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MVP with Tensorboard

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IDONTSUDO 2024-12-01 16:12:08 +00:00 • committed by Igor Brylev
parent 5b9b51ad59
commit a0d089d5bb
549 changed files with 39977 additions and 31449 deletions
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68
web_p/GetInterfaces/get_interfaces.py Normal file
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import argparse
import os
import json
import subprocess
import signal
import time
from ros2cli.node.strategy import NodeStrategy
from ros2topic.api import get_topic_names_and_types
OUTPUT_FILE = "topics.json"
TOPICS_FILTER = ["/parameter_events", "/rosout"]
def get_script_args(cfg):
args = cfg["command"].split()
args.append(cfg["package"])
args.append(cfg["executable"])
return args
def get_topics(filename, path):
jsonpath = os.path.join(path, filename)
with NodeStrategy({}) as node:
topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=False)
topic_info = []
for (topic_name, topic_types) in topic_names_and_types:
if not topic_name in TOPICS_FILTER:
topic_info.append({"name": topic_name, "type": topic_types[0]})
print(f"---> number of topics: {len(topic_info)}")
j_data = {"topics": topic_info}
with open(jsonpath, "w") as fh:
json.dump(j_data, fh, indent=2)
for topic in topic_info:
print(topic["name"])
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--package", required=True, help="Json-string/file with package parameters")
parser.add_argument("--path", default="", help="Output path")
parser.add_argument("--json", default=OUTPUT_FILE, help="Output file name in json-format")
parser.add_argument('--delay', default=5, type=int, help="Delay in seconds")
args = parser.parse_args()
if args.package[-5:] == ".json":
if not os.path.isfile(args.package):
print(f"Error: no such file '{args.package}'")
exit(-1)
with open(args.package, "r") as f:
j_data = f.read()
else:
j_data = args.package
try:
cfg = json.loads(j_data)
except json.JSONDecodeError as e:
print(f"JSon error: {e}")
exit(-2)
cmd = get_script_args(cfg)
process = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
time.sleep(args.delay)
get_topics(args.json, args.path)
process.send_signal(signal.SIGINT)

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web_p/GetInterfaces/get_interfaces.sh Executable file
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# запуск пакета и получение топиков ROS 2 в файле topics.json
python get_interfaces.py --package test_package.json --delay 10

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web_p/GetInterfaces/test_package.json Normal file
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{
"sid": 3,
"type": "digital_twin",
"entity": "ROBOT",
"description": "Robossembler Arm",
"command": "ros2 launch",
"package": "rbs_bringup",
"executable": "single_robot.launch.py gazebo_gui:=false",
"args": {
"robot_name": "${NAME:string:''",
"dof": "${NAME:number:''"
},
"interfaces": {
"cmd": "python ros2_topic_to_json.py"
}
}

4
web_p/blender.py
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@ -15,6 +15,6 @@ def copy_and_move_folder(src, dst):
except shutil.Error as e:
print(f"Error: {e}")
source_folder = os.path.dirname(os.path.abspath(__file__)) + "/blender" #"/home/shalenikol/web_p/blender/"
source_folder = os.path.dirname(os.path.abspath(__file__)) + "/blender/"
copy_and_move_folder(source_folder, args.path)
copy_and_move_folder(source_folder, args.path)

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web_p/blender/assets/assets.json
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{
"assets": [
{ "name": "bear_holder", "mesh": "./mesh/fork.stl", "image": "./images/bear_holder_220425.png" },
{ "name": "bear_holder1", "mesh": "./mesh/fork.stl", "image": "./images/bear_holder_220425.png" }
]
}

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[
{
"type": "OBJECT",
"name": "body_down",
"path": "libs/objects/body_down.blend",
"dae": "libs/objects/body_down.dae",
"fbx": "libs/objects/body_down.fbx",
"glb": "libs/objects/body_down.glb",
"ply": "libs/objects/body_down.ply",
"thumbnail": "libs/objects/body_down.png"
},
{
"type": "OBJECT",
"name": "sol_gear",
"path": "libs/objects/sol_gear.blend",
"dae": "libs/objects/sol_gear.dae",
"fbx": "libs/objects/sol_gear.fbx",
"glb": "libs/objects/sol_gear.glb",
"ply": "libs/objects/sol_gear.ply",
"thumbnail": "libs/objects/sol_gear.png"
},
{
"type": "OBJECT",
"name": "output_shaft",
"path": "libs/objects/output_shaft.blend",
"dae": "libs/objects/output_shaft.dae",
"fbx": "libs/objects/output_shaft.fbx",
"glb": "libs/objects/output_shaft.glb",
"ply": "libs/objects/output_shaft.ply",
"thumbnail": "libs/objects/output_shaft.png"
},
{
"type": "OBJECT",
"name": "planet_gear",
"path": "libs/objects/planet_gear.blend",
"dae": "libs/objects/planet_gear.dae",
"fbx": "libs/objects/planet_gear.fbx",
"glb": "libs/objects/planet_gear.glb",
"ply": "libs/objects/planet_gear.ply",
"thumbnail": "libs/objects/planet_gear.png"
},
{
"type": "OBJECT",
"name": "body_up",
"path": "libs/objects/body_up.blend",
"dae": "libs/objects/body_up.dae",
"fbx": "libs/objects/body_up.fbx",
"glb": "libs/objects/body_up.glb",
"ply": "libs/objects/body_up.ply",
"thumbnail": "libs/objects/body_up.png"
},
{
"type": "OBJECT",
"name": "bolt",
"path": "libs/objects/bolt.blend",
"dae": "libs/objects/bolt.dae",
"fbx": "libs/objects/bolt.fbx",
"glb": "libs/objects/bolt.glb",
"ply": "libs/objects/bolt.ply",
"thumbnail": "libs/objects/bolt.png"
}
]

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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 4.1.0 commit date:1970-01-01, commit time:00:00, hash:unknown</authoring_tool>
</contributor>
<created>2024-06-14T14:53:05</created>
<modified>2024-06-14T14:53:05</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="Robossembler_Black_Body-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">0 0 0 1</color>
</diffuse>
<index_of_refraction>
<float sid="ior">1.5</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_images/>
<library_materials>
<material id="Robossembler_Black_Body-material" name="Robossembler_Black_Body">
<instance_effect url="#Robossembler_Black_Body-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="bolt_001-mesh" name="bolt.001">
<mesh>
<source id="bolt_001-mesh-positions">
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<technique_common>
<accessor source="#bolt_001-mesh-positions-array" count="84" stride="3">
<param name="X" type="float"/>
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</accessor>
</technique_common>
</source>
<source id="bolt_001-mesh-normals">
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</technique_common>
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<vertices id="bolt_001-mesh-vertices">
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</vertices>
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<input semantic="NORMAL" source="#bolt_001-mesh-normals" offset="1"/>
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</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="bolt" name="bolt" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#bolt_001-mesh" name="bolt">
<bind_material>
<technique_common>
<instance_material symbol="Robossembler_Black_Body-material" target="#Robossembler_Black_Body-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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ply
format ascii 1.0
comment Created in Blender version 4.1.0
element vertex 84
property float x
property float y
property float z
property float nx
property float ny
property float nz
element face 164
property list uchar uint vertex_indices
end_header
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web_p/blender/test_reductor.FCStd Normal file
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325
web_p/blender/trees.json Normal file
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@ -0,0 +1,325 @@
[
{
"type": "LOCATOR",
"name": "test_reductor",
"pose": [
{
"loc_xyz": [
0.0,
0.0,
0.0
]
},
{
"rot_xyzw": [
0.0,
0.0,
0.0,
1.0
]
}
],
"attributes": [],
"children": [
{
"type": "PART",
"name": "body_down",
"base_name": "body_down",
"pose": [
{
"loc_xyz": [
-0.0,
-0.0,
-0.0
]
},
{
"rot_xyzw": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865476
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "sol_gear",
"base_name": "sol_gear",
"pose": [
{
"loc_xyz": [
-0.0,
-0.0,
-0.0
]
},
{
"rot_xyzw": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865476
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "output_shaft",
"base_name": "output_shaft",
"pose": [
{
"loc_xyz": [
-0.0,
9.0,
-0.0
]
},
{
"rot_xyzw": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865476
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "planet_gear",
"base_name": "planet_gear",
"pose": [
{
"loc_xyz": [
-0.0,
19.999999999999996,
-0.0
]
},
{
"rot_xyzw": [
0.0,
0.7071067811865476,
-0.7071067811865475,
0.0
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "planet_gear003",
"base_name": "planet_gear",
"pose": [
{
"loc_xyz": [
-0.0,
19.999999999999996,
-0.0
]
},
{
"rot_xyzw": [
0.4156269377774544,
0.5720614028176838,
-0.5720614028176839,
0.4156269377774544
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "planet_gear004",
"base_name": "planet_gear",
"pose": [
{
"loc_xyz": [
-0.0,
19.999999999999996,
-0.0
]
},
{
"rot_xyzw": [
0.672498511963958,
0.21850801222440877,
-0.21850801222440877,
0.6724985119639579
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "planet_gear005",
"base_name": "planet_gear",
"pose": [
{
"loc_xyz": [
-0.0,
19.999999999999996,
-0.0
]
},
{
"rot_xyzw": [
0.6724985119639563,
-0.21850801222441377,
0.21850801222441377,
0.6724985119639564
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "planet_gear002",
"base_name": "planet_gear",
"pose": [
{
"loc_xyz": [
-0.0,
19.999999999999996,
-0.0
]
},
{
"rot_xyzw": [
-0.41562693777745024,
0.5720614028176866,
-0.5720614028176866,
-0.41562693777745024
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "body_up",
"base_name": "body_up",
"pose": [
{
"loc_xyz": [
-0.0,
20.0,
-0.0
]
},
{
"rot_xyzw": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865476
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "bolt",
"base_name": "bolt",
"pose": [
{
"loc_xyz": [
-0.0,
31.0,
-0.0
]
},
{
"rot_xyzw": [
-0.7071067811865475,
0.0,
0.0,
0.7071067811865476
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "bolt2",
"base_name": "bolt",
"pose": [
{
"loc_xyz": [
-0.0,
31.0,
-0.0
]
},
{
"rot_xyzw": [
0.499999999999999,
0.500000000000001,
0.500000000000001,
-0.499999999999999
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "bolt3",
"base_name": "bolt",
"pose": [
{
"loc_xyz": [
0.0,
31.0,
-0.0
]
},
{
"rot_xyzw": [
-2.474873734152916e-15,
0.7071067811865476,
0.7071067811865475,
2.474873734152916e-15
]
}
],
"attributes": []
},
{
"type": "PART",
"name": "bolt4",
"base_name": "bolt",
"pose": [
{
"loc_xyz": [
-0.0,
31.0,
0.0
]
},
{
"rot_xyzw": [
-0.5000000000000026,
0.49999999999999756,
0.49999999999999756,
0.5000000000000024
]
}
],
"attributes": []
}
]
}
]

32
web_p/education.py Normal file
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@ -0,0 +1,32 @@
import shutil
import argparse
import os.path
from pathlib import Path
parser = argparse.ArgumentParser()
parser.add_argument("--path", required=True, help="Path for dataset")
parser.add_argument("--name", required=True, help="String with result weights name")
parser.add_argument("--datasetName", required=True, help="String with dataset name")
parser.add_argument("--outpath", default="weights", help="Output path for weights")
parser.add_argument("--type", default="ObjectDetection", help="Type of implementation")
parser.add_argument("--epoch", default=3, help="How many training epochs")
parser.add_argument('--pretrain', help="Use pretraining")
args = parser.parse_args()
def copy_and_move_folder(src, dst, folder):
try:
if os.path.exists(dst + "/education/") is False:
Path(dst + "/education/").mkdir(parents=True, exist_ok=True)
if os.path.exists(dst + "/education/" + folder + "/"):
shutil.rmtree(dst + "/education/" + folder + "/")
shutil.copytree(src, dst + "/education/" + folder + "/")
except shutil.Error as e:
print(f"Error: {e}")
source_folder = os.path.dirname(os.path.abspath(__file__)) + "/education"
copy_and_move_folder(source_folder, args.path, args.name)

3
web_p/education/metadata.json Normal file
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@ -0,0 +1,3 @@
{
"numberOfEpochs": 1
}

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22
web_p/get_interfaces_mock.py Normal file
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@ -0,0 +1,22 @@
import shutil
import argparse
import os.path
parser = argparse.ArgumentParser()
parser.add_argument("--path")
args = parser.parse_args()
def copy_and_move_folder(src, dst):
try:
if os.path.exists(dst):
shutil.rmtree(dst)
shutil.copytree(src, dst)
print(f"Folder {src} successfully copied")
except shutil.Error as e:
print(f"Error: {e}")
source_folder = os.path.dirname(os.path.abspath(__file__)) + "/interfaces/"
copy_and_move_folder(source_folder, args.path)

124
web_p/interfaces/topics.json Normal file
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@ -0,0 +1,124 @@
{
"topics": [
{
"name": "/cartesian_force_controller/current_pose",
"type": "geometry_msgs/msg/PoseStamped"
},
{
"name": "/cartesian_force_controller/current_twist",
"type": "geometry_msgs/msg/TwistStamped"
},
{
"name": "/cartesian_force_controller/target_wrench",
"type": "geometry_msgs/msg/WrenchStamped"
},
{
"name": "/cartesian_force_controller/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/cartesian_motion_controller/current_pose",
"type": "geometry_msgs/msg/PoseStamped"
},
{
"name": "/cartesian_motion_controller/current_twist",
"type": "geometry_msgs/msg/TwistStamped"
},
{
"name": "/cartesian_motion_controller/target_frame",
"type": "geometry_msgs/msg/PoseStamped"
},
{
"name": "/cartesian_motion_controller/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/clock",
"type": "rosgraph_msgs/msg/Clock"
},
{
"name": "/dynamic_joint_states",
"type": "control_msgs/msg/DynamicJointState"
},
{
"name": "/force_torque_sensor_broadcaster/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/force_torque_sensor_broadcaster/wrench",
"type": "geometry_msgs/msg/WrenchStamped"
},
{
"name": "/gripper_control_action_server/gripper_controller/commands",
"type": "std_msgs/msg/Float64MultiArray"
},
{
"name": "/gripper_controller/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/gz_enviroment/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/joint_effort_controller/commands",
"type": "std_msgs/msg/Float64MultiArray"
},
{
"name": "/joint_effort_controller/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/joint_state_broadcaster/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/joint_states",
"type": "sensor_msgs/msg/JointState"
},
{
"name": "/joint_trajectory_controller/controller_state",
"type": "control_msgs/msg/JointTrajectoryControllerState"
},
{
"name": "/joint_trajectory_controller/joint_trajectory",
"type": "trajectory_msgs/msg/JointTrajectory"
},
{
"name": "/joint_trajectory_controller/state",
"type": "control_msgs/msg/JointTrajectoryControllerState"
},
{
"name": "/joint_trajectory_controller/transition_event",
"type": "lifecycle_msgs/msg/TransitionEvent"
},
{
"name": "/rgbd_camera/camera_info",
"type": "sensor_msgs/msg/CameraInfo"
},
{
"name": "/rgbd_camera/depth_image",
"type": "sensor_msgs/msg/Image"
},
{
"name": "/rgbd_camera/image",
"type": "sensor_msgs/msg/Image"
},
{
"name": "/rgbd_camera/points",
"type": "sensor_msgs/msg/PointCloud2"
},
{
"name": "/robot_description",
"type": "std_msgs/msg/String"
},
{
"name": "/tf",
"type": "tf2_msgs/msg/TFMessage"
},
{
"name": "/tf_static",
"type": "tf2_msgs/msg/TFMessage"
}
]
}

30
web_p/rbs_train.py Normal file
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@ -0,0 +1,30 @@
"""
rbs_train
Общая задача: web-service pipeline
Реализуемая функция: обучение нейросетевой модели по заданному BOP-датасету
python3 $PYTHON_EDUCATION --path /Users/idontsudo/webservice/server/build/public/7065d6b6-c8a3-48c5-9679-bb8f3a690296 \
--name test1234 --datasetName 32123213
27.04.2024 @shalenikol release 0.1
"""
import argparse
from train_Yolo import train_YoloV8
from train_Dope import train_Dope_i
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--path", required=True, help="Path for dataset")
parser.add_argument("--name", required=True, help="String with result weights name")
parser.add_argument("--datasetName", required=True, help="String with dataset name")
parser.add_argument("--outpath", default="weights", help="Output path for weights")
parser.add_argument("--type", default="ObjectDetection", help="Type of implementation")
parser.add_argument("--epoch", default=3, type=int, help="How many training epochs")
parser.add_argument('--pretrain', action="store_true", help="Use pretraining")
args = parser.parse_args()
if args.type == "ObjectDetection":
train_YoloV8(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)
else:
train_Dope_i(args.path, args.name, args.datasetName, args.outpath, args.epoch, args.pretrain)

81
web_p/renderBOPdataset.py
View file

@ -5,7 +5,8 @@ import blenderproc as bproc
Реализуемая функция: создание датасета в формате BOP с заданными параметрами рандомизации
Используется модуль blenderproc
19.04.2024 @shalenikol release 0.1
02.05.2024 @shalenikol release 0.1
02.07.2024 @shalenikol release 0.2
"""
import numpy as np
import argparse
@ -13,28 +14,37 @@ import random
import os
import shutil
import json
from pathlib import Path
import bpy
VHACD_PATH = "blenderproc_resources/vhacd"
# DIR_BOP = "bop_data"
DIR_MODELS = "models"
DIR_MESH = "assets/libs/objects/" #"assets/mesh/"
FILE_LOG_SCENE = "res.txt"
FILE_RBS_INFO = "rbs_info.json"
FILE_GT_COCO = "scene_gt_coco.json"
EXT_MODELS = ".fbx"
TEXTURE_TMPL = "*.jpg"
Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует
def _get_list_texture(rel_path: str) -> list:
# local_path/texture/
loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
path = os.path.join(loc, rel_path)
return list(Path(path).absolute().rglob(TEXTURE_TMPL))
def _get_path_model(name_model: str) -> str:
# TODO on name_model find path for mesh (model.fbx)
# local_path/assets/mesh/
return os.path.join(rnd_par.output_dir, "assets/mesh/"+name_model+".fbx")
# , d: dict
# return d["model"]
# local_path/assets/libs/objects # assets/mesh/
loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
return os.path.join(loc, DIR_MESH + name_model + EXT_MODELS)
def _get_path_object(name_obj: str) -> str:
# TODO on name_obj find path for scene object (object.fbx)
return os.path.join(rnd_par.output_dir, "assets/mesh/"+name_obj+".fbx")
# , d: dict
# return d["path"]
loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
return os.path.join(loc, DIR_MESH + name_obj + EXT_MODELS)
def convert2relative(height, width, bbox):
"""
@ -46,11 +56,14 @@ def convert2relative(height, width, bbox):
return x/width, y/height, w/width, h/height
def render() -> int:
i = 0
for obj in all_meshs:
# Make the object actively participate in the physics simulation
obj.enable_rigidbody(active=True, collision_shape="COMPOUND")
# Also use convex decomposition as collision shapes
obj.build_convex_decomposition_collision_shape(VHACD_PATH)
i += 1
# print(f"{i} : {obj.get_name()}")
objs = all_meshs + rnd_par.scene.objs
@ -88,13 +101,26 @@ def render() -> int:
# Цикл рендеринга
# Do multiple times: Position the shapenet objects using the physics simulator and render X images with random camera poses
for r in range(rnd_par.n_series):
print(f"********** Series : {r+1}")
is_texture = True if "texture_path" in rnd_par.models_randomization else False
if is_texture:
val = rnd_par.models_randomization["texture_path"]
l_texture = _get_list_texture(val)
image = bpy.data.images.load(filepath=str(l_texture[r % len(l_texture)]))
# один случайный объект в кадре / все заданные объекты
random_obj = random.choice(range(rnd_par.scene.n_obj))
random_obj = random.choice(range(rnd_par.models.n_item))
meshs = []
for i,o in enumerate(all_meshs): #objs
for i,o in enumerate(all_meshs): # активные модели
if rnd_par.single_object and i != random_obj:
continue
meshs += [o]
if is_texture:
mats = o.get_materials()
for mat in mats:
# image = bpy.data.images.load(filepath=str(random.choice(l_texture)))
mat.set_principled_shader_value("Base Color", image)
for i,o in enumerate(rnd_par.scene.objs): # объекты сцены
rnd_mat = rnd_par.scene.obj_data[i]["material_randomization"]
mats = o.get_materials() #[0]
for mat in mats:
@ -102,10 +128,17 @@ def render() -> int:
mat.set_principled_shader_value("Specular", random.uniform(val[0], val[1]))
val = rnd_mat["roughness"]
mat.set_principled_shader_value("Roughness", random.uniform(val[0], val[1]))
val = rnd_mat["base_color"]
mat.set_principled_shader_value("Base Color", np.random.uniform(val[0], val[1]))
val = rnd_mat["metallic"]
mat.set_principled_shader_value("Metallic", random.uniform(val[0], val[1]))
if "texture_path" in rnd_mat: # путь к текстурам (*.jpg)
val = rnd_mat["texture_path"]
val = _get_list_texture(val)
image = bpy.data.images.load(filepath=str(random.choice(val)))
mat.set_principled_shader_value("Base Color", image)
else:
val = rnd_mat["base_color"]
mat.set_principled_shader_value("Base Color", np.random.uniform(val[0], val[1]))
# mat.set_principled_shader_value("Base Color", image)
# Randomly set the color and energy
for i,l in enumerate(ls):
@ -198,8 +231,6 @@ def render() -> int:
t = [obj.get_bound_box(local_coords=True).tolist() for obj in all_meshs if obj.get_name() == objn]
rec["cuboid"] = t[0]
data.append(rec)
# ff = os.path.join(args.obj_path, rnd_par.models.filenames[i]) # путь к исходному файлу
# shutil.copy2(ff, models_dir)
shutil.copy2(rnd_par.models.filenames[i], models_dir)
f = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".mtl" # файл материала
if os.path.isfile(f):
@ -230,7 +261,7 @@ def render() -> int:
cat["name"] = rnd_par.models.names[i] #obj_names[i]
with open(coco_file, "w") as fh:
json.dump(data, fh, indent=0)
json.dump(data, fh, indent=1)
def explore(path: str):
if not os.path.isdir(path):
@ -260,21 +291,20 @@ def _get_models(par, data) -> int:
return 0 # no models
# загрузим объекты
par.models.names = [] #list(map(lambda x: x["name"], data)) # obj_names
par.models.filenames = [] #list(map(lambda x: x["model"], data)) #obj_filenames
par.models.names = [] # obj_names
par.models.filenames = [] # obj_filenames
i = 1
for f in data:
nam = f
par.models.names.append(nam)
ff = _get_path_model(nam)
# ff = f["model"] # путь к файлу объекта
par.models.filenames.append(ff)
if not os.path.isfile(ff):
print(f"Error: no such file '{ff}'")
return -1
obj = bproc.loader.load_obj(ff)
all_meshs += obj
obj[0].set_cp("category_id", i) #f["id"]) # начиная с 1
obj[0].set_cp("category_id", i) # начиная с 1
i += 1
return par.models.n_item
@ -293,7 +323,7 @@ def _get_scene(par, data) -> int:
par.scene.objs = []
par.scene.collision_objects = []
for f in objs:
ff = _get_path_object(f["name"]) # f["path"]
ff = _get_path_object(f["name"])
if not os.path.isfile(ff):
print(f"Error: no such file '{ff}'")
return -1
@ -303,7 +333,7 @@ def _get_scene(par, data) -> int:
if len(coll) > 0:
obj[0].enable_rigidbody(False, collision_shape=coll)
par.scene.collision_objects += obj
par.scene.objs += obj #bproc.loader.load_blend(args.scene, data_blocks=["objects"])
par.scene.objs += obj
if not par.scene.collision_objects:
print("Collision objects not found in the scene")
@ -337,7 +367,7 @@ if __name__ == "__main__":
models_randomization = ds_cfg["models_randomization"]
rnd_par = lambda: None
rnd_par.single_object = True
rnd_par.single_object = False # True
rnd_par.ds_name = cfg["name"]
rnd_par.output_dir = cfg["local_path"]
rnd_par.dataset_objs = cfg["dataSetObjects"]
@ -349,19 +379,18 @@ if __name__ == "__main__":
rnd_par.center_shell = cam_pos["center_shell"]
rnd_par.radius_range = cam_pos["radius_range"]
rnd_par.elevation_range = cam_pos["elevation_range"]
rnd_par.models_randomization = models_randomization
rnd_par.loc_range_low = models_randomization["loc_range_low"]
rnd_par.loc_range_high = models_randomization["loc_range_high"]
if not os.path.isdir(rnd_par.output_dir):
# os.mkdir(rnd_par.output_dir)
print(f"Error: invalid path '{rnd_par.output_dir}'")
exit(-3)
bproc.init()
all_meshs = []
ret = _get_models(rnd_par, rnd_par.dataset_objs)
if ret <= 0:
if _get_models(rnd_par, rnd_par.dataset_objs) <= 0:
print("Error: no models in config")
exit(-4)
if _get_scene(rnd_par, ds_cfg["scene"]) == 0:

412
web_p/renderBOPdataset2.py Executable file
View file

@ -0,0 +1,412 @@
import blenderproc as bproc
"""
renderBOPdataset2
Общая задача: common pipeline
Реализуемая функция: создание датасета в формате BOP с заданными параметрами рандомизации
Используется модуль blenderproc
02.05.2024 @shalenikol release 0.1
02.07.2024 @shalenikol release 0.2
28.10.2024 @shalenikol release 0.3
"""
import numpy as np
import argparse
import random
import os
import shutil
import json
from pathlib import Path
import bpy
VHACD_PATH = "blenderproc_resources/vhacd"
DIR_MODELS = "models"
DIR_MESH = "assets/libs/objects/"
FILE_LOG_SCENE = "res.txt"
FILE_RBS_INFO = "rbs_info.json"
FILE_GT_COCO = "scene_gt_coco.json"
EXT_MODELS = ".fbx"
TEXTURE_TMPL = "*.jpg"
Not_Categories_Name = True # наименование категории в COCO-аннотации отсутствует
def _get_list_texture(rel_path: str) -> list:
# local_path/texture/
loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
path = os.path.join(loc, rel_path)
return list(Path(path).absolute().rglob(TEXTURE_TMPL))
# def _get_path_model(name_model: str) -> str:
# # TODO on name_model find path for mesh (model.fbx)
# # local_path/assets/libs/objects # assets/mesh/
# loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
# return os.path.join(loc, DIR_MESH + name_model + EXT_MODELS)
def _get_path_object(name_obj: str) -> str:
# TODO on name_obj find path for scene object (object.fbx)
# loc = os.path.dirname(os.path.dirname(rnd_par.output_dir))
# return os.path.join(loc, DIR_MESH + name_obj + EXT_MODELS)
return os.path.join(rnd_par.details_dir, name_obj + EXT_MODELS)
def convert2relative(height, width, bbox):
"""
YOLO format use relative coordinates for annotation
"""
x, y, w, h = bbox
x += w/2
y += h/2
return x/width, y/height, w/width, h/height
def render() -> int:
i = 0
for obj in all_meshs:
# Make the object actively participate in the physics simulation
obj.enable_rigidbody(active=True, collision_shape="COMPOUND")
# Also use convex decomposition as collision shapes
obj.build_convex_decomposition_collision_shape(VHACD_PATH)
i += 1
# print(f"{i} : {obj.get_name()}")
objs = all_meshs + rnd_par.scene.objs
log_txt = os.path.join(os.path.dirname(rnd_par.output_dir), FILE_LOG_SCENE)
with open(log_txt, "w") as fh:
for i,o in enumerate(objs):
loc = o.get_location()
euler = o.get_rotation_euler()
fh.write(f"{i} : {o.get_name()} {loc} {euler} category_id = {o.get_cp('category_id')}\n")
# define a light and set its location and energy level
ls = []
for l in rnd_par.scene.light_data:
light = bproc.types.Light(name=f"l{l['id']}")
light.set_type(l["type"])
light.set_location(l["loc_xyz"]) #[5, -5, 5])
light.set_rotation_euler(l["rot_euler"]) #[-0.063, 0.6177, -0.1985])
ls += [light]
# define the camera intrinsics
bproc.camera.set_intrinsics_from_blender_params(1,
rnd_par.image_size_wh[0],
rnd_par.image_size_wh[1],
lens_unit="FOV")
# add segmentation masks (per class and per instance)
bproc.renderer.enable_segmentation_output(map_by=["category_id", "instance", "name"])
# activate depth rendering
bproc.renderer.enable_depth_output(activate_antialiasing=False)
# res_dir = os.path.join(rnd_par.output_dir, rnd_par.ds_name)
res_dir = rnd_par.output_dir
if os.path.isdir(res_dir):
shutil.rmtree(res_dir)
# Цикл рендеринга
# Do multiple times: Position the shapenet objects using the physics simulator and render X images with random camera poses
for r in range(rnd_par.n_series):
print(f"********** Series : {r+1}")
is_texture = True if "texture_path" in rnd_par.models_randomization else False
if is_texture:
val = rnd_par.models_randomization["texture_path"]
l_texture = _get_list_texture(val)
image = bpy.data.images.load(filepath=str(l_texture[r % len(l_texture)]))
# один случайный объект в кадре / все заданные объекты
random_obj = random.choice(range(rnd_par.models.n_item))
meshs = []
for i,o in enumerate(all_meshs): # активные модели
if rnd_par.single_object and i != random_obj:
continue
meshs += [o]
if is_texture:
mats = o.get_materials()
for mat in mats:
# image = bpy.data.images.load(filepath=str(random.choice(l_texture)))
mat.set_principled_shader_value("Base Color", image)
for i,o in enumerate(rnd_par.scene.objs): # объекты сцены
rnd_mat = rnd_par.scene.obj_data[i]["material_randomization"]
mats = o.get_materials() #[0]
for mat in mats:
val = rnd_mat["specular"]
mat.set_principled_shader_value("Specular", random.uniform(val[0], val[1]))
val = rnd_mat["roughness"]
mat.set_principled_shader_value("Roughness", random.uniform(val[0], val[1]))
val = rnd_mat["metallic"]
mat.set_principled_shader_value("Metallic", random.uniform(val[0], val[1]))
if "texture_path" in rnd_mat: # путь к текстурам (*.jpg)
val = rnd_mat["texture_path"]
val = _get_list_texture(val)
image = bpy.data.images.load(filepath=str(random.choice(val)))
mat.set_principled_shader_value("Base Color", image)
else:
val = rnd_mat["base_color"]
mat.set_principled_shader_value("Base Color", np.random.uniform(val[0], val[1]))
# mat.set_principled_shader_value("Base Color", image)
# Randomly set the color and energy
for i,l in enumerate(ls):
current = rnd_par.scene.light_data[i]
l.set_color(np.random.uniform(current["color_range_low"], current["color_range_high"]))
energy = current["energy_range"]
l.set_energy(random.uniform(energy[0], energy[1]))
# Clear all key frames from the previous run
bproc.utility.reset_keyframes()
# Define a function that samples 6-DoF poses
def sample_pose(obj: bproc.types.MeshObject):
obj.set_location(np.random.uniform(rnd_par.loc_range_low, rnd_par.loc_range_high)) #[-1, -1, 0], [1, 1, 2]))
obj.set_rotation_euler(bproc.sampler.uniformSO3())
# Sample the poses of all shapenet objects above the ground without any collisions in-between
bproc.object.sample_poses(meshs,
objects_to_check_collisions = meshs + rnd_par.scene.collision_objects,
sample_pose_func = sample_pose)
# Run the simulation and fix the poses of the shapenet objects at the end
bproc.object.simulate_physics_and_fix_final_poses(min_simulation_time=4, max_simulation_time=20, check_object_interval=1)
# Find point of interest, all cam poses should look towards it
poi = bproc.object.compute_poi(meshs)
coord_max = [0.1, 0.1, 0.1]
coord_min = [0., 0., 0.]
with open(log_txt, "a") as fh:
fh.write("*****************\n")
fh.write(f"{r}) poi = {poi}\n")
i = 0
for o in meshs:
i += 1
loc = o.get_location()
euler = o.get_rotation_euler()
fh.write(f" {i} : {o.get_name()} {loc} {euler}\n")
for j in range(3):
if loc[j] < coord_min[j]:
coord_min[j] = loc[j]
if loc[j] > coord_max[j]:
coord_max[j] = loc[j]
# Sample up to X camera poses
#an = np.random.uniform(0.78, 1.2) #1. #0.35
for i in range(rnd_par.n_cam_pose):
# Sample location
location = bproc.sampler.shell(center=rnd_par.center_shell,
radius_min=rnd_par.radius_range[0],
radius_max=rnd_par.radius_range[1],
elevation_min=rnd_par.elevation_range[0],
elevation_max=rnd_par.elevation_range[1])
# координата, по которой будем сэмплировать положение камеры
j = random.randint(0, 2)
# разовый сдвиг по случайной координате
d = (coord_max[j] - coord_min[j]) / rnd_par.n_sample_on_pose
if location[j] < 0:
d = -d
for _ in range(rnd_par.n_sample_on_pose):
# Compute rotation based on vector going from location towards poi
rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location, inplane_rot=np.random.uniform(-0.7854, 0.7854))
# Add homog cam pose based on location an rotation
cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix)
bproc.camera.add_camera_pose(cam2world_matrix)
location[j] -= d
# render the whole pipeline
data = bproc.renderer.render()
# Write data to bop format
bproc.writer.write_bop(res_dir,
target_objects = all_meshs, # Optional[List[MeshObject]] = None
depths = data["depth"],
depth_scale = 1.0,
colors = data["colors"],
color_file_format=rnd_par.image_format,
append_to_existing_output = (r>0),
save_world2cam = False) # world coords are arbitrary in most real BOP datasets
# dataset="robo_ds",
models_dir = os.path.join(res_dir, DIR_MODELS)
os.mkdir(models_dir)
data = []
for i,objn in enumerate(rnd_par.models.names):
rec = {}
rec["id"] = i+1
rec["name"] = objn
rec["model"] = os.path.join(DIR_MODELS, os.path.split(rnd_par.models.filenames[i])[1]) # путь относительный
t = [obj.get_bound_box(local_coords=True).tolist() for obj in all_meshs if obj.get_name() == objn]
rec["cuboid"] = t[0]
data.append(rec)
shutil.copy2(rnd_par.models.filenames[i], models_dir)
f = (os.path.splitext(rnd_par.models.filenames[i]))[0] + ".mtl" # файл материала
if os.path.isfile(f):
shutil.copy2(f, models_dir)
with open(os.path.join(res_dir, FILE_RBS_INFO), "w") as fh:
json.dump(data, fh, indent=2)
"""
!!! categories -> name берётся из category_id !!!
см.ниже
blenderproc.python.writer : BopWriterUtility.py
class _BopWriterUtility
def calc_gt_coco
...
CATEGORIES = [{'id': obj.get_cp('category_id'), 'name': str(obj.get_cp('category_id')), 'supercategory':
dataset_name} for obj in dataset_objects]
поэтому заменим наименование категории в аннотации
"""
def change_categories_name(dir: str):
coco_file = os.path.join(dir,FILE_GT_COCO)
with open(coco_file, "r") as fh:
data = json.load(fh)
cats = data["categories"]
for i,cat in enumerate(cats):
cat["name"] = rnd_par.models.names[i] #obj_names[i]
with open(coco_file, "w") as fh:
json.dump(data, fh, indent=1)
def explore(path: str):
if not os.path.isdir(path):
return
folders = [
os.path.join(path, o)
for o in os.listdir(path)
if os.path.isdir(os.path.join(path, o))
]
for path_entry in folders:
print(path_entry)
if os.path.isfile(os.path.join(path_entry,FILE_GT_COCO)):
change_categories_name(path_entry)
else:
explore(path_entry)
if Not_Categories_Name:
explore(res_dir)
return 0 # success
def _get_models(par, data) -> int:
global all_meshs
par.models = lambda: None
par.models.n_item = len(data)
if par.models.n_item == 0:
return 0 # no models
# загрузим объекты
par.models.names = [] # obj_names
par.models.filenames = [] # obj_filenames
i = 1
for f in data:
nam = f["name"]
par.models.names.append(nam)
ff = f["fbx"] # _get_path_model(nam)
par.models.filenames.append(ff)
if not os.path.isfile(ff):
print(f"Error: no such file '{ff}'")
return -1
# !!! dir with meshs
par.details_dir = os.path.split(ff)[0]
obj = bproc.loader.load_obj(ff)
all_meshs += obj
obj[0].set_cp("category_id", i) # начиная с 1
i += 1
return par.models.n_item
def _get_scene(par, data) -> int:
# load scene
par.scene = lambda: None
objs = data["objects"]
par.scene.n_obj = len(objs)
if par.scene.n_obj == 0:
return 0 # empty scene
lights = data["lights"]
par.scene.n_light = len(lights)
if par.scene.n_light == 0:
return 0 # no lighting
if len(rnd_par.details_dir) == 0:
return 0 # no path to details
par.scene.objs = []
par.scene.collision_objects = []
for f in objs:
ff = _get_path_object(f["name"])
if not os.path.isfile(ff):
print(f"Error: no such file '{ff}'")
return -1
obj = bproc.loader.load_obj(ff)
obj[0].set_cp("category_id", 999)
coll = f["collision_shape"]
if len(coll) > 0:
obj[0].enable_rigidbody(False, collision_shape=coll)
par.scene.collision_objects += obj
par.scene.objs += obj
if not par.scene.collision_objects:
print("Collision objects not found in the scene")
return 0
par.scene.obj_data = objs
par.scene.light_data = lights
return par.scene.n_obj
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--form", required=True, help="Json-string with dataset parameters")
parser.add_argument("--path", required=True, help="Output path")
args = parser.parse_args()
if args.form[-5:] == ".json":
if not os.path.isfile(args.form):
print(f"Error: no such file '{args.form}'")
exit(-1)
with open(args.form, "r") as f:
j_data = f.read()
else:
j_data = args.form
try:
cfg = json.loads(j_data)
except json.JSONDecodeError as e:
print(f"JSon error: {e}")
exit(-2)
# output_dir = args.path
ds_cfg = cfg["output"] # dataset config
generation = ds_cfg["generation"]
cam_pos = ds_cfg["camera_position"]
models_randomization = ds_cfg["models_randomization"]
rnd_par = lambda: None
rnd_par.output_dir = args.path # cfg["local_path"]
if not os.path.isdir(rnd_par.output_dir):
print(f"Error: invalid path '{rnd_par.output_dir}'")
exit(-3)
rnd_par.single_object = False # True
rnd_par.details_dir = ""
# rnd_par.ds_name = os.path.split(rnd_par.output_dir)[1] # cfg["name"]
rnd_par.dataset_objs = ds_cfg["datasetObjects"]["details"] # ["knight"]
rnd_par.n_cam_pose = generation["n_cam_pose"]
rnd_par.n_sample_on_pose = generation["n_sample_on_pose"]
rnd_par.n_series = generation["n_series"]
rnd_par.image_format = generation["image_format"]
rnd_par.image_size_wh = generation["image_size_wh"]
rnd_par.center_shell = cam_pos["center_shell"]
rnd_par.radius_range = cam_pos["radius_range"]
rnd_par.elevation_range = cam_pos["elevation_range"]
rnd_par.models_randomization = models_randomization
rnd_par.loc_range_low = models_randomization["loc_range_low"]
rnd_par.loc_range_high = models_randomization["loc_range_high"]
bproc.init()
all_meshs = []
if _get_models(rnd_par, rnd_par.dataset_objs) <= 0:
print("Error: no models in config")
exit(-4)
if _get_scene(rnd_par, ds_cfg["scene"]) <= 0:
print("Error: empty scene in config")
exit(-5)
exit(render())

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import shutil
import argparse
import os.path
parser = argparse.ArgumentParser()
parser.add_argument("--path")
parser.add_argument("--nDOF")
parser.add_argument("--toolType")
parser.add_argument("--name")
args = parser.parse_args()
def copy_and_move_folder(src, dst):
try:
if os.path.exists(dst):
shutil.rmtree(dst)
shutil.copytree(src, dst)
print(f"Folder {src} successfully copied")
except shutil.Error as e:
print(f"Error: {e}")
source_folder = os.path.dirname(os.path.abspath(__file__)) + "/robot_builder/"
copy_and_move_folder(source_folder, args.path + args.name)

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<?xml version="1.0" encoding="UTF-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/urdf/rbs_arm_modular.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="rbs_arm">
<link name="world" />
<joint name="base_link_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
<parent link="world" />
<child link="base_link" />
</joint>
<link name="base_link">
<collision name="base_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/start_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00503302470272442" ixy="0.000343817346410954"
ixz="-4.74990755448368E-06" iyy="0.00337962410057753" iyz="-2.3099255620051E-05"
izz="0.00405858207282473" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="-0.000297002857922682 0.0964721185617698 -0.000361033370053684" />
<mass value="1.88031044620482" />
</inertial>
<visual name="base_link_visual">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="/start_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<gazebo reference="base_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="fork0_link_joint" type="revolute">
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.17833" />
<parent link="base_link" />
<child link="fork0_link" />
<axis xyz="0 0 1" />
</joint>
<link name="fork0_link">
<collision name="fork0_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
<mass value="1.12472202892859" />
</inertial>
<visual name="fork0_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/fork_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="fork0_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="fork0_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="fork0_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="main0_link_joint" type="revolute">
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400" />
<parent link="fork0_link" />
<child link="main0_link" />
<axis xyz="0 1 0" />
</joint>
<link name="main0_link">
<collision name="main0_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05"
ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902"
izz="0.00125534890134052" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805" />
<mass value="1.58688811563124" />
</inertial>
<visual name="main0_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="/main_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="main0_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="main0_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="main0_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="fork1_link_joint" type="revolute">
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300" />
<parent link="main0_link" />
<child link="fork1_link" />
<axis xyz="0 0 1" />
</joint>
<link name="fork1_link">
<collision name="fork1_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
<mass value="1.12472202892859" />
</inertial>
<visual name="fork1_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/fork_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="fork1_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="fork1_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="fork1_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="main1_link_joint" type="revolute">
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400" />
<parent link="fork1_link" />
<child link="main1_link" />
<axis xyz="0 1 0" />
</joint>
<link name="main1_link">
<collision name="main1_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05"
ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902"
izz="0.00125534890134052" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805" />
<mass value="1.58688811563124" />
</inertial>
<visual name="main1_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="/main_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="main1_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="main1_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="main1_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="fork2_link_joint" type="revolute">
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300" />
<parent link="main1_link" />
<child link="fork2_link" />
<axis xyz="0 0 1" />
</joint>
<link name="fork2_link">
<collision name="fork2_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
<mass value="1.12472202892859" />
</inertial>
<visual name="fork2_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/fork_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="fork2_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="fork2_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="fork2_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="ee_link_joint" type="revolute">
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09473" />
<parent link="fork2_link" />
<child link="ee_link" />
<axis xyz="0 1 0" />
</joint>
<joint name="tool0_joint" type="fixed">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.11000" />
<parent link="ee_link" />
<child link="tool0" />
</joint>
<link name="tool0" />
<link name="ee_link">
<collision name="ee_link_collision">
<origin rpy="-0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/ee_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00147695259043549" ixy="-2.66894744420299E-05"
ixz="-4.40871314563273E-05" iyy="0.00135500487881796" iyz="-3.19001462979333E-05"
izz="0.00087582892706912" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="-9.7531539777207E-06 -0.000888494418875867 0.0342332199538358" />
<mass value="1.88031044620482" />
</inertial>
<visual name="ee_link_visual">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/ee_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="ee_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="ee_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="ee_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<!-- END robot description -->
<ros2_control name="rbs_gripper_gazebo" type="system">
<!-- Plugins -->
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<!-- Joint interfaces -->
<joint name="rbs_gripper_rot_base_joint">
<state_interface name="position">
<param name="initial_value">0.000</param>
</state_interface>
<command_interface name="position" />
<command_interface name="velocity" />
<!-- <command_interface name="effort"/> -->
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="rbs_gripper_r_finger_joint">
<state_interface name="position">
<param name="initial_value">0.004</param>
</state_interface>
<command_interface name="position" />
<command_interface name="velocity" />
<!-- <command_interface name="effort"/> -->
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="rbs_gripper_l_finger_joint">
<param name="mimic">rbs_gripper_r_finger_joint</param>
<param name="multiplier">1</param>
</joint>
</ros2_control>
<transmission name="rbs_gripper_rot_base_joint_transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rbs_gripper_rot_base_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rbs_gripper_rot_base_joint_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rbs_gripper_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="tool0" />
<child link="rbs_gripper_gripper_base_link" />
</joint>
<link name="rbs_gripper_gripper_base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369" />
<mass value="1.13983632906086" />
<inertia ixx="0.00107738806534129" ixy="-1.09841172461737E-05"
ixz="2.62750043451545E-06" iyy="0.000717388573992299" iyz="-2.95426438182787E-05"
izz="0.00115777179755934" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/base.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/base.stl" />
</geometry>
</collision>
</link>
<link name="rbs_gripper_rot_base_link">
<inertial>
<origin rpy="0 0 0" xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793" />
<mass value="0.161003401535982" />
<inertia ixx="0.00011089089949771" ixy="5.01335040610636E-06" ixz="1.74608448389267E-14"
iyy="0.000105515893695012" iyz="-2.03282362854432E-14" izz="0.000206912001661452" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/rotor.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/rotor.stl" />
</geometry>
</collision>
</link>
<joint name="rbs_gripper_rot_base_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.10861" />
<parent link="rbs_gripper_gripper_base_link" />
<child link="rbs_gripper_rot_base_link" />
<axis xyz="0 0 1" />
<limit effort="78" lower="-3.14159" upper="3.14159" velocity="0.52" />
</joint>
<link name="rbs_gripper_l_finger_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166" />
<mass value="0.0601996441483964" />
<inertia ixx="4.18533281165612E-05" ixy="-7.11657995951147E-06"
ixz="1.81029223490065E-05" iyy="7.89886367868258E-05" iyz="1.20542845942065E-05"
izz="5.16740841307935E-05" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.752941176470588 0 0 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.stl" />
</geometry>
</collision>
</link>
<joint name="rbs_gripper_l_finger_joint" type="prismatic">
<origin rpy="0 0 1.5708" xyz="0 0 0.1071" />
<parent link="rbs_gripper_rot_base_link" />
<child link="rbs_gripper_l_finger_link" />
<axis xyz="-1 0 0" />
<limit effort="10" lower="0" upper="0.064" velocity="0.53" />
<mimic joint="rbs_gripper_r_finger_joint" multiplier="1" />
</joint>
<link name="rbs_gripper_r_finger_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0039988 -0.077778 -0.01873" />
<mass value="0.0602" />
<inertia ixx="4.1853E-05" ixy="1.8103E-05" ixz="7.1166E-06" iyy="5.1674E-05"
iyz="-1.2054E-05" izz="7.8989E-05" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.75294 0 0 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.stl" />
</geometry>
</collision>
</link>
<joint name="rbs_gripper_r_finger_joint" type="prismatic">
<origin rpy="0 0 -1.5708" xyz="0 0 0.1071" />
<parent link="rbs_gripper_rot_base_link" />
<child link="rbs_gripper_r_finger_link" />
<axis xyz="-1 0 0" />
<limit effort="10" lower="0" upper="0.064" velocity="0.53" />
</joint>
<link name="gripper_grasp_point" />
<joint name="rbs_gripper_gripper_tool0_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.09139" />
<parent link="rbs_gripper_rot_base_link" />
<child link="gripper_grasp_point" />
</joint>
<gazebo reference="rbs_gripper_rot_base_link">
<self_collide>1</self_collide>
<!-- <soft_contact> -->
<!-- <dart> -->
<!-- <bone_attachment>100</bone_attachment> -->
<!-- <stiffness>100</stiffness> -->
<!-- <damping>10</damping> -->
<!-- <flesh_mass_fraction>0.050000000000000003</flesh_mass_fraction> -->
<!-- </dart> -->
<!-- </soft_contact> -->
</gazebo>
<gazebo reference="rbs_gripper_l_finger_link">
<self_collide>1</self_collide>
<!-- <soft_contact> -->
<!-- <dart> -->
<!-- <bone_attachment>100</bone_attachment> -->
<!-- <stiffness>100</stiffness> -->
<!-- <damping>10</damping> -->
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