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urdfEditor.py
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urdfEditor.py
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import pybullet as p
UNKNOWN_FILE = 'unknown_file'
class UrdfInertial(object):
def __init__(self):
self.mass = 1
self.inertia_xxyyzz = [7, 8, 9]
self.origin_rpy = [1, 2, 3]
self.origin_xyz = [4, 5, 6]
class UrdfContact(object):
def __init__(self):
self.lateral_friction = 1
self.rolling_friction = 0
self.spinning_friction = 0
class UrdfLink(object):
def __init__(self):
self.link_name = "dummy"
self.urdf_inertial = UrdfInertial()
self.urdf_visual_shapes = []
self.urdf_collision_shapes = []
class UrdfVisual(object):
def __init__(self):
self.origin_rpy = [1, 2, 3]
self.origin_xyz = [4, 5, 6]
self.geom_type = p.GEOM_BOX
self.geom_radius = 1
self.geom_extents = [7, 8, 9]
#self.geom_length = [10]
self.geom_length = 10
self.geom_meshfilename = "meshfile"
self.geom_meshscale = [1, 1, 1]
self.material_rgba = [1, 0, 0, 1]
self.material_name = ""
class UrdfCollision(object):
def __init__(self):
self.origin_rpy = [1, 2, 3]
self.origin_xyz = [4, 5, 6]
self.geom_type = p.GEOM_BOX
self.geom_radius = 1
self.geom_length = 2
self.geom_extents = [7, 8, 9]
self.geom_meshfilename = "meshfile"
self.geom_meshscale = [1, 1, 1]
class UrdfJoint(object):
def __init__(self):
self.link = UrdfLink()
self.joint_name = "joint_dummy"
self.joint_type = p.JOINT_REVOLUTE
self.joint_lower_limit = 0
self.joint_upper_limit = -1
self.parent_name = "parentName"
self.child_name = "childName"
self.joint_origin_xyz = [1, 2, 3]
self.joint_origin_rpy = [1, 2, 3]
self.joint_axis_xyz = [1, 2, 3]
class UrdfEditor(object):
def __init__(self):
self.initialize()
def initialize(self):
self.urdfLinks = []
self.urdfJoints = []
self.robotName = ""
self.linkNameToIndex = {}
self.jointTypeToName = {p.JOINT_FIXED: "JOINT_FIXED", \
p.JOINT_REVOLUTE: "JOINT_REVOLUTE", \
p.JOINT_PRISMATIC: "JOINT_PRISMATIC"}
def convertLinkFromMultiBody(self, bodyUid, linkIndex, urdfLink, physicsClientId):
dyn = p.getDynamicsInfo(bodyUid, linkIndex, physicsClientId=physicsClientId)
urdfLink.urdf_inertial.mass = dyn[0]
urdfLink.urdf_inertial.inertia_xxyyzz = dyn[2]
# todo
urdfLink.urdf_inertial.origin_xyz = dyn[3]
urdfLink.urdf_inertial.origin_rpy = p.getEulerFromQuaternion(dyn[4])
visualShapes = p.getVisualShapeData(bodyUid, physicsClientId=physicsClientId)
matIndex = 0
for v in visualShapes:
if (v[1] == linkIndex):
urdfVisual = UrdfVisual()
urdfVisual.geom_type = v[2]
if (v[2] == p.GEOM_BOX):
urdfVisual.geom_extents = v[3]
if (v[2] == p.GEOM_SPHERE):
urdfVisual.geom_radius = v[3][0]
if (v[2] == p.GEOM_MESH):
urdfVisual.geom_meshfilename = v[4].decode("utf-8")
if urdfVisual.geom_meshfilename == UNKNOWN_FILE:
continue
urdfVisual.geom_meshscale = v[3]
if (v[2] == p.GEOM_CYLINDER):
urdfVisual.geom_length = v[3][0]
urdfVisual.geom_radius = v[3][1]
if (v[2] == p.GEOM_CAPSULE):
urdfVisual.geom_length = v[3][0]
urdfVisual.geom_radius = v[3][1]
urdfVisual.origin_xyz = v[5]
urdfVisual.origin_rpy = p.getEulerFromQuaternion(v[6])
urdfVisual.material_rgba = v[7]
name = 'mat_{}_{}'.format(linkIndex, matIndex)
urdfVisual.material_name = name
urdfLink.urdf_visual_shapes.append(urdfVisual)
matIndex = matIndex + 1
collisionShapes = p.getCollisionShapeData(bodyUid, linkIndex, physicsClientId=physicsClientId)
for v in collisionShapes:
urdfCollision = UrdfCollision()
urdfCollision.geom_type = v[2]
if (v[2] == p.GEOM_BOX):
urdfCollision.geom_extents = v[3]
if (v[2] == p.GEOM_SPHERE):
urdfCollision.geom_radius = v[3][0]
if (v[2] == p.GEOM_MESH):
urdfCollision.geom_meshfilename = v[4].decode("utf-8")
if urdfCollision.geom_meshfilename == UNKNOWN_FILE:
continue
urdfCollision.geom_meshscale = v[3]
if (v[2] == p.GEOM_CYLINDER):
urdfCollision.geom_length = v[3][0]
urdfCollision.geom_radius = v[3][1]
if (v[2] == p.GEOM_CAPSULE):
urdfCollision.geom_length = v[3][0]
urdfCollision.geom_radius = v[3][1]
pos, orn = p.multiplyTransforms(dyn[3], dyn[4], v[5], v[6])
urdfCollision.origin_xyz = pos
urdfCollision.origin_rpy = p.getEulerFromQuaternion(orn)
urdfLink.urdf_collision_shapes.append(urdfCollision)
def initializeFromBulletBody(self, bodyUid, physicsClientId):
self.initialize()
# always create a base link
baseLink = UrdfLink()
baseLinkIndex = -1
self.convertLinkFromMultiBody(bodyUid, baseLinkIndex, baseLink, physicsClientId)
baseLink.link_name = p.getBodyInfo(bodyUid, physicsClientId=physicsClientId)[0].decode("utf-8")
self.linkNameToIndex[baseLink.link_name] = len(self.urdfLinks)
self.urdfLinks.append(baseLink)
# optionally create child links and joints
for j in range(p.getNumJoints(bodyUid, physicsClientId=physicsClientId)):
jointInfo = p.getJointInfo(bodyUid, j, physicsClientId=physicsClientId)
urdfLink = UrdfLink()
self.convertLinkFromMultiBody(bodyUid, j, urdfLink, physicsClientId)
urdfLink.link_name = jointInfo[12].decode("utf-8")
self.linkNameToIndex[urdfLink.link_name] = len(self.urdfLinks)
self.urdfLinks.append(urdfLink)
urdfJoint = UrdfJoint()
urdfJoint.link = urdfLink
urdfJoint.joint_name = jointInfo[1].decode("utf-8")
urdfJoint.joint_type = jointInfo[2]
urdfJoint.joint_axis_xyz = jointInfo[13]
orgParentIndex = jointInfo[16]
if (orgParentIndex < 0):
urdfJoint.parent_name = baseLink.link_name
else:
parentJointInfo = p.getJointInfo(bodyUid, orgParentIndex, physicsClientId=physicsClientId)
urdfJoint.parent_name = parentJointInfo[12].decode("utf-8")
urdfJoint.child_name = urdfLink.link_name
# todo, compensate for inertia/link frame offset
dynChild = p.getDynamicsInfo(bodyUid, j, physicsClientId=physicsClientId)
childInertiaPos = dynChild[3]
childInertiaOrn = dynChild[4]
parentCom2JointPos = jointInfo[14]
parentCom2JointOrn = jointInfo[15]
tmpPos, tmpOrn = p.multiplyTransforms(childInertiaPos, childInertiaOrn, parentCom2JointPos,
parentCom2JointOrn)
tmpPosInv, tmpOrnInv = p.invertTransform(tmpPos, tmpOrn)
dynParent = p.getDynamicsInfo(bodyUid, orgParentIndex, physicsClientId=physicsClientId)
parentInertiaPos = dynParent[3]
parentInertiaOrn = dynParent[4]
pos, orn = p.multiplyTransforms(parentInertiaPos, parentInertiaOrn, tmpPosInv, tmpOrnInv)
pos, orn_unused = p.multiplyTransforms(parentInertiaPos, parentInertiaOrn, parentCom2JointPos, [0, 0, 0, 1])
urdfJoint.joint_origin_xyz = pos
urdfJoint.joint_origin_rpy = p.getEulerFromQuaternion(orn)
self.urdfJoints.append(urdfJoint)
def writeInertial(self, file, urdfInertial, precision=5):
file.write("\t\t<inertial>\n")
str = '\t\t\t<origin rpy=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\" xyz=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format( \
urdfInertial.origin_rpy[0], urdfInertial.origin_rpy[1], urdfInertial.origin_rpy[2], \
urdfInertial.origin_xyz[0], urdfInertial.origin_xyz[1], urdfInertial.origin_xyz[2], prec=precision)
file.write(str)
str = '\t\t\t<mass value=\"{:.{prec}f}\"/>\n'.format(urdfInertial.mass, prec=precision)
file.write(str)
str = '\t\t\t<inertia ixx=\"{:.{prec}f}\" ixy=\"0\" ixz=\"0\" iyy=\"{:.{prec}f}\" iyz=\"0\" izz=\"{:.{prec}f}\"/>\n'.format( \
urdfInertial.inertia_xxyyzz[0], \
urdfInertial.inertia_xxyyzz[1], \
urdfInertial.inertia_xxyyzz[2], prec=precision)
file.write(str)
file.write("\t\t</inertial>\n")
def writeVisualShape(self, file, urdfVisual, precision=5):
file.write("\t\t<visual>\n")
str = '\t\t\t<origin rpy="{:.{prec}f} {:.{prec}f} {:.{prec}f}" xyz="{:.{prec}f} {:.{prec}f} {:.{prec}f}"/>\n'.format( \
urdfVisual.origin_rpy[0], urdfVisual.origin_rpy[1], urdfVisual.origin_rpy[2],
urdfVisual.origin_xyz[0], urdfVisual.origin_xyz[1], urdfVisual.origin_xyz[2], prec=precision)
file.write(str)
file.write("\t\t\t<geometry>\n")
if urdfVisual.geom_type == p.GEOM_BOX:
str = '\t\t\t\t<box size=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format(urdfVisual.geom_extents[0], \
urdfVisual.geom_extents[1],
urdfVisual.geom_extents[2],
prec=precision)
file.write(str)
if urdfVisual.geom_type == p.GEOM_SPHERE:
str = '\t\t\t\t<sphere radius=\"{:.{prec}f}\"/>\n'.format(urdfVisual.geom_radius, \
prec=precision)
file.write(str)
if urdfVisual.geom_type == p.GEOM_MESH:
str = '\t\t\t\t<mesh filename=\"{}\"/>\n'.format(urdfVisual.geom_meshfilename, \
prec=precision)
file.write(str)
if urdfVisual.geom_type == p.GEOM_CYLINDER:
str = '\t\t\t\t<cylinder length=\"{:.{prec}f}\" radius=\"{:.{prec}f}\"/>\n'.format( \
urdfVisual.geom_length, urdfVisual.geom_radius, prec=precision)
file.write(str)
if urdfVisual.geom_type == p.GEOM_CAPSULE:
str = '\t\t\t\t<capsule length=\"{:.{prec}f}\" radius=\"{:.{prec}f}\"/>\n'.format( \
urdfVisual.geom_length, urdfVisual.geom_radius, prec=precision)
file.write(str)
file.write("\t\t\t</geometry>\n")
str = '\t\t\t<material name=\"{}\">\n'.format(urdfVisual.material_name)
file.write(str)
str = '\t\t\t\t<color rgba="{:.{prec}f} {:.{prec}f} {:.{prec}f} {:.{prec}f}" />\n'.format(
urdfVisual.material_rgba[0], \
urdfVisual.material_rgba[1], urdfVisual.material_rgba[2], urdfVisual.material_rgba[3], prec=precision)
file.write(str)
file.write("\t\t\t</material>\n")
file.write("\t\t</visual>\n")
def writeCollisionShape(self, file, urdfCollision, precision=5):
file.write("\t\t<collision>\n")
str = '\t\t\t<origin rpy="{:.{prec}f} {:.{prec}f} {:.{prec}f}" xyz="{:.{prec}f} {:.{prec}f} {:.{prec}f}"/>\n'.format( \
urdfCollision.origin_rpy[0], urdfCollision.origin_rpy[1], urdfCollision.origin_rpy[2],
urdfCollision.origin_xyz[0], urdfCollision.origin_xyz[1], urdfCollision.origin_xyz[2], prec=precision)
file.write(str)
file.write("\t\t\t<geometry>\n")
if urdfCollision.geom_type == p.GEOM_BOX:
str = '\t\t\t\t<box size=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format(urdfCollision.geom_extents[0], \
urdfCollision.geom_extents[1],
urdfCollision.geom_extents[2],
prec=precision)
file.write(str)
if urdfCollision.geom_type == p.GEOM_SPHERE:
str = '\t\t\t\t<sphere radius=\"{:.{prec}f}\"/>\n'.format(urdfCollision.geom_radius, \
prec=precision)
file.write(str)
if urdfCollision.geom_type == p.GEOM_MESH:
str = '\t\t\t\t<mesh filename=\"{}\"/>\n'.format(urdfCollision.geom_meshfilename, \
prec=precision)
file.write(str)
if urdfCollision.geom_type == p.GEOM_CYLINDER:
str = '\t\t\t\t<cylinder length=\"{:.{prec}f}\" radius=\"{:.{prec}f}\"/>\n'.format( \
urdfCollision.geom_length, urdfCollision.geom_radius, prec=precision)
file.write(str)
if urdfCollision.geom_type == p.GEOM_CAPSULE:
str = '\t\t\t\t<capsule length=\"{:.{prec}f}\" radius=\"{:.{prec}f}\"/>\n'.format( \
urdfCollision.geom_length, urdfCollision.geom_radius, prec=precision)
file.write(str)
file.write("\t\t\t</geometry>\n")
file.write("\t\t</collision>\n")
def writeLink(self, file, urdfLink):
file.write("\t<link name=\"")
file.write(urdfLink.link_name)
file.write("\">\n")
self.writeInertial(file, urdfLink.urdf_inertial)
for v in urdfLink.urdf_visual_shapes:
self.writeVisualShape(file, v)
for c in urdfLink.urdf_collision_shapes:
self.writeCollisionShape(file, c)
file.write("\t</link>\n")
def writeJoint(self, file, urdfJoint, precision=5):
jointTypeStr = "invalid"
if urdfJoint.joint_type == p.JOINT_REVOLUTE:
if urdfJoint.joint_upper_limit < urdfJoint.joint_lower_limit:
jointTypeStr = "continuous"
else:
jointTypeStr = "revolute"
if urdfJoint.joint_type == p.JOINT_FIXED:
jointTypeStr = "fixed"
if urdfJoint.joint_type == p.JOINT_PRISMATIC:
jointTypeStr = "prismatic"
str = '\t<joint name=\"{}\" type=\"{}\">\n'.format(urdfJoint.joint_name, jointTypeStr)
file.write(str)
str = '\t\t<parent link=\"{}\"/>\n'.format(urdfJoint.parent_name)
file.write(str)
str = '\t\t<child link=\"{}\"/>\n'.format(urdfJoint.child_name)
file.write(str)
if urdfJoint.joint_type == p.JOINT_PRISMATIC:
# todo: handle limits
lowerLimit = -0.5
upperLimit = 0.5
str = '<limit effort="1000.0" lower="{:.{prec}f}" upper="{:.{prec}f}" velocity="0.5"/>'.format(lowerLimit,
upperLimit,
prec=precision)
file.write(str)
file.write("\t\t<dynamics damping=\"1.0\" friction=\"0.0001\"/>\n")
str = '\t\t<origin xyz=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format(urdfJoint.joint_origin_xyz[0], \
urdfJoint.joint_origin_xyz[1],
urdfJoint.joint_origin_xyz[2],
prec=precision)
file.write(str)
str = '\t\t<axis xyz=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format(urdfJoint.joint_axis_xyz[0], \
urdfJoint.joint_axis_xyz[1],
urdfJoint.joint_axis_xyz[2],
prec=precision)
file.write(str)
file.write("\t</joint>\n")
def saveUrdf(self, fileName):
file = open(fileName, "w")
file.write("<?xml version=\"0.0\" ?>\n")
file.write("<robot name=\"")
file.write(self.robotName)
file.write("\">\n")
for link in self.urdfLinks:
self.writeLink(file, link)
for joint in self.urdfJoints:
self.writeJoint(file, joint)
file.write("</robot>\n")
file.close()
# def addLink(...)
def createMultiBody(self, basePosition=[0, 0, 0], physicsClientId=0):
# assume link[0] is base
if (len(self.urdfLinks) == 0):
return -1
base = self.urdfLinks[0]
# v.tmp_collision_shape_ids=[]
baseMass = base.urdf_inertial.mass
baseCollisionShapeIndex = -1
baseShapeTypeArray = []
baseRadiusArray = []
baseHalfExtentsArray = []
lengthsArray = []
fileNameArray = []
meshScaleArray = []
basePositionsArray = []
baseOrientationsArray = []
for v in base.urdf_collision_shapes:
#if v.geom_meshfilename == UNKNOWN_FILE:
# continue
shapeType = v.geom_type
baseShapeTypeArray.append(shapeType)
baseHalfExtentsArray.append([0.5 * v.geom_extents[0], 0.5 * v.geom_extents[1], 0.5 * v.geom_extents[2]])
baseRadiusArray.append(v.geom_radius)
lengthsArray.append(v.geom_length)
fileNameArray.append(v.geom_meshfilename)
meshScaleArray.append(v.geom_meshscale)
basePositionsArray.append(v.origin_xyz)
baseOrientationsArray.append(p.getQuaternionFromEuler(v.origin_rpy))
if (len(baseShapeTypeArray)):
baseCollisionShapeIndex = p.createCollisionShapeArray(shapeTypes=baseShapeTypeArray,
radii=baseRadiusArray,
halfExtents=baseHalfExtentsArray,
lengths=lengthsArray,
fileNames=fileNameArray,
meshScales=meshScaleArray,
collisionFramePositions=basePositionsArray,
collisionFrameOrientations=baseOrientationsArray,
physicsClientId=physicsClientId)
urdfVisuals = base.urdf_visual_shapes
baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals],
halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in
urdfVisuals],
radii=[v.geom_radius for v in urdfVisuals],
#lengths=[v.geom_length[0] for v in urdfVisuals],
lengths=[v.geom_length for v in urdfVisuals],
fileNames=[v.geom_meshfilename for v in urdfVisuals],
meshScales=[v.geom_meshscale for v in urdfVisuals],
rgbaColors=[v.material_rgba for v in urdfVisuals],
visualFramePositions=[v.origin_xyz for v in urdfVisuals],
visualFrameOrientations=[p.getQuaternionFromEuler(v.origin_rpy) for v in urdfVisuals],
physicsClientId=physicsClientId)
linkMasses = []
linkCollisionShapeIndices = []
linkVisualShapeIndices = []
linkPositions = []
linkOrientations = []
linkMeshScaleArray = []
linkInertialFramePositions = []
linkInertialFrameOrientations = []
linkParentIndices = []
linkJointTypes = []
linkJointAxis = []
for joint in self.urdfJoints:
link = joint.link
linkMass = link.urdf_inertial.mass
linkCollisionShapeIndex = -1
linkVisualShapeIndex = -1
linkParentIndex = self.linkNameToIndex[joint.parent_name]
linkShapeTypeArray = []
linkRadiusArray = []
linkHalfExtentsArray = []
lengthsArray = []
fileNameArray = []
linkPositionsArray = []
linkOrientationsArray = []
for v in link.urdf_collision_shapes:
#if v.geom_meshfilename == UNKNOWN_FILE:
# continue
shapeType = v.geom_type
linkShapeTypeArray.append(shapeType)
linkHalfExtentsArray.append([0.5 * v.geom_extents[0], 0.5 * v.geom_extents[1], 0.5 * v.geom_extents[2]])
linkRadiusArray.append(v.geom_radius)
lengthsArray.append(v.geom_length)
fileNameArray.append(v.geom_meshfilename)
linkMeshScaleArray.append(v.geom_meshscale)
linkPositionsArray.append(v.origin_xyz)
linkOrientationsArray.append(p.getQuaternionFromEuler(v.origin_rpy))
if (len(linkShapeTypeArray)):
linkCollisionShapeIndex = p.createCollisionShapeArray(shapeTypes=linkShapeTypeArray,
radii=linkRadiusArray,
halfExtents=linkHalfExtentsArray,
lengths=lengthsArray,
fileNames=fileNameArray,
meshScales=linkMeshScaleArray,
collisionFramePositions=linkPositionsArray,
collisionFrameOrientations=linkOrientationsArray,
physicsClientId=physicsClientId)
urdfVisuals = link.urdf_visual_shapes
linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=[v.geom_type for v in urdfVisuals],
halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v
in urdfVisuals],
radii=[v.geom_radius for v in urdfVisuals],
#lengths=[v.geom_length[0] for v in urdfVisuals],
lengths=[v.geom_length for v in urdfVisuals],
fileNames=[v.geom_meshfilename for v in urdfVisuals],
meshScales=[v.geom_meshscale for v in urdfVisuals],
rgbaColors=[v.material_rgba for v in urdfVisuals],
visualFramePositions=[v.origin_xyz for v in
urdfVisuals],
visualFrameOrientations=[p.getQuaternionFromEuler(v.origin_rpy) for v in
urdfVisuals],
physicsClientId=physicsClientId)
linkMasses.append(linkMass)
linkCollisionShapeIndices.append(linkCollisionShapeIndex)
linkVisualShapeIndices.append(linkVisualShapeIndex)
linkPositions.append(joint.joint_origin_xyz)
linkOrientations.append(p.getQuaternionFromEuler(joint.joint_origin_rpy))
linkInertialFramePositions.append(link.urdf_inertial.origin_xyz)
linkInertialFrameOrientations.append(p.getQuaternionFromEuler(link.urdf_inertial.origin_rpy))
linkParentIndices.append(linkParentIndex)
linkJointTypes.append(joint.joint_type)
linkJointAxis.append(joint.joint_axis_xyz)
obUid = p.createMultiBody(baseMass, \
baseCollisionShapeIndex=baseCollisionShapeIndex,
baseVisualShapeIndex=baseVisualShapeIndex,
basePosition=basePosition,
baseInertialFramePosition=base.urdf_inertial.origin_xyz,
baseInertialFrameOrientation=p.getQuaternionFromEuler(base.urdf_inertial.origin_rpy),
linkMasses=linkMasses,
linkCollisionShapeIndices=linkCollisionShapeIndices,
linkVisualShapeIndices=linkVisualShapeIndices,
linkPositions=linkPositions,
linkOrientations=linkOrientations,
linkInertialFramePositions=linkInertialFramePositions,
linkInertialFrameOrientations=linkInertialFrameOrientations,
linkParentIndices=linkParentIndices,
linkJointTypes=linkJointTypes,
linkJointAxis=linkJointAxis,
physicsClientId=physicsClientId)
return obUid
def __del__(self):
pass