Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add urdf visualization in rerun #704

Merged
merged 7 commits into from
Nov 11, 2024
Merged

Add urdf visualization in rerun #704

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
6623274
Add urdf-visualization for rerun
haixuanTao Nov 5, 2024
da044e9
Bump rerun to version 0.19
haixuanTao Nov 6, 2024
ab5bde2
Make dora rerun easier to read
haixuanTao Nov 7, 2024
3dfcbab
Add piper rerun example
haixuanTao Nov 7, 2024
6475a3f
Make dora-rerun pip installable and python-abi3
haixuanTao Nov 7, 2024
6cb643f
Small fix
haixuanTao Nov 8, 2024
aa63796
Make dataflow name more explicit
haixuanTao Nov 11, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1,492 changes: 1,012 additions & 480 deletions Cargo.lock
View file
Open in desktop

Large diffs are not rendered by default.

568 changes: 568 additions & 0 deletions examples/piper/assets/piper_left.urdf
View file
Open in desktop

Large diffs are not rendered by default.

568 changes: 568 additions & 0 deletions examples/piper/assets/piper_left_pred.urdf
View file
Open in desktop

Large diffs are not rendered by default.

568 changes: 568 additions & 0 deletions examples/piper/assets/piper_right.urdf
View file
Open in desktop

Large diffs are not rendered by default.

568 changes: 568 additions & 0 deletions examples/piper/assets/piper_right_pred.urdf
View file
Open in desktop

Large diffs are not rendered by default.

229 changes: 229 additions & 0 deletions examples/piper/dummy_inference.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,229 @@
from dora import Node

node = Node()

import numpy as np

pred = np.array(
[
[
[
-0.0737,
-0.0447,
0.2695,
-0.0054,
-0.0461,
-0.0258,
0.1357,
0.1943,
0.0625,
0.1270,
-0.0259,
-0.0195,
0.0981,
0.1021,
],
[
-0.0757,
-0.0332,
0.2793,
-0.0156,
-0.0374,
-0.0193,
0.1924,
0.2119,
0.0654,
0.1377,
0.0020,
-0.0076,
0.0884,
0.1143,
],
[
-0.0771,
-0.0282,
0.2832,
-0.0225,
-0.0378,
-0.0156,
0.1992,
0.2324,
0.0674,
0.1416,
0.0088,
-0.0056,
0.0918,
0.1191,
],
[
-0.0825,
-0.0325,
0.2832,
-0.0210,
-0.0420,
-0.0204,
0.1904,
0.2256,
0.0610,
0.1475,
0.0068,
-0.0071,
0.0879,
0.1172,
],
[
-0.0825,
-0.0344,
0.2852,
-0.0208,
-0.0405,
-0.0167,
0.1777,
0.2109,
0.0518,
0.1621,
0.0059,
-0.0017,
0.0854,
0.1182,
],
[
-0.0840,
-0.0332,
0.2871,
-0.0226,
-0.0417,
-0.0159,
0.1748,
0.2080,
0.0476,
0.1641,
0.0000,
0.0010,
0.0864,
0.1196,
],
[
-0.0879,
-0.0234,
0.2969,
-0.0305,
-0.0396,
-0.0132,
0.1904,
0.2275,
0.0474,
0.1758,
0.0137,
0.0020,
0.0874,
0.1245,
],
[
-0.0884,
-0.0225,
0.3008,
-0.0339,
-0.0386,
-0.0118,
0.1904,
0.2275,
0.0469,
0.1855,
0.0186,
-0.0017,
0.0879,
0.1270,
],
[
-0.0918,
-0.0081,
0.3066,
-0.0449,
-0.0325,
-0.0074,
0.2021,
0.2363,
0.0454,
0.1953,
0.0332,
0.0015,
0.0942,
0.1348,
],
[
-0.0938,
-0.0249,
0.3027,
-0.0366,
-0.0396,
-0.0125,
0.1777,
0.2207,
0.0376,
0.1953,
0.0146,
-0.0017,
0.0884,
0.1279,
],
[
-0.0938,
-0.0229,
0.3047,
-0.0393,
-0.0386,
-0.0121,
0.1680,
0.2256,
0.0330,
0.2002,
0.0127,
0.0015,
0.0913,
0.1260,
],
[
-0.0977,
-0.0206,
0.3105,
-0.0405,
-0.0359,
-0.0161,
0.1680,
0.2178,
0.0295,
0.2129,
0.0146,
-0.0085,
0.0923,
0.1309,
],
[
-0.0938,
-0.0311,
0.3027,
-0.0334,
-0.0386,
-0.0188,
0.1377,
0.2139,
0.0227,
0.2031,
0.0039,
-0.0020,
0.0913,
0.1221,
],
]
]
)

import time
import pyarrow as pa

data = pred[0]
for joint in data:
node.send_output("jointstate_left", pa.array(joint[:7], type=pa.float32()))
node.send_output("jointstate_right", pa.array(joint[7:], type=pa.float32()))
time.sleep(0.1)
22 changes: 22 additions & 0 deletions examples/piper/play_dummy_inference.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
nodes:
- id: piper
path: dummy_inference.py
inputs:
tick: dora/timer/millis/20
outputs:
- jointstate_left
- jointstate_right
env:
CAN_BUS: can_left

- id: rerun
build: wget
path: dora-rerun
inputs:
jointstate_piper_left: piper/jointstate_left
jointstate_piper_right: piper/jointstate_right
env:
piper_left_urdf: assets/piper_left.urdf # Make sure to download assets/meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder
piper_right_urdf: assets/piper_right.urdf # Make sure to download assets/meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder
piper_left_transform: 0 0.2 0
piper_right_transform: 0 -0.2 0
17 changes: 16 additions & 1 deletion node-hub/dora-rerun/Cargo.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,24 @@ repository.workspace = true

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

[features]
default = []
python = ["pyo3"]

[dependencies]
dora-node-api = { workspace = true, features = ["tracing"] }
eyre = "0.6.8"
tokio = { version = "1.24.2", features = ["rt"] }
rerun = { version = "0.18.2", features = ["web_viewer", "image"] }
rerun = { version = "0.19.0", features = ["web_viewer", "image"] }
ndarray = "0.15.6"
k = "0.32"
pyo3 = { workspace = true, features = [
"extension-module",
"abi3",
], optional = true }


[lib]
name = "dora_rerun"
path = "src/lib.rs"
crate-type = ["lib", "cdylib"]
30 changes: 30 additions & 0 deletions node-hub/dora-rerun/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,36 @@ cargo install --git https://github.com/dora-rs/dora dora-rerun
- image: UInt8Array + metadata { "width": int, "height": int, "encoding": str }
- boxes2D: StructArray + metadata { "format": str }
- text: StringArray
- jointstate: Float32Array

## (Experimental) For plotting 3D URDF

```bash
pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git
```

Make sure to name the dataflow as follows:

```yaml
- id: rerun
path: dora-rerun
inputs:
jointstate_<ENTITY_NAME>: <ENTITY_NAME>/jointstate
env:
<ENTITY_NAME>_urdf: /path/to/<ENTITY_NAME>.urdf
<ENTITY_NAME>_transform: 0 0.3 0
```

> [!IMPORTANT]
> Make sure that the urdf file name correspond to your dataflow object name otherwise, it will not be able to link to the corresponding entity.

> [!WARNING]
> Please make sure to review the following gotchas:
>
> - Filename included in URDF are going to be relative to your dataflow working directory instead of the URDF path: https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/13
> - URDF loader is not on pip and so you need to install it yourself https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/12
> - There is no warning if a file is not logged properly. https://github.com/rerun-io/rerun-loader-python-example-urdf/pull/14
> - There is no transparent color in rerun. https://github.com/rerun-io/rerun/issues/1611

## Configurations

Expand Down
9 changes: 9 additions & 0 deletions node-hub/dora-rerun/pyproject.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,3 +4,12 @@ build-backend = "maturin"

[project]
name = "dora-rerun"
dependencies = [
'rerun_sdk==0.19.1',
# "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
]

scripts = { "dora-rerun" = "dora_rerun:py_main" }

[tool.maturin]
features = ["pyo3/extension-module"]
Loading
Loading