robotic 0.2.9.dev1__cp39-cp39-manylinux2014_x86_64.whl → 0.3.0__cp39-cp39-manylinux2014_x86_64.whl

{robotic-0.2.9.dev1.data → robotic-0.3.0.data}/scripts/ry-h5info

@@ -12,9 +12,9 @@ def print_attrs(name, obj):
     if isinstance(obj, h5py.Dataset):
         print('   ', name, obj.name, obj.shape, obj.dtype, f'{obj.size*obj.dtype.itemsize/1024:.2f}kB')
         if obj.dtype=='int8':
-            print(''.join([chr(x) for x in obj[()]]))
+            print('       ', ''.join([chr(x) for x in obj[()]]))
         elif obj.size<20:
-            print(obj[()])
+            print('       ', obj[()])
     else:
         print('---', name)
 

robotic-0.3.0.data/scripts/ry-urdfConvert.py

@@ -0,0 +1,74 @@
+#!python
+
+# 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-0.2.9.dev1.dist-info → robotic-0.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.2.9.dev1
+Version: 0.3.0
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -46,19 +46,15 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 * Tests:
 
       ry-info
-
       ry-test
 
-      python3 -c 'import robotic as ry; ry.test.RndScene()'
-
-      ry-view `python3 -m site --user-site`/robotic/rai-robotModels/scenarios/pandaSingle.g
-
 * Run all tutorial notebooks as a test and showcase (takes long):
 
       pip install jupyter nbconvert matplotlib ipympl
       git clone https://github.com/MarcToussaint/rai-tutorials.git
       cd rai-tutorials
       make run -j1
+	  make run_demos -j1
 
 * Tested in latest ubuntu docker (using a venv):
 
@@ -74,7 +70,7 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 
 ## Installation from source with real Franka & realsense support
 
-This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.
+This assumes a standard Ubuntu 24.04 (or 22.04, 20.04) machine.
 
 * Install Ubuntu and python packages:
 

robotic-0.3.0.dist-info/RECORD

@@ -0,0 +1,367 @@
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+robotic/__init__.py,sha256=ohFobv0RbIeS22ItTjsBuEh2SCmcXAGuUwu5A2j-foA,418
+robotic/_robotic.pyi,sha256=oJJcEuvL8aQGFTbdqmVdLNYTNIqz_KaxK8QYBVKBkrA,74164
+robotic/_robotic.so,sha256=GKmQvZCjsbdZGliyJ55xePhGPkT4dNvP9Qw5qDDH3kw,1218376
+robotic/librai.so,sha256=ZQ9kyklmvF399Nc97EguActdDxj3REaOcs-AwVxXxBQ,38705536
+robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
+robotic/meshTool,sha256=AWNp8WLaNlttZMHFyrBxy7eKkeTXUzxQP_38mjNyBcQ,52176
+robotic/mujoco-import.py,sha256=6zZTUvl6GuxSQrTnMW2y4Iy8iL7RuRbfZET-KiqO1Fg,363
+robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
+robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
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{robotic-0.2.9.dev1.dist-info → robotic-0.3.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (77.0.3)
+Generator: setuptools (80.8.0)
 Root-Is-Purelib: false
 Tag: cp39-cp39-linux_x86_64
 

robotic/rai-robotModels/baxter/baxter.g

@@ -1,49 +0,0 @@
-Include: <baxter_clean2.g>
-
-#Delete shape collision (head):
-
-#shape (head): { shape: mesh, size: [1, 1, 1, 1], Q: "T -0.0319886 -2.26154e-05 -0.00274816 -0.707107 0 -0.707107 0 ", mesh: <head/H0.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-#shape (head): { shape: box, size: [0.218, 0.16, 0.001, 0], Q: "T -0.0157421 1.40048e-14 -0.119839 0.154854 -0.689942 -0.689942 0.154854 ", color: [0, 0, 0, 1] }
-#shape (head): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0055038, -0.000139031, -0.0938075, -0.453099, -0.453099, -0.542864, 0.542864], mesh: <head/H1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-
-(head): { shape: box, size: [0.27, 0.19, 0.03, 0], Q: [-0.0157421, 0, -0.119839, 0.154854, -0.689942, -0.689942, 0.154854], color: [1, 0, 0] }
-
-## zero position
-
-Edit right_s0: { q: 0.08, robot }
-Edit left_s0: { q: -0.08, robot }
-Edit right_s1: { q: -1, robot }
-Edit left_s1: { q: -1, robot }
-Edit right_e0: { q: 1.17, robot }
-Edit left_e0: { q: -1.17, robot }
-Edit right_e1: { q: 1.94, robot }
-Edit left_e1: { q: 1.94, robot }
-Edit right_w0: { q: -0.67, robot }
-Edit left_w0: { q: 0.67, robot }
-Edit right_w1: { q: 1.02, robot }
-Edit left_w1: { q: 1.02, robot }
-Edit right_w2: { q: 0.5, robot }
-Edit left_w2: { q: -0.5, robot }
-
-Edit joint: { ctrl_H: 1. }
-
-## extra shapes to mimick pr2
-
-base_footprint: { mass: 100 }
-base_footprint_1(base_footprint): { shape: marker, size: [.1, 0, 0, 0] } #marker
-(base_footprint base): { joint: rigid, pre: "t(0 0 1)" }
-torso_lift_link_0 (base): { shape: marker, size: [.3, .3, .3, 0] }
-
-## extra shapes
-#endeffBase(torso_lift_link): { Q: "T d(90 0 1 0) t(.2 0 0)", shape: marker, color: [1, 0, 0], size: [.1, 0, 0, 0]}
-endeffHead(head): { Q: "T d(-90 0 0 1) d(-15 1 0 0)", shape: marker, color: [1, 0, 0], size: [.2, 0, 0, 0]}
-#endeffWorkspace(torso_lift_link): { Q: "T d(90 0 1 0) t(.7 0 -.1) d(-90 0 0 1) ", shape: marker, color: [1, 0, 0], size: [.1, 0, 0, 0] }
-
-baxterR (right_wrist): { Q: "T d(-90 0 1 0) d(-90 0 0 1) t(0 0 -.26)", shape: marker, size: [.1, 0, 0, 0], color: [1, 1, 0] }
-baxterL (left_wrist): { Q: "T d(-90 0 1 0) d(-90 0 0 1) t(0 0 -.26)", shape: marker, size: [.1, 0, 0, 0], color: [1, 1, 0] }
-
-elbowL(left_lower_shoulder): { Q: "T d(180 1 0 0) t(0 0 .42)", shape: marker, color: [1, 0, 0], size: [.2, 0, 0, 0]}
-elbowR(right_lower_shoulder): { Q: "T d(180 1 0 0) t(0 0 .42)", shape: marker, color: [1, 0, 0], size: [.2, 0, 0, 0]}
-
-wristR(right_upper_forearm): { Q: "T d(180 1 0 0) t(0 0 .0)", shape: marker, color: [1, 0, 0], size: [.4, 0, 0, 0]}
-wristL(left_upper_forearm): { Q: "T d(180 1 0 0) t(0 0 .0)", shape: marker, color: [1, 0, 0], size: [.4, 0, 0, 0]}