robotic 0.2.9.dev2__cp39-cp39-manylinux2014_x86_64.whl → 0.3.1__cp39-cp39-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

@@ -4,9 +4,9 @@ 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_trans) { joint: hingeZ, limits: [-5 5] }
-#ranger_rot(ranger_trans) { joint: circleZ, limits: [-1.1 -1.1 1.1 1.1], ctrl_H: 2. }
-ranger_rot(ranger_transY) { }
+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>

robotic/rai-robotModels/robotiq/robotiq.g

@@ -1,6 +1,6 @@
 robotiq_base: { X: [0, 0, 1] }
 
-Include: <robotiq_arg2f_85_model_conv.g>
+Include: <robotiq_arg2f_85_model_conv.yml>
 Edit robotiq_arg2f_base_link (robotiq_base): {}
 
 # add F/T sensor

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/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

@@ -1,13 +1,13 @@
 
-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: { shape: capsule, size: [.4, .1], contact: -1, }
+arm2: { shape: capsule, size: [.4, .1], contact: -1, }
+arm3: { shape: capsule, size: [.4, .1], contact: -1, }
+arm4: { shape: capsule, size: [.4, .1], contact: -1, }
+arm5: { shape: capsule, size: [.4, .1], contact: -1, }
+arm6: { shape: capsule, size: [.4, .1], contact: -1, }
+arm7: { shape: capsule, 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)" }
 
@@ -18,8 +18,8 @@ arm7: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
 (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: [.1, .1, .1, .05], color: [0, .5, 0] }
+target: { X: "t(.7 -.5 1.2)", shape: sphere, size: [.05], color: [0, .5, 0] }
 
-obstacle: { X: "t(1. -1.5 1.)", shape: sphere, size: [1., .1, 5., .5], color: [1, 0, 0], contact, }
+obstacle: { X: "t(1. -1.5 1.)", shape: sphere, size: [.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/ur10/ur10.g

@@ -2,7 +2,7 @@ Prefix: "ur_"
 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/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/ry-test

@@ -10,7 +10,8 @@ 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

robotic/ry-urdfConvert.py

@@ -16,6 +16,7 @@ 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)
@@ -39,9 +40,9 @@ def main():
 
     C = ry.URDFLoader(args.file, visualsOnly=True, meshPathRemove='package://').C
 
-    C.processStructure(False, True, False, False)
+    C.processStructure(args.pruneRigidJoints, True, False, False)
     C.processInertias(args.recomputeInertias)
-    C.processStructure(False, True, False, False)
+    C.processStructure(args.pruneRigidJoints, True, False, False)
 
     os.system('rm -Rf meshes/')
     C.writeMeshes('meshes/', copyTextures=True)

robotic/src/meshlabFilters.mlx

@@ -0,0 +1,20 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Repair non Manifold Edges by removing faces"/>
+ <filter name="Simplification: Quadric Edge Collapse Decimation">
+  <Param tooltip="The desired final number of faces." type="RichInt" description="Target number of faces" value="20000" name="TargetFaceNum"/>
+  <Param tooltip="If non zero, this parameter specifies the desired final size of the mesh as a percentage of the initial size." type="RichFloat" description="Percentage reduction (0..1)" value="0" name="TargetPerc"/>
+  <Param tooltip="Quality threshold for penalizing bad shaped faces.&lt;br>The value is in the range [0..1]&#xa; 0 accept any kind of face (no penalties),&#xa; 0.5  penalize faces with quality &lt; 0.5, proportionally to their shape&#xa;" type="RichFloat" description="Quality threshold" value="0.3" name="QualityThr"/>
+  <Param tooltip="The simplification process tries to do not affect mesh boundaries during simplification" type="RichBool" description="Preserve Boundary of the mesh" value="false" name="PreserveBoundary"/>
+  <Param tooltip="The importance of the boundary during simplification. Default (1.0) means that the boundary has the same importance of the rest. Values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border. Admitted range of values (0,+inf). " type="RichFloat" description="Boundary Preserving Weight" value="1" name="BoundaryWeight"/>
+  <Param tooltip="Try to avoid face flipping effects and try to preserve the original orientation of the surface" type="RichBool" description="Preserve Normal" value="false" name="PreserveNormal"/>
+  <Param tooltip="Avoid all the collapses that should cause a topology change in the mesh (like closing holes, squeezing handles, etc). If checked the genus of the mesh should stay unchanged." type="RichBool" description="Preserve Topology" value="false" name="PreserveTopology"/>
+  <Param tooltip="Each collapsed vertex is placed in the position minimizing the quadric error.&#xa; It can fail (creating bad spikes) in case of very flat areas. &#xa;If disabled edges are collapsed onto one of the two original vertices and the final mesh is composed by a subset of the original vertices. " type="RichBool" description="Optimal position of simplified vertices" value="true" name="OptimalPlacement"/>
+  <Param tooltip="Add additional simplification constraints that improves the quality of the simplification of the planar portion of the mesh, as a side effect, more triangles will be preserved in flat areas (allowing better shaped triangles)." type="RichBool" description="Planar Simplification" value="false" name="PlanarQuadric"/>
+  <Param tooltip="How much we should try to preserve the triangles in the planar regions. If you lower this value planar areas will be simplified more." type="RichFloat" description="Planar Simp. Weight" value="0.001" name="PlanarWeight"/>
+  <Param tooltip="Use the Per-Vertex quality as a weighting factor for the simplification. The weight is used as a error amplification value, so a vertex with a high quality value will not be simplified and a portion of the mesh with low quality values will be aggressively simplified." type="RichBool" description="Weighted Simplification" value="false" name="QualityWeight"/>
+  <Param tooltip="After the simplification an additional set of steps is performed to clean the mesh (unreferenced vertices, bad faces, etc)" type="RichBool" description="Post-simplification cleaning" value="true" name="AutoClean"/>
+  <Param tooltip="The simplification is applied only to the selected set of faces.&#xa; Take care of the target number of faces!" type="RichBool" description="Simplify only selected faces" value="false" name="Selected"/>
+ </filter>
+ <filter name="Repair non Manifold Edges by removing faces"/>
+</FilterScript>

robotic/src/{config_mujoco.py → mujoco_io.py}

@@ -7,8 +7,11 @@ from copy import copy
 
 class MujocoLoader():
 
-    def __init__(self, file, visualsOnly=True):
+    def __init__(self, file, visualsOnly=True, defaultConType='0', basePos=[0,0,0], baseQuat=[0,0,0,1]):
+        ry.params_add({'cd_into_mesh_files': False})
+
         self.visualsOnly = visualsOnly
+        self.defaultConType = defaultConType
         self.debug_counter = 0
         self.muj2rai_joint_map = {
             '1 0 0': ry.JT.hingeX,
@@ -32,7 +35,8 @@ class MujocoLoader():
         self.C = ry.Config()
         self.base = self.C.addFrame('base')
         self.base.addAttributes({'multibody':True})
-        self.base.setQuaternion([0,0,0,1])
+        self.base.setPosition(basePos)
+        self.base.setQuaternion(baseQuat)
         self.add_node(root, self.base, path, 0)
 
     def as_floats(self, input_string):
@@ -104,7 +108,7 @@ class MujocoLoader():
         for i, joint in enumerate(body.findall('./joint')):
             axis = joint.attrib.get('axis', None)
             limits = joint.attrib.get('range', None)
-            joint_name = joint.attrib.get('name', f'{body_name}_joint{i*'_'}')
+            joint_name = joint.attrib.get('name', f'{body_name}_joint{i*"_"}')
             f_origin = self.C.addFrame(f'{joint_name}_origin')
             f_origin.setParent(f_body)
             self.setRelativePose(f_origin, joint.attrib)
@@ -117,7 +121,7 @@ class MujocoLoader():
                 else:
                     vec1 = np.array([0., 0., 1.])
                     vec2 = np.array(self.as_floats(axis))
-                    quat = ry.Quaternion().setDiff(vec1, vec2).getArr()
+                    quat = ry.Quaternion().setDiff(vec1, vec2).asArr()
                     f_origin.setRelativeQuaternion(quat)
                     axis = ry.JT.hingeZ
             else:
@@ -145,7 +149,7 @@ class MujocoLoader():
             f_body.setParent(f_parent, True)
 
         for i, geom in enumerate(body.findall('./geom')):
-            isColl = ('contype' in geom.attrib and geom.attrib.get('contype', '')!='0') or 'col' in geom.attrib.get('class','')
+            isColl = geom.attrib.get('contype', self.defaultConType)!='0' or 'coll' in geom.attrib.get('class','')
             if self.visualsOnly and isColl:
                 continue
 
@@ -174,7 +178,7 @@ class MujocoLoader():
                         l = np.linalg.norm(b-a)
                         q = ry.Quaternion().setDiff([0,0,1],(b-a)/l)
                         f_shape.setRelativePosition(0.5*(a+b))
-                        f_shape.setRelativeQuaternion(q.getArr())
+                        f_shape.setRelativeQuaternion(q.asArr())
                         f_shape.setShape(ry.ST.capsule, [l, size[0]])
                     elif len(size)==2:
                         f_shape.setShape(ry.ST.capsule, [2.*size[1], size[0]])
@@ -185,23 +189,24 @@ class MujocoLoader():
 
                 elif geom.attrib['type']=='box':
                     assert len(size)==3
-                    f_shape.setShape(ry.ST.box, [2.*f for f in size])
+                    size = [2.*f for f in size]
+                    f_shape.setShape(ry.ST.box, size)
                     if geom.attrib.get('material', None):
                         texture_path = self.materials[geom.attrib.get('material', None)]
                         if len(texture_path.split()) == 4:  # Is a color rgba
                             f_shape.setColor(self.as_floats(texture_path))
                         else:
                             print('applying to box:', texture_path)
-                            #TODO incorperate <texrepeat> tag correctly    
+                            #TODO incorperate <texrepeat> tag correctly
                             uv_coords = np.array([
                             [0, 0],  # vertex 0
-                            [1, 0],  # vertex 1
-                            [1, 1],  # vertex 2
-                            [0, 1],  # vertex 3
-                            [0, 0],  # vertex 4
-                            [1, 0],  # vertex 5
-                            [1, 1],  # vertex 6
-                            [0, 1]   # vertex 7
+                            [size[0], 0],  # vertex 1
+                            [size[0], size[1]],  # vertex 2
+                            [0, size[1]],  # vertex 3
+                            [0, 0],  # vertex 0
+                            [size[0], 0],  # vertex 1
+                            [size[0], size[1]],  # vertex 2
+                            [0, size[1]],  # vertex 3
                             ])
                             
                             f_shape.setTextureFile(texture_path, uv_coords)
@@ -234,4 +239,4 @@ class MujocoLoader():
         if rpy:
             q = ry.Quaternion()
             q.setRollPitchYaw(self.as_floats(rpy))
-            f.setRelativeQuaternion(q.getArr())
+            f.setRelativeQuaternion(q.asArr())

robotic/test.py

@@ -0,0 +1,15 @@
+import point_cloud_utils as pcu
+
+# v is a [n, 3] shaped NumPy array of vertices
+# f is a [m, 3] shaped integer NumPy array of indices into v
+# n is a [n, 3] shaped NumPy array of vertex normals
+v, f, n = pcu.load_mesh_vfn("bunny.ply")
+
+# Generate barycentric coordinates of random samples
+num_samples = 1000
+fid, bc = pcu.sample_mesh_random(v, f, num_samples)
+
+# Interpolate the vertex positions and normals using the returned barycentric coordinates
+# to get sample positions and normals
+rand_positions = pcu.interpolate_barycentric_coords(f, fid, bc, v)
+rand_normals = pcu.interpolate_barycentric_coords(f, fid, bc, n)

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.2.9.dev2'
+__version__ = '0.3.1'

{robotic-0.2.9.dev2.data → robotic-0.3.1.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-0.2.9.dev2.data → robotic-0.3.1.data}/scripts/ry-test

@@ -10,7 +10,8 @@ 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

robotic-0.3.1.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.dev2.dist-info → robotic-0.3.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: robotic
-Version: 0.2.9.dev2
+Version: 0.3.1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -46,35 +46,29 @@ 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):
+* Run all tutorial notebooks as a test and showcase:
 
       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):
 
-      alias sudo=
-      sudo apt install --yes liblapack3 freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
-      cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3
+      apt install --yes liblapack3 xorg freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
+      cd /usr/lib/x86_64-linux-gnu/ && ln -s libglut.so.3.12 libglut.so.3
       cd
-      mkdir -p ~/.local
-      python3 -m venv ~/.local/venv
-      source ~/.local/venv/bin/activate
+      python3 -m venv ~/venv
+      source ~/venv/bin/activate
       pip install robotic numpy
       ry-test
 
 ## 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:
 
@@ -107,7 +101,7 @@ This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.
       cd $HOME/git
       git clone --recursive https://github.com/MarcToussaint/robotic.git
       cd robotic
-      cp _build_utils/CMakeLists-ubuntu.txt CMakeLists.txt
+      cp _make/CMakeLists-ubuntu.txt CMakeLists.txt
       export PY_VERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"`
       cmake -DPY_VERSION=$PY_VERSION -DUSE_REALSENSE=ON -DUSE_LIBFRANKA=ON . -B build
       make -C build _robotic install