initial forking commit

scripts/create_urdf.py

@@ -0,0 +1,191 @@
+#  Copyright (c) 2024 Franka Robotics GmbH
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+import argparse
+import os
+
+import xacro
+
+
+def str_to_bool(s):
+    return s.lower() in ["true", "1", "yes", "y"]
+
+
+def convert_xacro_to_urdf(xacro_file, only_ee, with_sc, ee_id, hand, no_prefix, robot):
+    """Convert xacro file into a URDF file."""
+    mappings = {
+        "with_sc": str(with_sc),
+        "ee_id": str(ee_id),
+        "hand": str(hand),
+        "no_prefix": str(no_prefix),
+        "arm_id": str(robot),
+    }
+
+    if only_ee and robot == "":
+        mappings["connection"] = ""
+
+    urdf = xacro.process_file(xacro_file, mappings=mappings)
+    urdf_file = urdf.toprettyxml(indent="  ")
+    return urdf_file
+
+
+def convert_package_name_to_absolute_path(package_name, package_path, urdf_file):
+    """Replace a ROS package names with the absolute paths."""
+    urdf_file = urdf_file.replace("package://{}".format(package_name), package_path)
+    return urdf_file
+
+
+def urdf_generation(
+    package_path, xacro_file, file_name, ONLY_EE, WITH_SC, EE, HAND, NO_PREFIX, robot
+):
+    """Generate URDF file and save it."""
+    xacro_file = os.path.join(package_path, xacro_file)
+    urdf_file = convert_xacro_to_urdf(xacro_file, ONLY_EE, WITH_SC, EE, HAND, NO_PREFIX, robot)
+    if ABSOLUTE_PATHS and (HOST_DIR is None or HOST_DIR == ""):
+        urdf_file = convert_package_name_to_absolute_path(
+            package_name, package_path, urdf_file
+        )
+    elif ABSOLUTE_PATHS:
+        urdf_file = convert_package_name_to_absolute_path(
+            package_name, HOST_DIR, urdf_file
+        )
+    save_urdf_to_file(package_path, urdf_file, file_name)
+
+
+def save_urdf_to_file(package_path, urdf_file, robot):
+    """Save URDF into a file."""
+    # Check if the folder exists, and if not, create it
+    folder_path = f"{package_path}/urdfs"
+    if not os.path.exists(folder_path):
+        os.makedirs(folder_path)
+
+    with open(f"{package_path}/urdfs/{robot}.urdf", "w") as f:
+        f.write(urdf_file)
+
+
+if __name__ == "__main__":
+    package_name = "franka_description"
+
+    if os.getcwd().split("/")[-1] != package_name:
+        print("Call the script from franka_description root folder")
+        exit()
+
+    ROBOTS = ["multi_arm", "fr3", "fp3", "fer"]
+
+    END_EFFECTORS = ["none", "franka_hand", "cobot_pump"]
+
+    parser = argparse.ArgumentParser(
+        description="""
+            Generate franka robots urdf models.
+            Script to be executed from franka_description root folder!
+            """
+    )
+
+    robots_str = ", ".join([f"{item}" for item in ROBOTS])
+    parser.add_argument(
+        "robot_model",
+        type=str,
+        nargs='?',
+        default="",
+        help="id of the robot model (accepted values are: {})".format(robots_str),
+    )
+    parser.add_argument(
+        "--no-ee",
+        help="Disable loading of end-effector.",
+        action="store_const",
+        const=True,
+    )
+    ee_str = ", ".join([f"{item}" for item in END_EFFECTORS])
+    parser.add_argument(
+        "--robot-ee",
+        type=str,
+        default="franka_hand",
+        help="id of the robot end effector (accepted values are: {})".format(ee_str),
+    )
+    parser.add_argument(
+        "--with-sc",
+        help="Include self-collision volumes in the urdf model.",
+        action="store_const",
+        const=True,
+    )
+    parser.add_argument(
+        "--abs-path", help="Use absolute paths.", action="store_const", const=True
+    )
+    parser.add_argument(
+        "--host-dir", help="Provide a host directory for the absolute path."
+    )
+    parser.add_argument(
+        "--only-ee",
+        help="Get urdf with solely end-effector data.",
+        action="store_const",
+        const=True,
+    )
+    parser.add_argument(
+        "--no-prefix",
+        help="Override the robot prefix of links, joints and visuals in the urdf file.",
+        action="store_const",
+        const=True,
+    )
+
+    args = parser.parse_args()
+
+    ROBOT_MODEL = args.robot_model.lower()
+    HAND = not args.no_ee
+    EE = args.robot_ee.lower() if args.robot_ee is not None else "franka_hand"
+    WITH_SC = args.with_sc if args.with_sc is not None else False
+    ABSOLUTE_PATHS = args.abs_path if args.abs_path is not None else False
+    HOST_DIR = args.host_dir
+    ONLY_EE = args.only_ee if args.only_ee is not None else False
+    NO_PREFIX = args.no_prefix if args.no_prefix is not None else 'false'
+
+    assert ROBOT_MODEL in ROBOTS or ROBOT_MODEL == "all" or \
+           ROBOT_MODEL == "none" or ROBOT_MODEL == ""
+
+    if ROBOT_MODEL != "all" and ROBOT_MODEL != "none":
+        ROBOTS = [ROBOT_MODEL]
+
+    package_path = os.getcwd()
+    if ONLY_EE:
+        print(f"\n*** Creating URDF for {EE} ***")
+        xacro_file = f"end_effectors/{EE}/{EE}.urdf.xacro"
+        file_name = f"{EE}"
+        if ROBOT_MODEL == "all" or ROBOT_MODEL == "none" or ROBOT_MODEL == "":
+            robot_prefix = ""
+        else:
+            robot_prefix = ROBOT_MODEL
+        urdf_generation(
+            package_path, xacro_file, file_name, ONLY_EE, WITH_SC,
+            EE, HAND, NO_PREFIX, robot_prefix,
+        )
+    else:
+        if ROBOT_MODEL == "none" or ROBOT_MODEL == "":
+            print("\n*** Robot model must be specified ***")
+        else:
+            for robot in ROBOTS:
+                xacro_file = f"robots/{robot}/{robot}.urdf.xacro"
+                if HAND and EE != "none":
+                    print(f"\n*** Creating URDF for {robot} and {EE} ***")
+                    file_name = f"{robot}_{EE}"
+                else:
+                    if not HAND:
+                        print(
+                            "\n*** WARNING: --no-ee argument will be removed in future releases, "
+                            "introducing none as ee id***"
+                        )
+                    print(f"\n*** Creating URDF for {robot} ***")
+                    file_name = f"{robot}"
+                urdf_generation(
+                    package_path, xacro_file, file_name,
+                    ONLY_EE, WITH_SC, EE, HAND, NO_PREFIX, robot,
+                )

scripts/create_urdf.sh

@@ -0,0 +1,14 @@
+#!/bin/zsh
+
+sudo docker build -t urdf_creation \
+    --build-arg USER_UID=$(id -u) \
+    --build-arg USER_GID=$(id -g) \
+    ./.docker
+
+echo 
+
+sudo docker run -u $(id -u) \
+    -v $(pwd):/workspaces/src/franka_description \
+    -w /workspaces/src/franka_description \
+    urdf_creation \
+    .docker/create_urdf.entrypoint.sh $*

scripts/visualize_franka.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+
+sudo docker build -t urdf_creation \
+    --build-arg USER_UID=$(id -u) \
+    --build-arg USER_GID=$(id -g) \
+    ./.docker
+
+echo 
+
+sudo docker run -it -u $(id -u) \
+    --privileged \
+    -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY} \
+    -v $(pwd):/workspaces/src/franka_description \
+    -w /workspaces/src/franka_description \
+    urdf_creation \
+    .docker/visualize_franka.entrypoint.sh $*