scikit-robot 0.4.2__tar.gz → 0.4.3__tar.gz

{scikit_robot-0.4.2/scikit_robot.egg-info → scikit_robot-0.4.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: scikit-robot
-Version: 0.4.2
+Version: 0.4.3
 Summary: A Flexible Framework for Robot Control in Python
 Author-email: iory <ab.ioryz@gmail.com>
 License: MIT

{scikit_robot-0.4.2 → scikit_robot-0.4.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "scikit-robot"
-version = "0.4.2"
+version = "0.4.3"
 description = "A Flexible Framework for Robot Control in Python"
 readme = "README.md"
 license = {text = "MIT"}
@@ -113,6 +113,7 @@ urdf-hash = "skrobot.apps.urdf_hash:main"
 convert-wheel-collision = "skrobot.apps.convert_wheel_collision:main"
 urdf-tree = "skrobot.apps.urdf_tree:main"
 convert-urdf-to-mjcf = "skrobot.apps.convert_urdf_to_mjcf:main"
+convert-urdf-to-usd = "skrobot.apps.convert_urdf_to_usd:main"
 canonicalize-urdf = "skrobot.apps.canonicalize_urdf:main"
 
 [tool.setuptools]

{scikit_robot-0.4.2 → scikit_robot-0.4.3/scikit_robot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: scikit-robot
-Version: 0.4.2
+Version: 0.4.3
 Summary: A Flexible Framework for Robot Control in Python
 Author-email: iory <ab.ioryz@gmail.com>
 License: MIT

{scikit_robot-0.4.2 → scikit_robot-0.4.3}/scikit_robot.egg-info/SOURCES.txt

@@ -19,6 +19,7 @@ skrobot/apps/cli.py
 skrobot/apps/convert_urdf_mesh.py
 skrobot/apps/convert_urdf_to_mjcf.py
 skrobot/apps/convert_urdf_to_primitives.py
+skrobot/apps/convert_urdf_to_usd.py
 skrobot/apps/convert_wheel_collision.py
 skrobot/apps/extract_sub_urdf.py
 skrobot/apps/generate_robot_class.py
@@ -39,6 +40,7 @@ skrobot/backend/numpy_backend.py
 skrobot/backend/registry.py
 skrobot/collision/__init__.py
 skrobot/collision/distance.py
+skrobot/collision/environment_collision.py
 skrobot/collision/geometry.py
 skrobot/collision/robot_collision.py
 skrobot/collision/self_collision.py

{scikit_robot-0.4.2 → scikit_robot-0.4.3}/scikit_robot.egg-info/entry_points.txt

@@ -3,6 +3,7 @@ canonicalize-urdf = skrobot.apps.canonicalize_urdf:main
 change-urdf-root = skrobot.apps.change_urdf_root:main
 convert-urdf-mesh = skrobot.apps.convert_urdf_mesh:main
 convert-urdf-to-mjcf = skrobot.apps.convert_urdf_to_mjcf:main
+convert-urdf-to-usd = skrobot.apps.convert_urdf_to_usd:main
 convert-wheel-collision = skrobot.apps.convert_wheel_collision:main
 modularize-urdf = skrobot.apps.modularize_urdf:main
 skr = skrobot.apps.cli:main

{scikit_robot-0.4.2 → scikit_robot-0.4.3}/skrobot/apps/cli.py

@@ -24,6 +24,7 @@ def get_available_apps():
         'extract_sub_urdf': ('Extract sub-URDF from a root link', None),
         'generate_robot_class': ('Generate robot class from URDF geometry', None),
         'urdf_tree': ('Print URDF link tree and validate its structure', None),
+        'convert_urdf_to_usd': ('Convert URDF to a USD physics articulation', None),
     }
 
     for filename in os.listdir(apps_dir):

scikit_robot-0.4.3/skrobot/apps/convert_urdf_to_usd.py

@@ -0,0 +1,115 @@
+#!/usr/bin/env python
+"""
+Convert a URDF into a USD physics articulation (Isaac Sim / PhysX).
+
+One rigid body per link, visual meshes embedded with their colours (and a
+``UsdPreviewSurface`` per glTF PBR material), convex collision meshes, and
+revolute/prismatic/fixed joints with position drives. The robot is the stage's
+defaultPrim, so the file can be referenced from another stage as is. Needs
+``usd-core`` (``pip install usd-core``); ``--decompose`` also needs ``coacd``.
+"""
+
+import argparse
+from pathlib import Path
+import sys
+
+
+def _parse_home(items):
+    """``['joint=0.5', ...]`` -> ``{'joint': 0.5}``."""
+    home = {}
+    for item in items or []:
+        name, sep, value = item.partition('=')
+        if not sep or not name:
+            raise ValueError('--home takes JOINT=VALUE, not {!r}'.format(item))
+        home[name] = float(value)
+    return home
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description='Convert a URDF into a USD physics articulation',
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Examples:
+  convert-urdf-to-usd robot.urdf
+  convert-urdf-to-usd robot.urdf -o out/robot.usda --floating-base
+  convert-urdf-to-usd robot.urdf --decompose --coacd-quality fine
+  convert-urdf-to-usd robot.urdf --home elbow_joint=1.2 --home wrist_joint=-0.3
+        """
+    )
+    parser.add_argument('urdf_file', type=str, help='Path to the input URDF file')
+    parser.add_argument('-o', '--output', type=str, default=None,
+                        help='Output .usd/.usda/.usdc path (default: <urdf_stem>.usd)')
+    parser.add_argument('--floating-base', action='store_true',
+                        help='Leave the base free (default: welded to the world)')
+    parser.add_argument('--mobile-base', action='store_true',
+                        help='Give the base planar x / y / yaw joints instead of '
+                             'welding it')
+    parser.add_argument('--self-collision', action='store_true',
+                        help='Keep self-collision between the links (default: off)')
+    parser.add_argument('--drive-stiffness', type=float, default=1000.0,
+                        help='Position-drive stiffness of the joints')
+    parser.add_argument('--drive-damping', type=float, default=200.0,
+                        help='Position-drive damping of the joints')
+    parser.add_argument('--no-auto-gain', action='store_true',
+                        help='Use the same drive gains on every joint instead of '
+                             'scaling them by each joint\'s gravity load')
+    parser.add_argument('--home', action='append', default=[],
+                        metavar='JOINT=VALUE',
+                        help='Drive target of a joint (rad or m); repeatable')
+    decompose = parser.add_mutually_exclusive_group()
+    decompose.add_argument('--decompose', action='store_true',
+                           help='CoACD-decompose every concave link\'s collision '
+                                'mesh (default: one convex hull per link)')
+    decompose.add_argument('--decompose-links', nargs='+', default=None,
+                           metavar='LINK',
+                           help='CoACD-decompose exactly these links (names or '
+                                'substrings)')
+    parser.add_argument('--coacd-quality', choices=['balanced', 'fine'],
+                        default=None,
+                        help='CoACD preset for --decompose / --decompose-links '
+                             '(default: a tight fit)')
+    args = parser.parse_args()
+
+    urdf_path = Path(args.urdf_file)
+    if not urdf_path.exists():
+        print('error: URDF not found: {}'.format(urdf_path), file=sys.stderr)
+        return 1
+    try:
+        home = _parse_home(args.home)
+    except ValueError as e:
+        print('error: {}'.format(e), file=sys.stderr)
+        return 1
+    try:
+        import pxr  # noqa: F401
+
+        from skrobot.export.usd import urdf_to_usd
+    except ImportError:
+        print('error: usd-core is required: pip install usd-core',
+              file=sys.stderr)
+        return 1
+    out_path = args.output or str(urdf_path.with_suffix('.usd'))
+    decompose_links = True if args.decompose else args.decompose_links
+    coacd_params = None
+    if args.coacd_quality is not None:
+        coacd_params = {'quality': args.coacd_quality}
+
+    stage = urdf_to_usd(
+        str(urdf_path), out_path,
+        floating_base=args.floating_base,
+        mobile_base=args.mobile_base,
+        self_collision=args.self_collision,
+        drive_stiffness=args.drive_stiffness,
+        drive_damping=args.drive_damping,
+        auto_gain=not args.no_auto_gain,
+        home_positions=home or None,
+        decompose_links=decompose_links,
+        coacd_params=coacd_params,
+    )
+    print('wrote USD: {} (defaultPrim {})'.format(
+        out_path, stage.GetDefaultPrim().GetPath()))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())

{scikit_robot-0.4.2 → scikit_robot-0.4.3}/skrobot/collision/__init__.py

@@ -43,6 +43,10 @@ from skrobot.collision.distance import sphere_box_distance
 from skrobot.collision.distance import sphere_capsule_distance
 from skrobot.collision.distance import sphere_halfspace_distance
 from skrobot.collision.distance import sphere_sphere_distance
+from skrobot.collision.environment_collision import CollisionReport
+from skrobot.collision.environment_collision import EnvironmentCollision
+from skrobot.collision.environment_collision import link_transforms
+from skrobot.collision.environment_collision import sample_surface
 from skrobot.collision.geometry import Box
 from skrobot.collision.geometry import Capsule
 from skrobot.collision.geometry import CollisionGeometry
@@ -83,6 +87,11 @@ __all__ = [
     # Robot collision
     'RobotCollisionChecker',
     'LinkCollisionGeometry',
+    # Robot against a static environment
+    'EnvironmentCollision',
+    'CollisionReport',
+    'link_transforms',
+    'sample_surface',
     # Mesh self-collision + joint-limit sweep
     'SelfCollision',
     'sweep_limits',