scikit-robot
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iory
A Flexible Framework for Robot visualization and programming in Python
When I visualize fetch's mesh model, it takes about 17 seconds. I think this is very slow... ``` import skrobot robot_model = skrobot.models.urdf.RobotModelFromURDF(urdf_file=skrobot.data.fetch_urdfpath()) viewer = skrobot.viewers.TrimeshSceneViewer(resolution=(640, 480)) viewer.add(robot_model) viewer.show() ```...
I tried to save image by the following way, but I this causes segmentation fault at `glGetIntegerv` inside `BufferManager.__init__`. cc. @708yamaguchi Do you have any idea to save image? ```python3...
``` import skrobot from skrobot.coordinates import CascadedCoords robot = skrobot.models.PR2() robot.reset_pose() viewer = skrobot.viewers.TrimeshSceneViewer() viewer.add(robot) viewer.show() assoc_coords = CascadedCoords(pos=(0.1, 0, 0)) robot.larm.end_coords.parent.assoc(assoc_coords, relative_coords="local") hoge = skrobot.model.Axis.from_cascoords(assoc_coords) robot.larm.end_coords.parent.assoc(hoge, relative_coords="world", force=True) viewer.add(hoge)...
after this https://github.com/iory/scikit-robot/pull/174, `example/signed_distance_function.py` `example/trimesh_scene_viewer.py` `example/pybullet_robot_interface.py` are no longer be working, because they all import primitive from `models.primitives`. I think maybe running all examples in the github action to check...
Hi, I found a potential problem may be caused in the future (It's worked now.) In model.py, line 957, function `calc_inverse_kinematics_nspace_from_link_list`, you set a default value (`None`) for paramter `weight`....
when I call reset_manip_pose() for PR2, torso link dosen't work right. ``` import skrobot from skrobot.models import PR2 from skrobot.interfaces import PybulletRobotInterface robot = PR2() interface = PybulletRobotInterface(robot) ``` I...
- [x] Add document **everyone** - [x] Update inverse kinematics (nullspace + additional_jacobian) @iory - [x] Refactoring code @iory - [x] OpenGL viewer (trimesh + urdfpy) @wkentaro - [x] Collision...
@iory I am considering to add accessor to the primitive properties (e.g. height, radius, urdf_path) as the commit. I think there are two design choices: a) access by self.visual_meshdata["some_property"] and...
cc: @hiroya1224 ``` import numpy as np from skrobot.coordinates.math import random_quaternion from skrobot.coordinates.math import random_translation from skrobot.coordinates.math import quaternion2rpy from skrobot.model import RobotModel from skrobot.model import RotationalJoint from skrobot.model import...