forked from RobotLocomotion/drake
-
Notifications
You must be signed in to change notification settings - Fork 8
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
[manipulation] Purge some obsolete tools (RobotLocomotion#21398)
The meshlab inertia thing is obsolete now that we have mesh_to_model. The convert_to_visualize_collisions is obsolete now that we have proximity visualization available by default. Add a purge reminder to the show_model shim. The important outcome here is that we can delete some __init__ files, which cause path-confusion trouble for bzlmod.
- Loading branch information
1 parent
b4f5479
commit 7ebeec1
Showing
8 changed files
with
8 additions
and
366 deletions.
There are no files selected for viewing
This file was deleted.
Oops, something went wrong.
This file was deleted.
Oops, something went wrong.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file was deleted.
Oops, something went wrong.
This file was deleted.
Oops, something went wrong.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,193 +1,9 @@ | ||
| """Given the output of Meshlab, suggests an SDF fragment for a mesh. | ||
| # Prints a message pointing the user to our replacement tool. | ||
| # TODO(jwnimmer-tri) Remove this stub on or around 2025-01-01. | ||
|
|
||
| This partially automates the instructions from: | ||
| http://gazebosim.org/tutorials?tut=inertia | ||
| (1) Open Meshlab for the OBJ in question. | ||
| In Meshlab, select the menu option: | ||
| Filters -> | ||
| Quality Measure and Computations -> | ||
| Compute Geometric Measures | ||
| (2) Copy + paste the entire output of Meshlab (from your console window) into a | ||
| text file, e.g., myobject_meshlab_log.txt. | ||
| (3) Run this tool, passing the text file name as an argument, along with the | ||
| mass and scale of your model. | ||
| If your inertia matrix values are too small, rescale the mesh in Meshlab (but | ||
| don't save it!) prior to computing the Geometric Measures. Be sure that | ||
| the --scale value passed to this tool reflects the rescaling. | ||
| This tool has been tested only with Meshlab v1.3.2, which is the version | ||
| available in Ubuntu Xenial 16.04. It might not work with other versions. | ||
| """ | ||
|
|
||
|
|
||
| import argparse | ||
| import os | ||
| import re | ||
| import sys | ||
|
|
||
| _TEMPLATE = """<?xml version='1.0'?> | ||
| <sdf version='1.7'> | ||
| <model name='{name}'> | ||
| <link name='{name}'> | ||
| <inertial> | ||
| <pose>{inertial_pose}</pose> | ||
| <mass>{mass}</mass> | ||
| <inertia> | ||
| <ixx>{ixx}</ixx> | ||
| <ixy>{ixy}</ixy> | ||
| <ixz>{ixz}</ixz> | ||
| <iyy>{iyy}</iyy> | ||
| <iyz>{iyz}</iyz> | ||
| <izz>{izz}</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <visual name='visual'> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>{mesh_uri}</uri> | ||
| <scale>{mesh_scale}</scale> | ||
| </mesh> | ||
| </geometry> | ||
| </link> | ||
| </model> | ||
| </sdf> | ||
| """ | ||
|
|
||
|
|
||
| def _search(log_text, regexp): | ||
| result = re.search(regexp, log_text) | ||
| if result is None: | ||
| raise RuntimeError("Could not find '{}' in '{}'".format( | ||
| regexp, log_text)) | ||
| return result.groups() | ||
|
|
||
|
|
||
| def _rescale(value_string, scale): | ||
| result = float(value_string) * scale | ||
| if result == 0.0: | ||
| # Remove negative zeros. | ||
| result = 0.0 | ||
| return result | ||
|
|
||
|
|
||
| def convert(log_text, scale, mass_kg): | ||
| # Match "LOG: 0 Opened mesh myfile.obj in 54 msec". | ||
| obj_filename, = _search(log_text, "Opened mesh (.*) in .* msec") | ||
| model_name, _ = os.path.splitext(os.path.basename(obj_filename)) | ||
|
|
||
| # Match "LOG: 2 Center of Mass is 0.421246 -0.000000 4.383873". | ||
| log_text_com, _ = _search( | ||
| log_text, | ||
| "Center of Mass is(( [-.0-9]+){3})\n") | ||
| com_x, com_y, com_z = map( | ||
| lambda token: _rescale(token, scale), | ||
| log_text_com.split()) | ||
|
|
||
| # Match: "LOG: 2 Mesh Volume is 147.826782". | ||
| log_text_volume, = _search( | ||
| log_text, | ||
| "Mesh Volume is ([-.0-9]+)\n") | ||
| volume_m3 = _rescale(log_text_volume, scale ** 3) | ||
|
|
||
| # Match: | ||
| # LOG: 2 Inertia Tensor is : | ||
| # LOG: 2 | 2053.508545 -0.000000 -72.085564 | | ||
| # LOG: 2 | -0.000000 2370.329590 -0.000000 | | ||
| # LOG: 2 | -72.085564 -0.000000 1909.948364 | | ||
| elements = _search( | ||
| log_text, | ||
| r"LOG. 2 +Inertia Tensor is .\n" | ||
| r"LOG. 2 +\| +([-.0-9]+) +([-.0-9]+) +([-.0-9]+) +\|\n" | ||
| r"LOG. 2 +\| +([-.0-9]+) +([-.0-9]+) +([-.0-9]+) +\|\n" | ||
| r"LOG. 2 +\| +([-.0-9]+) +([-.0-9]+) +([-.0-9]+) +\|\n" | ||
| ) | ||
| inertia_scale = (scale ** 5) * mass_kg / volume_m3 | ||
| ixx = _rescale(elements[0], inertia_scale) | ||
| ixy = _rescale(elements[1], inertia_scale) | ||
| ixz = _rescale(elements[2], inertia_scale) | ||
| iyx = _rescale(elements[3], inertia_scale) | ||
| iyy = _rescale(elements[4], inertia_scale) | ||
| iyz = _rescale(elements[5], inertia_scale) | ||
| izx = _rescale(elements[6], inertia_scale) | ||
| izy = _rescale(elements[7], inertia_scale) | ||
| izz = _rescale(elements[8], inertia_scale) | ||
| assert ixy == iyx | ||
| assert ixz == izx | ||
| assert iyz == izy | ||
|
|
||
| # Reject too-small inertia matrices. Meshlab truncates its printouts to | ||
| # 0.000001; if the inertia values are too small, they may round to zero or | ||
| # have too little precision. | ||
| if max([float(e) for e in elements]) < 1e-3: | ||
| raise RuntimeError( | ||
| "The inertia matrix elements are too small; " | ||
| "rescale the mesh to have more volume, then try again") | ||
|
|
||
| # We want to print the inertia matrix consistently. So, given a precision | ||
| # (as number of significant figures) for the floating point General Format | ||
| # in https://docs.python.org/3.4/library/string.html, we'll determine the | ||
| # Fixed Point precision of the maximum element that yields the correct | ||
| # number of sig figs. Then we'll apply that to all of the other elements. | ||
| inertia_sigfigs = 3 | ||
| max_element = max([ixx, ixy, ixz, iyy, iyz, izz]) | ||
| exp = int("{:.{}e}".format(max_element, inertia_sigfigs).split('e')[-1]) | ||
| inertia_precision = max(0, inertia_sigfigs - 1 - exp) | ||
| inertia_format_template = "{: .#f}".replace('#', str(inertia_precision)) | ||
|
|
||
| subs = dict() | ||
| subs["name"] = model_name | ||
| subs["inertial_pose"] = "{x:.3g} {y:.3g} {z:.3g} 0 0 0".format( | ||
| x=com_x, y=com_y, z=com_z) | ||
| subs["mass"] = "{:.3g}".format(mass_kg) | ||
| subs["ixx"] = inertia_format_template.format(ixx) | ||
| subs["ixy"] = inertia_format_template.format(ixy) | ||
| subs["ixz"] = inertia_format_template.format(ixz) | ||
| subs["iyy"] = inertia_format_template.format(iyy) | ||
| subs["iyz"] = inertia_format_template.format(iyz) | ||
| subs["izz"] = inertia_format_template.format(izz) | ||
| subs["mesh_uri"] = obj_filename | ||
| subs["mesh_scale"] = "{s:g} {s:g} {s:g}".format( | ||
| s=scale) | ||
| return _TEMPLATE.format(**subs) | ||
|
|
||
|
|
||
| def main(): | ||
| parser = argparse.ArgumentParser(description=__doc__) | ||
| parser.add_argument( | ||
| "--scale", type=float, required=True, | ||
| help="Mesh scale factor that yields meters; " | ||
| "e.g., a mesh drawn in centimeters should supply 0.01." | ||
| "If you have rescaled the mesh for numerical reasons, you must " | ||
| "incorporate both the original units and rescaling here so that " | ||
| "the result is still meters." | ||
| ) | ||
| parser.add_argument( | ||
| "--mass_kg", type=float, required=True, | ||
| help="Mass of the object") | ||
| parser.add_argument( | ||
| "filename", nargs=1, | ||
| help="A foo.txt file that contains meshlab log output.") | ||
| args = parser.parse_args() | ||
|
|
||
| filename = args.filename[0] | ||
| _, ext = os.path.splitext(os.path.basename(filename)) | ||
| if ext == ".txt": | ||
| with open(filename) as log_file: | ||
| log_text = "".join(log_file.readlines()) | ||
| sdf_text = convert(log_text, args.scale, args.mass_kg) | ||
| print(sdf_text) | ||
| else: | ||
| print("Can't handle a '{}' file (wanted '.txt')".format( | ||
| ext)) | ||
| return 1 | ||
|
|
||
| return 0 | ||
|
|
||
|
|
||
| if __name__ == '__main__': | ||
| sys.exit(main()) | ||
| print("** Error: This script has been removed. **") | ||
| print("Instead, please use pydrake.multibody.mesh_to_model or pydrake.multibody.fix_inertia.") # noqa | ||
| sys.exit(1) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.