robotic 0.2.9.dev2__cp38-cp38-manylinux2014_x86_64.whl → 0.3.0__cp38-cp38-manylinux2014_x86_64.whl

robotic/rai-robotModels/g1/g1_29dof_conv.g

@@ -1,77 +0,0 @@
-pelvis: { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/pelvis.h5>, mass: 0.400236, inertia: [0.00159584, -5.92804e-10, -1.2185e-09, 0.0013267, 3.05393e-09, 0.00119011] },
-pelvis_contour_joint(pelvis): { joint: rigid, shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/pelvis_contour_link.h5>, mass: 0.393642, inertia: [0.00120549, -1.39118e-07, -1.37717e-06, 0.00142459, -1.2061e-07, 0.00136524] },
-left_hip_pitch_joint_origin(pelvis): { Q: [0, 0.064452, -0.1027] },
-right_hip_pitch_joint_origin(pelvis): { Q: [0, -0.064452, -0.1027] },
-imu_in_pelvis_joint_origin(pelvis): { Q: [0.04525, 0, -0.08339] },
-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] },
-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] },
-imu_in_pelvis_joint(imu_in_pelvis_joint_origin): { joint: rigid },
-waist_roll_joint_origin(waist_yaw_joint): { Q: [-0.0039635, 0, 0.035] },
-left_hip_roll_joint_origin(left_hip_pitch_joint): { Q: [0, 0.052, -0.030465, 0.996179, 0, -0.0873386, 0] },
-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], 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_yaw_joint_origin(left_hip_roll_joint): { Q: [0.025001, 0, -0.12412] },
-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], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/torso_link.h5>, mass: 3.72833, inertia: [0.0404695, -1.1264e-05, -0.000266539, 0.0333617, -1.24012e-05, 0.0221975] },
-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] },
-logo_joint_origin(waist_pitch_joint): { Q: [0.0039635, 0, -0.054] },
-head_joint_origin(waist_pitch_joint): { Q: [0.0039635, 0, -0.054] },
-waist_support_joint_origin(waist_pitch_joint): { Q: [0.0039635, 0, -0.054] },
-imu_in_torso_joint_origin(waist_pitch_joint): { Q: [-0.03959, -0.00224, 0.13792] },
-d435_joint_origin(waist_pitch_joint): { Q: [0.0576235, 0.01753, 0.41987, 0.91496, 0, 0.403545, 0] },
-mid360_joint_origin(waist_pitch_joint): { Q: [0.0002835, 3e-05, 0.40618, 0.999799, 0, 0.0200699, 0] },
-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] },
-left_knee_joint_origin(left_hip_yaw_joint): { Q: [-0.078273, 0.0021489, -0.17734, 0.996179, 0, 0.0873386, 0] },
-right_knee_joint_origin(right_hip_yaw_joint): { Q: [-0.078273, -0.0021489, -0.17734, 0.996179, 0, 0.0873386, 0] },
-logo_joint(logo_joint_origin): { joint: rigid, shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/logo_link.h5>, mass: 0.0575578, inertia: [0.000100919, -1.65034e-06, 1.03204e-06, 0.000279739, 5.60472e-08, 0.000376764] },
-head_joint(head_joint_origin): { joint: rigid, shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <meshes/head_link.h5>, mass: 0.493975, inertia: [0.00295612, 1.28062e-08, -0.000167611, 0.00293932, 2.9539e-08, 0.0012706] },
-waist_support_joint(waist_support_joint_origin): { joint: rigid, shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/waist_support_link.h5>, mass: 0.202405, inertia: [0.00046643, -1.24677e-07, -2.44136e-07, 0.000381836, -3.23169e-08, 0.000786744] },
-imu_in_torso_joint(imu_in_torso_joint_origin): { joint: rigid },
-d435_joint(d435_joint_origin): { joint: rigid },
-mid360_joint(mid360_joint_origin): { joint: rigid },
-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_roll_joint_origin(right_shoulder_pitch_joint): { Q: [0, -0.038, -0.013831, 0.990268, 0.139172, 0, 0] },
-left_ankle_pitch_joint_origin(left_knee_joint): { Q: [0, -9.4445e-05, -0.30001] },
-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], 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_yaw_joint_origin(right_shoulder_roll_joint): { Q: [0, -0.00624, -0.1032] },
-left_ankle_roll_joint_origin(left_ankle_pitch_joint): { Q: [0, 0, -0.017558] },
-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], 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_elbow_joint_origin(right_shoulder_yaw_joint): { Q: [0.015783, 0, -0.080518] },
-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_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], 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_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], 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_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], shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_wrist_yaw_link.h5>, mass: 0.0806154, inertia: [5.53182e-05, -1.04206e-06, 7.04147e-07, 6.51217e-05, 2.05369e-08, 4.14947e-05] },
-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: 0.0806224, inertia: [5.53259e-05, 1.04209e-06, 7.04755e-07, 6.51361e-05, -2.11753e-08, 4.15045e-05] },
-left_hand_palm_joint_origin(left_wrist_yaw_joint): { Q: [0.0415, 0.003, 0] },
-right_hand_palm_joint_origin(right_wrist_yaw_joint): { Q: [0.0415, -0.003, 0] },
-left_hand_palm_joint(left_hand_palm_joint_origin): { joint: rigid, shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/left_rubber_hand.h5>, mass: 0.154796, inertia: [0.000129099, 4.62168e-05, 5.26706e-06, 0.000313538, 2.47853e-06, 0.000241113] },
-right_hand_palm_joint(right_hand_palm_joint_origin): { joint: rigid, shape: mesh, color: [0.7, 0.7, 0.7, 1], mesh: <meshes/right_rubber_hand.h5>, mass: 0.154795, inertia: [0.0001291, -4.62179e-05, 5.26836e-06, 0.000313541, -2.47823e-06, 0.000241117] }

robotic/rai-robotModels/robotiq/robotiq_arg2f_85_model_conv.g

@@ -1,21 +0,0 @@
-robotiq_arg2f_base_link: { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_base_link.h5>, mass: 0.16309, inertia: [0.00022626, 6.22636e-10, 6.5573e-11, 0.000188087, -3.11813e-07, 0.000141097] },
-finger_joint_origin(robotiq_arg2f_base_link): { Q: [0, -0.0306011, 0.054904, 6.12323e-17, 0, 0, 1] },
-left_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { Q: [0, -0.0127, 0.06142, 6.12323e-17, 0, 0, 1] },
-right_outer_knuckle_joint_origin(robotiq_arg2f_base_link): { Q: [0, 0.0306011, 0.054904] },
-right_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { Q: [0, 0.0127, 0.06142] },
-finger_joint(finger_joint_origin): { joint: hingeX, limits: [0, 0.8], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>, mass: 0.0141429, inertia: [3.26716e-06, -5.23289e-17, 8.54928e-17, 3.03476e-06, 1.77988e-07, 8.59178e-07] },
-left_inner_knuckle_joint(left_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>, mass: 0.0293528, inertia: [1.18448e-05, -2.51482e-13, 9.42698e-14, 1.16071e-05, -5.32477e-06, 9.92039e-06] },
-right_outer_knuckle_joint(right_outer_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.81], mimic: finger_joint, shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>, mass: 0.0141429, inertia: [3.26716e-06, -5.23289e-17, 8.54928e-17, 3.03476e-06, 1.77988e-07, 8.59178e-07] },
-right_inner_knuckle_joint(right_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>, mass: 0.0293528, inertia: [1.18448e-05, -2.51482e-13, 9.42698e-14, 1.16071e-05, -5.32477e-06, 9.92039e-06] },
-left_outer_finger_joint_origin(finger_joint): { Q: [0, 0.0315, -0.0041] },
-right_outer_finger_joint_origin(right_outer_knuckle_joint): { Q: [0, 0.0315, -0.0041] },
-left_outer_finger_joint(left_outer_finger_joint_origin): { joint: rigid, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>, mass: 0.0246725, inertia: [8.05877e-06, 5.27023e-16, -3.05353e-16, 9.48665e-06, -9.13935e-07, 2.56178e-06] },
-right_outer_finger_joint(right_outer_finger_joint_origin): { joint: rigid, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>, mass: 0.0246725, inertia: [8.05877e-06, 5.27023e-16, -3.05353e-16, 9.48665e-06, -9.13935e-07, 2.56178e-06] },
-left_inner_finger_joint_origin(left_outer_finger_joint): { Q: [0, 0.0061, 0.0471] },
-right_inner_finger_joint_origin(right_outer_finger_joint): { Q: [0, 0.0061, 0.0471] },
-left_inner_finger_joint(left_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>, mass: 0.0205822, inertia: [5.68083e-06, -1.41221e-12, 4.89169e-12, 4.88007e-06, 1.15703e-06, 1.93071e-06] },
-right_inner_finger_joint(right_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>, mass: 0.0205822, inertia: [5.68083e-06, -1.41221e-12, 4.89169e-12, 4.88007e-06, 1.15703e-06, 1.93071e-06] },
-left_inner_finger_pad_joint_origin(left_inner_finger_joint): { Q: [0, -0.0220203, 0.03242] },
-right_inner_finger_pad_joint_origin(right_inner_finger_joint): { Q: [0, -0.0220203, 0.03242] },
-left_inner_finger_pad_joint(left_inner_finger_pad_joint_origin): { joint: rigid, shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1], mass: 0.0120282, inertia: [1.73997e-05, 2.27364e-05, 6.30668e-06] },
-right_inner_finger_pad_joint(right_inner_finger_pad_joint_origin): { joint: rigid, shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1], mass: 0.0120282, inertia: [1.73997e-05, 2.27364e-05, 6.30668e-06] }

robotic/ry-urdf2rai

@@ -1,222 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-from lxml import etree
-import argparse
-
-parser = argparse.ArgumentParser(description='convert urdf to yaml (rai convention)')
-
-parser.add_argument('urdf_file', type=str,
-                    help='required input file')
-
-parser.add_argument('-coll', type=bool, default=False,
-                    help='use collision shapes?')
-
-parser.add_argument('-meshRemove', type=str, default='package://',
-                    help='a prefix from the mesh files to be removed')
-
-parser.add_argument('-meshExt', type=str,
-                    help='overwrite the mesh file extension')
-
-args = parser.parse_args()
-
-inFile = args.urdf_file
-xmlData = etree.parse(inFile)
-
-useCollisionShapes = False
-if args.coll:
-    useCollisionShapes = True
-
-def writeShape(link):
-    elem = link.find('origin')
-    if elem is not None:
-        xyz = elem.attrib.get('xyz')
-        rpy = elem.attrib.get('rpy')
-        if rpy=='0 0 0':
-            rpy=None
-        if xyz=='0 0 0':
-            xyz=None
-        if xyz is not None and rpy is not None:
-            print(' rel: "t(%s) E(%s)",' % (xyz, rpy), end='')
-        else:
-            if rpy is not None:
-                print(' rel: "E(%s)",' % (rpy), end='')
-            if xyz is not None:
-                print(' rel: [%s],' % (xyz), end='')
-
-    elem = link.find('geometry/box')
-    if elem is not None:
-        print(' shape: box\n  size: [%s 0],' % elem.attrib['size'], end='')
-
-    elem = link.find('geometry/sphere')
-    if elem is not None:
-        print(' shape: sphere\n  size: [0 0 0 %s],' % elem.attrib['radius'], end='')
-
-    elem = link.find('geometry/cylinder')
-    if elem is not None:
-        print(' shape: cylinder\n  size: [0 0 %s %s],' % (elem.attrib['length'], elem.attrib['radius']), end='')
-
-    elem = link.find('geometry/mesh')
-    if elem is not None:
-        filename = elem.attrib['filename'].replace(args.meshRemove,'',1)
-        if args.meshExt is not None:
-            filename = filename[:-3] + args.meshExt
-        print(' mesh: <%s>,' % filename, end='')
-        if elem.find('scale') is not None:
-            print(' meshscale: [%s],' % elem.attrib['scale'], end='')
-
-    elem = link.find('material/color')
-    if elem is not None:
-        print(' color: [%s],' % elem.attrib['rgba'], end='')
-
-#    elem = link.find('material')
-#    if elem is not None:
-#        if elem.attrib['name'] is not None:
-#            print('colorName:%s' % elem.attrib['name'])
-
-
-links = xmlData.findall('./link')
-for link in links:
-    name = link.attrib['name']
-    print('%s: {' % name, end='')
-
-    elem = link.find('inertial/mass')
-    if elem is not None:
-        print(' mass: %s,' % elem.attrib['value'], end='')
-
-    elem = link.find('inertial/inertia')
-    if elem is not None:
-        print(' inertia: [%s %s %s %s %s %s],' % (
-            elem.attrib['ixx'],
-            elem.attrib['ixy'],
-            elem.attrib['ixz'],
-            elem.attrib['iyy'],
-            elem.attrib['iyz'],
-            elem.attrib['izz']), end='')
-
-    print('}') # end of body
-
-    # visual shape
-    for visual in link.findall('visual'):
-        print('%s_0 (%s): {' % (name, name), end='')
-        writeShape(visual)
-        #if not useCollisionShapes:
-        #    print(' contact: -2,', end='')
-        print(' visual: true }') # end of shape
-
-    # collision shape
-    if useCollisionShapes:
-        for collision in link.findall('collision'):
-            print('%s_1 (%s): {' % (name, name), end='')
-            print(' color: [.8 .2 .2 .5],', end='')
-            writeShape(collision)
-            print(' contact: -2 }') # end of shape
-
-
-joints = xmlData.findall('./joint')
-for joint in joints:
-    name = joint.attrib['name']
-    if joint.find('child') is not None:
-
-        parent = joint.find('parent').attrib['link']
-
-        # add an origin frame as pre frame?
-        elem = joint.find('origin')
-        if elem is not None:
-            xyz = elem.attrib.get('xyz')
-            rpy = elem.attrib.get('rpy')
-            if rpy=='0 0 0':
-                rpy=None
-            if xyz=='0 0 0':
-                xyz=None
-            if xyz is not None and rpy is not None:
-                print('%s (%s): { Q: "t(%s) E(%s)" }' % (name+'_origin', parent, xyz, rpy))
-                parent = name+'_origin'
-            elif rpy is not None:
-                print('%s (%s): { Q: "E(%s)" }' % (name+'_origin', parent, rpy))
-                parent = name+'_origin'
-            elif xyz is not None:
-                print('%s (%s): { Q: [%s] }' % (name+'_origin', parent, xyz))
-                parent = name+'_origin'
-
-        #print('%s (%s): {' % (name, parent), end='')
-        print('%s (%s %s): {' % (name, parent, joint.find('child').attrib['link']), end='')
-
-        # figure out joint type
-        att = joint.attrib.get('type')
-        
-        if att in ['revolute', 'continuous']:
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    print(' joint: hingeX,', end='')
-                elif axis=='0 1 0':
-                    print(' joint: hingeY,', end='')
-                elif axis=='0 0 1':
-                    print(' joint: hingeZ,', end='')
-                elif axis=='0 0 -1':
-                    print(' joint: hingeZ, joint_scale: -1,', end='')
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                print(' joint: hingeX,', end='')
-                
-        if att == 'prismatic':
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    print(' joint: transX,', end='')
-                elif axis=='0 1 0':
-                    print(' joint: transY,', end='')
-                elif axis=='0 -1 0':
-                    print(' joint: transY, joint_scale: -1,', end='')
-                elif axis=='0 0 1':
-                    print(' joint: transZ,', end='')
-                elif axis=='0 0 -1':
-                    print(' joint: transZ, joint_scale: -1,', end='')
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                print(' joint: transX,', end='')
-                
-        if att == 'fixed':
-            print(' joint: rigid,', end='')
-
-        elem = joint.find('mimic')
-        if elem is not None:
-            print(' mimic: %s,' % elem.attrib['joint'], end='')
-
-        #elem = joint.find('axis')
-        #if elem is not None:
-        #    print('axis:[%s]' % elem.attrib['xyz'])
-
-        elem = joint.find('limit')
-        if elem is not None:
-            lo = elem.attrib.get('lower')
-            up = elem.attrib.get('upper')
-            eff = elem.attrib.get('effort')
-            vel = elem.attrib.get('velocity')
-            if eff=='0':
-                eff=None
-            if vel=='0':
-                vel=None
-            if lo is not None:
-                print(' limits: [%s %s],' % (lo, up), end='')
-            if vel is not None:
-                print(' ctrl_limits: [%s -1 %s],' % (vel, eff), end='') #the 2nd value is an acceleration limit
-        else:
-            elem = joint.find('safety_controller')
-            if elem is not None:
-                lo = elem.attrib.get('soft_lower_limit')
-                up = elem.attrib.get('soft_upper_limit')
-                if lo is not None:
-                    print(' limits: [%s %s],' % (lo, up), end='')
-
-        print('}')
-
-        #print('Edit %s (%s): {}' % (joint.find('child').attrib['link'], name) )
-
-#print(etree.tostring(links[22]))
-#print(etree.tostring(joints[0]))

robotic/ry-urdf2yaml

@@ -1,250 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-from lxml import etree
-import argparse
-import yaml
-#from ruamel import yaml
-
-parser = argparse.ArgumentParser(description='convert urdf to yaml (rai convention)')
-
-parser.add_argument('urdf_file', type=str,
-                    help='required input file')
-
-parser.add_argument('-coll', type=bool, default=False,
-                    help='use collision shapes?')
-
-parser.add_argument('-meshRemove', type=str, default='package://',
-                    help='a prefix from the mesh files to be removed')
-
-parser.add_argument('-meshExt', type=str,
-                    help='overwrite the mesh file extension')
-
-args = parser.parse_args()
-
-# yaml dump tweaks
-class noflow_dict(dict):
-    pass
-def noflow_dict_rep(dumper, data):
-    return dumper.represent_mapping("tag:yaml.org,2002:map", data, flow_style=False)
-yaml.add_representer(noflow_dict, noflow_dict_rep)
-
-class quoted_string(str):
-    pass
-def quoted_string_rep(dumper, data):
-    return dumper.represent_scalar("tag:yaml.org,2002:str", data, style='"')
-yaml.add_representer(quoted_string, quoted_string_rep)
-
-def writeShape(_elem, link):
-    elem = link.find('origin')
-    if elem is not None:
-        xyz = elem.attrib.get('xyz')
-        rpy = elem.attrib.get('rpy')
-        if rpy=='0 0 0':
-            rpy=None
-        if xyz=='0 0 0':
-            xyz=None
-        if xyz is not None and rpy is not None:
-            _elem['rel'] = quoted_string("t(%s) E(%s)" % (xyz, rpy))
-        else:
-            if rpy is not None:
-                _elem['rel'] = quoted_string("E(%s)" % (rpy))
-            if xyz is not None:
-                _elem['rel'] = quoted_string("[%s]" % (xyz))
-
-    elem = link.find('geometry/box')
-    if elem is not None:
-        _elem['shape']='box'
-        _elem['size'] = [float(s) for s in elem.attrib['size'].split()]
-
-    elem = link.find('geometry/sphere')
-    if elem is not None:
-        _elem['shape']='sphere'
-        _elem['size'] = [float(elem.attrib['radius'])]
-
-    elem = link.find('geometry/cylinder')
-    if elem is not None:
-        _elem['shape']='cylinder'
-        _elem['size'] = [float(elem.attrib['length']), float(elem.attrib['radius'])]
-
-    elem = link.find('geometry/mesh')
-    if elem is not None:
-        filename = elem.attrib['filename'].replace(args.meshRemove,'',1)
-        if args.meshExt is not None:
-            filename = filename[:-3] + args.meshExt
-        _elem['mesh'] = '<%s>' % filename
-        if elem.find('scale') is not None:
-            _elem['meshscale'] = float(elem.attrib['scale'])
-
-    elem = link.find('material/color')
-    if elem is not None:
-        _elem['color'] = elem.attrib['rgba']
-
-#    elem = link.find('material')
-#    if elem is not None:
-#        if elem.attrib['name'] is not None:
-#            print('colorName:%s' % elem.attrib['name'])
-
-
-def addLink(config, link, useCollisionShapes):
-    name = link.attrib['name']
-    _link = dict()
-    config[name] = _link
-
-    elem = link.find('inertial/mass')
-    if elem is not None:
-        _link['mass'] = float(elem.attrib['value'])
-
-    elem = link.find('inertial/inertia')
-    if elem is not None:
-        _link['inertia'] = [float(elem.attrib['ixx']), float(elem.attrib['ixy']), float(elem.attrib['ixz']),
-                            float(elem.attrib['iyy']), float(elem.attrib['iyz']),
-                            float(elem.attrib['izz'])]
-
-    # visual shape
-    for visual in link.findall('visual'):
-        _shape = dict()
-        config[f'{name}_0 ({name})'] = _shape
-        writeShape(_shape, visual)
-        _shape['visual'] = True
-
-    # collision shape
-    if useCollisionShapes:
-        for collision in link.findall('collision'):
-            _shape = dict()
-            config[f'{name}_1 ({name})'] = _shape
-            _shape['color'] = [.8, .2, .2, .5]
-            writeShape(_shape, collision)
-            _shape['contact'] = -2
-
-def addJoint(config, joint):
-    name = joint.attrib['name']
-
-    if joint.find('child') is not None:
-
-        parent = joint.find('parent').attrib['link']
-
-        # add an origin frame as pre frame?
-        elem = joint.find('origin')
-        if elem is not None:
-            xyz = elem.attrib.get('xyz')
-            rpy = elem.attrib.get('rpy')
-            if rpy=='0 0 0':
-                rpy=None
-            if xyz=='0 0 0':
-                xyz=None
-            if xyz is not None and rpy is not None:
-                _joint = dict()
-                config[f'{name+"_origin"} ({parent})'] = _joint
-                _joint['Q'] = quoted_string("t(%s) E(%s)" % (xyz, rpy))
-                parent = name+'_origin'
-            elif rpy is not None:
-                _joint = dict()
-                config[f'{name+"_origin"} ({parent})'] = _joint
-                _joint['Q'] = quoted_string("E(%s)" % (rpy))
-                parent = name+'_origin'
-            elif xyz is not None:
-                _joint = dict()
-                config[f'{name+"_origin"} ({parent})'] = _joint
-                _joint['Q'] = quoted_string("t(%s)" % (xyz))
-                parent = name+'_origin'
-
-        _joint = dict()
-        config[f'{name} ({parent} {joint.find("child").attrib["link"]})'] = _joint
-
-        # figure out joint type
-        att = joint.attrib.get('type')
-        
-        if att in ['revolute', 'continuous']:
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    _joint['joint'] = 'hingeX'
-                elif axis=='0 1 0':
-                    _joint['joint'] = 'hingeY'
-                elif axis=='0 0 1':
-                    _joint['joint'] = 'hingeZ'
-                elif axis=='0 0 -1':
-                    _joint['joint'] = 'hingeZ'
-                    _joint['joint_scale'] = -1
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                _joint['joint'] = 'hingeX'
-                
-        if att == 'prismatic':
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    _joint['joint'] = 'transX'
-                elif axis=='-1 0 0':
-                    _joint['joint'] = 'transX'
-                    _joint['joint_scale'] = -1
-                elif axis=='0 1 0':
-                    _joint['joint'] = 'transY'
-                elif axis=='0 -1 0':
-                    _joint['joint'] = 'transY'
-                    _joint['joint_scale'] = -1
-                elif axis=='0 0 1':
-                    _joint['joint'] = 'transZ'
-                elif axis=='0 0 -1':
-                    _joint['joint'] = 'transZ'
-                    _joint['joint_scale'] = -1
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                _joint['joint'] = 'transX'
-                
-        if att == 'fixed':
-            _joint['joint'] = 'rigid'
-
-        elem = joint.find('mimic')
-        if elem is not None:
-            _joint['mimic'] = elem.attrib['joint']
-
-        elem = joint.find('limit')
-        if elem is not None:
-            lo = elem.attrib.get('lower')
-            up = elem.attrib.get('upper')
-            eff = elem.attrib.get('effort')
-            vel = elem.attrib.get('velocity')
-            if eff=='0':
-                eff=None
-            if vel=='0':
-                vel=None
-            if lo is not None:
-                _joint['limits'] = [float(lo), float(up)]
-            if vel is not None:
-                _joint['ctrl_limits'] = [float(vel), -1, float(eff)] #the 2nd value is an acceleration limit
-        else:
-            elem = joint.find('safety_controller')
-            if elem is not None:
-                lo = float(elem.attrib.get('soft_lower_limit'))
-                up = float(elem.attrib.get('soft_upper_limit'))
-                if lo is not None:
-                    _joint['limits'] = [lo, up]
-
-#print(etree.tostring(links[22]))
-#print(etree.tostring(joints[0]))
-
-def main():
-    inFile = args.urdf_file
-    xmlData = etree.parse(inFile)
-
-    config = dict()
-
-    links = xmlData.findall('/link')
-    for link in links:
-        addLink(config, link, args.coll)
-
-    joints = xmlData.findall('/joint')
-    for joint in joints:
-        addJoint(config, joint)
-
-    with open('z.yaml', 'w') as fil:
-        yaml.dump(noflow_dict(config), fil, default_flow_style=True, sort_keys=False, width=500)
-    
-if __name__ == "__main__":
-    main()