Creating pk.Robot with only specific joints (reduced_model) from full urdf. #68
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chaitanya1chawla wants to merge 1 commit intochungmin99:mainfrom
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Creating pk.Robot with only specific joints (reduced_model) from full urdf. #68chaitanya1chawla wants to merge 1 commit intochungmin99:mainfrom
chaitanya1chawla wants to merge 1 commit intochungmin99:mainfrom
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Add a static method to create a reduced URDF file with preserved joint names and validate the structure.
Usage:
preserved_joint_names = [
# Left arm
'left_shoulder_pitch_joint',
'left_shoulder_roll_joint',
'left_shoulder_yaw_joint',
'left_elbow_joint',
'left_wrist_roll_joint',
'left_wrist_pitch_joint',
'left_wrist_yaw_joint',
# Right arm
'right_shoulder_pitch_joint',
'right_shoulder_roll_joint',
'right_shoulder_yaw_joint',
'right_elbow_joint',
'right_wrist_roll_joint',
'right_wrist_pitch_joint',
'right_wrist_yaw_joint',
# ... etc
]
original_urdf = "dexmachina/assets/g1/g1_body29_frozen_hand_mod_waist_new_arms_waist_yaw_lower_frozen.urdf"
reduced_urdf_path = "dexmachina/assets/g1/robot_reduced.urdf"
reduced_robot = create_reduced_urdf(
original_urdf,
preserved_joint_names,
reduced_urdf_path
)
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Add a static method to create a robot with only specific joints.
First creates a reduced URDF with preserved_joint_names, and then creates a pk.Robot object using from_urdf().
Usage:
preserved_joint_names = [
# Left arm
'left_shoulder_pitch_joint',
'left_shoulder_roll_joint',
'left_shoulder_yaw_joint',
'left_elbow_joint',
'left_wrist_roll_joint',
'left_wrist_pitch_joint',
'left_wrist_yaw_joint',
# Right arm
'right_shoulder_pitch_joint',
'right_shoulder_roll_joint',
'right_shoulder_yaw_joint',
'right_elbow_joint',
'right_wrist_roll_joint',
'right_wrist_pitch_joint',
'right_wrist_yaw_joint',
# ... etc
]
original_urdf = "dexmachina/assets/g1/g1_body29_frozen_hand_mod_waist_new_arms_waist_yaw_lower_frozen.urdf" reduced_urdf_path = "dexmachina/assets/g1/robot_reduced.urdf"
reduced_robot = from_reduced_urdf(
original_urdf,
preserved_joint_names,
reduced_urdf_path
)