From 397e33bd08c116bcf1a31cd3adfdde104b769933 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Sun, 13 Sep 2026 13:56:29 +0300 Subject: [PATCH] =?UTF-8?q?=D0=9F=D0=B5=D1=80=D0=B2=D0=BE=D0=BD=D0=B0?= =?UTF-8?q?=D1=87=D0=B0=D0=BB=D1=8C=D0=BD=D0=B0=D1=8F=20=D0=BD=D0=B0=D1=81?= =?UTF-8?q?=D1=82=D1=80=D0=BE=D0=B9=D0=BA=D0=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 8 + README.md | 103 + configs/scene.yaml | 60 + iiwa_genesis_description/LICENSE | 202 ++ iiwa_genesis_description/README.md | 17 + iiwa_genesis_description/table/table.urdf | 169 ++ .../urdf/iiwa_with_gripper.urdf | 368 +++ .../urdf/iiwa_without_gripper.urdf | 254 ++ .../urdf/meshes/iiwa/collision/base_link.STL | Bin 0 -> 460084 bytes .../urdf/meshes/iiwa/collision/link1.STL | Bin 0 -> 180384 bytes .../urdf/meshes/iiwa/collision/link2.STL | Bin 0 -> 450884 bytes 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create mode 100644 pyproject.toml create mode 100644 run_scene.py create mode 100644 src/iiwa_genesis/__init__.py create mode 100644 src/iiwa_genesis/camera.py create mode 100644 src/iiwa_genesis/cli.py create mode 100644 src/iiwa_genesis/config.py create mode 100644 src/iiwa_genesis/runtime.py create mode 100644 src/iiwa_genesis/scene.py create mode 100644 tests/test_camera.py create mode 100644 tests/test_config_and_assets.py create mode 100644 tests/test_genesis_smoke.py create mode 100644 tests/test_runtime.py create mode 100644 tools/export_descriptions.py create mode 100644 uv.lock diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..effb4b6 --- /dev/null +++ b/.gitignore @@ -0,0 +1,8 @@ +.venv/ +__pycache__/ +.pytest_cache/ +outputs/ +.cache/ +.codex/ +.agents/ +iiwa_description \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..431c427 --- /dev/null +++ b/README.md @@ -0,0 +1,103 @@ +# KUKA iiwa в Genesis World + +Standalone Python-приложение: стол, iiwa7 и одна или две RGB-D камеры. +ROS 2 не используется. Рабочие описания — обычные URDF с локальными meshes. + +## Установка и запуск + +Все Python-зависимости устанавливает uv: + +```bash +uv sync --locked +uv run python run_scene.py --config configs/scene.yaml +``` + +Для машины без NVIDIA можно выбрать CPU-сборку PyTorch. Сохраняйте `--extra cpu` +и в следующих вызовах `uv run`, чтобы uv не переключил окружение обратно: + +```bash +uv sync --extra cpu --locked +uv run --extra cpu python run_scene.py --headless --steps 4 --save-frames +uv run --extra cpu pytest +``` + +В `configs/scene.yaml` переключите `scene.mode` между `without_gripper` и +`with_gripper`. Второй режим автоматически выбирает URDF с инструментом и +добавляет камеру на нём. Верхняя камера присутствует всегда. Отдельно менять +путь URDF или `enabled` не требуется; выбор режима имеет приоритет над этими +устаревшими полями из первоначального плана. + +```bash +uv run python run_scene.py --viewer +uv run python run_scene.py --headless --steps 120 --save-frames +uv run --extra cuda python run_scene.py --backend gpu --viewer +uv run pytest +IIWA_GENESIS_SMOKE=1 uv run pytest tests/test_genesis_smoke.py +``` + +Headless по умолчанию выполняет 120 шагов, viewer работает до закрытия окна, +Ctrl+C или Q/Esc в окне кадров. `output.preview` включает окна RGB и глубины. +30 FPS — частота по времени симуляции; реальная скорость зависит от оборудования. +Headless всё равно требует рабочий OpenGL/EGL для RGB. Используется EGL, если +`PYOPENGL_PLATFORM` не задан пользователем. GPU требует совместимого драйвера; +`backend: cpu` выбран для переносимого первого запуска. Системный драйвер и +библиотеки OpenGL предоставляются ОС, их uv не устанавливает. +Обычные тесты проверяют URDF, конфигурацию и математику; opt-in smoke-тесты +реально строят оба мира и сохраняют RGB-D на CPU/EGL. Первичная компиляция +Genesis может занимать несколько минут. Launcher игнорирует унаследованные +Python overlays, а pytest не загружает внешние плагины автоматически. + +## Конфигурация и координаты + +Положения задаются в метрах, углы `euler` — в градусах, суставы и +`horizontal_fov` — в радианах. Начальные суставы проверяются по URDF limits. +Верх столешницы находится на 0,800 м, верх монтажной пластины — на 0,815 м; +поэтому основание iiwa по умолчанию расположено на `[-0.263, 0, 0.815]`. +При перемещении стола настройте положение робота согласованно. + +Параметры верхней камеры заданы в мировой системе. Параметры камеры инструмента +заданы относительно `camera_optical_frame`: вперёд +Z, вверх изображения -Y. +Трансформы крепления сохранены из исходного описания. Направление оптической +оси можно уточнять через локальные `lookat` и `up` без правки URDF. +Нулевая гравитация удерживает выбранную позу без контроллера: v1 предназначена +для осмотра сцены и получения изображений, а не динамического управления. + +## Камеры и запись + +Это **приближение D455**, использующее профиль из согласованного плана: +640×480, 30 FPS, HFOV 75°, диапазон 0,01–6 м, квантование глубины 1 мм. +RGB и depth используют одинаковую идеальную pinhole-калибровку. Не моделируются +ИК-проектор, стереосопоставление, IMU, реальные искажения и индивидуальная заводская +калибровка D455. Исходный Xacro задавал другую нижнюю границу depth — 0,52 м; +выбранные 0,01 м следуют утверждённому плану и изменяются через YAML. + +Каждая камера имеет RGB-сенсор Genesis и DepthCamera raycaster. Дальность по +лучу преобразуется в optical Z. Пропуски и значения вне диапазона дают depth=0 +и valid=false. Depth использует геометрию raycaster; упрощения мешей/коллизий +могут отличаться от RGB. Gaussian noise задаётся отдельно для RGB (доля 255) +и глубины (метры), выключен по умолчанию и использует фиксированный seed. + +`--save-frames` или `output.save_frames` сохраняет в уникальную папку запуска: + +- `overhead_000000.png` — RGB; +- `overhead_000000.npz` — float32 depth в метрах и маска valid; +- `overhead_000000.json` — intrinsics, обе extrinsics, время симуляции и профиль. + +Камера инструмента использует префикс `tool`. При `output.pointcloud: true` +NPZ содержит также `xyz_optical`; невалидные точки равны NaN. Центры пикселей +располагаются в `(u+0.5, v+0.5)`, оси optical: X вправо, Y вниз, Z вперёд. +Относительный `output.directory` разрешается относительно YAML-файла. +Каждый запуск создаёт отдельный каталог, существующие записи сохраняются. + +Genesis закреплён на 1.4.1, версии остальных зависимостей фиксирует `uv.lock`. +Xacro явно исключён из транзитивных зависимостей через `tool.uv.exclude-dependencies`. +Genesis 1.4.1, однако, импортирует его безусловно. Модуль приложения `runtime.py` +при импорте Genesis убирает этот единственный импорт из AST модуля загрузки URDF +и заменяет `load_xacro` явной ошибкой. Это адаптация в памяти, ограниченная +версией 1.4.1: файлы установленного Genesis не меняются, заглушка Xacro не создаётся. +Обновление Genesis требует пересмотра адаптации и повторного smoke-теста. +Экспорт описаний также выполнен без Xacro; runtime читает только plain URDF. + +Документация: [Genesis cameras](https://genesis-world.readthedocs.io/en/latest/user_guide/sensing/camera_sensors.html), +[raycaster](https://genesis-world.readthedocs.io/en/latest/user_guide/sensing/raycaster.html), +[uv exclusions](https://docs.astral.sh/uv/concepts/resolution/#dependency-exclusions). diff --git a/configs/scene.yaml b/configs/scene.yaml new file mode 100644 index 0000000..f5b90bd --- /dev/null +++ b/configs/scene.yaml @@ -0,0 +1,60 @@ +scene: + mode: without_gripper # with_gripper automatically adds the tool camera + backend: cpu # gpu on a machine with a supported GPU + viewer: true + dt: 0.008333333333333333 # 120 Hz simulation clock + seed: 42 + +robot: + position: [-0.263, 0.0, 0.815] + euler: [0.0, 0.0, 0.0] # degrees + joints: # radians + joint1: 0.0 + joint2: 0.0 + joint3: 0.0 + joint4: 0.0 + joint5: 0.0 + joint6: 0.0 + joint7: 0.0 + +table: + position: [0.0, 0.0, 0.0] + euler: [0.0, 0.0, 0.0] + +cameras: + overhead: + position: [-0.263, 0.0, 2.8] + lookat: [-0.263, 0.0, 1.2] + up: [0.0, 1.0, 0.0] + resolution: [640, 480] + fps: 30 + horizontal_fov: 1.3089969 # radians, legacy simulated profile + min_range: 0.01 + max_range: 6.0 + depth_resolution: 0.001 + noise: + enabled: false + rgb_stddev: 0.005 # fraction of full RGB scale + depth_stddev: 0.02 # metres + tool: + link: camera_optical_frame + # Local camera axes in the existing link: forward +Z, image up -Y. + position: [0.0, 0.0, 0.0] + lookat: [0.0, 0.0, 1.0] + up: [0.0, -1.0, 0.0] + resolution: [640, 480] + fps: 30 + horizontal_fov: 1.3089969 + min_range: 0.01 + max_range: 6.0 + depth_resolution: 0.001 + noise: + enabled: false + rgb_stddev: 0.005 + depth_stddev: 0.02 + +output: + save_frames: false + directory: ../outputs # relative to this YAML + preview: true # RGB and colour-mapped depth windows when viewer is enabled + pointcloud: false # optional optical-frame XYZ in each NPZ diff --git a/iiwa_genesis_description/LICENSE b/iiwa_genesis_description/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/iiwa_genesis_description/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/iiwa_genesis_description/README.md b/iiwa_genesis_description/README.md new file mode 100644 index 0000000..731098a --- /dev/null +++ b/iiwa_genesis_description/README.md @@ -0,0 +1,17 @@ +# Genesis descriptions + +`urdf/iiwa_without_gripper.urdf` и `urdf/iiwa_with_gripper.urdf` экспортированы +из `iiwa_description` с сохранением кинематики, инерций, суставных ограничений +и геометрии. `table/table.urdf` — копия стола с локальными путями. +Meshes находятся в `urdf/meshes`; исходная папка не изменена. + +Воспроизводимый экспорт именно этих исходных макросов: + +```bash +uv run python tools/export_descriptions.py +``` + +Скрипт использует стандартную библиотеку Python и не является универсальным +Xacro-интерпретатором. Gazebo/Webots/ros2_control не попадают в выходные URDF. +Настройки сенсоров находятся в YAML. Все fixed links сохранены при импорте. +Лицензия исходных геометрических ресурсов находится в `LICENSE`. diff --git a/iiwa_genesis_description/table/table.urdf b/iiwa_genesis_description/table/table.urdf new file mode 100644 index 0000000..302c5cc --- /dev/null +++ b/iiwa_genesis_description/table/table.urdf @@ -0,0 +1,169 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/iiwa_genesis_description/urdf/iiwa_with_gripper.urdf b/iiwa_genesis_description/urdf/iiwa_with_gripper.urdf new file mode 100644 index 0000000..ffef51e --- /dev/null +++ b/iiwa_genesis_description/urdf/iiwa_with_gripper.urdf @@ -0,0 +1,368 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/iiwa_genesis_description/urdf/iiwa_without_gripper.urdf b/iiwa_genesis_description/urdf/iiwa_without_gripper.urdf new file mode 100644 index 0000000..2848ac2 --- /dev/null +++ b/iiwa_genesis_description/urdf/iiwa_without_gripper.urdf @@ -0,0 +1,254 @@ + + + + + + + + + + + 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179 179 114 114 114 115 115 115 180 180 180 179 179 179 116 116 116 180 180 180 115 115 115 117 117 117 180 180 180 116 116 116 86 86 86 180 180 180 117 117 117 118 118 118 180 180 180 86 86 86 118 118 118 181 181 181 180 180 180 119 119 119 181 181 181 118 118 118 119 119 119 182 182 182 181 181 181 120 120 120 182 182 182 119 119 119 120 120 120 154 154 154 182 182 182 81 81 81 154 154 154 120 120 120 154 154 154 183 183 183 184 184 184 82 82 82 121 121 121 122 122 122 155 155 155 121 121 121 82 82 82 185 185 185 121 121 121 155 155 155 185 185 185 123 123 123 121 121 121 185 185 185 124 124 124 123 123 123 186 186 186 124 124 124 185 185 185 186 186 186 125 125 125 124 124 124 187 187 187 125 125 125 186 186 186 187 187 187 126 126 126 125 125 125 188 188 188 126 126 126 187 187 187 188 188 188 127 127 127 126 126 126 188 188 188 128 128 128 127 127 127 189 189 189 128 128 128 188 188 188 189 189 189 129 129 129 128 128 128 189 189 189 130 130 130 129 129 129 190 190 190 130 130 130 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..fec568e --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,47 @@ +[project] +name = "iiwa-genesis" +version = "0.1.0" +requires-python = ">=3.12,<3.14" +dependencies = [ + "genesis-world==1.4.1", + "torch>=2.8", + "numpy>=2", + "scipy>=1.14", + "pyyaml>=6", + "pillow>=11", + "opencv-python>=4.10" +] + +[tool.uv] +exclude-dependencies = ["xacro"] +conflicts = [ + [{ extra = "cpu" }, { extra = "cuda" }] +] + +[project.optional-dependencies] +cpu = ["torch>=2.8"] +cuda = ["torch>=2.8"] + +[tool.uv.sources] +torch = [ + { index = "pytorch-cpu", extra = "cpu" }, + { index = "pytorch-cuda", extra = "cuda" } +] + +[[tool.uv.index]] +name = "pytorch-cpu" +url = "https://download.pytorch.org/whl/cpu" +explicit = true + +[[tool.uv.index]] +name = "pytorch-cuda" +url = "https://pypi.org/simple" +explicit = true + +[dependency-groups] +dev = ["pytest>=8.4"] + +[tool.pytest.ini_options] +addopts = "--disable-plugin-autoload" +pythonpath = ["src"] +testpaths = ["tests"] diff --git a/run_scene.py b/run_scene.py new file mode 100644 index 0000000..764857c --- /dev/null +++ b/run_scene.py @@ -0,0 +1,14 @@ +from pathlib import Path +import os +import sys + +# Ignore inherited Python overlays (for example a shell that sourced a ROS workspace). +# All runtime dependencies belong to uv's virtual environment. +overlays = {str(Path(p).resolve()) for p in os.environ.get("PYTHONPATH", "").split(os.pathsep) if p} +sys.path[:] = [p for p in sys.path if str(Path(p).resolve()) not in overlays] +sys.path.insert(0, str(Path(__file__).resolve().parent / "src")) + +from iiwa_genesis.cli import main + +if __name__ == "__main__": + main() diff --git a/src/iiwa_genesis/__init__.py b/src/iiwa_genesis/__init__.py new file mode 100644 index 0000000..d9a678d --- /dev/null +++ b/src/iiwa_genesis/__init__.py @@ -0,0 +1 @@ +"""Standalone iiwa scene and RGB-D capture.""" diff --git a/src/iiwa_genesis/camera.py b/src/iiwa_genesis/camera.py new file mode 100644 index 0000000..6bb8583 --- /dev/null +++ b/src/iiwa_genesis/camera.py @@ -0,0 +1,119 @@ +"""Aligned pinhole RGB-D approximation, with explicit optical coordinate conventions.""" +from dataclasses import dataclass +import json +import math + +import numpy as np +from PIL import Image +from scipy.spatial.transform import Rotation + + +def array(value): + return value.detach().cpu().numpy() if hasattr(value, "detach") else np.asarray(value) + + +def optical_pose(position, lookat, up): + z = np.subtract(lookat, position).astype(float) + z /= np.linalg.norm(z) + x = np.cross(z, up) + x /= np.linalg.norm(x) + y = np.cross(z, x) + pose = np.eye(4) + pose[:3, :3] = np.column_stack((x, y, z)) + pose[:3, 3] = position + return pose + + +def calibration(cfg): + w, h = cfg["resolution"] + f = w / (2 * math.tan(cfg["horizontal_fov"] / 2)) + return np.array([[f, 0, w / 2], [0, f, h / 2], [0, 0, 1]], dtype=float) + + +def optical_rays(cfg): + w, h = cfg["resolution"] + k = calibration(cfg) + u, v = np.meshgrid(np.arange(w) + 0.5, np.arange(h) + 0.5) + return np.stack(((u - k[0, 2]) / k[0, 0], (v - k[1, 2]) / k[1, 1], np.ones_like(u)), axis=-1) + + +def process_depth(distance, cfg, rng): + rays = optical_rays(cfg) + depth = np.asarray(distance) / np.linalg.norm(rays, axis=-1) + valid = np.isfinite(depth) & (depth >= cfg["min_range"]) & (depth <= cfg["max_range"]) + if cfg["noise"]["enabled"]: + depth = depth + rng.normal(0, cfg["noise"]["depth_stddev"], depth.shape) + depth = np.round(depth / cfg["depth_resolution"]) * cfg["depth_resolution"] + valid &= (depth >= cfg["min_range"]) & (depth <= cfg["max_range"]) + return np.where(valid, depth, 0).astype(np.float32), valid + + +@dataclass +class Frame: + rgb: np.ndarray + depth: np.ndarray + valid: np.ndarray + metadata: dict + + +class D455: + def __init__(self, gs, scene, name, cfg, seed, robot=None): + self.name, self.cfg, self.robot = name, cfg, robot + self.rng = np.random.default_rng(seed) + self.local_pose = optical_pose(cfg["position"], cfg["lookat"], cfg["up"]) + self.link = robot.get_link(cfg["link"]) if robot is not None else None + mount = {} if self.link is None else {"entity_idx": robot.idx, "link_idx_local": self.link.idx_local} + w, h = cfg["resolution"] + vfov = math.degrees(2 * math.atan(h / w * math.tan(cfg["horizontal_fov"] / 2))) + self.rgb = scene.add_sensor(gs.sensors.RasterizerCameraOptions( + res=cfg["resolution"], pos=cfg["position"], lookat=cfg["lookat"], up=cfg["up"], + fov=vfov, near=cfg["min_range"], far=cfg["max_range"], **mount)) + # Raycaster axes: X forward, Y left, Z up. Optical axes: X right, Y down, Z forward. + ray_to_optical = np.eye(4) + ray_to_optical[:3, :3] = [[0, -1, 0], [0, 0, -1], [1, 0, 0]] + ray_pose = self.local_pose @ ray_to_optical + self.depth = scene.add_sensor(gs.sensors.DepthCamera( + pattern=gs.sensors.DepthCameraPattern(res=cfg["resolution"], fov_horizontal=math.degrees(cfg["horizontal_fov"])), + pos_offset=tuple(ray_pose[:3, 3]), + euler_offset=tuple(Rotation.from_matrix(ray_pose[:3, :3]).as_euler("xyz", degrees=True)), + min_range=0.0, max_range=cfg["max_range"] * np.linalg.norm(optical_rays(cfg), axis=-1).max(), + no_hit_value=float("inf"), return_points=False, **mount)) + + def world_pose(self): + if self.link is None: + return self.local_pose.copy() + # Genesis public pose uses (w, x, y, z). + w, x, y, z = array(self.link.get_quat(relative=False)) + transform = np.eye(4) + transform[:3, :3] = [[1-2*(y*y+z*z), 2*(x*y-z*w), 2*(x*z+y*w)], + [2*(x*y+z*w), 1-2*(x*x+z*z), 2*(y*z-x*w)], + [2*(x*z-y*w), 2*(y*z+x*w), 1-2*(x*x+y*y)]] + transform[:3, 3] = array(self.link.get_pos(relative=False)) + return transform @ self.local_pose + + def read(self, timestamp): + rgb = array(self.rgb.read().rgb).copy() + depth, valid = process_depth(array(self.depth.read_image()), self.cfg, self.rng) + if self.cfg["noise"]["enabled"]: + rgb = np.clip(rgb.astype(float) + self.rng.normal(0, 255 * self.cfg["noise"]["rgb_stddev"], rgb.shape), 0, 255).astype(np.uint8) + pose = self.world_pose() + return Frame(rgb, depth, valid, { + "camera": self.name, "model": "D455 pinhole approximation", "simulation_time": timestamp, + "resolution": self.cfg["resolution"], "fps": self.cfg["fps"], + "min_range": self.cfg["min_range"], "max_range": self.cfg["max_range"], + "depth_resolution": self.cfg["depth_resolution"], + "intrinsics": calibration(self.cfg).tolist(), "world_from_optical": pose.tolist(), + "optical_from_world": np.linalg.inv(pose).tolist(), "depth_units": "metres", + "depth_convention": "optical Z; zero means invalid", "pixel_convention": "centres at (u+0.5,v+0.5)", + "optical_axes": "X right, Y down, Z forward", "noise": self.cfg["noise"], + }) + + def save(self, frame, directory, index, pointcloud=False): + directory.mkdir(parents=True, exist_ok=True) + stem = directory / f"{self.name}_{index:06d}" + Image.fromarray(frame.rgb).save(stem.with_suffix(".png")) + payload = {"depth": frame.depth, "valid": frame.valid} + if pointcloud: + payload["xyz_optical"] = np.where(frame.valid[..., None], optical_rays(self.cfg) * frame.depth[..., None], np.nan).astype(np.float32) + np.savez_compressed(stem.with_suffix(".npz"), **payload) + stem.with_suffix(".json").write_text(json.dumps(frame.metadata, indent=2)) diff --git a/src/iiwa_genesis/cli.py b/src/iiwa_genesis/cli.py new file mode 100644 index 0000000..97554db --- /dev/null +++ b/src/iiwa_genesis/cli.py @@ -0,0 +1,85 @@ +import argparse +from datetime import datetime, timezone +import os +from pathlib import Path +import time +from yaml import YAMLError + +from .config import ROOT, load_config + + +def main(): + parser = argparse.ArgumentParser(description="Standalone iiwa RGB-D world; no ROS runtime") + parser.add_argument("--config", type=Path, default=ROOT / "configs/scene.yaml") + view = parser.add_mutually_exclusive_group() + view.add_argument("--viewer", dest="viewer", action="store_true") + view.add_argument("--headless", dest="viewer", action="store_false") + parser.set_defaults(viewer=None) + parser.add_argument("--save-frames", action="store_true") + parser.add_argument("--steps", type=int, help="finite simulation steps (headless default: 120)") + parser.add_argument("--backend", choices=("cpu", "gpu")) + args = parser.parse_args() + try: + cfg = load_config(args.config) + except (ValueError, KeyError, TypeError, OSError, YAMLError) as exc: + parser.error(f"Invalid configuration: {exc}") + if args.steps is not None and args.steps < 1: + parser.error("--steps must be positive") + viewer = cfg["scene"]["viewer"] if args.viewer is None else args.viewer + steps = args.steps if args.steps is not None else (None if viewer else 120) + save = args.save_frames or cfg["output"]["save_frames"] + if not viewer: + os.environ.setdefault("PYOPENGL_PLATFORM", "egl") + from .runtime import import_genesis + gs = import_genesis() + from .scene import build_scene + + gs.init(backend=getattr(gs, args.backend or cfg["scene"]["backend"]), seed=cfg["scene"]["seed"], logging_level="warning") + preview = viewer and cfg["output"]["preview"] + if preview: + import cv2 + try: + scene, robot, cameras = build_scene(gs, cfg, viewer) + directory = cfg["output"]["directory"] / datetime.now(timezone.utc).strftime("%Y%m%dT%H%M%S_%fZ") + print(f"Mode: {cfg['scene']['mode']}; cameras: {', '.join(c.name for c in cameras)}; Genesis {gs.__version__}; backend {gs.backend}") + if save: + print(f"Frames: {directory}") + next_capture = {c.name: 1.0 / c.cfg["fps"] for c in cameras} + counts = {c.name: 0 for c in cameras} + dt = cfg["scene"]["dt"] + start = time.monotonic() + step = 0 + while steps is None or step < steps: + if viewer and not scene.viewer.is_alive(): + break + scene.step() + step += 1 + timestamp = step * dt + for camera in cameras: + if timestamp + 1e-10 < next_capture[camera.name]: + continue + frame = camera.read(timestamp) + if save: + camera.save(frame, directory, counts[camera.name], cfg["output"]["pointcloud"]) + if preview: + import numpy as np + depth_view = cv2.applyColorMap(np.uint8(np.clip(frame.depth / camera.cfg["max_range"], 0, 1) * 255), cv2.COLORMAP_TURBO) + depth_view[~frame.valid] = 0 + cv2.imshow(camera.name, np.hstack((cv2.cvtColor(frame.rgb, cv2.COLOR_RGB2BGR), depth_view))) + counts[camera.name] += 1 + next_capture[camera.name] = (counts[camera.name] + 1) / camera.cfg["fps"] + if preview and cv2.waitKey(1) & 0xff in (27, ord("q")): + break + if viewer: + time.sleep(max(0, min(dt, start + timestamp - time.monotonic()))) + print(f"Completed {step} steps; captured {counts}") + except KeyboardInterrupt: + pass + finally: + if preview: + cv2.destroyAllWindows() + gs.destroy() + + +if __name__ == "__main__": + main() diff --git a/src/iiwa_genesis/config.py b/src/iiwa_genesis/config.py new file mode 100644 index 0000000..0eb9359 --- /dev/null +++ b/src/iiwa_genesis/config.py @@ -0,0 +1,66 @@ +from pathlib import Path +import math +import xml.etree.ElementTree as ET + +import numpy as np +import yaml + +ROOT = Path(__file__).resolve().parents[2] +DESCRIPTION = ROOT / "iiwa_genesis_description" + + +def vector(value, name): + a = np.asarray(value, dtype=float) + if a.shape != (3,) or not np.isfinite(a).all(): + raise ValueError(f"{name}: expected three finite numbers") + return tuple(a) + + +def load_config(path): + path = Path(path).resolve() + cfg = yaml.safe_load(path.read_text()) + mode = cfg["scene"]["mode"] + if mode not in ("without_gripper", "with_gripper"): + raise ValueError("scene.mode must be without_gripper or with_gripper") + cfg["robot"]["urdf"] = DESCRIPTION / f"urdf/iiwa_{mode}.urdf" + cfg["table"]["urdf"] = DESCRIPTION / "table/table.urdf" + if cfg["scene"]["backend"] not in ("cpu", "gpu"): + raise ValueError("scene.backend must be cpu or gpu") + dt = float(cfg["scene"]["dt"]) + if not math.isfinite(dt) or dt <= 0: + raise ValueError("scene.dt must be positive") + for name in ("robot", "table"): + for key in ("position", "euler"): + cfg[name][key] = vector(cfg[name][key], f"{name}.{key}") + limits = {j.get("name"): j.find("limit") for j in ET.parse(cfg["robot"]["urdf"]).getroot().findall("joint") if j.get("type") == "revolute"} + if set(cfg["robot"]["joints"]) != set(limits): + raise ValueError("robot.joints must contain joint1 through joint7 exactly") + for name, value in cfg["robot"]["joints"].items(): + if not float(limits[name].get("lower")) <= float(value) <= float(limits[name].get("upper")): + raise ValueError(f"{name}: angle outside URDF limits") + # The mode is the single source of truth, including when a legacy enabled flag exists. + cfg["cameras"] = {name: cfg["cameras"][name] for name in (["overhead", "tool"] if mode == "with_gripper" else ["overhead"])} + for name, cam in cfg["cameras"].items(): + for key in ("position", "lookat", "up"): + cam[key] = vector(cam[key], f"cameras.{name}.{key}") + forward = np.subtract(cam["lookat"], cam["position"]) + if np.linalg.norm(np.cross(forward, cam["up"])) < 1e-8: + raise ValueError(f"{name}: look direction and up must be nonzero and nonparallel") + res = cam["resolution"] + if len(res) != 2 or any(type(x) is not int or x <= 0 for x in res): + raise ValueError(f"{name}: invalid resolution") + cam["resolution"] = tuple(res) + if not 0 < cam["horizontal_fov"] < math.pi: + raise ValueError(f"{name}: FOV must be in radians between zero and pi") + if not 0 < cam["fps"] <= 1 / dt or not math.isfinite(cam["fps"]): + raise ValueError(f"{name}: FPS must be positive and at most simulation frequency") + if not 0 < cam["min_range"] < cam["max_range"] < math.inf: + raise ValueError(f"{name}: invalid range") + if not 0 < cam["depth_resolution"] < cam["max_range"]: + raise ValueError(f"{name}: invalid depth resolution") + for key in ("rgb_stddev", "depth_stddev"): + if not 0 <= cam["noise"][key] < math.inf: + raise ValueError(f"{name}: invalid noise standard deviation") + out = Path(cfg["output"]["directory"]) + cfg["output"]["directory"] = out if out.is_absolute() else path.parent / out + return cfg diff --git a/src/iiwa_genesis/runtime.py b/src/iiwa_genesis/runtime.py new file mode 100644 index 0000000..646252c --- /dev/null +++ b/src/iiwa_genesis/runtime.py @@ -0,0 +1,48 @@ +"""Version-scoped adaptation: Genesis 1.4.1 imports an unused Xacro dependency eagerly. + +Transform only that module in memory. No third-party files are changed and no +Xacro module (real or stub) is installed. Plain URDF loading remains upstream code. +""" +import ast +from importlib import import_module, metadata +from importlib.abc import MetaPathFinder +from importlib.machinery import PathFinder, SourceFileLoader +import sys + + +def plain_urdf_source(source, filename): + tree = ast.parse(source, filename) + imports = [n for n in tree.body if isinstance(n, ast.Import) and any(a.name == "xacro" for a in n.names)] + functions = [n for n in tree.body if isinstance(n, ast.FunctionDef) and n.name == "load_xacro"] + if len(imports) != 1 or len(functions) != 1: + raise RuntimeError("Genesis URDF loader changed; review the ROS-free adaptation before upgrading") + tree.body.remove(imports[0]) + functions[0].body = ast.parse('raise RuntimeError("Xacro is disabled: use a plain .urdf file")').body + return compile(ast.fix_missing_locations(tree), filename, "exec") + + +class _PlainURDFLoader(SourceFileLoader): + def get_code(self, fullname): + return plain_urdf_source(self.get_source(fullname), self.path) + + +class _PlainURDFFinder(MetaPathFinder): + def find_spec(self, fullname, path=None, target=None): + if fullname != "genesis.utils.urdf": + return None + spec = PathFinder.find_spec(fullname, path) + if spec is None or not isinstance(spec.loader, SourceFileLoader): + raise RuntimeError("Expected Genesis Python source installation") + spec.loader = _PlainURDFLoader(fullname, spec.origin) + return spec + + +def import_genesis(): + if metadata.version("genesis-world") != "1.4.1": + raise RuntimeError("This application requires the locked Genesis 1.4.1; run uv sync --locked") + finder = _PlainURDFFinder() + sys.meta_path.insert(0, finder) + try: + return import_module("genesis") + finally: + sys.meta_path.remove(finder) diff --git a/src/iiwa_genesis/scene.py b/src/iiwa_genesis/scene.py new file mode 100644 index 0000000..2ec7dda --- /dev/null +++ b/src/iiwa_genesis/scene.py @@ -0,0 +1,39 @@ +from .camera import D455 +from .config import DESCRIPTION + + +def build_scene(gs, cfg, viewer): + scene = gs.Scene( + show_viewer=viewer, + # v1 is a pose inspection scene: no falling arm and no active controller. + sim_options=gs.options.SimOptions(dt=cfg["scene"]["dt"], gravity=(0, 0, 0)), + viewer_options=gs.options.ViewerOptions(camera_pos=(2.8, -3, 2.6), camera_lookat=(0, 0, 1.1)), + vis_options=gs.options.VisOptions(show_world_frame=True), + ) + scene.add_entity(gs.morphs.Plane()) + for name in ("table", "robot"): + options = cfg[name] + entity = scene.add_entity(gs.morphs.URDF( + file=str(options["urdf"]), fixed=True, pos=options["position"], euler=options["euler"], + merge_fixed_links=False, decimate=False)) + if name == "robot": + robot = entity + # Reuse the supplied D455 CAD mesh. Its lens face is at mesh Z=0; body extends +Z. + from .camera import optical_pose + from scipy.spatial.transform import Rotation + import numpy as np + overhead = cfg["cameras"]["overhead"] + pose = optical_pose(overhead["position"], overhead["lookat"], overhead["up"]) + mesh_pos = pose[:3, 3] + pose[:3, :3] @ [-0.062, 0.0155, -0.001] + q = Rotation.from_matrix(pose[:3, :3] @ np.diag([1., -1., -1.])).as_quat(scalar_first=True) + scene.add_entity(gs.morphs.Mesh(file=str(DESCRIPTION / "urdf/meshes/tools/cameraD455.dae"), + pos=tuple(mesh_pos), quat=tuple(q), fixed=True, decimate=False)) + cameras = [D455(gs, scene, name, cam, cfg["scene"]["seed"] + i, + robot if name == "tool" else None) + for i, (name, cam) in enumerate(cfg["cameras"].items())] + scene.build() + indices = [robot.get_joint(f"joint{i}").dof_idx_local for i in range(1, 8)] + if robot.n_dofs != 7: + raise ValueError(f"Expected seven robot DOFs, got {robot.n_dofs}") + robot.set_dofs_position([cfg["robot"]["joints"][f"joint{i}"] for i in range(1, 8)], dofs_idx_local=indices) + return scene, robot, cameras diff --git a/tests/test_camera.py b/tests/test_camera.py new file mode 100644 index 0000000..c70dd24 --- /dev/null +++ b/tests/test_camera.py @@ -0,0 +1,49 @@ +import json + +import numpy as np + +from iiwa_genesis.camera import D455, Frame, calibration, optical_pose, optical_rays, process_depth +from iiwa_genesis.config import ROOT, load_config + + +def camera_config(): + return load_config(ROOT / "configs/scene.yaml")["cameras"]["overhead"] + + +def test_downward_pose(): + cfg = camera_config() + pose = optical_pose(cfg["position"], cfg["lookat"], cfg["up"]) + np.testing.assert_allclose(pose[:3, :3].T @ pose[:3, :3], np.eye(3)) + np.testing.assert_allclose(pose[:3, 2], [0, 0, -1]) + assert np.linalg.det(pose[:3, :3]) > 0.999 + + +def test_plane_range_converts_to_constant_z(): + cfg = camera_config() + distances = 2 * np.linalg.norm(optical_rays(cfg), axis=-1) + depth, valid = process_depth(distances, cfg, np.random.default_rng(1)) + np.testing.assert_allclose(depth, 2) + assert valid.all() + distances[0, :3] = [np.inf, 0, 100] + depth, valid = process_depth(distances, cfg, np.random.default_rng(1)) + assert not valid[0, :3].any() + assert not depth[0, :3].any() + + +def test_seeded_noise_and_serialization(tmp_path): + cfg = camera_config() + cfg["noise"]["enabled"] = True + distances = 2 * np.linalg.norm(optical_rays(cfg), axis=-1) + depth, valid = process_depth(distances, cfg, np.random.default_rng(7)) + second, _ = process_depth(distances, cfg, np.random.default_rng(7)) + np.testing.assert_array_equal(depth, second) + assert np.std(depth) > 0 + camera = object.__new__(D455) + camera.name, camera.cfg = "overhead", cfg + frame = Frame(np.zeros((480, 640, 3), dtype=np.uint8), depth, valid, + {"intrinsics": calibration(cfg).tolist(), "world_from_optical": np.eye(4).tolist()}) + camera.save(frame, tmp_path, 0, pointcloud=True) + data = np.load(tmp_path / "overhead_000000.npz") + assert data["depth"].shape == (480, 640) + assert data["xyz_optical"].shape == (480, 640, 3) + assert json.loads((tmp_path / "overhead_000000.json").read_text()) == frame.metadata diff --git a/tests/test_config_and_assets.py b/tests/test_config_and_assets.py new file mode 100644 index 0000000..28b1661 --- /dev/null +++ b/tests/test_config_and_assets.py @@ -0,0 +1,76 @@ +import xml.etree.ElementTree as ET + +import pytest +import yaml + +from iiwa_genesis.config import ROOT, DESCRIPTION, load_config + + +def config_file(tmp_path, mode="without_gripper"): + data = yaml.safe_load((ROOT / "configs/scene.yaml").read_text()) + data["scene"]["mode"] = mode + file = tmp_path / "scene.yaml" + file.write_text(yaml.safe_dump(data)) + return file + + +@pytest.mark.parametrize("mode,count", [("without_gripper", 1), ("with_gripper", 2)]) +def test_mode_selects_urdf_and_cameras(tmp_path, mode, count): + cfg = load_config(config_file(tmp_path, mode)) + assert len(cfg["cameras"]) == count + assert cfg["robot"]["urdf"].name == f"iiwa_{mode}.urdf" + + +@pytest.mark.parametrize("mode", ["without_gripper", "with_gripper"]) +def test_urdf_tree_and_assets(mode): + path = DESCRIPTION / f"urdf/iiwa_{mode}.urdf" + root = ET.parse(path).getroot() + links = {l.get("name") for l in root.findall("link")} + joints = root.findall("joint") + assert sum(j.get("type") == "revolute" for j in joints) == 7 + children = [j.find("child").get("link") for j in joints] + assert len(children) == len(set(children)) + assert links - set(children) == {"world"} + assert all(j.find("parent").get("link") in links for j in joints) + assert ("camera_optical_frame" in links) == (mode == "with_gripper") + for mesh in root.iter("mesh"): + assert (path.parent / mesh.get("filename")).is_file() + text = path.read_text() + for prohibited in ("package://", "xacro", "ros2_control", "= .01).all() and (data["depth"][valid] <= 6).all() + meta = json.loads(capture.with_suffix(".json").read_text()) + np.testing.assert_allclose(np.array(meta["optical_from_world"]) @ meta["world_from_optical"], np.eye(4), atol=1e-6) + if name == "overhead": + assert valid.any() diff --git a/tests/test_runtime.py b/tests/test_runtime.py new file mode 100644 index 0000000..ba5a6f5 --- /dev/null +++ b/tests/test_runtime.py @@ -0,0 +1,18 @@ +import pytest + +from iiwa_genesis.runtime import plain_urdf_source + + +def test_adapter_disables_only_xacro_path(): + source = "import xacro\ndef load_xacro(path, mappings):\n return xacro.process_file(path)\ndef load_plain():\n return 7\n" + namespace = {} + exec(plain_urdf_source(source, "test.py"), namespace) + assert namespace["load_plain"]() == 7 + assert "xacro" not in namespace + with pytest.raises(RuntimeError, match="disabled"): + namespace["load_xacro"]("foo.xacro", {}) + + +def test_adapter_rejects_changed_upstream(): + with pytest.raises(RuntimeError, match="changed"): + plain_urdf_source("def load_plain(): pass", "test.py") diff --git a/tools/export_descriptions.py b/tools/export_descriptions.py new file mode 100644 index 0000000..803245f --- /dev/null +++ b/tools/export_descriptions.py @@ -0,0 +1,77 @@ +"""One-time, ROS-free export of this repository's known description macros. + +This is deliberately not a general Xacro interpreter. Runtime uses the emitted URDFs. +""" +from copy import deepcopy +from pathlib import Path +import re +import shutil +import xml.etree.ElementTree as ET + +ROOT = Path(__file__).resolve().parents[1] +SOURCE = ROOT / "iiwa_description" +DEST = ROOT / "iiwa_genesis_description" +NS = "{http://www.ros.org/wiki/xacro}" + + +def export(): + props = {} + for name in ("params", "meshes"): + for node in ET.parse(SOURCE / f"urdf/{name}.xacro").getroot(): + if node.tag == NS + "property": + props[node.get("name")] = node.get("value") + + def substitute(value, variables): + for _ in range(8): + updated = re.sub(r"\$\{([^}]+)\}", lambda m: variables[m[1]], value) + if updated == value: + return value + value = updated + raise ValueError("Unresolved variable") + + macros = {n.get("name"): n for n in ET.parse(SOURCE / "urdf/macros.xacro").getroot()} + + def expand(node): + if not node.tag.startswith(NS): + return [deepcopy(node)] + name = node.tag[len(NS):] + if name == "include": + return [] + result = [] + for template in macros[name]: + item = deepcopy(template) + for child in item.iter(): + child.attrib = {k: substitute(v, props | node.attrib) for k, v in child.attrib.items()} + result.append(item) + return result + + def write(robot, path): + path.parent.mkdir(parents=True, exist_ok=True) + for mesh in robot.iter("mesh"): + source = mesh.get("filename") + prefix = "package://iiwa_description/resource/meshes/" + if not source.startswith(prefix): + raise ValueError(source) + relative = source[len(prefix):] + target = DEST / "urdf/meshes" / relative + target.parent.mkdir(parents=True, exist_ok=True) + shutil.copy2(SOURCE / "resource/meshes" / relative, target) + mesh.set("filename", ("meshes/" if path.parent.name == "urdf" else "../urdf/meshes/") + relative) + ET.indent(robot) + ET.ElementTree(robot).write(path, encoding="utf-8", xml_declaration=True) + + base = ET.Element("robot", name="iiwa7") + for name in ("links", "joints"): + for node in ET.parse(SOURCE / 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