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import argparse
import numpy as np
import pinocchio as pin
import rerun as rr
import trimesh
class RerunURDF():
def __init__(self, robot_type):
self.name = robot_type
match robot_type:
case 'g1':
self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/g1/g1_29dof_rev_1_0.urdf', 'robot_description/g1', pin.JointModelFreeFlyer())
self.Tpose = np.array([0,0,0.785,0,0,0,1,
-0.15,0,0,0.3,-0.15,0,
-0.15,0,0,0.3,-0.15,0,
0,0,0,
0, 1.57,0,1.57,0,0,0,
0,-1.57,0,1.57,0,0,0]).astype(np.float32)
case 'h1_2':
self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/h1_2/h1_2_wo_hand.urdf', 'robot_description/h1_2', pin.JointModelFreeFlyer())
assert self.robot.model.nq == 7 + 12+1+14
self.Tpose = np.array([0,0,1.02,0,0,0,1,
0,-0.15,0,0.3,-0.15,0,
0,-0.15,0,0.3,-0.15,0,
0,
0, 1.57,0,1.57,0,0,0,
0,-1.57,0,1.57,0,0,0]).astype(np.float32)
case 'h1':
self.robot = pin.RobotWrapper.BuildFromURDF('robot_description/h1/h1.urdf', 'robot_description/h1', pin.JointModelFreeFlyer())
assert self.robot.model.nq == 7 + 10+1+8
self.Tpose = np.array([0,0,1.03,0,0,0,1,
0,0,-0.15,0.3,-0.15,
0,0,-0.15,0.3,-0.15,
0,
0, 1.57,0,1.57,
0,-1.57,0,1.57]).astype(np.float32)
case _:
print(robot_type)
raise ValueError('Invalid robot type')
# print all joints names
# for i in range(self.robot.model.njoints):
# print(self.robot.model.names[i])
self.link2mesh = self.get_link2mesh()
self.load_visual_mesh()
self.update()
def get_link2mesh(self):
link2mesh = {}
for visual in self.robot.visual_model.geometryObjects:
mesh = trimesh.load_mesh(visual.meshPath)
name = visual.name[:-2]
mesh.visual = trimesh.visual.ColorVisuals()
mesh.visual.vertex_colors = visual.meshColor
link2mesh[name] = mesh
return link2mesh
def load_visual_mesh(self):
self.robot.framesForwardKinematics(pin.neutral(self.robot.model))
for visual in self.robot.visual_model.geometryObjects:
frame_name = visual.name[:-2]
mesh = self.link2mesh[frame_name]
frame_id = self.robot.model.getFrameId(frame_name)
parent_joint_id = self.robot.model.frames[frame_id].parentJoint
parent_joint_name = self.robot.model.names[parent_joint_id]
frame_tf = self.robot.data.oMf[frame_id]
joint_tf = self.robot.data.oMi[parent_joint_id]
rr.log(f'urdf_{self.name}/{parent_joint_name}',
rr.Transform3D(translation=joint_tf.translation,
mat3x3=joint_tf.rotation,
axis_length=0.01))
relative_tf = joint_tf.inverse() * frame_tf
mesh.apply_transform(relative_tf.homogeneous)
rr.log(f'urdf_{self.name}/{parent_joint_name}/{frame_name}',
rr.Mesh3D(
vertex_positions=mesh.vertices,
triangle_indices=mesh.faces,
vertex_normals=mesh.vertex_normals,
vertex_colors=mesh.visual.vertex_colors,
albedo_texture=None,
vertex_texcoords=None,
),
static=True)
def update(self, configuration = None):
self.robot.framesForwardKinematics(self.Tpose if configuration is None else configuration)
for visual in self.robot.visual_model.geometryObjects:
frame_name = visual.name[:-2]
frame_id = self.robot.model.getFrameId(frame_name)
parent_joint_id = self.robot.model.frames[frame_id].parentJoint
parent_joint_name = self.robot.model.names[parent_joint_id]
joint_tf = self.robot.data.oMi[parent_joint_id]
rr.log(f'urdf_{self.name}/{parent_joint_name}',
rr.Transform3D(translation=joint_tf.translation,
mat3x3=joint_tf.rotation,
axis_length=0.01))
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--file_name', type=str, help="File name", default='dance1_subject2')
parser.add_argument('--robot_type', type=str, help="Robot type", default='g1')
args = parser.parse_args()
rr.init('Reviz', spawn=True)
rr.log('', rr.ViewCoordinates.RIGHT_HAND_Z_UP, static=True)
file_name = args.file_name
robot_type = args.robot_type
csv_files = robot_type + '/' + file_name + '.csv'
data = np.genfromtxt(csv_files, delimiter=',')
rerun_urdf = RerunURDF(robot_type)
for frame_nr in range(data.shape[0]):
rr.set_time_sequence('frame_nr', frame_nr)
configuration = data[frame_nr, :]
rerun_urdf.update(configuration)
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