kscalelabs · wuallenwu · Jul 3, 2024 · Jul 3, 2024 · Jul 3, 2024
diff --git a/.github/workflows/update_stompy_s3.yml b/.github/workflows/update_stompy_s3.yml
@@ -4,7 +4,7 @@ on:
   release:
     types: [created]
   schedule:
-    - cron: "30 2 * * *"
+    - cron: "30 10 * * *"
   workflow_dispatch:
 
 permissions:
@@ -30,16 +30,31 @@ jobs:
         with:
           python-version: "3.11"
 
+      - name: Restore cache
+        id: restore-cache
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+            ${{ env.pythonLocation }}
+            .mypy_cache/
+          key: python-requirements-${{ env.pythonLocation }}-${{ github.event.pull_request.base.sha || github.sha }}
+          restore-keys: |
+            python-requirements-${{ env.pythonLocation }}
+            python-requirements-
+
       - name: Install dependencies
         run: |
-          pip install 'kscale-onshape-library @ git+https://github.com/kscalelabs/onshape.git@master'  # Bleeding edge
+          pip install -e '.[dev]'
 
       - name: Build package
         env:
           ONSHAPE_ACCESS_KEY: ${{ secrets.ONSHAPE_ACCESS_KEY }}
           ONSHAPE_SECRET_KEY: ${{ secrets.ONSHAPE_SECRET_KEY }}
           ONSHAPE_API: ${{ secrets.ONSHAPE_API }}
-        run: python -m sim.scripts.update_stompy_s3
+        run: |
+          python -m ksim.scripts.update_stompy_s3
+          python -m ksim.scripts.update_stompy_arm_s3
+          python -m ksim.scripts.update_stompy_torso_s3
 
       - name: Configure AWS credentials
         uses: aws-actions/configure-aws-credentials@v1
@@ -55,3 +70,15 @@ jobs:
           for file in stompy/*.tar.gz; do
             aws s3 cp "$file" s3://${AWS_S3_BUCKET}/$(basename "$file")
           done
+          for file in stompy_arm/*.tar.gz; do
+            aws s3 cp "$file" s3://${AWS_S3_BUCKET}/arm_$(basename "$file")
+          done
+
+      - name: Save cache
+        uses: actions/cache/save@v3
+        if: github.ref == 'refs/heads/master'
+        with:
+          path: |
+            ${{ env.pythonLocation }}
+            .mypy_cache/
+          key: ${{ steps.restore-cache.outputs.cache-primary-key }}
diff --git a/sim/scripts/run_onshape_to_urdf.py b/sim/scripts/run_onshape_to_urdf.py
@@ -0,0 +1,111 @@
+# mypy: disable-error-code="import-not-found"
+"""Updates the Stompy model."""
+
+import tarfile
+from pathlib import Path
+from typing import Union
+
+from kol.logging import configure_logging as configure_kol_logging
+from kol.onshape.converter import Converter
+
+SUFFIX_TO_JOINT_EFFORT = {
+    "dof_x4_h": 1.5,
+    "dof_x4": 1.5,
+    "dof_x6": 3,
+    "dof_x8": 6,
+    "dof_x10": 12,
+    "knee_revolute": 13.9,
+    "ankle_revolute": 6,
+}
+
+UPDATE_NAMES = {
+    "dof_2_upper_left_arm_1_rmd_x8_90_mock_1_dof_x8": "left shoulder pitch",
+    "upper_left_arm_1_rmd_x8_90_mock_1_dof_x8": "shoulder pitch",
+    "dof_1_upper_left_arm_1_rmd_x8_90_mock_1_dof_x8": "right shoulder pitch",
+    "dof_2_upper_left_arm_1_rmd_x8_90_mock_2_dof_x8": "left shoulder yaw",
+    "upper_left_arm_1_rmd_x8_90_mock_2_dof_x8": "shoulder yaw",
+    "dof_1_upper_left_arm_1_rmd_x8_90_mock_2_dof_x8": "right shoulder yaw",
+    "torso_1_rmd_x8_90_mock_1_dof_x8": "torso roll",
+    "dof_2_upper_left_arm_1_rmd_x4_24_mock_1_dof_x4": "left shoulder roll",
+    "upper_left_arm_1_rmd_x4_24_mock_1_dof_x4": "shoulder roll",
+    "dof_1_full_arm_7_dof_1_upper_left_arm_1_rmd_x4_24_mock_1_dof_x4": "right shoulder roll",
+    "dof_2_upper_left_arm_1_rmd_x4_24_mock_2_dof_x4": "left elbow pitch",
+    "upper_left_arm_1_rmd_x4_24_mock_2_dof_x4": "elbow pitch",
+    "dof_1_upper_left_arm_1_rmd_x4_24_mock_2_dof_x4": "right elbow pitch",
+    "dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_1_dof_x4": "left wrist roll",
+    "lower_arm_3_dof_1_rmd_x4_24_mock_1_dof_x4": "wrist roll",
+    "dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_1_dof_x4": "right wrist roll",
+    "dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_2_dof_x4": "left wrist pitch",
+    "lower_arm_3_dof_1_rmd_x4_24_mock_2_dof_x4": "wrist pitch",
+    "dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_2_dof_x4": "right wrist pitch",
+    "dof_2_lower_arm_3_dof_1_rmd_x4_24_mock_3_dof_x4": "left wrist yaw",
+    "lower_arm_3_dof_1_rmd_x4_24_mock_3_dof_x4": "wrist yaw",
+    "dof_1_lower_arm_3_dof_1_rmd_x4_24_mock_3_dof_x4": "right wrist yaw",
+    "dof_1_lower_arm_3_dof_1_hand_1_slider_1": "right hand right finger",
+    "dof_1_lower_arm_3_dof_1_hand_1_slider_2": "right hand left finger",
+    "dof_2_lower_arm_3_dof_1_hand_1_slider_1": "left hand right finger",
+    "dof_2_lower_arm_3_dof_1_hand_1_slider_2": "left hand left finger",
+    "dof_2_lower_arm_1_dof_1_rmd_x4_24_mock_1_dof_x4": "left wrist roll",
+    "lower_arm_1_dof_1_rmd_x4_24_mock_1_dof_x4": "wrist roll",
+    "dof_1_lower_arm_1_dof_1_rmd_x4_24_mock_1_dof_x4": "right wrist roll",
+    "dof_2_lower_arm_1_dof_1_rmd_x4_24_mock_2_dof_x4": "left wrist pitch",
+    "lower_arm_1_dof_1_rmd_x4_24_mock_2_dof_x4": "wrist pitch",
+    "dof_1_lower_arm_1_dof_1_rmd_x4_24_mock_2_dof_x4": "right wrist pitch",
+    "dof_2_lower_arm_1_dof_1_rmd_x4_24_mock_3_dof_x4": "left wrist yaw",
+    "lower_arm_1_dof_1_rmd_x4_24_mock_3_dof_x4": "wrist yaw",
+    "dof_1_lower_arm_1_dof_1_rmd_x4_24_mock_3_dof_x4": "right wrist yaw",
+    "dof_1_lower_arm_1_dof_1_hand_1_slider_1": "right hand right finger",
+    "dof_1_lower_arm_1_dof_1_hand_1_slider_2": "right hand  left finger",
+    "dof_2_lower_arm_1_dof_1_hand_1_slider_1": "left hand right finger",
+    "dof_2_lower_arm_1_dof_1_hand_1_slider_2": "left hand left finger",
+    "lower_limbs_1_leg_assembly_2_rmd_x12_150_mock_1_dof_x12": "left hip pitch",
+    "lower_limbs_1_leg_assembly_1_rmd_x12_150_mock_1_dof_x12": "right hip pitch",
+    "lower_limbs_1_leg_assembly_2_rmd_x8_90_mock_1_dof_x8": "left hip yaw",
+    "lower_limbs_1_leg_assembly_1_rmd_x8_90_mock_1_dof_x8": "right hip yaw",
+    "lower_limbs_1_leg_assembly_2_rmd_x8_90_mock_2_dof_x8": "left hip roll",
+    "lower_limbs_1_leg_assembly_1_rmd_x8_90_mock_2_dof_x8": "right hip roll",
+    "lower_limbs_1_leg_assembly_2_rmd_x8_90_mock_3_dof_x8": "left knee pitch",
+    "lower_limbs_1_leg_assembly_1_rmd_x8_90_mock_3_dof_x8": "right knee pitch",
+    "lower_limbs_1_leg_assembly_2_rmd_x4_24_mock_1_dof_x4": "left ankle pitch",
+    "lower_limbs_1_leg_assembly_1_rmd_x4_24_mock_1_dof_x4": "right ankle pitch",
+    "lower_limbs_1_left_foot_1_rmd_x4_24_mock_1_dof_x4": "right ankle roll",
+    "lower_limbs_1_right_foot_1_rmd_x4_24_mock_1_dof_x4": "left ankle roll",
+    "full_arm_5_dof_1_upper_left_arm_1_rmd_x4_24_mock_1_dof_x4": "right shoulder roll",
+    "full_arm_5_dof_2_upper_left_arm_1_rmd_x4_24_mock_1_dof_x4": "left shoulder roll",
+}
+
+OVERRIDE = [
+    "hand_1_rmd_x4_24_mock_1_dof_x4",
+    "joint_lower_arm_3_dof_1_hand_1_rmd_x4_24_mock_1_dof_x4",
+]
+
+
+def run_onshape_to_urdf(
+    model_url: str, output_dir: Union[str, Path], override_central_node: Union[str, None] = None
+) -> None:
+    configure_kol_logging()
+
+    output_dir = Path(output_dir)
+
+    # Gets the latest STL URDF and MJCF.
+    converter = Converter(
+        document_url=model_url,
+        output_dir=output_dir / "latest_robot",
+        suffix_to_joint_effort=list(SUFFIX_TO_JOINT_EFFORT.items()),
+        disable_mimics=True,
+        mesh_ext="stl",
+        override_central_node=override_central_node,
+        remove_inertia=True,
+        merge_fixed_joints=True,
+        simplify_meshes=True,
+        override_joint_names=UPDATE_NAMES,
+        override_nonfixed=OVERRIDE,
+    )
+    converter.save_mjcf()
+    latest_stl_urdf_path = converter.output_dir
+
+    # Manually builds the tarball.
+    with tarfile.open(output_dir / "latest_meshes.tar.gz", "w:gz") as tar:
+        for suffix in (".urdf", ".stl", ".mjcf"):
+            for file in latest_stl_urdf_path.rglob(f"**/*{suffix}"):
+                tar.add(file, arcname=file.relative_to(latest_stl_urdf_path))
diff --git a/sim/scripts/update_stompy_arm_s3.py b/sim/scripts/update_stompy_arm_s3.py
@@ -0,0 +1,33 @@
+# mypy: disable-error-code="import-not-found"
+"""Updates the Stompy model."""
+
+from sim.scripts.run_onshape_to_urdf import run_onshape_to_urdf
+
+STOMPY_ARM_7DOF = (
+    "https://cad.onshape.com/documents/afaee604f6ca311526a6aec8/"
+    "w/29af84cb974c2d825b71de39/e/949e5b6cd071fee000e2c296"
+)
+
+STOMPY_ARM_5DOF = (
+    "https://cad.onshape.com/documents/afaee604f6ca311526a6aec8/"
+    "w/29af84cb974c2d825b71de39/e/4fef6bce7179a665e62b03ba"
+)
+
+
+def main() -> None:
+    run_onshape_to_urdf(
+        model_url=STOMPY_ARM_7DOF,
+        output_dir="stompy_arm_7dof",
+        override_central_node="upper_left_arm_1_arm_part_1_1",
+    )
+
+    run_onshape_to_urdf(
+        model_url=STOMPY_ARM_5DOF,
+        output_dir="stompy_arm_5dof",
+        override_central_node="upper_left_arm_1_arm_part_1_1",
+    )
+
+
+if __name__ == "__main__":
+    # python -m ksim.scripts.update_stompy_arm_s3
+    main()
diff --git a/sim/scripts/update_stompy_s3.py b/sim/scripts/update_stompy_s3.py
@@ -1,87 +1,31 @@
 # mypy: disable-error-code="import-not-found"
 """Updates the Stompy model."""
 
-import tarfile
-from pathlib import Path
+from sim.scripts.run_onshape_to_urdf import run_onshape_to_urdf
 
-STOMPY_MODEL = (
+STOMPY_MODEL_7DOF = (
     "https://cad.onshape.com/documents/71f793a23ab7562fb9dec82d/"
-    "w/6160a4f44eb6113d3fa116cd/e/1a95e260677a2d2d5a3b1eb3"
+    "w/e879bcf272425973f9b3d8ad/e/1a95e260677a2d2d5a3b1eb3"
 )
 
-SUFFIX_TO_JOINT_EFFORT = {
-    "dof_x4_h": 1.5,
-    "dof_x4": 1.5,
-    "dof_x6": 3,
-    "dof_x8": 6,
-    "dof_x10": 12,
-    "knee_revolute": 13.9,
-    "ankle_revolute": 6,
-}
+STOMPY_MODEL_5DOF = (
+    "https://cad.onshape.com/documents/71f793a23ab7562fb9dec82d/"
+    "w/e879bcf272425973f9b3d8ad/e/e07509571989528061c06a08"
+)
 
 
 def main() -> None:
-    try:
-        from kol.logging import configure_logging
-        from kol.onshape.converter import Converter
-    except ImportError:
-        raise ImportError("Please install the `kscale-onshape-library` package to run this script.")
-
-    configure_logging()
-
-    output_dir = Path("stompy")
-
-    # Gets the latest STL URDF.
-    converter = Converter(
-        document_url=STOMPY_MODEL,
-        output_dir=output_dir / "latest_stl_urdf",
-        suffix_to_joint_effort=list(SUFFIX_TO_JOINT_EFFORT.items()),
-        disable_mimics=True,
-        mesh_ext="stl",
+    run_onshape_to_urdf(
+        model_url=STOMPY_MODEL_7DOF,
+        output_dir="stompy_7dof",
     )
-    converter.save_urdf()
-    latest_stl_urdf_path = converter.output_dir
 
-    # Manually builds the tarball.
-    with tarfile.open(output_dir / "latest_stl_urdf.tar.gz", "w:gz") as tar:
-        for suffix in (".urdf", ".stl"):
-            for file in latest_stl_urdf_path.rglob(f"**/*{suffix}"):
-                tar.add(file, arcname=file.relative_to(latest_stl_urdf_path))
-
-    # Gets the latest OBJ URDF.
-    converter = Converter(
-        document_url=STOMPY_MODEL,
-        output_dir=output_dir / "latest_obj_urdf",
-        suffix_to_joint_effort=list(SUFFIX_TO_JOINT_EFFORT.items()),
-        disable_mimics=True,
-        mesh_ext="obj",
+    run_onshape_to_urdf(
+        model_url=STOMPY_MODEL_5DOF,
+        output_dir="stompy_5dof",
     )
-    converter.save_urdf()
-    latest_obj_urdf_path = converter.output_dir
-
-    # Manually builds the tarball.
-    with tarfile.open(output_dir / "latest_obj_urdf.tar.gz", "w:gz") as tar:
-        for suffix in (".urdf", ".obj"):
-            for file in latest_obj_urdf_path.rglob(f"**/*{suffix}"):
-                tar.add(file, arcname=file.relative_to(latest_obj_urdf_path))
-
-    # Gets the latest MJCF.
-    converter = Converter(
-        document_url=STOMPY_MODEL,
-        output_dir=output_dir / "latest_mjcf",
-        suffix_to_joint_effort=list(SUFFIX_TO_JOINT_EFFORT.items()),
-        disable_mimics=True,
-    )
-    converter.save_mjcf()
-    latest_mjcf_path = converter.output_dir
-
-    # Manually builds the tarball.
-    with tarfile.open(output_dir / "latest_mjcf.tar.gz", "w:gz") as tar:
-        for suffix in (".xml", ".stl"):
-            for file in latest_mjcf_path.rglob(f"**/*{suffix}"):
-                tar.add(file, arcname=file.relative_to(latest_mjcf_path))
 
 
 if __name__ == "__main__":
-    # python -m sim.scripts.update_stompy
+    # python -m ksim.scripts.update_stompy_s3
     main()
diff --git a/sim/scripts/update_stompy_torso_s3.py b/sim/scripts/update_stompy_torso_s3.py
@@ -0,0 +1,33 @@
+# mypy: disable-error-code="import-not-found"
+"""Updates the Stompy model."""
+
+from sim.scripts.run_onshape_to_urdf import run_onshape_to_urdf
+
+STOMPY_TORSO_7DOF = (
+    "https://cad.onshape.com/documents/77f178833017912bdc0eaaa8/w/"
+    "958f1684049f1413f6dd7831/e/348cad65143f892a40e33206"
+)
+
+STOMPY_TORSO_5DOF = (
+    "https://cad.onshape.com/documents/77f178833017912bdc0eaaa8/"
+    "w/958f1684049f1413f6dd7831/e/363614f1fc7c150003de244c"
+)
+
+
+def main() -> None:
+    run_onshape_to_urdf(
+        model_url=STOMPY_TORSO_7DOF,
+        output_dir="stompy_torso_7dof",
+        override_central_node="torso_1_hip_mount_1",
+    )
+
+    run_onshape_to_urdf(
+        model_url=STOMPY_TORSO_5DOF,
+        output_dir="stompy_torso_5dof",
+        override_central_node="torso_1_hip_mount_1",
+    )
+
+
+if __name__ == "__main__":
+    # python -m ksim.scripts.update_stompy_arm_s3
+    main()