Jrl2

The Panda robot visualized with non-batched (single scene) collision checking running.

This is an updated version of Jrl with the following changes:

• Visualization with Viser rather than []
• Robot urdfs from robot-descriptions
• Non-batched (single scene) collision checking using trimesh and fcl. The supported collision shapes are: TriangleP, Box, Sphere, Ellipsoid, Capsule, Cone, Convex, Cylinder, Half-Space, Plane, Mesh, OcTree. Note that the (coal)[https://github.com/coal-library/coal] library allows for adding a margin between objects. This would be quite useful for this package.
• Batched collision checking will be limited to only sphere-capsule, sphere-cuboid, sphere-sphere collisions. These checks can all be performed analytically (i.e. no optimization required) which will make them very fast. JIT compiling can be used here as well.
• 3D math operations using a thirdparty library, such as PyTorch3d or RoMa rather than self written functions. Alternatively, the 3d operations will be cleaned up, standardized, and be rewritten using JIT compilation. This can be done with the warp or torchdynamo
• The API for specifying which portion of the kinematic tree an operation should perform on will be reformatted. Currently, this is fixed in advance by specifying a base frame and end effector frame in the Robot class initializer. This is severly limiting however, because often times you may want the transform from different frames to one another. Instead, joint configurations will be provided via a dictuanary from joint name to joint angle. This should alleviate all uncertianty.

Installation

git clone https://github.com/jstmn/Jrl2.git && cd Jrl2/
uv sync --no-dev         # Remove '--no-dev' to install with development dependencies: `uv sync`
uv pip install -e .

uv cheat sheet

Creating and working on Python projects, i.e., with a pyproject.toml.

• uv add: Add a dependency to the project.
• uv remove: Remove a dependency from the project.
• uv sync: Sync the project's dependencies with the environment.
• uv lock: Create a lockfile for the project's dependencies.
• uv run ...: Run a command in the project environment. (Examples: uv run black, uv run pytest tests/)
• uv tree: View the dependency tree for the project.

Example commands:

uv run scripts/hello.py  # run a script