e-08, 0.00190105, -0.0010021, 0.00418737] },
+panda_joint3_origin(panda_joint2): { Q: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5>, mass: 0.546829, inertia: [0.00249312, -0.00055264, -0.000819764, 0.0029029, -0.000540692, 0.00252334] },
+panda_joint4_origin(panda_joint3): { Q: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5>, mass: 0.552034, inertia: [0.0025711, 0.000847668, -0.000560078, 0.0025553, 0.000559278, 0.0029871] },
+panda_joint5_origin(panda_joint4): { Q: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5>, mass: 0.660947, inertia: [0.00852046, 2.33154e-06, -4.3629e-07, 0.00765386, -0.00177651, 0.00209357] },
+panda_joint6_origin(panda_joint5): { Q: [0, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5>, mass: 0.499248, inertia: [0.00118729, -3.51299e-05, 0.000161884, 0.00164794, 7.03151e-06, 0.00209417] },
+panda_joint7_origin(panda_joint6): { Q: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5>, mass: 0.508784, com: [0.00479185, 0.00293889, 0.110289], inertia: [0.00140377, -0.000585627, 3.48228e-05, 0.0013959, 5.49295e-05, 0.0015899] },
+panda_hand_0(panda_joint7): { Q: [0, 0, 0.107, 0.92388, 0, 0, -0.382683], shape: mesh, mesh: <meshes/hand.h5> },
+panda_finger_joint1_origin(panda_joint7): { Q: [0, 0, 0.1654, 0.92388, 0, 0, -0.382683] },
+panda_finger_joint2_origin(panda_joint7): { Q: [0, 0, 0.1654, 0.92388, 0, 0, -0.382683] },
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04], shape: mesh, mesh: <meshes/finger.h5>, mass: 0.0339598, inertia: [1.28954e-05, 3.94979e-10, 2.1346e-10, 1.25171e-05, 2.56044e-06, 3.22803e-06] },
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04], mimic: "panda_finger_joint1", mass: 0.0339598, com: [-7.21322e-07, 0.0122672, 0.0270327], inertia: [1.28954e-05, 3.94979e-10, -2.1346e-10, 1.25171e-05, -2.56044e-06, 3.22803e-06] },
+panda_rightfinger_0(panda_finger_joint2): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5> }