diff --git a/README.md b/README.md index 7be5fc7f47d5db027d120b8024982df93db95b74..2ebf240695a97fa912efdeba7d7e891ca9475b24 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,71 @@ ---- -license: mit ---- +# Multi-GraspLLM: A Multimodal LLM for Multi-Hand Semantic-Guided Grasp Generation + +**[Project Page](https://multi-graspllm.github.io/)** | **[arXiv](https://arxiv.org/abs/your-arxiv-id)** + +--- + +## Overview + +We introduce **Multi-GraspSet**, the first large-scale multi-hand grasp dataset enriched with automatic contact annotations. Based on this groundbreaking dataset, we propose **Multi-GraspLLM**, a unified framework for language-guided grasp generation. + +Leveraging the power of large language models (LLMs), Multi-GraspLLM is designed to process variable-length sequences, seamlessly generating grasp poses for a wide range of robotic hands under a single, unified architecture. + +
+ Structure of Multi-GraspLLM +
Figure: The architecture of Multi-GraspLLM
+
+ +--- + +## Updates +- **2024.12**: Released the Multi-GraspSet dataset, complete with contact annotations. + +--- + +## Installation + +Follow these steps to set up the evaluation environment: + +1. **Create the Environment** + ```bash + conda create --name eval python=3.9 + ``` + +2. **Install PyTorch and Dependencies** + ```bash + pip install torch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 + ``` + > ⚠️ Ensure the CUDA toolkit version matches your installed PyTorch version. + +3. **Install Pytorch Kinematics** + ```bash + cd ./pytorch_kinematics + pip install -e . + ``` + +4. **Install Remaining Requirements** + ```bash + pip install -r requirements_eval.txt + ``` + +--- + +## Visualize the Dataset + + + +1. **Run the Visualization Code** --> + + Open and execute the `vis_mid_dataset.ipynb` file to visualize the dataset. diff --git a/assets/picture/Supp_visDataset.png b/assets/picture/Supp_visDataset.png new file mode 100644 index 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100644 index 0000000000000000000000000000000000000000..007595daf71d3d5442e6865e98a7b459ab7df9f1 --- /dev/null +++ b/assets/picture/train_data_01.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54920f3797fb8c9b51f9c20d9734e8b08f7729eea5e3d26b75bb7b6e39bda0cf +size 181011 diff --git a/assets/picture/vis_dataset_grasp_output_01.png b/assets/picture/vis_dataset_grasp_output_01.png new file mode 100644 index 0000000000000000000000000000000000000000..e716c91432f94ee4215e0c2031e1376ac75a76d7 --- /dev/null +++ b/assets/picture/vis_dataset_grasp_output_01.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10a8865449f4b52a3aaa03917a37d6a8e54b275e083ac3f939197c0efffbf2d7 +size 366433 diff --git a/hand_model/allegro_hand_description/README.txt b/hand_model/allegro_hand_description/README.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c3cf5d24c366a3116c27fba98958755a0d714a2 --- /dev/null +++ b/hand_model/allegro_hand_description/README.txt @@ -0,0 +1,28 @@ +# use "bash build_desc.sh -h" to see these instructions in the terminal + + + BUILD_DESC.SH + + INSTRUCTIONS FOR USE + -------------------- + +'build_desc.sh' can be called with up to two (2) arguments. +The first argument is the side of the hand, left or right, and +the second argument determines the use of a robot tree diagram. + + +Examples: + + $ bash build_desc.sh RIGHT 1 + Builds the right hand URDF from its xacro file and shows the robot tree diagram when finished. + + $ bash build_desc.sh left + Builds the left hand URDF from its xacro file and DOES NOT show the tree diagram. + + + +Possible variations of the 1st argument are: + RIGHT, Right, right, R, r, LEFT, Left, left, L and l. + +For the 2nd argument, '1' produces the tree graph. +Left blank or passed any other value, the graph will not be created diff --git a/hand_model/allegro_hand_description/allegro_hand_config.rviz b/hand_model/allegro_hand_description/allegro_hand_config.rviz new file mode 100644 index 0000000000000000000000000000000000000000..7e32a5d67cacd0a520aea6ddc43da2ef5056664e --- /dev/null +++ b/hand_model/allegro_hand_description/allegro_hand_config.rviz @@ -0,0 +1,290 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 669 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_0.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_10.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_11.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_11.0_tip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_12.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_13.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_14.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_15.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_15.0_tip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3.0_tip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_7.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_7.0_tip: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_8.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_9.0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + /base_link: + Value: true + /link_0.0: + Value: true + /link_1.0: + Value: true + /link_10.0: + Value: true + /link_11.0: + Value: true + /link_11.0_tip: + Value: true + /link_12.0: + Value: true + /link_13.0: + Value: true + /link_14.0: + Value: true + /link_15.0: + Value: true + /link_15.0_tip: + Value: true + /link_2.0: + Value: true + /link_3.0: + Value: true + /link_3.0_tip: + Value: true + /link_4.0: + Value: true + /link_5.0: + Value: true + /link_6.0: + Value: true + /link_7.0: + Value: true + /link_7.0_tip: + Value: true + /link_8.0: + Value: true + /link_9.0: + Value: true + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: false + Show Axes: false + Show Names: false + Tree: + /base_link: + /link_0.0: + /link_1.0: + /link_2.0: + /link_3.0: + /link_3.0_tip: + {} + /link_12.0: + /link_13.0: + /link_14.0: + /link_15.0: + /link_15.0_tip: + {} + /link_4.0: + /link_5.0: + /link_6.0: + /link_7.0: + /link_7.0_tip: + {} + /link_8.0: + /link_9.0: + /link_10.0: + /link_11.0: + /link_11.0_tip: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 200; 200; 200 + Fixed Frame: /base_link + Name: root + Tools: + - Class: rviz/Interact + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.506915 + Focal Point: + X: 0.00844363 + Y: -0.0105403 + Z: 4.22006e-10 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.520398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.675398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 918 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1232 + X: 74 + Y: 0 diff --git a/hand_model/allegro_hand_description/allegro_hand_config.vcg b/hand_model/allegro_hand_description/allegro_hand_config.vcg new file mode 100644 index 0000000000000000000000000000000000000000..9578bcfce9b668c83d428e0b546c6f877577348b --- /dev/null +++ b/hand_model/allegro_hand_description/allegro_hand_config.vcg @@ -0,0 +1,129 @@ +Background\ ColorB=0.74902 +Background\ ColorG=0.74902 +Background\ ColorR=0.74902 +Camera\ Config=0.334797 0.385808 0.42726 0.0101457 0.0119454 0.00231246 +Camera\ Type=rviz::OrbitViewController +Fixed\ Frame=/base_link +Grid.Alpha=0.5 +Grid.Cell\ Size=0.5 +Grid.ColorB=0.898039 +Grid.ColorG=0.898039 +Grid.ColorR=0.898039 +Grid.Enabled=1 +Grid.Line\ Style=0 +Grid.Line\ Width=0.03 +Grid.Normal\ Cell\ Count=0 +Grid.OffsetX=0 +Grid.OffsetY=0 +Grid.OffsetZ=0 +Grid.Plane=0 +Grid.Plane\ Cell\ Count=10 +Grid.Reference\ Frame=/base_link +Property\ Grid\ Splitter=658,84 +Property\ Grid\ State=expanded=.Global Options,Grid.Enabled,Robot Model.Enabled,Robot: Robot ModelLinks,Robot: Robot Model Link base_linkEnabled,Robot: Robot Model Link link_12.0Enabled;splitterratio=0.5 +QMainWindow=000000ff00000000fd00000003000000000000011d00000338fc0200000001fb000000100044006900730070006c006100790073010000003400000338000000fa00ffffff000000010000012f00000338fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000034000000d50000006d00fffffffb0000000a00560069006500770073010000010f00000182000000c500fffffffb0000001200530065006c0065006300740069006f006e0100000297000000d50000006d00ffffff00000003000004fe0000003efc0100000001fb0000000800540069006d00650100000000000004fe0000024500ffffff000002a60000033800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 +Robot\ Model.Alpha=1 +Robot\ Model.Collision\ Enabled=0 +Robot\ Model.Enabled=1 +Robot\ Model.Robot\ Description=robot_description +Robot\ Model.TF\ Prefix= +Robot\ Model.Update\ Interval=0 +Robot\ Model.Visual\ Enabled=1 +Robot\:\ Robot\ Model\ Link\ base_linkAlpha=1 +Robot\:\ Robot\ Model\ Link\ base_linkEnabled=1 +Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0 +Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_0.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_0.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_0.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_0.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_1.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_1.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_1.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_1.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_10.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_10.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_10.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_10.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_11.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_11.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_11.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_11.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_11.0_tipAlpha=1 +Robot\:\ Robot\ Model\ Link\ link_11.0_tipEnabled=1 +Robot\:\ Robot\ Model\ Link\ link_11.0_tipShow\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_11.0_tipShow\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_12.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_12.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_12.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_12.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_13.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_13.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_13.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_13.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_14.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_14.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_14.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_14.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_15.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_15.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_15.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_15.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_15.0_tipAlpha=1 +Robot\:\ Robot\ Model\ Link\ link_15.0_tipEnabled=1 +Robot\:\ Robot\ Model\ Link\ link_15.0_tipShow\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_15.0_tipShow\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_2.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_2.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_2.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_2.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_3.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_3.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_3.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_3.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_3.0_tipAlpha=1 +Robot\:\ Robot\ Model\ Link\ link_3.0_tipEnabled=1 +Robot\:\ Robot\ Model\ Link\ link_3.0_tipShow\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_3.0_tipShow\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_4.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_4.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_4.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_4.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_5.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_5.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_5.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_5.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_6.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_6.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_6.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_6.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_7.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_7.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_7.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_7.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_7.0_tipAlpha=1 +Robot\:\ Robot\ Model\ Link\ link_7.0_tipEnabled=1 +Robot\:\ Robot\ Model\ Link\ link_7.0_tipShow\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_7.0_tipShow\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_8.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_8.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_8.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_8.0Show\ Trail=0 +Robot\:\ Robot\ Model\ Link\ link_9.0Alpha=1 +Robot\:\ Robot\ Model\ Link\ link_9.0Enabled=1 +Robot\:\ Robot\ Model\ Link\ link_9.0Show\ Axes=0 +Robot\:\ Robot\ Model\ Link\ link_9.0Show\ Trail=0 +Target\ Frame= +Tool\ 2D\ Nav\ GoalTopic=goal +Tool\ 2D\ Pose\ EstimateTopic=initialpose +[Display0] +ClassName=rviz::GridDisplay +Name=Grid +[Display1] +ClassName=rviz::RobotModelDisplay +Name=Robot Model +[Window] +Height=944 +Width=1278 +X=16 +Y=91 diff --git a/hand_model/allegro_hand_description/allegro_hand_description_left.urdf b/hand_model/allegro_hand_description/allegro_hand_description_left.urdf new file mode 100644 index 0000000000000000000000000000000000000000..327dca47239051ce0518ee044656b0b4be6a4896 --- /dev/null +++ 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b/hand_model/allegro_hand_description/allegro_hand_description_right.xacro @@ -0,0 +1,491 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/hand_model/allegro_hand_description/allegro_hand_left.pdf b/hand_model/allegro_hand_description/allegro_hand_left.pdf new file mode 100644 index 0000000000000000000000000000000000000000..b7d200ef0de5d553730306b9b100ccfd0ff4cb62 Binary files /dev/null and b/hand_model/allegro_hand_description/allegro_hand_left.pdf differ diff --git a/hand_model/allegro_hand_description/allegro_hand_right.pdf b/hand_model/allegro_hand_description/allegro_hand_right.pdf new file mode 100644 index 0000000000000000000000000000000000000000..fa36a7b310b138367e7a2fe6813cf0cc6c69a6d6 Binary files /dev/null and b/hand_model/allegro_hand_description/allegro_hand_right.pdf differ diff --git a/hand_model/allegro_hand_description/build_desc.sh b/hand_model/allegro_hand_description/build_desc.sh new file mode 100644 index 0000000000000000000000000000000000000000..ce423ce1467187e980b350ca671898798d1c493c --- /dev/null +++ b/hand_model/allegro_hand_description/build_desc.sh @@ -0,0 +1,54 @@ + +if [ "$1" == "-h" -o "$2" == "-h" ] +then + echo -e "\n\n BUILD_DESC.SH\n" + echo -e " INSTRUCTIONS FOR USE\n --------------------\n" + echo -e "'build_desc.sh' can be called with up to two (2) arguments.\nThe first argument is the side of the hand, left or right, and\nthe second argument determines the use of a robot tree diagram.\n\n" + echo -e "Examples:\n" + echo -e " $ bash build_desc.sh RIGHT 1\n Builds the right hand URDF from its xacro file and shows the robot tree diagram when finished.\n" + echo -e " $ bash build_desc.sh left\n Builds the left hand URDF from its xacro file and DOES NOT show the tree diagram.\n\n\n" + echo -e "Possible variations of the 1st argument are:\n RIGHT, Right, right, R, r, LEFT, Left, left, L and l.\n" + echo -e "For the 2nd argument, '1' produces the tree graph.\nLeft blank or passed any other value, the graph will not be created." + echo -e "\n\n" + exit 0 +fi + + +if [ "$1" == "right" -o "$1" == "Right" -o "$1" == "RIGHT" -o "$1" == "R" -o "$1" == "r" ] +then + HAND="RIGHT" + hand="right" +elif [ "$1" == "left" -o "$1" == "Left" -o "$1" == "LEFT" -o "$1" == "L" -o "$1" == "l" ] +then + HAND="LEFT" + hand="left" +else + echo -e "\n\nWrong or incorrect amount of arguments.\nUse 'bash build_desc.sh -h' for instructions.\n\n" + echo -e "If you see an error like\n'[: 7: right: unexpected operator',\nuse 'bash build_desc.sh' instead of 'sh build_desc.sh'.\n\n" + exit 0 +fi + + +echo -e "\n\nBuilding the [[$HAND]] Allegro Hand URDF...\n" + + +rosrun xacro xacro.py allegro_hand_description_$hand.xacro -o allegro_hand_description_$hand.urdf + +rosrun urdf check_urdf allegro_hand_description_$hand.urdf + +echo -e "\n" + + + + + +if [ "$2" == "1" ] +then + rosrun urdf_parser urdf_to_graphiz allegro_hand_description_$hand.urdf + rm *.gv + echo -e "Removed file allegro_hand_$hand.gv\n" + echo -e "Opening graph pdf...\n\n" + gnome-open allegro_hand_$hand.pdf +else + echo -e "NOTE:\nTo open a graph of the hand upon URDF compilation,\nenter "1" as the second arg when calling 'bash build.sh'\n\n" +fi diff --git a/hand_model/allegro_hand_description/manifest.xml b/hand_model/allegro_hand_description/manifest.xml new file mode 100644 index 0000000000000000000000000000000000000000..76e2646f7039ad9b5547f413c876424ad792c4ea --- /dev/null +++ b/hand_model/allegro_hand_description/manifest.xml @@ -0,0 +1,15 @@ + + + + AllegroHand_urdf + + + Alex + BSD + + http://ros.org/wiki/AllegroHand_urdf + + + + + diff --git a/hand_model/allegro_hand_description/meshes/base_link.STL b/hand_model/allegro_hand_description/meshes/base_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..5901473f09f0cfad82e41fcd36d03782108c4eb2 Binary files /dev/null and b/hand_model/allegro_hand_description/meshes/base_link.STL differ diff --git a/hand_model/allegro_hand_description/meshes/base_link_left.STL b/hand_model/allegro_hand_description/meshes/base_link_left.STL new file mode 100644 index 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b/hand_model/allegro_hand_description/meshes/link_4.0.STL new file mode 100644 index 0000000000000000000000000000000000000000..ae75f704fe8814e67a10b471a40d11a73343dbcc Binary files /dev/null and b/hand_model/allegro_hand_description/meshes/link_4.0.STL differ diff --git a/hand_model/contact_allegro.json b/hand_model/contact_allegro.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd97b80695f49fe12cc7c520dd266188fb59147 --- /dev/null +++ b/hand_model/contact_allegro.json @@ -0,0 +1,27 @@ +{ + "base_link":[[304, 311, 335, 333],[334, 357, 335, 333]], + + "link_8.0":[[294, 199, 295, 524],[301, 259, 442, 530]], + "link_9.0":[[131, 599, 598, 130], [604, 606, 602, 610], [347, 351, 106, 108], [122, 630, 613, 402], [401, 397, 137, 139], [138, 136, 120, 116]], + "link_10.0":[[92, 480, 222, 400], [121, 468, 225, 405], [95, 93, 496, 497], [461, 465, 525, 527]], + "link_11.0":[[31, 160, 111, 151], [152, 23, 136, 148]], + "link_11.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659, 451, 602], [400, 450, 228, 496]], + + "link_4.0":[[294, 199, 295, 524],[301, 259, 442, 530]], + "link_5.0":[[131, 599, 598, 130], [604, 606, 602, 610], [347, 351, 106, 108], [122, 630, 613, 402], [401, 397, 137, 139], [138, 136, 120, 116]], + "link_6.0":[[92, 480, 222, 400], [121, 468, 225, 405], [95, 93, 496, 497], [461, 465, 525, 527]], + "link_7.0":[[31, 160, 111, 151], [152, 23, 136, 148]], + "link_7.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659, 451, 602], [400, 450, 228, 496]], + + "link_0.0":[[294, 199, 295, 524],[301, 259, 442, 530]], + "link_1.0":[[131, 599, 598, 130], [604, 606, 602, 610], [347, 351, 106, 108], [122, 630, 613, 402], [401, 397, 137, 139], [138, 136, 120, 116]], + "link_2.0":[[92, 480, 222, 400], [121, 468, 225, 405], [95, 93, 496, 497], [461, 465, 525, 527]], + "link_3.0":[[31, 160, 111, 151], [152, 23, 136, 148]], + "link_3.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659, 451, 602], [400, 450, 228, 496]], + + "link_12.0":[1624, 1587, 76, 3], + "link_13.0":[60, 222, 201, 28], + "link_14.0":[[98, 12, 10, 90], [409, 401, 456, 458]], + "link_15.0":[[75, 5, 7, 81],[369, 196, 198, 375]], + "link_15.0_tip":[[42, 605, 531, 46], [605, 666, 379, 543], [539, 118, 120, 119], [64, 659, 451, 602], [400, 450, 228, 496]] +} \ No newline at end of file diff --git a/hand_model/contact_shadowhand.json b/hand_model/contact_shadowhand.json new file mode 100644 index 0000000000000000000000000000000000000000..bbf29b27ac8aae5ce2c75d2877246ee10d606a38 --- /dev/null +++ b/hand_model/contact_shadowhand.json @@ -0,0 +1,23 @@ +{ + "palm": [[16496, 16493, 8099, 16306], [17040, 9815, 12598, 2486], [12035, 11165, 16786, 16161], [2115, 6955, 12808, 14272]], + + "ffproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], + "ffmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]], + "ffdistal": [[1860, 1334, 1234,2077], [1773, 1327, 1881, 2029], [2007, 841, 1787, 923], [1011, 2250, 1911, 2213], [2009, 1448, 1178, 2219]], + + "mfproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], + "mfmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]], + "mfdistal": [[617, 35, 306, 583], [741, 797, 334, 735], [223, 667, 602, 290], [351, 107, 570, 560], [667, 277, 616, 226]], + + "rfproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], + "rfmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]], + "rfdistal": [[1860, 1334, 1234,2077], [1773, 1327, 1881, 2029], [2007, 841, 1787, 923], [1011, 2250, 1911, 2213], [2009, 1448, 1178, 2219]], + + "lfproximal": [[1031, 1751, 2078, 2508], [2413, 1394, 2367, 1518], [2194, 1641, 1333, 1567], [1949, 2591, 1234, 2757]], + "lfmiddle": [[369, 743, 305, 1152], [390, 380, 1006, 1010], [642, 606, 612, 623], [771, 237, 263, 787]], + "lfdistal": [[617, 35, 306, 583], [741, 797, 334, 735], [223, 667, 602, 290], [351, 107, 570, 560], [667, 277, 616, 226]], + + "thproximal": [[171, 520, 609, 951], [176, 171, 341, 44], [173, 516, 1071, 944], [709, 725, 565, 483]], + "thmiddle": [[2241, 2237, 1454, 1457], [995, 212, 1714, 1805], [1768, 1773, 1660, 2339], [206, 989, 1665, 3379]], + "thdistal": [[1860, 1334, 1234,2077], [1773, 1327, 1881, 2029], [2007, 841, 1787, 923], [1011, 2250, 1911, 2213], [2009, 1448, 1178, 2219]] +} \ No newline at end of file diff --git a/hand_model/panda_gripper_description/gripper_control_points/panda.npy b/hand_model/panda_gripper_description/gripper_control_points/panda.npy new file mode 100644 index 0000000000000000000000000000000000000000..46efa12efa718d51a29dcb397cee88e098709dba --- /dev/null +++ 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differ diff --git a/hand_model/panda_gripper_description/gripper_models/yumi_gripper/finger.stl b/hand_model/panda_gripper_description/gripper_models/yumi_gripper/finger.stl new file mode 100644 index 0000000000000000000000000000000000000000..b74c6957e43aba9c43e73bd05f314665934fad46 Binary files /dev/null and b/hand_model/panda_gripper_description/gripper_models/yumi_gripper/finger.stl differ diff --git a/hand_model/panda_gripper_description/gripper_models/yumi_gripper/finger_coarse.stl b/hand_model/panda_gripper_description/gripper_models/yumi_gripper/finger_coarse.stl new file mode 100644 index 0000000000000000000000000000000000000000..f825ded0826561cbfe780c6a103f1f04c82b40ed Binary files /dev/null and b/hand_model/panda_gripper_description/gripper_models/yumi_gripper/finger_coarse.stl differ diff --git a/hand_model/shadow_hand_description/CMakeLists.txt b/hand_model/shadow_hand_description/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..67218351ffd0232cdfd5199563edeb79a1ae6fe7 --- /dev/null +++ b/hand_model/shadow_hand_description/CMakeLists.txt @@ -0,0 +1,161 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sr_grasp_description) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + xacro +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES sr_grasp_description +# CATKIN_DEPENDS xacro +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(sr_grasp_description +# src/${PROJECT_NAME}/sr_grasp_description.cpp +# ) + +## Declare a cpp executable +# add_executable(sr_grasp_description_node src/sr_grasp_description_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(sr_grasp_description_node sr_grasp_description_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(sr_grasp_description_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS sr_grasp_description sr_grasp_description_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_sr_grasp_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/hand_model/shadow_hand_description/__init__.py b/hand_model/shadow_hand_description/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hand_model/shadow_hand_description/contrib/__init__.py b/hand_model/shadow_hand_description/contrib/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/hand_model/shadow_hand_description/contrib/fix_urdf.py b/hand_model/shadow_hand_description/contrib/fix_urdf.py new file mode 100644 index 0000000000000000000000000000000000000000..653c9f8f73ee9a3b31343101d4f0325369478308 --- /dev/null +++ b/hand_model/shadow_hand_description/contrib/fix_urdf.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python + +# +# Quick script to fix up the old fuerte hand urdf for use here. +# Fixes changed tags, re-writes filepaths, removes pr2/shadow specific gazebo +# stuff, etc. +# +# Input is the full hand urdf. Generated from the shadow_robot sr_description +# package under fuerte as follows: +# +# $ rosrun xacro xacro.py robots/shadowhand_motor_biotac.urdf.xacro > shadowhand_motor_biotac.orig.urdf +# +# Then run over with this: +# +# $ ./contrib/fix_urdf.py urdf/shadowhand_motor_biotac.orig.urdf urdf/shadowhand.urdf +# + +import sys, os +import xml.etree.ElementTree as ET + +def usage(): + print "Usage: " + sys.argv[0] + " URDF_FILE OUT_FILE\n" + sys.exit(3) + +if len(sys.argv) != 3: + usage() + +in_file = sys.argv[1] +out_file = sys.argv[2] + +namespaces = { + 'controller': 'http://playerstage.sourceforge.net/gazebo/xmlschema/#controller', + 'sensor': "http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor", + 'interface': "http://playerstage.sourceforge.net/gazebo/xmlschema/#interface", +} +for prefix, uri in namespaces.iteritems(): + ET.register_namespace(prefix, uri) +tree = ET.parse(in_file) +root = tree.getroot() + +# Dump tree +#for elem in tree.getiterator(): +# print elem.tag, elem.attrib + +# Tweak robot name +root.find('.').attrib['name'] = "shadowhand" + +# Re-write the filenames for the meshes +for mesh in root.iter('mesh'): + fn = mesh.attrib['filename'] + (path, name) = os.path.split(fn) + new_file = "package://sr_grasp_description/meshes/" + name + #print fn + " -> " + new_file + mesh.attrib['filename'] = new_file + # Fix scale, did the units change? + if mesh.attrib['scale'] == "0.001 0.001 0.001" and not name.endswith(".stl") and not name.endswith("biotac_thumb_adapter.dae"): + mesh.attrib['scale'] = "0.1 0.1 0.1" + +# Re-move sr_gazebo_ros_controller_manager +for tag in root.findall('.//controller:sr_gazebo_ros_controller_manager/..', namespaces=namespaces): + root.remove(tag) + +# For now remove the sensor:contact as Gazebo doesn't like them +for tag in root.findall('.//sensor:contact/..', namespaces=namespaces): + root.remove(tag) + +# For now remove all gazebo tags! +for tag in root.findall('.//gazebo', namespaces=namespaces): + root.remove(tag) + +# remove all transmissions, we add gazebo ones in a different file +for tag in root.findall('.//transmission', namespaces=namespaces): + root.remove(tag) + +for tag in root.findall('.//material[@name="BiotacGreen"]', namespaces=namespaces): + root.remove(tag) + +# Increase the joint effort limits. Can't seem to get the simulated motors to +# go any faster, so we increase the limit here so we can have large P values in +# the controllers and get the hand moving at a speed close to the real hand, +# Otherwise it moves too slowley. +for tag in root.findall('.//joint/limit[@effort="10"]', namespaces=namespaces): + tag.attrib['effort'] = "100" + +# Write it back out +tree.write(out_file) + diff --git a/hand_model/shadow_hand_description/meshes/F1.dae b/hand_model/shadow_hand_description/meshes/F1.dae new file mode 100644 index 0000000000000000000000000000000000000000..a86d24123ee17cf30fa64c2fe0772623ac00e1b7 --- /dev/null +++ b/hand_model/shadow_hand_description/meshes/F1.dae @@ -0,0 +1,115 @@ + + + + + Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com + Blender v:249 - Illusoft Collada Exporter v:0.3.162 + + + 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18.9899 1.59647 -1.82915 18.9998 1.62576 -1.82013 18.95 1.63447 -1.78776 18.9456 1.6289 -1.82915 18.9998 1.62576 -1.82013 18.95 1.63447 -1.82915 18.9998 1.62576 -1.88002 19.0092 1.64853 -1.83101 18.6659 1.67477 -1.7961 18.6612 1.66907 -1.78776 18.9456 1.6289 -1.83101 18.6659 1.67477 -1.78776 18.9456 1.6289 -1.82013 18.95 1.63447 -1.87074 18.6864 1.73499 -1.80526 18.6743 1.70613 -1.83101 18.6659 1.67477 -1.80526 18.6743 1.70613 -1.7961 18.6612 1.66907 -1.83101 18.6659 1.67477 -1.93508 17.9861 1.81144 -1.86564 17.9733 1.78083 -1.80526 18.6743 1.70613 -1.93508 17.9861 1.81144 -1.80526 18.6743 1.70613 -1.87074 18.6864 1.73499 -2.82604 10.1695 2.41857 -2.77609 10.1603 2.39655 -2.71029 10.575 2.37982 -2.82604 10.1695 2.41857 -2.71029 10.575 2.37982 -2.76597 10.5853 2.40437 -2.88243 9.80032 2.42686 -2.83868 9.792241 2.40757 -2.77609 10.1603 2.39655 -2.88243 9.80032 2.42686 -2.77609 10.1603 2.39655 -2.82604 10.1695 2.41857 -2.91412 9.51929 2.4125 -2.88482 9.5144 2.4025 -2.83868 9.792241 2.40757 -2.91412 9.51929 2.4125 -2.83868 9.792241 2.40757 -2.88243 9.80032 2.42686 -2.97356 9.169981 2.41856 -2.94977 9.166001 2.41044 -2.91412 9.51929 2.4125 -2.94977 9.166001 2.41044 -2.88482 9.5144 2.4025 -2.91412 9.51929 2.4125 -3.01219 9.00274 2.4123 -2.94977 9.166001 2.41044 -2.97356 9.169981 2.41856 -3.10126 8.79295 2.37864 -3.07165 8.78743 2.36555 -3.0566 8.81638 2.40047 -3.10126 8.79295 2.37864 -3.0566 8.81638 2.40047 -3.09044 8.82162 2.40943 -3.09044 8.82162 2.40943 -3.0566 8.81638 2.40047 -3.04948 9.008951 2.42243 -3.0566 8.81638 2.40047 -3.01219 9.00274 2.4123 -3.04948 9.008951 2.42243 -3.04948 9.008951 2.42243 -3.01219 9.00274 2.4123 -3.00102 9.173641 2.42265 -3.01219 9.00274 2.4123 -2.97356 9.169981 2.41856 -3.00102 9.173641 2.42265 -3.00102 9.173641 2.42265 -2.97356 9.169981 2.41856 -2.94795 9.523811 2.41755 -2.97356 9.169981 2.41856 -2.91412 9.51929 2.4125 -2.94795 9.523811 2.41755 -2.94795 9.523811 2.41755 -2.91412 9.51929 2.4125 -2.88243 9.80032 2.42686 -2.94795 9.523811 2.41755 -2.88243 9.80032 2.42686 -2.93079 9.807761 2.43971 -2.93079 9.807761 2.43971 -2.88243 9.80032 2.42686 -2.82604 10.1695 2.41857 -2.93079 9.807761 2.43971 -2.82604 10.1695 2.41857 -2.88127 10.178 2.43325 -2.88127 10.178 2.43325 -2.82604 10.1695 2.41857 -2.76597 10.5853 2.40437 -2.82753 10.5947 2.42073 -2.01186 17.9979 1.83185 -1.93508 17.9861 1.81144 -1.87074 18.6864 1.73499 -2.01186 17.9979 1.83185 -1.87074 18.6864 1.73499 -1.94312 18.6975 1.75423 -1.94312 18.6975 1.75423 -1.87074 18.6864 1.73499 -1.87439 18.6703 1.67319 -1.87074 18.6864 1.73499 -1.83101 18.6659 1.67477 -1.87439 18.6703 1.67319 -1.87439 18.6703 1.67319 -1.83101 18.6659 1.67477 -1.82013 18.95 1.63447 -1.87439 18.6703 1.67319 -1.82013 18.95 1.63447 -1.8602 18.9541 1.63335 -1.8602 18.9541 1.63335 -1.82013 18.95 1.63447 -1.88002 19.0092 1.64853 -1.8602 18.9541 1.63335 -1.88002 19.0092 1.64853 -1.93609 19.0179 1.6639 -1.90644 18.9577 1.62557 -1.8602 18.9541 1.63335 -1.93609 19.0179 1.6639 -1.90644 18.9577 1.62557 -1.93609 19.0179 1.6639 -1.99521 19.0256 1.67127 -1.92455 18.6742 1.66438 -1.87439 18.6703 1.67319 -1.8602 18.9541 1.63335 -1.92455 18.6742 1.66438 -1.8602 18.9541 1.63335 -1.90644 18.9577 1.62557 -2.01963 18.7073 1.76311 -1.94312 18.6975 1.75423 -1.92455 18.6742 1.66438 -1.94312 18.6975 1.75423 -1.87439 18.6703 1.67319 -1.92455 18.6742 1.66438 -2.09301 18.0083 1.84127 -2.01186 17.9979 1.83185 -1.94312 18.6975 1.75423 -2.09301 18.0083 1.84127 -1.94312 18.6975 1.75423 -2.01963 18.7073 1.76311 -2.93964 10.1855 2.44002 -2.88127 10.178 2.43325 -2.82753 10.5947 2.42073 -2.93964 10.1855 2.44002 -2.82753 10.5947 2.42073 -2.89259 10.603 2.42828 -2.98191 9.814291 2.44565 -2.93079 9.807761 2.43971 -2.88127 10.178 2.43325 -2.98191 9.814291 2.44565 -2.88127 10.178 2.43325 -2.93964 10.1855 2.44002 -2.98502 9.52776 2.41744 -2.94795 9.523811 2.41755 -2.93079 9.807761 2.43971 -2.98502 9.52776 2.41744 -2.93079 9.807761 2.43971 -2.98191 9.814291 2.44565 -3.03111 9.176851 2.42257 -3.00102 9.173641 2.42265 -2.98502 9.52776 2.41744 -3.00102 9.173641 2.42265 -2.94795 9.523811 2.41755 -2.98502 9.52776 2.41744 -3.0762 9.01236 2.42553 -3.04948 9.008951 2.42243 -3.03111 9.176851 2.42257 -3.04948 9.008951 2.42243 -3.00102 9.173641 2.42265 -3.03111 9.176851 2.42257 -3.09044 8.82162 2.40943 -3.04948 9.008951 2.42243 -3.0762 9.01236 2.42553 -3.10126 8.79295 2.37864 -3.09044 8.82162 2.40943 -3.12675 8.825361 2.40858 -3.12675 8.825361 2.40858 -3.09044 8.82162 2.40943 -3.0762 9.01236 2.42553 -3.12675 8.825361 2.40858 -3.0762 9.01236 2.42553 -3.10332 9.01516 2.42489 -3.10332 9.01516 2.42489 -3.0762 9.01236 2.42553 -3.06266 9.179491 2.4183 -3.0762 9.01236 2.42553 -3.03111 9.176851 2.42257 -3.06266 9.179491 2.4183 -3.06266 9.179491 2.4183 -3.03111 9.176851 2.42257 -3.02388 9.53101 2.41219 -3.03111 9.176851 2.42257 -2.98502 9.52776 2.41744 -3.02388 9.53101 2.41219 -3.02388 9.53101 2.41219 -2.98502 9.52776 2.41744 -2.98191 9.814291 2.44565 -3.02388 9.53101 2.41219 -2.98191 9.814291 2.44565 -3.03382 9.819641 2.44443 -3.03382 9.819641 2.44443 -2.98191 9.814291 2.44565 -2.99892 10.1916 2.43863 -2.98191 9.814291 2.44565 -2.93964 10.1855 2.44002 -2.99892 10.1916 2.43863 -2.99892 10.1916 2.43863 -2.93964 10.1855 2.44002 -2.95867 10.6098 2.42673 -2.93964 10.1855 2.44002 -2.89259 10.603 2.42828 -2.95867 10.6098 2.42673 -2.17542 18.0168 1.83933 -2.09301 18.0083 1.84127 -2.09732 18.7153 1.76129 -2.09301 18.0083 1.84127 -2.01963 18.7073 1.76311 -2.09732 18.7153 1.76129 -2.09732 18.7153 1.76129 -2.01963 18.7073 1.76311 -1.97958 18.6773 1.64868 -2.01963 18.7073 1.76311 -1.92455 18.6742 1.66438 -1.97958 18.6773 1.64868 -1.97958 18.6773 1.64868 -1.92455 18.6742 1.66438 -1.90644 18.9577 1.62557 -1.97958 18.6773 1.64868 -1.90644 18.9577 1.62557 -1.95706 18.9607 1.61144 -1.95706 18.9607 1.61144 -1.90644 18.9577 1.62557 -1.99521 19.0256 1.67127 -1.95706 18.9607 1.61144 -1.99521 19.0256 1.67127 -2.05509 19.0318 1.67038 -2.01012 18.9629 1.5915 -1.95706 18.9607 1.61144 -2.05509 19.0318 1.67038 -2.01012 18.9629 1.5915 -2.05509 19.0318 1.67038 -2.11345 19.0365 1.66124 -2.03735 18.6796 1.62669 -1.97958 18.6773 1.64868 -1.95706 18.9607 1.61144 -2.03735 18.6796 1.62669 -1.95706 18.9607 1.61144 -2.01012 18.9629 1.5915 -2.17321 18.7213 1.74884 -2.09732 18.7153 1.76129 -2.03735 18.6796 1.62669 -2.09732 18.7153 1.76129 -1.97958 18.6773 1.64868 -2.03735 18.6796 1.62669 -2.25592 18.0231 1.82612 -2.17542 18.0168 1.83933 -2.17321 18.7213 1.74884 -2.17542 18.0168 1.83933 -2.09732 18.7153 1.76129 -2.17321 18.7213 1.74884 -3.05683 10.1961 2.42913 -2.99892 10.1916 2.43863 -3.02321 10.6149 2.41614 -2.99892 10.1916 2.43863 -2.95867 10.6098 2.42673 -3.02321 10.6149 2.41614 -3.08454 9.82362 2.43611 -3.03382 9.819641 2.44443 -3.05683 10.1961 2.42913 -3.03382 9.819641 2.44443 -2.99892 10.1916 2.43863 -3.05683 10.1961 2.42913 -3.06306 9.53342 2.40199 -3.02388 9.53101 2.41219 -3.03382 9.819641 2.44443 -3.06306 9.53342 2.40199 -3.03382 9.819641 2.44443 -3.08454 9.82362 2.43611 -3.09447 9.18145 2.41003 -3.06266 9.179491 2.4183 -3.06306 9.53342 2.40199 -3.06266 9.179491 2.4183 -3.02388 9.53101 2.41219 -3.06306 9.53342 2.40199 -3.12982 9.01724 2.42054 -3.10332 9.01516 2.42489 -3.09447 9.18145 2.41003 -3.10332 9.01516 2.42489 -3.06266 9.179491 2.4183 -3.09447 9.18145 2.41003 -3.12675 8.825361 2.40858 -3.10332 9.01516 2.42489 -3.12982 9.01724 2.42054 -3.13559 8.795591 2.37301 -3.10126 8.79295 2.37864 -3.12675 8.825361 2.40858 -3.13559 8.795591 2.37301 -3.12675 8.825361 2.40858 -3.16006 8.82704 2.39805 -3.16006 8.82704 2.39805 -3.12675 8.825361 2.40858 -3.12982 9.01724 2.42054 -3.16006 8.82704 2.39805 -3.12982 9.01724 2.42054 -3.15467 9.018521 2.41265 -3.15467 9.018521 2.41265 -3.12982 9.01724 2.42054 -3.1253 9.18265 2.39806 -3.12982 9.01724 2.42054 -3.09447 9.18145 2.41003 -3.1253 9.18265 2.39806 -3.1253 9.18265 2.39806 -3.09447 9.18145 2.41003 -3.10104 9.534911 2.38725 -3.09447 9.18145 2.41003 -3.06306 9.53342 2.40199 -3.10104 9.534911 2.38725 -3.10104 9.534911 2.38725 -3.06306 9.53342 2.40199 -3.08454 9.82362 2.43611 -3.10104 9.534911 2.38725 -3.08454 9.82362 2.43611 -3.1321 9.82607 2.421 -3.1321 9.82607 2.421 -3.08454 9.82362 2.43611 -3.11114 10.1989 2.41188 -3.08454 9.82362 2.43611 -3.05683 10.1961 2.42913 -3.11114 10.1989 2.41188 -3.11114 10.1989 2.41188 -3.05683 10.1961 2.42913 -3.08374 10.618 2.39691 -3.05683 10.1961 2.42913 -3.02321 10.6149 2.41614 -3.08374 10.618 2.39691 -2.33141 18.027 1.80214 -2.25592 18.0231 1.82612 -2.24439 18.7249 1.72623 -2.17321 18.7213 1.74884 -2.24439 18.7249 1.72623 -2.17321 18.7213 1.74884 -2.09565 18.6811 1.59926 -2.17321 18.7213 1.74884 -2.03735 18.6796 1.62669 -2.09565 18.6811 1.59926 -2.09565 18.6811 1.59926 -2.03735 18.6796 1.62669 -2.06358 18.9642 1.56652 -2.03735 18.6796 1.62669 -2.01012 18.9629 1.5915 -2.06358 18.9642 1.56652 -2.06358 18.9642 1.56652 -2.01012 18.9629 1.5915 -2.11345 19.0365 1.66124 -2.06358 18.9642 1.56652 -2.11345 19.0365 1.66124 -2.16804 19.0393 1.64422 -2.11539 18.9647 1.53745 -2.06358 18.9642 1.56652 -2.16804 19.0393 1.64422 -2.11539 18.9647 1.53745 -2.16804 19.0393 1.64422 -2.21675 19.0403 1.61996 -2.15224 18.6816 1.56745 -2.09565 18.6811 1.59926 -2.11539 18.9647 1.53745 -2.09565 18.6811 1.59926 -2.06358 18.9642 1.56652 -2.11539 18.9647 1.53745 -2.30812 18.7262 1.69433 -2.24439 18.7249 1.72623 -2.15224 18.6816 1.56745 -2.24439 18.7249 1.72623 -2.09565 18.6811 1.59926 -2.15224 18.6816 1.56745 -2.39901 18.0283 1.76831 -2.33141 18.027 1.80214 -2.30812 18.7262 1.69433 -2.33141 18.027 1.80214 -2.24439 18.7249 1.72623 -2.30812 18.7262 1.69433 -3.15976 10.1999 2.38755 -3.11114 10.1989 2.41188 -3.13794 10.6191 2.36979 -3.08374 10.618 2.39691 -3.17468 9.82689 2.39969 -3.1321 9.82607 2.421 -3.15976 10.1999 2.38755 -3.1321 9.82607 2.421 -3.11114 10.1989 2.41188 -3.15976 10.1999 2.38755 -3.13637 9.53541 2.36851 -3.10104 9.534911 2.38725 -3.1321 9.82607 2.421 -3.13637 9.53541 2.36851 -3.1321 9.82607 2.421 -3.17468 9.82689 2.39969 -3.15399 9.18306 2.38285 -3.1253 9.18265 2.39806 -3.13637 9.53541 2.36851 -3.1253 9.18265 2.39806 -3.10104 9.534911 2.38725 -3.13637 9.53541 2.36851 -3.18737 9.01882 2.39595 -3.15467 9.018521 2.41265 -3.15399 9.18306 2.38285 -3.15467 9.018521 2.41265 -3.1253 9.18265 2.39806 -3.15399 9.18306 2.38285 -3.16006 8.82704 2.39805 -3.15467 9.018521 2.41265 -3.18737 9.01882 2.39595 -2.04691 8.827071 2.90038 -2.02461 8.795371 2.87302 -2.0552 8.794731 2.86049 -2.04691 8.827071 2.90038 -2.0552 8.794731 2.86049 -2.07858 8.82644 2.88753 -2.074 9.018811 2.90375 -2.04691 8.827071 2.90038 -2.07858 8.82644 2.88753 -2.04703 9.18306 2.88461 -2.074 9.018811 2.90375 -2.07856 9.18265 2.87252 -2.03586 9.53541 2.86735 -2.04703 9.18306 2.88461 -2.0747 9.534911 2.85247 -2.04703 9.18306 2.88461 -2.07856 9.18265 2.87252 -2.0747 9.534911 2.85247 -2.06016 9.82689 2.90488 -2.03586 9.53541 2.86735 -2.0747 9.534911 2.85247 -2.06016 9.82689 2.90488 -2.0747 9.534911 2.85247 -2.10533 9.82607 2.88641 -2.05069 10.1999 2.89026 -2.06016 9.82689 2.90488 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2.04417 0.241654 18.6811 2.08332 0.171585 18.6796 2.08416 0.175649 18.9629 2.04417 0.241654 18.6811 2.08332 0.269464 18.7249 2.24684 0.192255 18.7213 2.23872 0.241654 18.6811 2.08332 0.192255 18.7213 2.23872 0.171585 18.6796 2.08416 0.269464 18.7249 2.24684 0.28448 18.027 2.34389 0.192255 18.7213 2.23872 0.28448 18.027 2.34389 0.2025859 18.0231 2.33527 0.192255 18.7213 2.23872 0.461476 10.618 3.13112 0.473045 10.1989 3.15416 0.395816 10.6149 3.12421 0.473045 10.1989 3.15416 0.414136 10.1961 3.14796 0.395816 10.6149 3.12421 0.473045 10.1989 3.15416 0.483686 9.82607 3.16983 0.414136 10.1961 3.14796 0.483686 9.82607 3.16983 0.432097 9.82362 3.1644 0.414136 10.1961 3.14796 0.483686 9.82607 3.16983 0.483438 9.534911 3.12959 0.432097 9.82362 3.1644 0.483438 9.534911 3.12959 0.440181 9.53342 3.12751 0.432097 9.82362 3.1644 0.483438 9.534911 3.12959 0.495561 9.18265 3.14793 0.460444 9.18145 3.14625 0.483438 9.534911 3.12959 0.460444 9.18145 3.14625 0.440181 9.53342 3.12751 0.495561 9.18265 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3.15206 0.358138 10.1916 3.13388 0.395816 10.6149 3.12421 0.414136 10.1961 3.14796 0.3334 10.6098 3.10851 0.414136 10.1961 3.14796 0.358138 10.1916 3.13388 0.3334 10.6098 3.10851 0.192255 18.7213 2.23872 0.2025859 18.0231 2.33527 0.118862 18.7153 2.22026 0.2025859 18.0231 2.33527 0.124739 18.0168 2.31569 0.118862 18.7153 2.22026 0.171585 18.6796 2.08416 0.192255 18.7213 2.23872 0.118862 18.7153 2.22026 0.171585 18.6796 2.08416 0.118862 18.7153 2.22026 0.10613 18.6773 2.08063 0.175649 18.9629 2.04417 0.171585 18.6796 2.08416 0.115729 18.9607 2.04071 0.171585 18.6796 2.08416 0.10613 18.6773 2.08063 0.115729 18.9607 2.04071 0.20912 19.0365 2.14224 0.175649 18.9629 2.04417 0.153024 19.0318 2.12768 0.175649 18.9629 2.04417 0.115729 18.9607 2.04071 0.153024 19.0318 2.12768 0.153024 19.0318 2.12768 0.115729 18.9607 2.04071 0.101957 19.0256 2.10559 0.115729 18.9607 2.04071 0.06231498 18.9577 2.0333 0.101957 19.0256 2.10559 0.115729 18.9607 2.04071 0.10613 18.6773 2.08063 0.06231498 18.9577 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3.03731 0.694642 9.166001 3.05529 0.728542 9.509301 2.99332 0.694642 9.166001 3.05529 0.728669 9.5144 3.01547 0.76209 9.78385 2.95788 0.728542 9.509301 2.99332 0.728669 9.5144 3.01547 0.76209 9.78385 2.95788 0.728669 9.5144 3.01547 0.764322 9.79225 2.9942 0.790947 10.1507 2.91215 0.76209 9.78385 2.95788 0.764322 9.79225 2.9942 0.790947 10.1507 2.91215 0.764322 9.79225 2.9942 0.793496 10.1603 2.95362 0.815817 10.5643 2.86137 0.790947 10.1507 2.91215 0.793496 10.1603 2.95362 0.815817 10.5643 2.86137 0.793496 10.1603 2.95362 0.818658 10.575 2.90759 0.686125 18.6617 1.92965 0.726422 17.96 2.00745 0.729966 17.9733 2.06509 0.686125 18.6617 1.92965 0.729966 17.9733 2.06509 0.689465 18.6743 1.984 0.65851 18.6563 1.93309 0.686125 18.6617 1.92965 0.655749 18.6612 1.95484 0.686125 18.6617 1.92965 0.689465 18.6743 1.984 0.655749 18.6612 1.95484 0.620599 18.9409 1.90371 0.65851 18.6563 1.93309 0.655749 18.6612 1.95484 0.620599 18.9409 1.90371 0.655749 18.6612 1.95484 0.618172 18.9456 1.92409 0.584949 18.9899 1.90161 0.620599 18.9409 1.90371 0.618172 18.9456 1.92409 0.584949 18.9899 1.90161 0.618172 18.9456 1.92409 0.587706 18.9998 1.9441 0.587706 18.9998 1.9441 0.618172 18.9456 1.92409 0.602942 18.95 1.94499 0.587706 18.9998 1.9441 0.602942 18.95 1.94499 0.578786 19.0092 1.98612 0.618172 18.9456 1.92409 0.655749 18.6612 1.95484 0.638998 18.6659 1.97719 0.618172 18.9456 1.92409 0.638998 18.6659 1.97719 0.602942 18.95 1.94499 0.655749 18.6612 1.95484 0.689465 18.6743 1.984 0.638998 18.6659 1.97719 0.689465 18.6743 1.984 0.677514 18.6864 2.0378 0.638998 18.6659 1.97719 0.689465 18.6743 1.984 0.729966 17.9733 2.06509 0.717289 17.9861 2.12216 0.689465 18.6743 1.984 0.717289 17.9861 2.12216 0.677514 18.6864 2.0378 0.818658 10.575 2.90759 0.793496 10.1603 2.95362 0.784378 10.1695 2.99466 0.818658 10.575 2.90759 0.784378 10.1695 2.99466 0.808494 10.5853 2.95334 0.793496 10.1603 2.95362 0.764322 9.79225 2.9942 0.756336 9.80032 3.03015 0.793496 10.1603 2.95362 0.756336 9.80032 3.03015 0.784378 10.1695 2.99466 0.764322 9.79225 2.9942 0.728669 9.5144 3.01547 0.720195 9.51929 3.03764 0.764322 9.79225 2.9942 0.720195 9.51929 3.03764 0.756336 9.80032 3.03015 0.728669 9.5144 3.01547 0.694642 9.166001 3.05529 0.687762 9.169981 3.07329 0.728669 9.5144 3.01547 0.687762 9.169981 3.07329 0.720195 9.51929 3.03764 0.694642 9.166001 3.05529 0.656212 9.00248 3.08983 0.687762 9.169981 3.07329 0.656212 9.00248 3.08983 0.614439 8.81539 3.09904 0.609267 8.819001 3.11818 0.614439 8.81539 3.09904 0.567246 8.79105 3.10491 0.609267 8.819001 3.11818 0.656212 9.00248 3.08983 0.609267 8.819001 3.11818 0.642186 9.008951 3.11629 0.687762 9.169981 3.07329 0.656212 9.00248 3.08983 0.674164 9.173641 3.09061 0.656212 9.00248 3.08983 0.642186 9.008951 3.11629 0.674164 9.173641 3.09061 0.720195 9.51929 3.03764 0.687762 9.169981 3.07329 0.674164 9.173641 3.09061 0.720195 9.51929 3.03764 0.674164 9.173641 3.09061 0.703444 9.523811 3.05898 0.756336 9.80032 3.03015 0.720195 9.51929 3.03764 0.703444 9.523811 3.05898 0.756336 9.80032 3.03015 0.703444 9.523811 3.05898 0.73844 9.807761 3.06434 0.784378 10.1695 2.99466 0.756336 9.80032 3.03015 0.73844 9.807761 3.06434 0.784378 10.1695 2.99466 0.73844 9.807761 3.06434 0.763942 10.178 3.03371 0.808494 10.5853 2.95334 0.784378 10.1695 2.99466 0.763942 10.178 3.03371 0.808494 10.5853 2.95334 0.763942 10.178 3.03371 0.785716 10.5947 2.99687 0.677514 18.6864 2.0378 0.717289 17.9861 2.12216 0.688879 17.9979 2.17645 0.677514 18.6864 2.0378 0.688879 17.9979 2.17645 0.65073 18.6975 2.08898 0.638998 18.6659 1.97719 0.677514 18.6864 2.0378 0.608898 18.6703 1.99927 0.677514 18.6864 2.0378 0.65073 18.6975 2.08898 0.608898 18.6703 1.99927 0.602942 18.95 1.94499 0.638998 18.6659 1.97719 0.608898 18.6703 1.99927 0.602942 18.95 1.94499 0.608898 18.6703 1.99927 0.575495 18.9541 1.96562 0.578786 19.0092 1.98612 0.602942 18.95 1.94499 0.575495 18.9541 1.96562 0.578786 19.0092 1.98612 0.575495 18.9541 1.96562 0.558534 19.0179 2.02607 0.558534 19.0179 2.02607 0.575495 18.9541 1.96562 0.536886 18.9577 1.98517 0.558534 19.0179 2.02607 0.536886 18.9577 1.98517 0.527727 19.0256 2.06242 0.575495 18.9541 1.96562 0.608898 18.6703 1.99927 0.566607 18.6742 2.02024 0.575495 18.9541 1.96562 0.566607 18.6742 2.02024 0.536886 18.9577 1.98517 0.608898 18.6703 1.99927 0.65073 18.6975 2.08898 0.566607 18.6742 2.02024 0.65073 18.6975 2.08898 0.610141 18.7073 2.13558 0.566607 18.6742 2.02024 0.65073 18.6975 2.08898 0.688879 17.9979 2.17645 0.645828 18.0083 2.22587 0.610141 18.7073 2.13558 0.785716 10.5947 2.99687 0.763942 10.178 3.03371 0.732974 10.1855 3.06927 0.785716 10.5947 2.99687 0.732974 10.1855 3.06927 0.751198 10.603 3.03649 0.763942 10.178 3.03371 0.73844 9.807761 3.06434 0.711319 9.814291 3.09548 0.763942 10.178 3.03371 0.711319 9.814291 3.09548 0.732974 10.1855 3.06927 0.73844 9.807761 3.06434 0.703444 9.523811 3.05898 0.679061 9.52776 3.07866 0.73844 9.807761 3.06434 0.679061 9.52776 3.07866 0.711319 9.814291 3.09548 0.703444 9.523811 3.05898 0.674164 9.173641 3.09061 0.654369 9.176851 3.10659 0.703444 9.523811 3.05898 0.654369 9.176851 3.10659 0.679061 9.52776 3.07866 0.674164 9.173641 3.09061 0.642186 9.008951 3.11629 0.654369 9.176851 3.10659 0.642186 9.008951 3.11629 0.628015 9.01236 3.13256 0.654369 9.176851 3.10659 0.642186 9.008951 3.11629 0.609267 8.819001 3.11818 0.590131 8.82364 3.14006 0.642186 9.008951 3.11629 0.590131 8.82364 3.14006 0.628015 9.01236 3.13256 0.609267 8.819001 3.11818 0.567246 8.79105 3.10491 0.590131 8.82364 3.14006 0.567246 8.79105 3.10491 0.548903 8.794771 3.1246 0.590131 8.82364 3.14006 0.628015 9.01236 3.13256 0.590131 8.82364 3.14006 0.609571 9.01516 3.1466 0.654369 9.176851 3.10659 0.628015 9.01236 3.13256 0.629139 9.179491 3.12062 0.628015 9.01236 3.13256 0.609571 9.01516 3.1466 0.629139 9.179491 3.12062 0.679061 9.52776 3.07866 0.654369 9.176851 3.10659 0.629139 9.179491 3.12062 0.679061 9.52776 3.07866 0.629139 9.179491 3.12062 0.647982 9.53101 3.09594 0.711319 9.814291 3.09548 0.679061 9.52776 3.07866 0.647982 9.53101 3.09594 0.711319 9.814291 3.09548 0.647982 9.53101 3.09594 0.676018 9.819641 3.12235 0.732974 10.1855 3.06927 0.711319 9.814291 3.09548 0.676018 9.819641 3.12235 0.732974 10.1855 3.06927 0.676018 9.819641 3.12235 0.692664 10.1916 3.09995 0.751198 10.603 3.03649 0.732974 10.1855 3.06927 0.692664 10.1916 3.09995 0.751198 10.603 3.03649 0.692664 10.1916 3.09995 0.706268 10.6098 3.0707 0.610141 18.7073 2.13558 0.645828 18.0083 2.22587 0.58979 18.0168 2.26853 0.610141 18.7073 2.13558 0.58979 18.0168 2.26853 0.557309 18.7153 2.1758 0.566607 18.6742 2.02024 0.610141 18.7073 2.13558 0.51375 18.6773 2.03929 0.610141 18.7073 2.13558 0.557309 18.7153 2.1758 0.51375 18.6773 2.03929 0.536886 18.9577 1.98517 0.566607 18.6742 2.02024 0.51375 18.6773 2.03929 0.536886 18.9577 1.98517 0.51375 18.6773 2.03929 0.488597 18.9607 2.0029 0.527727 19.0256 2.06242 0.536886 18.9577 1.98517 0.488597 18.9607 2.0029 0.527727 19.0256 2.06242 0.488597 18.9607 2.0029 0.487549 19.0318 2.09375 0.487549 19.0318 2.09375 0.488597 18.9607 2.0029 0.432485 18.9629 2.01813 0.487549 19.0318 2.09375 0.432485 18.9629 2.01813 0.439545 19.0365 2.11888 0.488597 18.9607 2.0029 0.51375 18.6773 2.03929 0.452358 18.6796 2.05569 0.488597 18.9607 2.0029 0.452358 18.6796 2.05569 0.432485 18.9629 2.01813 0.51375 18.6773 2.03929 0.557309 18.7153 2.1758 0.452358 18.6796 2.05569 0.557309 18.7153 2.1758 0.494263 18.7213 2.2081 0.452358 18.6796 2.05569 0.557309 18.7153 2.1758 0.58979 18.0168 2.26853 0.522918 18.0231 2.30279 0.494263 18.7213 2.2081 0.706268 10.6098 3.0707 0.692664 10.1916 3.09995 0.644561 10.1961 3.1246 0.706268 10.6098 3.0707 0.644561 10.1961 3.1246 0.652652 10.6149 3.09817 0.692664 10.1916 3.09995 0.676018 9.819641 3.12235 0.633892 9.82362 3.14393 0.692664 10.1916 3.09995 0.633892 9.82362 3.14393 0.644561 10.1961 3.1246 0.676018 9.819641 3.12235 0.647982 9.53101 3.09594 0.611402 9.53342 3.11015 0.676018 9.819641 3.12235 0.611402 9.53342 3.11015 0.633892 9.82362 3.14393 0.647982 9.53101 3.09594 0.629139 9.179491 3.12062 0.611402 9.53342 3.11015 0.629139 9.179491 3.12062 0.599443 9.18145 3.13215 0.611402 9.53342 3.11015 0.629139 9.179491 3.12062 0.609571 9.01516 3.1466 0.599443 9.18145 3.13215 0.609571 9.01516 3.1466 0.58756 9.01724 3.15788 0.599443 9.18145 3.13215 0.609571 9.01516 3.1466 0.590131 8.82364 3.14006 0.58756 9.01724 3.15788 0.590131 8.82364 3.14006 0.560561 8.826491 3.1551 0.58756 9.01724 3.15788 0.590131 8.82364 3.14006 0.548903 8.794771 3.1246 0.560561 8.826491 3.1551 0.58756 9.01724 3.15788 0.560561 8.826491 3.1551 0.549827 9.018811 3.16968 0.599443 9.18145 3.13215 0.58756 9.01724 3.15788 0.566422 9.18265 3.14075 0.58756 9.01724 3.15788 0.549827 9.018811 3.16968 0.566422 9.18265 3.14075 0.611402 9.53342 3.11015 0.599443 9.18145 3.13215 0.570726 9.534911 3.12074 0.599443 9.18145 3.13215 0.566422 9.18265 3.14075 0.570726 9.534911 3.12074 0.633892 9.82362 3.14393 0.611402 9.53342 3.11015 0.570726 9.534911 3.12074 0.633892 9.82362 3.14393 0.570726 9.534911 3.12074 0.58656 9.82607 3.15939 0.644561 10.1961 3.1246 0.633892 9.82362 3.14393 0.58656 9.82607 3.15939 0.590514 10.1989 3.14225 0.652652 10.6149 3.09817 0.644561 10.1961 3.1246 0.590514 10.1989 3.14225 0.652652 10.6149 3.09817 0.590514 10.1989 3.14225 0.59241 10.618 3.11784 0.494263 18.7213 2.2081 0.522918 18.0231 2.30279 0.447784 18.027 2.32733 0.494263 18.7213 2.2081 0.447784 18.027 2.32733 0.423426 18.7249 2.23123 0.452358 18.6796 2.05569 0.494263 18.7213 2.2081 0.384791 18.6811 2.0688 0.494263 18.7213 2.2081 0.423426 18.7249 2.23123 0.384791 18.6811 2.0688 0.432485 18.9629 2.01813 0.452358 18.6796 2.05569 0.384791 18.6811 2.0688 0.432485 18.9629 2.01813 0.384791 18.6811 2.0688 0.370708 18.9642 2.03027 0.439545 19.0365 2.11888 0.432485 18.9629 2.01813 0.370708 18.9642 2.03027 0.439545 19.0365 2.11888 0.370708 18.9642 2.03027 0.385559 19.0393 2.13683 0.385559 19.0393 2.13683 0.370708 18.9642 2.03027 0.327665 19.0403 2.14691 0.370708 18.9642 2.03027 0.305636 18.9647 2.03885 0.327665 19.0403 2.14691 0.370708 18.9642 2.03027 0.384791 18.6811 2.0688 0.313645 18.6816 2.07813 0.370708 18.9642 2.03027 0.313645 18.6816 2.07813 0.305636 18.9647 2.03885 0.384791 18.6811 2.0688 0.423426 18.7249 2.23123 0.347521 18.7262 2.24431 0.384791 18.6811 2.0688 0.347521 18.7262 2.24431 0.313645 18.6816 2.07813 0.423426 18.7249 2.23123 0.447784 18.027 2.32733 0.367272 18.0283 2.34121 0.423426 18.7249 2.23123 0.367272 18.0283 2.34121 0.347521 18.7262 2.24431 0.59241 10.618 3.11784 0.590514 10.1989 3.14225 0.5326 10.1999 3.15223 0.59241 10.618 3.11784 0.5326 10.1999 3.15223 0.527858 10.6191 3.12897 0.590514 10.1989 3.14225 0.58656 9.82607 3.15939 0.535842 9.8269 3.16814 0.590514 10.1989 3.14225 0.535842 9.8269 3.16814 0.5326 10.1999 3.15223 0.58656 9.82607 3.15939 0.570726 9.534911 3.12074 0.535842 9.8269 3.16814 0.570726 9.534911 3.12074 0.527519 9.53541 3.1273 0.535842 9.8269 3.16814 0.570726 9.534911 3.12074 0.566422 9.18265 3.14075 0.531346 9.18306 3.14608 0.570726 9.534911 3.12074 0.531346 9.18306 3.14608 0.527519 9.53541 3.1273 0.566422 9.18265 3.14075 0.549827 9.018811 3.16968 0.531346 9.18306 3.14608 0.560561 8.826491 3.1551 0.525083 8.827091 3.16118 0.549827 9.018811 3.16968 0.560561 8.826491 3.1551 0.548903 8.794771 3.1246 0.525083 8.827091 3.16118 0.548903 8.794771 3.1246 0.514576 8.79538 3.13051 0.525083 8.827091 3.16118 1.79376 8.82708 2.90038 1.82085 9.018811 2.90375 1.78263 9.018521 2.91334 1.78263 9.018521 2.91334 1.82085 9.018811 2.90375 1.79388 9.18306 2.88461 1.78263 9.018521 2.91334 1.79388 9.18306 2.88461 1.76029 9.18265 2.8935 1.76029 9.18265 2.8935 1.79388 9.18306 2.88461 1.78271 9.53541 2.86735 1.76029 9.18265 2.8935 1.78271 9.53541 2.86735 1.74133 9.534911 2.87831 1.74133 9.534911 2.87831 1.78271 9.53541 2.86735 1.75764 9.82607 2.91686 1.78271 9.53541 2.86735 1.80701 9.8269 2.90488 1.75764 9.82607 2.91686 1.75764 9.82607 2.91686 1.80701 9.8269 2.90488 1.79755 10.1999 2.89026 1.75764 9.82607 2.91686 1.79755 10.1999 2.89026 1.74117 10.1989 2.90395 1.74117 10.1989 2.90395 1.79755 10.1999 2.89026 1.7837 10.6191 2.86888 1.72087 10.618 2.88414 1.23659 18.027 2.16397 1.31496 18.0283 2.14494 1.2573 18.7262 2.0559 1.23659 18.027 2.16397 1.2573 18.7262 2.0559 1.18342 18.7249 2.07384 1.18342 18.7249 2.07384 1.2573 18.7262 2.0559 1.15842 18.6816 1.90318 1.18342 18.7249 2.07384 1.15842 18.6816 1.90318 1.09142 18.6811 1.92246 1.09142 18.6811 1.92246 1.15842 18.6816 1.90318 1.13504 18.9647 1.86708 1.09142 18.6811 1.92246 1.13504 18.9647 1.86708 1.07372 18.9642 1.88467 1.07372 18.9642 1.88467 1.13504 18.9647 1.86708 1.14291 19.0393 1.97998 1.13504 18.9647 1.86708 1.19934 19.0403 1.96639 1.14291 19.0393 1.97998 1.01245 18.9629 1.89802 1.07372 18.9642 1.88467 1.08374 19.0365 1.98547 1.07372 18.9642 1.88467 1.14291 19.0393 1.97998 1.08374 19.0365 1.98547 1.02452 18.6796 1.93719 1.09142 18.6811 1.92246 1.07372 18.9642 1.88467 1.02452 18.6796 1.93719 1.07372 18.9642 1.88467 1.01245 18.9629 1.89802 1.10609 18.7213 2.08139 1.18342 18.7249 2.07384 1.09142 18.6811 1.92246 1.10609 18.7213 2.08139 1.09142 18.6811 1.92246 1.02452 18.6796 1.93719 1.15457 18.0231 2.17198 1.23659 18.027 2.16397 1.18342 18.7249 2.07384 1.15457 18.0231 2.17198 1.18342 18.7249 2.07384 1.10609 18.7213 2.08139 1.68218 10.1961 2.90971 1.74117 10.1989 2.90395 1.72087 10.618 2.88414 1.68218 10.1961 2.90971 1.72087 10.618 2.88414 1.65511 10.6149 2.89056 1.70597 9.82362 2.92191 1.75764 9.82607 2.91686 1.74117 10.1989 2.90395 1.70597 9.82362 2.92191 1.74117 10.1989 2.90395 1.68218 10.1961 2.90971 1.699 9.53342 2.88491 1.74133 9.534911 2.87831 1.70597 9.82362 2.92191 1.74133 9.534911 2.87831 1.75764 9.82607 2.91686 1.70597 9.82362 2.92191 1.72592 9.18145 2.89886 1.76029 9.18265 2.8935 1.74133 9.534911 2.87831 1.72592 9.18145 2.89886 1.74133 9.534911 2.87831 1.699 9.53342 2.88491 1.75564 9.01724 2.91597 1.78263 9.018521 2.91334 1.76029 9.18265 2.8935 1.75564 9.01724 2.91597 1.76029 9.18265 2.8935 1.72592 9.18145 2.89886 1.75762 8.82537 2.90389 1.79376 8.82708 2.90038 1.75564 9.01724 2.91597 1.79376 8.82708 2.90038 1.78263 9.018521 2.91334 1.75564 9.01724 2.91597 1.77146 8.795371 2.87302 1.79376 8.82708 2.90038 1.75762 8.82537 2.90389 1.75762 8.82537 2.90389 1.75564 9.01724 2.91597 1.72848 9.01516 2.91488 1.72848 9.01516 2.91488 1.75564 9.01724 2.91597 1.72592 9.18145 2.89886 1.72848 9.01516 2.91488 1.72592 9.18145 2.89886 1.6921 9.179491 2.90048 1.6921 9.179491 2.90048 1.72592 9.18145 2.89886 1.699 9.53342 2.88491 1.6921 9.179491 2.90048 1.699 9.53342 2.88491 1.65733 9.53101 2.88691 1.65733 9.53101 2.88691 1.699 9.53342 2.88491 1.65399 9.819641 2.91982 1.699 9.53342 2.88491 1.70597 9.82362 2.92191 1.65399 9.819641 2.91982 1.65399 9.819641 2.91982 1.70597 9.82362 2.92191 1.62282 10.1916 2.90732 1.70597 9.82362 2.92191 1.68218 10.1961 2.90971 1.62282 10.1916 2.90732 1.62282 10.1916 2.90732 1.68218 10.1961 2.90971 1.58895 10.6098 2.8879 1.68218 10.1961 2.90971 1.65511 10.6149 2.89056 1.58895 10.6098 2.8879 1.07206 18.0168 2.16865 1.15457 18.0231 2.17198 1.0283 18.7153 2.07825 1.10609 18.7213 2.08139 1.0283 18.7153 2.07825 1.10609 18.7213 2.08139 1.02452 18.6796 1.93719 1.0283 18.7153 2.07825 1.02452 18.6796 1.93719 0.960306 18.6773 1.94681 0.960306 18.6773 1.94681 1.02452 18.6796 1.93719 0.953573 18.9607 1.90661 1.02452 18.6796 1.93719 1.01245 18.9629 1.89802 0.953573 18.9607 1.90661 0.953573 18.9607 1.90661 1.01245 18.9629 1.89802 1.02409 19.0318 1.98264 1.01245 18.9629 1.89802 1.08374 19.0365 1.98547 1.02409 19.0318 1.98264 0.89936 18.9577 1.9101 0.953573 18.9607 1.90661 0.966275 19.0256 1.9716 0.953573 18.9607 1.90661 1.02409 19.0318 1.98264 0.966275 19.0256 1.9716 0.901238 18.6742 1.95094 0.960306 18.6773 1.94681 0.89936 18.9577 1.9101 0.960306 18.6773 1.94681 0.953573 18.9607 1.90661 0.89936 18.9577 1.9101 0.953023 18.7073 2.06457 1.0283 18.7153 2.07825 0.960306 18.6773 1.94681 0.953023 18.7073 2.06457 0.960306 18.6773 1.94681 0.901238 18.6742 1.95094 0.992214 18.0083 2.15413 1.07206 18.0168 2.16865 0.953023 18.7073 2.06457 1.07206 18.0168 2.16865 1.0283 18.7153 2.07825 0.953023 18.7073 2.06457 1.56539 10.1855 2.89687 1.62282 10.1916 2.90732 1.52493 10.603 2.87625 1.62282 10.1916 2.90732 1.58895 10.6098 2.8879 1.52493 10.603 2.87625 1.6037 9.814291 2.91067 1.65399 9.819641 2.91982 1.56539 10.1855 2.89687 1.65399 9.819641 2.91982 1.62282 10.1916 2.90732 1.56539 10.1855 2.89687 1.61794 9.52776 2.88422 1.65733 9.53101 2.88691 1.6037 9.814291 2.91067 1.65733 9.53101 2.88691 1.65399 9.819641 2.91982 1.6037 9.814291 2.91067 1.66012 9.176851 2.8983 1.6921 9.179491 2.90048 1.65733 9.53101 2.88691 1.66012 9.176851 2.8983 1.65733 9.53101 2.88691 1.61794 9.52776 2.88422 1.7022 9.01236 2.9101 1.72848 9.01516 2.91488 1.6921 9.179491 2.90048 1.7022 9.01236 2.9101 1.6921 9.179491 2.90048 1.66012 9.176851 2.8983 1.72244 8.8216 2.89752 1.75762 8.82537 2.90389 1.72848 9.01516 2.91488 1.72244 8.8216 2.89752 1.72848 9.01516 2.91488 1.7022 9.01236 2.9101 1.73742 8.791701 2.86683 1.77146 8.795371 2.87302 1.75762 8.82537 2.90389 1.73742 8.791701 2.86683 1.75762 8.82537 2.90389 1.72244 8.8216 2.89752 1.72244 8.8216 2.89752 1.7022 9.01236 2.9101 1.67781 9.00896 2.90182 1.67781 9.00896 2.90182 1.7022 9.01236 2.9101 1.66012 9.176851 2.8983 1.67781 9.00896 2.90182 1.66012 9.176851 2.8983 1.63122 9.173641 2.89241 1.63122 9.173641 2.89241 1.66012 9.176851 2.8983 1.61794 9.52776 2.88422 1.63122 9.173641 2.89241 1.61794 9.52776 2.88422 1.58234 9.523811 2.87696 1.58234 9.523811 2.87696 1.61794 9.52776 2.88422 1.55701 9.80777 2.89482 1.61794 9.52776 2.88422 1.6037 9.814291 2.91067 1.55701 9.80777 2.89482 1.55701 9.80777 2.89482 1.6037 9.814291 2.91067 1.51208 10.178 2.87878 1.6037 9.814291 2.91067 1.56539 10.1855 2.89687 1.51208 10.178 2.87878 1.51208 10.178 2.87878 1.56539 10.1855 2.89687 1.46552 10.5947 2.85608 1.56539 10.1855 2.89687 1.52493 10.603 2.87625 1.46552 10.5947 2.85608 0.918112 17.9979 2.12897 0.992214 18.0083 2.15413 0.88316 18.6975 2.04084 0.953023 18.7073 2.06457 0.88316 18.6975 2.04084 0.953023 18.7073 2.06457 0.901238 18.6742 1.95094 0.88316 18.6975 2.04084 0.901238 18.6742 1.95094 0.849587 18.6703 1.94942 0.849587 18.6703 1.94942 0.901238 18.6742 1.95094 0.851891 18.9541 1.90838 0.901238 18.6742 1.95094 0.89936 18.9577 1.9101 0.851891 18.9541 1.90838 0.851891 18.9541 1.90838 0.89936 18.9577 1.9101 0.912501 19.0179 1.95277 0.89936 18.9577 1.9101 0.966275 19.0256 1.9716 0.912501 19.0179 1.95277 0.812992 18.95 1.90149 0.851891 18.9541 1.90838 0.86484 19.0092 1.92688 0.851891 18.9541 1.90838 0.912501 19.0179 1.95277 0.86484 19.0092 1.92688 0.807339 18.6659 1.94233 0.849587 18.6703 1.94942 0.812992 18.95 1.90149 0.849587 18.6703 1.94942 0.851891 18.9541 1.90838 0.812992 18.95 1.90149 0.821395 18.6864 2.008 0.88316 18.6975 2.04084 0.849587 18.6703 1.94942 0.821395 18.6864 2.008 0.849587 18.6703 1.94942 0.807339 18.6659 1.94233 0.8526 17.9861 2.09414 0.918112 17.9979 2.12897 0.821395 18.6864 2.008 0.918112 17.9979 2.12897 0.88316 18.6975 2.04084 0.821395 18.6864 2.008 1.46496 10.1695 2.85372 1.51208 10.178 2.87878 1.41299 10.5853 2.82815 1.51208 10.178 2.87878 1.46552 10.5947 2.85608 1.41299 10.5853 2.82815 1.51575 9.80032 2.87287 1.55701 9.80777 2.89482 1.46496 10.1695 2.85372 1.55701 9.80777 2.89482 1.51208 10.178 2.87878 1.46496 10.1695 2.85372 1.55189 9.51929 2.8654 1.58234 9.523811 2.87696 1.51575 9.80032 2.87287 1.58234 9.523811 2.87696 1.55701 9.80777 2.89482 1.51575 9.80032 2.87287 1.6065 9.169981 2.88302 1.63122 9.173641 2.89241 1.58234 9.523811 2.87696 1.6065 9.169981 2.88302 1.58234 9.523811 2.87696 1.55189 9.51929 2.8654 1.64627 9.002711 2.88475 1.67781 9.00896 2.90182 1.63122 9.173641 2.89241 1.64627 9.002711 2.88475 1.63122 9.173641 2.89241 1.6065 9.169981 2.88302 1.69347 8.816321 2.88223 1.72244 8.8216 2.89752 1.67781 9.00896 2.90182 1.69347 8.816321 2.88223 1.67781 9.00896 2.90182 1.64627 9.002711 2.88475 1.73742 8.791701 2.86683 1.72244 8.8216 2.89752 1.69347 8.816321 2.88223 1.64627 9.002711 2.88475 1.6065 9.169981 2.88302 1.58692 9.166001 2.8705 1.58692 9.166001 2.8705 1.6065 9.169981 2.88302 1.52777 9.5144 2.84998 1.6065 9.169981 2.88302 1.55189 9.51929 2.8654 1.52777 9.5144 2.84998 1.52777 9.5144 2.84998 1.55189 9.51929 2.8654 1.48147 9.79225 2.84568 1.55189 9.51929 2.8654 1.51575 9.80032 2.87287 1.48147 9.79225 2.84568 1.48147 9.79225 2.84568 1.51575 9.80032 2.87287 1.42582 10.1603 2.82266 1.51575 9.80032 2.87287 1.46496 10.1695 2.85372 1.42582 10.1603 2.82266 1.42582 10.1603 2.82266 1.46496 10.1695 2.85372 1.36937 10.575 2.79353 1.46496 10.1695 2.85372 1.41299 10.5853 2.82815 1.36937 10.575 2.79353 0.798194 17.9733 2.05097 0.8526 17.9861 2.09414 0.770102 18.6743 1.9673 0.8526 17.9861 2.09414 0.821395 18.6864 2.008 0.770102 18.6743 1.9673 0.770102 18.6743 1.9673 0.821395 18.6864 2.008 0.807339 18.6659 1.94233 0.770102 18.6743 1.9673 0.807339 18.6659 1.94233 0.776116 18.6612 1.92991 0.776116 18.6612 1.92991 0.807339 18.6659 1.94233 0.784157 18.9456 1.88971 0.807339 18.6659 1.94233 0.812992 18.95 1.90149 0.784157 18.9456 1.88971 0.784157 18.9456 1.88971 0.812992 18.95 1.90149 0.825122 18.9998 1.89493 0.812992 18.95 1.90149 0.86484 19.0092 1.92688 0.825122 18.9998 1.89493 0.766495 18.9409 1.8735 0.784157 18.9456 1.88971 0.794875 18.9899 1.85813 0.784157 18.9456 1.88971 0.825122 18.9998 1.89493 0.794875 18.9899 1.85813 0.757119 18.6563 1.91266 0.776116 18.6612 1.92991 0.766495 18.9409 1.8735 0.776116 18.6612 1.92991 0.784157 18.9456 1.88971 0.766495 18.9409 1.8735 0.731251 18.6617 1.9203 0.770102 18.6743 1.9673 0.776116 18.6612 1.92991 0.731251 18.6617 1.9203 0.776116 18.6612 1.92991 0.757119 18.6563 1.91266 0.756986 17.96 2.00112 0.798194 17.9733 2.05097 0.731251 18.6617 1.9203 0.798194 17.9733 2.05097 0.770102 18.6743 1.9673 0.731251 18.6617 1.9203 1.39618 10.1507 2.7868 1.42582 10.1603 2.82266 1.33633 10.5643 2.75357 1.42582 10.1603 2.82266 1.36937 10.575 2.79353 1.33633 10.5643 2.75357 1.45551 9.78385 2.81428 1.48147 9.79225 2.84568 1.39618 10.1507 2.7868 1.48147 9.79225 2.84568 1.42582 10.1603 2.82266 1.39618 10.1507 2.7868 1.5109 9.509301 2.83129 1.52777 9.5144 2.84998 1.45551 9.78385 2.81428 1.52777 9.5144 2.84998 1.48147 9.79225 2.84568 1.45551 9.78385 2.81428 1.57322 9.16187 2.85533 1.58692 9.166001 2.8705 1.5109 9.509301 2.83129 1.58692 9.166001 2.8705 1.52777 9.5144 2.84998 1.5109 9.509301 2.83129 1.61827 8.993651 2.85182 1.64627 9.002711 2.88475 1.58692 9.166001 2.8705 1.61827 8.993651 2.85182 1.58692 9.166001 2.8705 1.57322 9.16187 2.85533 1.67515 8.810351 2.86015 1.69347 8.816321 2.88223 1.61827 8.993651 2.85182 1.69347 8.816321 2.88223 1.64627 9.002711 2.88475 1.61827 8.993651 2.85182 1.71977 8.78669 2.84696 1.73742 8.791701 2.86683 1.69347 8.816321 2.88223 1.71977 8.78669 2.84696 1.69347 8.816321 2.88223 1.67515 8.810351 2.86015 1.61827 8.993651 2.85182 1.57322 9.16187 2.85533 1.56594 9.157731 2.8381 1.56594 9.157731 2.8381 1.57322 9.16187 2.85533 1.50193 9.504211 2.81007 1.57322 9.16187 2.85533 1.5109 9.509301 2.83129 1.50193 9.504211 2.81007 1.50193 9.504211 2.81007 1.5109 9.509301 2.83129 1.43886 9.77545 2.77987 1.5109 9.509301 2.83129 1.45551 9.78385 2.81428 1.43886 9.77545 2.77987 1.43886 9.77545 2.77987 1.45551 9.78385 2.81428 1.37717 10.1411 2.74752 1.45551 9.78385 2.81428 1.39618 10.1507 2.7868 1.37717 10.1411 2.74752 1.37717 10.1411 2.74752 1.39618 10.1507 2.7868 1.31514 10.5536 2.70978 1.39618 10.1507 2.7868 1.33633 10.5643 2.75357 1.31514 10.5536 2.70978 0.730558 17.9467 1.94651 0.756986 17.96 2.00112 0.706335 18.6492 1.86882 0.756986 17.96 2.00112 0.731251 18.6617 1.9203 0.706335 18.6492 1.86882 0.706335 18.6492 1.86882 0.731251 18.6617 1.9203 0.751077 18.6513 1.89124 0.731251 18.6617 1.9203 0.757119 18.6563 1.91266 0.751077 18.6513 1.89124 0.751077 18.6513 1.89124 0.757119 18.6563 1.91266 0.760683 18.9363 1.85346 0.757119 18.6563 1.91266 0.766495 18.9409 1.8735 0.760683 18.9363 1.85346 0.760683 18.9363 1.85346 0.766495 18.9409 1.8735 0.794875 18.9899 1.85813 0.760683 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9.80777 2.76503 1.90869 9.52776 2.79057 1.95994 9.80777 2.76503 1.94636 9.814291 2.8003 1.89615 9.176851 2.82227 1.90876 9.173641 2.80301 1.92422 9.523811 2.76684 1.89615 9.176851 2.82227 1.92422 9.523811 2.76684 1.90869 9.52776 2.79057 1.88124 9.01236 2.85243 1.88834 9.008951 2.834 1.89615 9.176851 2.82227 1.88834 9.008951 2.834 1.90876 9.173641 2.80301 1.89615 9.176851 2.82227 1.85441 8.821451 2.85502 1.88834 9.008951 2.834 1.88124 9.01236 2.85243 1.80205 8.794751 2.86049 1.81185 8.791081 2.83625 1.85441 8.821451 2.85502 1.80205 8.794751 2.86049 1.85441 8.821451 2.85502 1.84304 8.82502 2.8723 1.84304 8.82502 2.8723 1.85441 8.821451 2.85502 1.88124 9.01236 2.85243 1.84304 8.82502 2.8723 1.88124 9.01236 2.85243 1.86915 9.01516 2.86957 1.86915 9.01516 2.86957 1.88124 9.01236 2.85243 1.87755 9.179491 2.84075 1.88124 9.01236 2.85243 1.89615 9.176851 2.82227 1.87755 9.179491 2.84075 1.87755 9.179491 2.84075 1.89615 9.176851 2.82227 1.90869 9.52776 2.79057 1.87755 9.179491 2.84075 1.90869 9.52776 2.79057 1.88577 9.53101 2.81333 1.88577 9.53101 2.81333 1.90869 9.52776 2.79057 1.94636 9.814291 2.8003 1.88577 9.53101 2.81333 1.94636 9.814291 2.8003 1.92322 9.819641 2.8331 1.92322 9.819641 2.8331 1.94636 9.814291 2.8003 1.95666 10.1855 2.77084 1.92322 9.819641 2.8331 1.95666 10.1855 2.77084 1.93024 10.1916 2.8083 1.93024 10.1916 2.8083 1.95666 10.1855 2.77084 1.96106 10.603 2.73578 1.93024 10.1916 2.8083 1.96106 10.603 2.73578 1.93161 10.6098 2.77752 1.49943 18.0168 2.03099 1.53616 18.0083 1.97893 1.46585 18.7073 1.89938 1.49943 18.0168 2.03099 1.46585 18.7073 1.89938 1.43122 18.7153 1.94847 1.43122 18.7153 1.94847 1.46585 18.7073 1.89938 1.3349 18.6773 1.82615 1.46585 18.7073 1.89938 1.37801 18.6742 1.79737 1.3349 18.6773 1.82615 1.3349 18.6773 1.82615 1.37801 18.6742 1.79737 1.33548 18.9577 1.76963 1.3349 18.6773 1.82615 1.33548 18.9577 1.76963 1.29623 18.9607 1.79623 1.29623 18.9607 1.79623 1.33548 18.9577 1.76963 1.35755 19.0256 1.84556 1.29623 18.9607 1.79623 1.35755 19.0256 1.84556 1.33152 19.0318 1.88361 1.24848 18.9629 1.82199 1.29623 18.9607 1.79623 1.33152 19.0318 1.88361 1.24848 18.9629 1.82199 1.33152 19.0318 1.88361 1.29549 19.0365 1.91726 1.28255 18.6796 1.85408 1.3349 18.6773 1.82615 1.29623 18.9607 1.79623 1.28255 18.6796 1.85408 1.29623 18.9607 1.79623 1.24848 18.9629 1.82199 1.38363 18.7213 1.99199 1.43122 18.7153 1.94847 1.3349 18.6773 1.82615 1.38363 18.7213 1.99199 1.3349 18.6773 1.82615 1.28255 18.6796 1.85408 1.44895 18.0231 2.07715 1.49943 18.0168 2.03099 1.43122 18.7153 1.94847 1.44895 18.0231 2.07715 1.43122 18.7153 1.94847 1.38363 18.7213 1.99199 1.89393 10.1961 2.8415 1.93024 10.1916 2.8083 1.93161 10.6098 2.77752 1.89393 10.1961 2.8415 1.93161 10.6098 2.77752 1.89114 10.6149 2.81453 1.89142 9.82362 2.86217 1.92322 9.819641 2.8331 1.93024 10.1916 2.8083 1.89393 10.1961 2.8415 1.85635 9.53342 2.83423 1.88577 9.53101 2.81333 1.92322 9.819641 2.8331 1.85635 9.53342 2.83423 1.92322 9.819641 2.8331 1.89142 9.82362 2.86217 1.85366 9.18145 2.85771 1.87755 9.179491 2.84075 1.88577 9.53101 2.81333 1.85366 9.18145 2.85771 1.88577 9.53101 2.81333 1.85635 9.53342 2.83423 1.85254 9.01724 2.88476 1.86915 9.01516 2.86957 1.85366 9.18145 2.85771 1.86915 9.01516 2.86957 1.87755 9.179491 2.84075 1.85366 9.18145 2.85771 1.82544 8.82644 2.88753 1.84304 8.82502 2.8723 1.86915 9.01516 2.86957 1.82544 8.82644 2.88753 1.86915 9.01516 2.86957 1.85254 9.01724 2.88476 1.80205 8.794751 2.86049 1.84304 8.82502 2.8723 1.82544 8.82644 2.88753 1.82544 8.82644 2.88753 1.85254 9.01724 2.88476 1.82085 9.018811 2.90375 1.82085 9.018811 2.90375 1.85254 9.01724 2.88476 1.82541 9.18265 2.87252 1.85254 9.01724 2.88476 1.85366 9.18145 2.85771 1.82541 9.18265 2.87252 1.82541 9.18265 2.87252 1.85366 9.18145 2.85771 1.85635 9.53342 2.83423 1.82541 9.18265 2.87252 1.85635 9.53342 2.83423 1.82155 9.534911 2.85247 1.82155 9.534911 2.85247 1.85635 9.53342 2.83423 1.89142 9.82362 2.86217 1.82155 9.534911 2.85247 1.89142 9.82362 2.86217 1.85218 9.82607 2.88641 1.85218 9.82607 2.88641 1.89142 9.82362 2.86217 1.89393 10.1961 2.8415 1.85218 9.82607 2.88641 1.89393 10.1961 2.8415 1.84913 10.1989 2.86918 1.84913 10.1989 2.86918 1.89393 10.1961 2.8415 1.89114 10.6149 2.81453 1.84913 10.1989 2.86918 1.89114 10.6149 2.81453 1.8412 10.618 2.84538 1.38666 18.027 2.11563 1.44895 18.0231 2.07715 1.38363 18.7213 1.99199 1.38666 18.027 2.11563 1.38363 18.7213 1.99199 1.32491 18.7249 2.02826 1.32491 18.7249 2.02826 1.38363 18.7213 1.99199 1.28255 18.6796 1.85408 1.32491 18.7249 2.02826 1.28255 18.6796 1.85408 1.22296 18.6811 1.88009 1.22296 18.6811 1.88009 1.28255 18.6796 1.85408 1.24848 18.9629 1.82199 1.22296 18.6811 1.88009 1.24848 18.9629 1.82199 1.19405 18.9642 1.84591 1.19405 18.9642 1.84591 1.24848 18.9629 1.82199 1.29549 19.0365 1.91726 1.19405 18.9642 1.84591 1.29549 19.0365 1.91726 1.25086 19.0393 1.94521 1.13504 18.9647 1.86708 1.19405 18.9642 1.84591 1.19934 19.0403 1.96639 1.19405 18.9642 1.84591 1.25086 19.0393 1.94521 1.19934 19.0403 1.96639 1.15842 18.6816 1.90318 1.22296 18.6811 1.88009 1.19405 18.9642 1.84591 1.15842 18.6816 1.90318 1.19405 18.9642 1.84591 1.13504 18.9647 1.86708 1.2573 18.7262 2.0559 1.32491 18.7249 2.02826 1.22296 18.6811 1.88009 1.2573 18.7262 2.0559 1.22296 18.6811 1.88009 1.15842 18.6816 1.90318 1.31496 18.0283 2.14494 1.38666 18.027 2.11563 1.32491 18.7249 2.02826 1.31496 18.0283 2.14494 1.32491 18.7249 2.02826 1.2573 18.7262 2.0559 1.79755 10.1999 2.89026 1.84913 10.1989 2.86918 1.8412 10.618 2.84538 1.79755 10.1999 2.89026 1.8412 10.618 2.84538 1.7837 10.6191 2.86888 1.80701 9.8269 2.90488 1.85218 9.82607 2.88641 1.84913 10.1989 2.86918 1.80701 9.8269 2.90488 1.84913 10.1989 2.86918 1.79755 10.1999 2.89026 1.78271 9.53541 2.86735 1.82155 9.534911 2.85247 1.80701 9.8269 2.90488 1.82155 9.534911 2.85247 1.85218 9.82607 2.88641 1.80701 9.8269 2.90488 1.79388 9.18306 2.88461 1.82541 9.18265 2.87252 1.82155 9.534911 2.85247 1.79388 9.18306 2.88461 1.82155 9.534911 2.85247 1.78271 9.53541 2.86735 1.82085 9.018811 2.90375 1.82541 9.18265 2.87252 1.79388 9.18306 2.88461 1.79376 8.82708 2.90038 1.82544 8.82644 2.88753 1.82085 9.018811 2.90375 1.77146 8.795371 2.87302 1.80205 8.794751 2.86049 1.79376 8.82708 2.90038 1.80205 8.794751 2.86049 1.82544 8.82644 2.88753 1.79376 8.82708 2.90038 2.92084 8.827011 2.38958 2.88244 8.7956 2.37301 2.89096 8.82648 2.40446 2.93423 9.018831 2.39595 2.92084 8.827011 2.38958 2.90152 9.018521 2.41265 2.92084 8.827011 2.38958 2.89096 8.82648 2.40446 2.90152 9.018521 2.41265 2.90084 9.18306 2.38285 2.93423 9.018831 2.39595 2.90152 9.018521 2.41265 2.90084 9.18306 2.38285 2.90152 9.018521 2.41265 2.87216 9.18265 2.39806 2.88323 9.53541 2.36851 2.90084 9.18306 2.38285 2.87216 9.18265 2.39806 2.88323 9.53541 2.36851 2.87216 9.18265 2.39806 2.8479 9.534911 2.38725 2.92153 9.8269 2.39969 2.88323 9.53541 2.36851 2.87895 9.82607 2.421 2.88323 9.53541 2.36851 2.8479 9.534911 2.38725 2.87895 9.82607 2.421 2.90661 10.1999 2.38755 2.92153 9.8269 2.39969 2.87895 9.82607 2.421 2.90661 10.1999 2.38755 2.87895 9.82607 2.421 2.85799 10.1989 2.41188 2.88479 10.6191 2.36979 2.90661 10.1999 2.38755 2.85799 10.1989 2.41188 2.88479 10.6191 2.36979 2.85799 10.1989 2.41188 2.8306 10.618 2.39691 2.05497 18.7262 1.69433 2.14586 18.0283 1.76831 2.07826 18.027 1.80214 2.05497 18.7262 1.69433 2.07826 18.027 1.80214 1.99125 18.7249 1.72623 1.89909 18.6816 1.56745 2.05497 18.7262 1.69433 1.99125 18.7249 1.72623 1.89909 18.6816 1.56745 1.99125 18.7249 1.72623 1.8425 18.6811 1.59926 1.86224 18.9647 1.53746 1.89909 18.6816 1.56745 1.8425 18.6811 1.59926 1.86224 18.9647 1.53746 1.8425 18.6811 1.59926 1.81043 18.9642 1.56652 1.9636 19.0403 1.61996 1.86224 18.9647 1.53746 1.91489 19.0393 1.64422 1.86224 18.9647 1.53746 1.81043 18.9642 1.56652 1.91489 19.0393 1.64422 1.91489 19.0393 1.64422 1.81043 18.9642 1.56652 1.8603 19.0365 1.66124 1.81043 18.9642 1.56652 1.75697 18.9629 1.5915 1.8603 19.0365 1.66124 1.81043 18.9642 1.56652 1.8425 18.6811 1.59926 1.7842 18.6796 1.62669 1.81043 18.9642 1.56652 1.7842 18.6796 1.62669 1.75697 18.9629 1.5915 1.8425 18.6811 1.59926 1.99125 18.7249 1.72623 1.92007 18.7213 1.74884 1.8425 18.6811 1.59926 1.92007 18.7213 1.74884 1.7842 18.6796 1.62669 1.99125 18.7249 1.72623 2.07826 18.027 1.80214 2.00277 18.0231 1.82612 1.99125 18.7249 1.72623 2.00277 18.0231 1.82612 1.92007 18.7213 1.74884 2.8306 10.618 2.39691 2.85799 10.1989 2.41188 2.80368 10.1961 2.42913 2.77006 10.6149 2.41614 2.85799 10.1989 2.41188 2.87895 9.82607 2.421 2.83139 9.82362 2.43611 2.85799 10.1989 2.41188 2.83139 9.82362 2.43611 2.80368 10.1961 2.42913 2.87895 9.82607 2.421 2.8479 9.534911 2.38725 2.83139 9.82362 2.43611 2.8479 9.534911 2.38725 2.80992 9.53342 2.40199 2.83139 9.82362 2.43611 2.8479 9.534911 2.38725 2.87216 9.18265 2.39806 2.84132 9.18145 2.41003 2.80992 9.53342 2.40199 2.87216 9.18265 2.39806 2.90152 9.018521 2.41265 2.87667 9.01724 2.42054 2.87216 9.18265 2.39806 2.87667 9.01724 2.42054 2.84132 9.18145 2.41003 2.90152 9.018521 2.41265 2.89096 8.82648 2.40446 2.87667 9.01724 2.42054 2.89096 8.82648 2.40446 2.88244 8.7956 2.37301 2.85549 8.82372 2.41025 2.88244 8.7956 2.37301 2.84811 8.79295 2.37865 2.85549 8.82372 2.41025 2.87667 9.01724 2.42054 2.89096 8.82648 2.40446 2.85017 9.01516 2.42489 2.89096 8.82648 2.40446 2.85549 8.82372 2.41025 2.85017 9.01516 2.42489 2.84132 9.18145 2.41003 2.87667 9.01724 2.42054 2.85017 9.01516 2.42489 2.84132 9.18145 2.41003 2.85017 9.01516 2.42489 2.80952 9.179491 2.4183 2.80992 9.53342 2.40199 2.84132 9.18145 2.41003 2.80952 9.179491 2.4183 2.80992 9.53342 2.40199 2.80952 9.179491 2.4183 2.77074 9.53101 2.41219 2.83139 9.82362 2.43611 2.80992 9.53342 2.40199 2.78068 9.819641 2.44443 2.80992 9.53342 2.40199 2.77074 9.53101 2.41219 2.78068 9.819641 2.44443 2.80368 10.1961 2.42913 2.83139 9.82362 2.43611 2.78068 9.819641 2.44443 2.80368 10.1961 2.42913 2.78068 9.819641 2.44443 2.74577 10.1916 2.43863 2.77006 10.6149 2.41614 2.80368 10.1961 2.42913 2.74577 10.1916 2.43863 2.77006 10.6149 2.41614 2.74577 10.1916 2.43863 2.70552 10.6098 2.42673 1.92007 18.7213 1.74884 2.00277 18.0231 1.82612 1.92227 18.0168 1.83933 1.92007 18.7213 1.74884 1.92227 18.0168 1.83933 1.84417 18.7153 1.76129 1.7842 18.6796 1.62669 1.92007 18.7213 1.74884 1.84417 18.7153 1.76129 1.7842 18.6796 1.62669 1.84417 18.7153 1.76129 1.72643 18.6773 1.64868 1.75697 18.9629 1.5915 1.7842 18.6796 1.62669 1.70391 18.9607 1.61144 1.7842 18.6796 1.62669 1.72643 18.6773 1.64868 1.70391 18.9607 1.61144 1.8603 19.0365 1.66124 1.75697 18.9629 1.5915 1.80194 19.0318 1.67038 1.75697 18.9629 1.5915 1.70391 18.9607 1.61144 1.80194 19.0318 1.67038 1.80194 19.0318 1.67038 1.70391 18.9607 1.61144 1.74206 19.0256 1.67127 1.70391 18.9607 1.61144 1.65329 18.9577 1.62557 1.74206 19.0256 1.67127 1.70391 18.9607 1.61144 1.72643 18.6773 1.64868 1.65329 18.9577 1.62557 1.72643 18.6773 1.64868 1.6714 18.6742 1.66438 1.65329 18.9577 1.62557 1.72643 18.6773 1.64868 1.84417 18.7153 1.76129 1.76648 18.7073 1.76311 1.72643 18.6773 1.64868 1.76648 18.7073 1.76311 1.6714 18.6742 1.66438 1.84417 18.7153 1.76129 1.92227 18.0168 1.83933 1.83986 18.0083 1.84127 1.84417 18.7153 1.76129 1.83986 18.0083 1.84127 1.76648 18.7073 1.76311 2.70552 10.6098 2.42673 2.74577 10.1916 2.43863 2.6865 10.1855 2.44002 2.70552 10.6098 2.42673 2.6865 10.1855 2.44002 2.63945 10.603 2.42828 2.74577 10.1916 2.43863 2.78068 9.819641 2.44443 2.72876 9.814291 2.44565 2.74577 10.1916 2.43863 2.72876 9.814291 2.44565 2.6865 10.1855 2.44002 2.78068 9.819641 2.44443 2.77074 9.53101 2.41219 2.72876 9.814291 2.44565 2.77074 9.53101 2.41219 2.73187 9.52776 2.41744 2.72876 9.814291 2.44565 2.77074 9.53101 2.41219 2.80952 9.179491 2.4183 2.77797 9.176851 2.42257 2.77074 9.53101 2.41219 2.77797 9.176851 2.42257 2.73187 9.52776 2.41744 2.80952 9.179491 2.4183 2.85017 9.01516 2.42489 2.82305 9.01236 2.42553 2.80952 9.179491 2.4183 2.82305 9.01236 2.42553 2.77797 9.176851 2.42257 2.85017 9.01516 2.42489 2.85549 8.82372 2.41025 2.82305 9.01236 2.42553 2.85549 8.82372 2.41025 2.84811 8.79295 2.37865 2.81973 8.819141 2.40613 2.82305 9.01236 2.42553 2.85549 8.82372 2.41025 2.81973 8.819141 2.40613 2.82305 9.01236 2.42553 2.81973 8.819141 2.40613 2.79634 9.00896 2.42243 2.77797 9.176851 2.42257 2.82305 9.01236 2.42553 2.79634 9.00896 2.42243 2.77797 9.176851 2.42257 2.79634 9.00896 2.42243 2.74788 9.173641 2.42265 2.73187 9.52776 2.41744 2.77797 9.176851 2.42257 2.74788 9.173641 2.42265 2.73187 9.52776 2.41744 2.74788 9.173641 2.42265 2.69481 9.523811 2.41755 2.72876 9.814291 2.44565 2.73187 9.52776 2.41744 2.67764 9.80777 2.43971 2.73187 9.52776 2.41744 2.69481 9.523811 2.41755 2.67764 9.80777 2.43971 2.6865 10.1855 2.44002 2.72876 9.814291 2.44565 2.62812 10.178 2.43325 2.72876 9.814291 2.44565 2.67764 9.80777 2.43971 2.62812 10.178 2.43325 2.63945 10.603 2.42828 2.6865 10.1855 2.44002 2.57438 10.5947 2.42073 2.6865 10.1855 2.44002 2.62812 10.178 2.43325 2.57438 10.5947 2.42073 1.76648 18.7073 1.76311 1.83986 18.0083 1.84127 1.68997 18.6975 1.75423 1.83986 18.0083 1.84127 1.75871 17.9979 1.83185 1.68997 18.6975 1.75423 1.6714 18.6742 1.66438 1.76648 18.7073 1.76311 1.68997 18.6975 1.75423 1.6714 18.6742 1.66438 1.68997 18.6975 1.75423 1.62124 18.6703 1.67319 1.65329 18.9577 1.62557 1.6714 18.6742 1.66438 1.60705 18.9541 1.63335 1.6714 18.6742 1.66438 1.62124 18.6703 1.67319 1.60705 18.9541 1.63335 1.74206 19.0256 1.67127 1.65329 18.9577 1.62557 1.68294 19.0179 1.6639 1.65329 18.9577 1.62557 1.60705 18.9541 1.63335 1.68294 19.0179 1.6639 1.68294 19.0179 1.6639 1.60705 18.9541 1.63335 1.62687 19.0092 1.64853 1.60705 18.9541 1.63335 1.56698 18.95 1.63447 1.62687 19.0092 1.64853 1.60705 18.9541 1.63335 1.62124 18.6703 1.67319 1.56698 18.95 1.63447 1.62124 18.6703 1.67319 1.57787 18.6659 1.67477 1.56698 18.95 1.63447 1.62124 18.6703 1.67319 1.68997 18.6975 1.75423 1.61759 18.6864 1.735 1.62124 18.6703 1.67319 1.61759 18.6864 1.735 1.57787 18.6659 1.67477 1.68997 18.6975 1.75423 1.75871 17.9979 1.83185 1.61759 18.6864 1.735 1.75871 17.9979 1.83185 1.68194 17.9861 1.81144 1.61759 18.6864 1.735 2.57438 10.5947 2.42073 2.62812 10.178 2.43325 2.51283 10.5853 2.40437 2.62812 10.178 2.43325 2.5729 10.1695 2.41857 2.51283 10.5853 2.40437 2.62812 10.178 2.43325 2.67764 9.80777 2.43971 2.5729 10.1695 2.41857 2.67764 9.80777 2.43971 2.62928 9.80032 2.42686 2.5729 10.1695 2.41857 2.67764 9.80777 2.43971 2.69481 9.523811 2.41755 2.62928 9.80032 2.42686 2.69481 9.523811 2.41755 2.66097 9.51929 2.4125 2.62928 9.80032 2.42686 2.69481 9.523811 2.41755 2.74788 9.173641 2.42265 2.72041 9.169981 2.41856 2.69481 9.523811 2.41755 2.72041 9.169981 2.41856 2.66097 9.51929 2.4125 2.74788 9.173641 2.42265 2.79634 9.00896 2.42243 2.77107 9.00507 2.41571 2.74788 9.173641 2.42265 2.77107 9.00507 2.41571 2.72041 9.169981 2.41856 2.79634 9.00896 2.42243 2.81973 8.819141 2.40613 2.77107 9.00507 2.41571 2.81973 8.819141 2.40613 2.84811 8.79295 2.37865 2.8185 8.78741 2.36556 2.81973 8.819141 2.40613 2.8185 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2.16624 2.97659 9.519301 2.21961 3.00125 9.80032 2.19953 2.96672 9.5144 2.19773 2.96862 9.166001 2.2442 2.97663 9.169981 2.26197 2.96672 9.5144 2.19773 2.97663 9.169981 2.26197 2.97659 9.519301 2.21961 2.96862 9.166001 2.2442 2.96246 9.00249 2.28699 2.97663 9.169981 2.26197 2.96246 9.00249 2.28699 2.93468 8.81539 2.31159 2.9449 8.818941 2.32936 2.93468 8.81539 2.31159 2.89828 8.790221 2.33311 2.9449 8.818941 2.32936 2.96246 9.00249 2.28699 2.9449 8.818941 2.32936 2.97125 9.008951 2.31553 2.97663 9.169981 2.26197 2.96246 9.00249 2.28699 2.97847 9.173641 2.28173 2.96246 9.00249 2.28699 2.97125 9.008951 2.31553 2.97847 9.173641 2.28173 2.97659 9.519301 2.21961 2.97663 9.169981 2.26197 2.97847 9.173641 2.28173 2.97659 9.519301 2.21961 2.97847 9.173641 2.28173 2.97885 9.523811 2.24395 3.00125 9.80032 2.19953 2.97659 9.519301 2.21961 2.97885 9.523811 2.24395 3.00125 9.80032 2.19953 2.97885 9.523811 2.24395 3.01241 9.80777 2.23512 2.99764 10.1695 2.15899 3.00125 9.80032 2.19953 3.01241 9.80777 2.23512 2.99764 10.1695 2.15899 3.01241 9.80777 2.23512 3.01038 10.178 2.19963 2.98625 10.5853 2.11503 2.99764 10.1695 2.15899 3.01038 10.178 2.19963 2.98625 10.5853 2.11503 3.01038 10.178 2.19963 3.00045 10.5947 2.16033 2.17428 18.6864 1.39477 2.27241 17.9861 1.45057 2.29012 17.9979 1.50707 2.17428 18.6864 1.39477 2.29012 17.9979 1.50707 2.19098 18.6975 1.44804 2.09542 18.6659 1.35847 2.17428 18.6864 1.39477 2.08702 18.6703 1.38852 2.17428 18.6864 1.39477 2.19098 18.6975 1.44804 2.08702 18.6703 1.38852 2.04041 18.95 1.34513 2.09542 18.6659 1.35847 2.08702 18.6703 1.38852 2.04041 18.95 1.34513 2.08702 18.6703 1.38852 2.03313 18.9541 1.37295 2.05161 19.0092 1.38894 2.04041 18.95 1.34513 2.03313 18.9541 1.37295 2.05161 19.0092 1.38894 2.03313 18.9541 1.37295 2.0652 19.0179 1.43028 2.0652 19.0179 1.43028 2.03313 18.9541 1.37295 2.01564 18.9577 1.40412 2.0652 19.0179 1.43028 2.01564 18.9577 1.40412 2.06714 19.0256 1.4726 2.03313 18.9541 1.37295 2.08702 18.6703 1.38852 2.06752 18.6742 1.42229 2.03313 18.9541 1.37295 2.06752 18.6742 1.42229 2.01564 18.9577 1.40412 2.08702 18.6703 1.38852 2.19098 18.6975 1.44804 2.06752 18.6742 1.42229 2.19098 18.6975 1.44804 2.19255 18.7073 1.50271 2.06752 18.6742 1.42229 2.19098 18.6975 1.44804 2.29012 17.9979 1.50707 2.29179 18.0083 1.56507 2.19098 18.6975 1.44804 2.29179 18.0083 1.56507 2.19255 18.7073 1.50271 3.00045 10.5947 2.16033 3.01038 10.178 2.19963 3.01158 10.1855 2.24135 3.00045 10.5947 2.16033 3.01158 10.1855 2.24135 3.00179 10.603 2.20683 3.01038 10.178 2.19963 3.01241 9.80777 2.23512 3.01346 9.814291 2.27166 3.01038 10.178 2.19963 3.01346 9.814291 2.27166 3.01158 10.1855 2.24135 3.01241 9.80777 2.23512 2.97885 9.523811 2.24395 2.97343 9.52776 2.26981 3.01241 9.80777 2.23512 2.97343 9.52776 2.26981 3.01346 9.814291 2.27166 2.97885 9.523811 2.24395 2.97847 9.173641 2.28173 2.97407 9.176851 2.30272 2.97885 9.523811 2.24395 2.97407 9.176851 2.30272 2.97343 9.52776 2.26981 2.97847 9.173641 2.28173 2.97125 9.008951 2.31553 2.97407 9.176851 2.30272 2.97125 9.008951 2.31553 2.9718 9.01236 2.33462 2.97407 9.176851 2.30272 2.97125 9.008951 2.31553 2.9449 8.818941 2.32936 2.94629 8.82313 2.34861 2.97125 9.008951 2.31553 2.94629 8.82313 2.34861 2.9718 9.01236 2.33462 2.9449 8.818941 2.32936 2.89828 8.790221 2.33311 2.90128 8.794561 2.3534 2.9449 8.818941 2.32936 2.90128 8.794561 2.3534 2.94629 8.82313 2.34861 2.94629 8.82313 2.34861 2.90128 8.794561 2.3534 2.94062 8.825201 2.36781 2.9718 9.01236 2.33462 2.94629 8.82313 2.34861 2.94062 8.825201 2.36781 2.9718 9.01236 2.33462 2.94062 8.825201 2.36781 2.96705 9.01516 2.35346 2.97407 9.176851 2.30272 2.9718 9.01236 2.33462 2.96359 9.179491 2.32414 2.9718 9.01236 2.33462 2.96705 9.01516 2.35346 2.96359 9.179491 2.32414 2.97343 9.52776 2.26981 2.97407 9.176851 2.30272 2.96359 9.179491 2.32414 2.97343 9.52776 2.26981 2.96359 9.179491 2.32414 2.96053 9.53101 2.2962 3.01346 9.814291 2.27166 2.97343 9.52776 2.26981 2.96053 9.53101 2.2962 3.01346 9.814291 2.27166 2.96053 9.53101 2.2962 3.00436 9.819641 2.30772 3.01158 10.1855 2.24135 3.01346 9.814291 2.27166 3.00436 9.819641 2.30772 3.01158 10.1855 2.24135 3.00436 9.819641 2.30772 3.00119 10.1916 2.28253 3.00179 10.603 2.20683 3.01158 10.1855 2.24135 3.00119 10.1916 2.28253 3.00179 10.603 2.20683 3.00119 10.1916 2.28253 2.99021 10.6098 2.25273 2.19255 18.7073 1.50271 2.29179 18.0083 1.56507 2.27734 18.0168 1.62232 2.19255 18.7073 1.50271 2.27734 18.0168 1.62232 2.17894 18.7153 1.5567 2.06752 18.6742 1.42229 2.19255 18.7073 1.50271 2.03766 18.6773 1.45847 2.19255 18.7073 1.50271 2.17894 18.7153 1.5567 2.03766 18.6773 1.45847 2.01564 18.9577 1.40412 2.06752 18.6742 1.42229 2.03766 18.6773 1.45847 2.01564 18.9577 1.40412 2.03766 18.6773 1.45847 1.9886 18.9607 1.43745 2.06714 19.0256 1.4726 2.01564 18.9577 1.40412 1.9886 18.9607 1.43745 2.06714 19.0256 1.4726 1.9886 18.9607 1.43745 2.05736 19.0318 1.51428 2.05736 19.0318 1.51428 1.9886 18.9607 1.43745 1.95307 18.9629 1.47166 2.05736 19.0318 1.51428 1.95307 18.9629 1.47166 2.03624 19.0365 1.55372 1.9886 18.9607 1.43745 2.03766 18.6773 1.45847 1.99858 18.6796 1.49567 1.9886 18.9607 1.43745 1.99858 18.6796 1.49567 1.95307 18.9629 1.47166 2.03766 18.6773 1.45847 2.17894 18.7153 1.5567 2.15066 18.7213 1.60791 2.03766 18.6773 1.45847 2.15066 18.7213 1.60791 1.99858 18.6796 1.49567 2.17894 18.7153 1.5567 2.27734 18.0168 1.62232 2.24735 18.0231 1.67665 2.17894 18.7153 1.5567 2.24735 18.0231 1.67665 2.15066 18.7213 1.60791 2.99021 10.6098 2.25273 3.00119 10.1916 2.28253 2.97961 10.1961 2.32161 2.99021 10.6098 2.25273 2.97961 10.1961 2.32161 2.96616 10.6149 2.29629 3.00119 10.1916 2.28253 3.00436 9.819641 2.30772 2.98546 9.82362 2.34194 3.00119 10.1916 2.28253 2.98546 9.82362 2.34194 2.97961 10.1961 2.32161 3.00436 9.819641 2.30772 2.96053 9.53101 2.2962 2.94065 9.53342 2.3221 3.00436 9.819641 2.30772 2.94065 9.53342 2.3221 2.98546 9.82362 2.34194 2.96053 9.53101 2.2962 2.96359 9.179491 2.32414 2.94745 9.18145 2.34517 2.96053 9.53101 2.2962 2.94745 9.18145 2.34517 2.94065 9.53342 2.3221 2.96359 9.179491 2.32414 2.96705 9.01516 2.35346 2.94745 9.18145 2.34517 2.96705 9.01516 2.35346 2.95717 9.01724 2.37134 2.94745 9.18145 2.34517 2.96705 9.01516 2.35346 2.94062 8.825201 2.36781 2.95717 9.01724 2.37134 2.94062 8.825201 2.36781 2.90128 8.794561 2.3534 2.92084 8.827011 2.38958 2.90128 8.794561 2.3534 2.88244 8.7956 2.37301 2.92084 8.827011 2.38958 2.95717 9.01724 2.37134 2.94062 8.825201 2.36781 2.93423 9.018831 2.39595 2.94062 8.825201 2.36781 2.92084 8.827011 2.38958 2.93423 9.018831 2.39595 2.94745 9.18145 2.34517 2.95717 9.01724 2.37134 2.92626 9.18265 2.36499 2.95717 9.01724 2.37134 2.93423 9.018831 2.39595 2.92626 9.18265 2.36499 2.94065 9.53342 2.3221 2.94745 9.18145 2.34517 2.92626 9.18265 2.36499 2.94065 9.53342 2.3221 2.92626 9.18265 2.36499 2.91454 9.534911 2.34652 2.98546 9.82362 2.34194 2.94065 9.53342 2.3221 2.91454 9.534911 2.34652 2.98546 9.82362 2.34194 2.91454 9.534911 2.34652 2.95749 9.82607 2.373 2.97961 10.1961 2.32161 2.98546 9.82362 2.34194 2.95749 9.82607 2.373 2.97961 10.1961 2.32161 2.95749 9.82607 2.373 2.94768 10.1989 2.35707 2.96616 10.6149 2.29629 2.97961 10.1961 2.32161 2.94768 10.1989 2.35707 2.96616 10.6149 2.29629 2.94768 10.1989 2.35707 2.93057 10.618 2.33581 2.15066 18.7213 1.60791 2.24735 18.0231 1.67665 2.20295 18.027 1.72594 2.15066 18.7213 1.60791 2.20295 18.027 1.72594 2.1088 18.7249 1.65438 1.99858 18.6796 1.49567 2.15066 18.7213 1.60791 2.1088 18.7249 1.65438 1.99858 18.6796 1.49567 2.1088 18.7249 1.65438 1.95179 18.6811 1.53247 1.95307 18.9629 1.47166 1.99858 18.6796 1.49567 1.95179 18.6811 1.53247 1.95307 18.9629 1.47166 1.95179 18.6811 1.53247 1.9104 18.9642 1.50542 2.03624 19.0365 1.55372 1.95307 18.9629 1.47166 2.00458 19.0393 1.5894 1.95307 18.9629 1.47166 1.9104 18.9642 1.50542 2.00458 19.0393 1.5894 2.00458 19.0393 1.5894 1.9104 18.9642 1.50542 1.9636 19.0403 1.61996 1.9104 18.9642 1.50542 1.86224 18.9647 1.53746 1.9636 19.0403 1.61996 1.9104 18.9642 1.50542 1.95179 18.6811 1.53247 1.89909 18.6816 1.56745 1.9104 18.9642 1.50542 1.89909 18.6816 1.56745 1.86224 18.9647 1.53746 1.95179 18.6811 1.53247 2.1088 18.7249 1.65438 2.05497 18.7262 1.69433 1.95179 18.6811 1.53247 2.05497 18.7262 1.69433 1.89909 18.6816 1.56745 2.1088 18.7249 1.65438 2.20295 18.027 1.72594 2.14586 18.0283 1.76831 2.05497 18.7262 1.69433 2.93057 10.618 2.33581 2.94768 10.1989 2.35707 2.90661 10.1999 2.38755 2.93057 10.618 2.33581 2.90661 10.1999 2.38755 2.88479 10.6191 2.36979 2.94768 10.1989 2.35707 2.95749 9.82607 2.373 2.92153 9.8269 2.39969 2.94768 10.1989 2.35707 2.92153 9.8269 2.39969 2.90661 10.1999 2.38755 2.95749 9.82607 2.373 2.91454 9.534911 2.34652 2.92153 9.8269 2.39969 2.91454 9.534911 2.34652 2.88323 9.53541 2.36851 2.92153 9.8269 2.39969 2.91454 9.534911 2.34652 2.92626 9.18265 2.36499 2.90084 9.18306 2.38285 2.91454 9.534911 2.34652 2.90084 9.18306 2.38285 2.88323 9.53541 2.36851 2.92626 9.18265 2.36499 2.93423 9.018831 2.39595 2.90084 9.18306 2.38285 3.73489 8.79616 1.68037 3.74702 8.79599 1.66879 3.7616 8.82644 1.70419 3.74702 8.79599 1.66879 3.77944 8.827561 1.68912 3.7616 8.82644 1.70419 3.7616 8.82644 1.70419 3.77944 8.827561 1.68912 3.77509 9.018521 1.70991 3.77944 8.827561 1.68912 3.79977 9.01884 1.68736 3.77509 9.018521 1.70991 3.77509 9.018521 1.70991 3.79977 9.01884 1.68736 3.76253 9.18306 1.68145 3.77509 9.018521 1.70991 3.76253 9.18306 1.68145 3.74109 9.18265 1.70174 3.74109 9.18265 1.70174 3.76253 9.18306 1.68145 3.73991 9.53541 1.6712 3.74109 9.18265 1.70174 3.73991 9.53541 1.6712 3.71349 9.534911 1.69619 3.71349 9.534911 1.69619 3.73991 9.53541 1.6712 3.75677 9.82607 1.72241 3.73991 9.53541 1.6712 3.78911 9.8269 1.6935 3.75677 9.82607 1.72241 3.75677 9.82607 1.72241 3.78911 9.8269 1.6935 3.76994 10.1999 1.68482 3.75677 9.82607 1.72241 3.76994 10.1999 1.68482 3.73301 10.1989 1.71782 3.73301 10.1989 1.71782 3.76994 10.1999 1.68482 3.74191 10.6191 1.67211 3.70075 10.618 1.7089 2.74132 18.027 1.28772 2.79266 18.0283 1.24183 2.67591 18.7262 1.18891 2.74132 18.027 1.28772 2.67591 18.7262 1.18891 2.6275 18.7249 1.23217 2.6275 18.7249 1.23217 2.67591 18.7262 1.18891 2.47566 18.6816 1.09814 2.6275 18.7249 1.23217 2.47566 18.6816 1.09814 2.43407 18.6811 1.13991 2.43407 18.6811 1.13991 2.47566 18.6816 1.09814 2.42832 18.9647 1.07668 2.43407 18.6811 1.13991 2.42832 18.9647 1.07668 2.39022 18.9642 1.11487 2.39022 18.9642 1.11487 2.42832 18.9647 1.07668 2.52148 19.0393 1.16866 2.42832 18.9647 1.07668 2.55853 19.0403 1.13571 2.52148 19.0393 1.16866 2.3489 18.9629 1.14946 2.39022 18.9642 1.11487 2.4759 19.0365 1.19584 2.39022 18.9642 1.11487 2.52148 19.0393 1.16866 2.4759 19.0365 1.19584 2.38908 18.6796 1.17781 2.43407 18.6811 1.13991 2.39022 18.9642 1.11487 2.38908 18.6796 1.17781 2.39022 18.9642 1.11487 2.3489 18.9629 1.14946 2.56823 18.7213 1.26801 2.6275 18.7249 1.23217 2.43407 18.6811 1.13991 2.56823 18.7213 1.26801 2.43407 18.6811 1.13991 2.38908 18.6796 1.17781 2.67846 18.0231 1.32573 2.74132 18.027 1.28772 2.6275 18.7249 1.23217 2.67846 18.0231 1.32573 2.6275 18.7249 1.23217 2.56823 18.7213 1.26801 3.68779 10.1961 1.74517 3.73301 10.1989 1.71782 3.70075 10.618 1.7089 3.68779 10.1961 1.74517 3.70075 10.618 1.7089 3.65035 10.6149 1.73938 3.71717 9.82362 1.74635 3.75677 9.82607 1.72241 3.73301 10.1989 1.71782 3.71717 9.82362 1.74635 3.73301 10.1989 1.71782 3.68779 10.1961 1.74517 3.68294 9.53342 1.71789 3.71349 9.534911 1.69619 3.71717 9.82362 1.74635 3.71349 9.534911 1.69619 3.75677 9.82607 1.72241 3.71717 9.82362 1.74635 3.71628 9.18145 1.71936 3.74109 9.18265 1.70174 3.71349 9.534911 1.69619 3.71628 9.18145 1.71936 3.71349 9.534911 1.69619 3.68294 9.53342 1.71789 3.7544 9.01724 1.72242 3.77509 9.018521 1.70991 3.74109 9.18265 1.70174 3.7544 9.01724 1.72242 3.74109 9.18265 1.70174 3.71628 9.18145 1.71936 3.7616 8.82644 1.70419 3.77509 9.018521 1.70991 3.7544 9.01724 1.72242 3.71015 8.79293 1.6879 3.73489 8.79616 1.68037 3.72982 8.8237 1.71679 3.73489 8.79616 1.68037 3.7616 8.82644 1.70419 3.72982 8.8237 1.71679 3.72982 8.8237 1.71679 3.7616 8.82644 1.70419 3.73071 9.01516 1.73186 3.7616 8.82644 1.70419 3.7544 9.01724 1.72242 3.73071 9.01516 1.73186 3.73071 9.01516 1.73186 3.7544 9.01724 1.72242 3.71628 9.18145 1.71936 3.73071 9.01516 1.73186 3.71628 9.18145 1.71936 3.68907 9.179491 1.73362 3.68907 9.179491 1.73362 3.71628 9.18145 1.71936 3.68294 9.53342 1.71789 3.68907 9.179491 1.73362 3.68294 9.53342 1.71789 3.64942 9.53101 1.73546 3.64942 9.53101 1.73546 3.68294 9.53342 1.71789 3.67183 9.819641 1.76442 3.68294 9.53342 1.71789 3.71717 9.82362 1.74635 3.67183 9.819641 1.76442 3.67183 9.819641 1.76442 3.71717 9.82362 1.74635 3.63603 10.1916 1.76579 3.71717 9.82362 1.74635 3.68779 10.1961 1.74517 3.63603 10.1916 1.76579 3.63603 10.1916 1.76579 3.68779 10.1961 1.74517 3.65035 10.6149 1.73938 3.63603 10.1916 1.76579 3.65035 10.6149 1.73938 3.59265 10.6098 1.76236 2.60649 18.0168 1.35441 2.67846 18.0231 1.32573 2.56823 18.7213 1.26801 2.60649 18.0168 1.35441 2.56823 18.7213 1.26801 2.50039 18.7153 1.29504 2.50039 18.7153 1.29504 2.56823 18.7213 1.26801 2.38908 18.6796 1.17781 2.50039 18.7153 1.29504 2.38908 18.6796 1.17781 2.34243 18.6773 1.21039 2.34243 18.6773 1.21039 2.38908 18.6796 1.17781 2.3489 18.9629 1.14946 2.34243 18.6773 1.21039 2.3489 18.9629 1.14946 2.30595 18.9607 1.17913 2.30595 18.9607 1.17913 2.3489 18.9629 1.14946 2.42356 19.0318 1.2162 2.3489 18.9629 1.14946 2.4759 19.0365 1.19584 2.42356 19.0318 1.2162 2.26303 18.9577 1.20275 2.30595 18.9607 1.17913 2.36645 19.0256 1.22896 2.30595 18.9607 1.17913 2.42356 19.0318 1.2162 2.36645 19.0256 1.22896 2.29591 18.6742 1.23639 2.34243 18.6773 1.21039 2.26303 18.9577 1.20275 2.34243 18.6773 1.21039 2.30595 18.9607 1.17913 2.26303 18.9577 1.20275 2.42657 18.7073 1.31223 2.50039 18.7153 1.29504 2.34243 18.6773 1.21039 2.42657 18.7073 1.31223 2.34243 18.6773 1.21039 2.29591 18.6742 1.23639 2.5282 18.0083 1.37264 2.60649 18.0168 1.35441 2.50039 18.7153 1.29504 2.5282 18.0083 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2.51151 18.9998 0.864281 2.52244 18.95 0.856747 2.51002 18.9456 0.834939 2.51151 18.9998 0.864281 2.52244 18.95 0.856747 2.51151 18.9998 0.864281 2.5507 19.0092 0.896557 2.58055 18.6659 0.858611 2.56758 18.6612 0.835047 2.51002 18.9456 0.834939 2.58055 18.6659 0.858611 2.51002 18.9456 0.834939 2.52244 18.95 0.856747 2.67072 18.6864 0.877771 2.6209 18.6743 0.836169 2.58055 18.6659 0.858611 2.6209 18.6743 0.836169 2.56758 18.6612 0.835047 2.58055 18.6659 0.858611 2.78716 17.9861 0.911814 2.73432 17.9733 0.867687 2.6209 18.6743 0.836169 2.67072 18.6864 0.877771 3.76599 10.1695 1.44742 3.72798 10.1603 1.41568 3.69514 10.575 1.37213 3.76599 10.1695 1.44742 3.69514 10.575 1.37213 3.7375 10.5853 1.40751 3.78565 9.80032 1.48561 3.75236 9.79225 1.45781 3.72798 10.1603 1.41568 3.78565 9.80032 1.48561 3.72798 10.1603 1.41568 3.76599 10.1695 1.44742 3.77 9.519301 1.50978 3.7518 9.5144 1.49074 3.75236 9.79225 1.45781 3.77 9.519301 1.50978 3.75236 9.79225 1.45781 3.78565 9.80032 1.48561 3.78696 9.169981 1.55041 3.77219 9.166001 1.53496 3.7518 9.5144 1.49074 3.78696 9.169981 1.55041 3.7518 9.5144 1.49074 3.77 9.519301 1.50978 3.78329 9.002571 1.57708 3.77219 9.166001 1.53496 3.78696 9.169981 1.55041 3.75067 8.794071 1.64986 3.73378 8.788801 1.62973 3.77301 8.81627 1.61065 3.75067 8.794071 1.64986 3.77301 8.81627 1.61065 3.79066 8.8214 1.63313 3.79066 8.8214 1.63313 3.77301 8.81627 1.61065 3.78329 9.002571 1.57708 3.79066 8.8214 1.63313 3.78329 9.002571 1.57708 3.8032 9.008951 1.60287 3.8032 9.008951 1.60287 3.78329 9.002571 1.57708 3.79662 9.173641 1.569 3.78329 9.002571 1.57708 3.78696 9.169981 1.55041 3.79662 9.173641 1.569 3.79662 9.173641 1.569 3.78696 9.169981 1.55041 3.77 9.519301 1.50978 3.79662 9.173641 1.569 3.77 9.519301 1.50978 3.7819 9.523811 1.53268 3.7819 9.523811 1.53268 3.77 9.519301 1.50978 3.78565 9.80032 1.48561 3.7819 9.523811 1.53268 3.78565 9.80032 1.48561 3.81057 9.80777 1.51754 3.81057 9.80777 1.51754 3.78565 9.80032 1.48561 3.76599 10.1695 1.44742 3.81057 9.80777 1.51754 3.76599 10.1695 1.44742 3.79445 10.178 1.48389 3.79445 10.178 1.48389 3.76599 10.1695 1.44742 3.7375 10.5853 1.40751 3.79445 10.178 1.48389 3.7375 10.5853 1.40751 3.76923 10.5947 1.44815 2.82673 17.9979 0.962508 2.78716 17.9861 0.911814 2.67072 18.6864 0.877771 2.82673 17.9979 0.962508 2.67072 18.6864 0.877771 2.70802 18.6975 0.925566 2.70802 18.6975 0.925566 2.67072 18.6864 0.877771 2.58451 18.6703 0.889116 2.67072 18.6864 0.877771 2.58055 18.6659 0.858611 2.58451 18.6703 0.889116 2.58451 18.6703 0.889116 2.58055 18.6659 0.858611 2.52244 18.95 0.856747 2.58451 18.6703 0.889116 2.52244 18.95 0.856747 2.52657 18.9541 0.884883 2.52657 18.9541 0.884883 2.52244 18.95 0.856747 2.5507 19.0092 0.896557 2.52657 18.9541 0.884883 2.5507 19.0092 0.896557 2.58024 19.0179 0.933515 2.52224 18.9577 0.918268 2.52657 18.9541 0.884883 2.58024 19.0179 0.933515 2.52224 18.9577 0.918268 2.58024 19.0179 0.933515 2.59901 19.0256 0.973735 2.57928 18.6742 0.925391 2.58451 18.6703 0.889116 2.52657 18.9541 0.884883 2.57928 18.6742 0.925391 2.52657 18.9541 0.884883 2.52224 18.9577 0.918268 2.73137 18.7073 0.977715 2.70802 18.6975 0.925566 2.57928 18.6742 0.925391 2.70802 18.6975 0.925566 2.58451 18.6703 0.889116 2.57928 18.6742 0.925391 2.85149 18.0083 1.01782 2.82673 17.9979 0.962508 2.70802 18.6975 0.925566 2.85149 18.0083 1.01782 2.70802 18.6975 0.925566 2.73137 18.7073 0.977715 3.81226 10.1855 1.52368 3.79445 10.178 1.48389 3.76923 10.5947 1.44815 3.78908 10.603 1.4925 3.82617 9.814291 1.55238 3.81057 9.80777 1.51754 3.79445 10.178 1.48389 3.82617 9.814291 1.55238 3.79445 10.178 1.48389 3.81226 10.1855 1.52368 3.78703 9.52776 1.55857 3.7819 9.523811 1.53268 3.81057 9.80777 1.51754 3.78703 9.52776 1.55857 3.81057 9.80777 1.51754 3.82617 9.814291 1.55238 3.80078 9.176851 1.59002 3.79662 9.173641 1.569 3.7819 9.523811 1.53268 3.80078 9.176851 1.59002 3.7819 9.523811 1.53268 3.78703 9.52776 1.55857 3.81135 9.01236 1.62107 3.8032 9.008951 1.60287 3.80078 9.176851 1.59002 3.8032 9.008951 1.60287 3.79662 9.173641 1.569 3.80078 9.176851 1.59002 3.79066 8.8214 1.63313 3.8032 9.008951 1.60287 3.81135 9.01236 1.62107 3.75067 8.794071 1.64986 3.79066 8.8214 1.63313 3.79445 8.82502 1.65235 3.79445 8.82502 1.65235 3.79066 8.8214 1.63313 3.81135 9.01236 1.62107 3.79445 8.82502 1.65235 3.81135 9.01236 1.62107 3.81432 9.01516 1.6401 3.81432 9.01516 1.6401 3.81135 9.01236 1.62107 3.79929 9.179491 1.61265 3.81135 9.01236 1.62107 3.80078 9.176851 1.59002 3.79929 9.179491 1.61265 3.79929 9.179491 1.61265 3.80078 9.176851 1.59002 3.78703 9.52776 1.55857 3.79929 9.179491 1.61265 3.78703 9.52776 1.55857 3.78519 9.53101 1.58645 3.78519 9.53101 1.58645 3.78703 9.52776 1.55857 3.82617 9.814291 1.55238 3.78519 9.53101 1.58645 3.82617 9.814291 1.55238 3.83185 9.819641 1.5888 3.83185 9.819641 1.5888 3.82617 9.814291 1.55238 3.81226 10.1855 1.52368 3.83185 9.819641 1.5888 3.81226 10.1855 1.52368 3.81875 10.1916 1.56526 3.81875 10.1916 1.56526 3.81226 10.1855 1.52368 3.78908 10.603 1.4925 3.81875 10.1916 1.56526 3.78908 10.603 1.4925 3.79631 10.6098 1.53885 2.86051 18.0168 1.07563 2.85149 18.0083 1.01782 2.73137 18.7073 0.977715 2.73987 18.7153 1.03222 2.73987 18.7153 1.03222 2.73137 18.7073 0.977715 2.56508 18.6773 0.966041 2.73137 18.7073 0.977715 2.57928 18.6742 0.925391 2.56508 18.6773 0.966041 2.56508 18.6773 0.966041 2.57928 18.6742 0.925391 2.52224 18.9577 0.918268 2.56508 18.6773 0.966041 2.52224 18.9577 0.918268 2.50961 18.9607 0.95562 2.50961 18.9607 0.95562 2.52224 18.9577 0.918268 2.59901 19.0256 0.973735 2.50961 18.9607 0.95562 2.59901 19.0256 0.973735 2.60628 19.0318 1.01567 2.48919 18.9629 0.9955 2.50961 18.9607 0.95562 2.60628 19.0318 1.01567 2.48919 18.9629 0.9955 2.60628 19.0318 1.01567 2.60176 19.0365 1.05771 2.54244 18.6796 1.0095 2.56508 18.6773 0.966041 2.50961 18.9607 0.95562 2.54244 18.6796 1.0095 2.50961 18.9607 0.95562 2.48919 18.9629 0.9955 2.73319 18.7213 1.08697 2.73987 18.7153 1.03222 2.54244 18.6796 1.0095 2.73987 18.7153 1.03222 2.56508 18.6773 0.966041 2.54244 18.6796 1.0095 2.85342 18.0231 1.13371 2.86051 18.0168 1.07563 2.73987 18.7153 1.03222 2.85342 18.0231 1.13371 2.73987 18.7153 1.03222 2.73319 18.7213 1.08697 3.81365 10.1961 1.60704 3.81875 10.1916 1.56526 3.79631 10.6098 1.53885 3.81365 10.1961 1.60704 3.79631 10.6098 1.53885 3.79063 10.6149 1.58542 3.82739 9.82362 1.62539 3.83185 9.819641 1.5888 3.81875 10.1916 1.56526 3.82739 9.82362 1.62539 3.81875 10.1916 1.56526 3.81365 10.1961 1.60704 3.77646 9.53342 1.61525 3.78519 9.53101 1.58645 3.83185 9.819641 1.5888 3.77646 9.53342 1.61525 3.83185 9.819641 1.5888 3.82739 9.82362 1.62539 3.7922 9.18145 1.63604 3.79929 9.179491 1.61265 3.78519 9.53101 1.58645 3.7922 9.18145 1.63604 3.78519 9.53101 1.58645 3.77646 9.53342 1.61525 3.81199 9.01724 1.65922 3.81432 9.01516 1.6401 3.7922 9.18145 1.63604 3.81432 9.01516 1.6401 3.79929 9.179491 1.61265 3.7922 9.18145 1.63604 3.79125 8.82634 1.67181 3.79445 8.82502 1.65235 3.81432 9.01516 1.6401 3.79125 8.82634 1.67181 3.81432 9.01516 1.6401 3.81199 9.01724 1.65922 3.74702 8.79599 1.66879 3.75067 8.794071 1.64986 3.79125 8.82634 1.67181 3.75067 8.794071 1.64986 3.79445 8.82502 1.65235 3.79125 8.82634 1.67181 3.79125 8.82634 1.67181 3.81199 9.01724 1.65922 3.79977 9.01884 1.68736 3.79977 9.01884 1.68736 3.81199 9.01724 1.65922 3.77979 9.18265 1.65927 3.81199 9.01724 1.65922 3.7922 9.18145 1.63604 3.77979 9.18265 1.65927 3.77979 9.18265 1.65927 3.7922 9.18145 1.63604 3.77646 9.53342 1.61525 3.77979 9.18265 1.65927 3.77646 9.53342 1.61525 3.76117 9.534911 1.64387 3.76117 9.534911 1.64387 3.77646 9.53342 1.61525 3.82739 9.82362 1.62539 3.76117 9.534911 1.64387 3.82739 9.82362 1.62539 3.81296 9.82607 1.66074 3.81296 9.82607 1.66074 3.82739 9.82362 1.62539 3.81365 10.1961 1.60704 3.81296 9.82607 1.66074 3.81365 10.1961 1.60704 3.79717 10.1989 1.64741 3.79717 10.1989 1.64741 3.81365 10.1961 1.60704 3.79063 10.6149 1.58542 3.79717 10.1989 1.64741 3.79063 10.6149 1.58542 3.77226 10.618 1.63041 2.83051 18.027 1.18983 2.85342 18.0231 1.13371 2.73319 18.7213 1.08697 2.83051 18.027 1.18983 2.73319 18.7213 1.08697 2.71159 18.7249 1.13988 2.71159 18.7249 1.13988 2.73319 18.7213 1.08697 2.54244 18.6796 1.0095 2.71159 18.7249 1.13988 2.54244 18.6796 1.0095 2.51225 18.6811 1.05411 2.51225 18.6811 1.05411 2.54244 18.6796 1.0095 2.48919 18.9629 0.9955 2.51225 18.6811 1.05411 2.48919 18.9629 0.9955 2.46173 18.9642 1.03638 2.46173 18.9642 1.03638 2.48919 18.9629 0.9955 2.60176 19.0365 1.05771 2.46173 18.9642 1.03638 2.60176 19.0365 1.05771 2.58564 19.0393 1.09825 2.42832 18.9647 1.07668 2.46173 18.9642 1.03638 2.55853 19.0403 1.13571 2.46173 18.9642 1.03638 2.58564 19.0393 1.09825 2.55853 19.0403 1.13571 2.47566 18.6816 1.09814 2.51225 18.6811 1.05411 2.46173 18.9642 1.03638 2.47566 18.6816 1.09814 2.46173 18.9642 1.03638 2.42832 18.9647 1.07668 2.67591 18.7262 1.18891 2.71159 18.7249 1.13988 2.51225 18.6811 1.05411 2.67591 18.7262 1.18891 2.51225 18.6811 1.05411 2.47566 18.6816 1.09814 2.79266 18.0283 1.24183 2.83051 18.027 1.18983 2.71159 18.7249 1.13988 2.79266 18.0283 1.24183 2.71159 18.7249 1.13988 2.67591 18.7262 1.18891 3.76994 10.1999 1.68482 3.79717 10.1989 1.64741 3.77226 10.618 1.63041 3.76994 10.1999 1.68482 3.77226 10.618 1.63041 3.74191 10.6191 1.67211 3.78911 9.8269 1.6935 3.81296 9.82607 1.66074 3.79717 10.1989 1.64741 3.78911 9.8269 1.6935 3.79717 10.1989 1.64741 3.76994 10.1999 1.68482 3.73991 9.53541 1.6712 3.76117 9.534911 1.64387 3.78911 9.8269 1.6935 3.76117 9.534911 1.64387 3.81296 9.82607 1.66074 3.78911 9.8269 1.6935 3.76253 9.18306 1.68145 3.77979 9.18265 1.65927 3.76117 9.534911 1.64387 3.76253 9.18306 1.68145 3.76117 9.534911 1.64387 3.73991 9.53541 1.6712 3.79977 9.01884 1.68736 3.77979 9.18265 1.65927 3.76253 9.18306 1.68145 3.77944 8.827561 1.68912 3.79125 8.82634 1.67181 3.79977 9.01884 1.68736 3.74702 8.79599 1.66879 3.79125 8.82634 1.67181 3.77944 8.827561 1.68912 4.34728 9.01886 0.835275 4.3259 8.82691 0.847722 4.33256 9.018521 0.862052 4.30915 9.18306 0.837242 4.34728 9.01886 0.835275 4.33256 9.018521 0.862052 4.30915 9.18306 0.837242 4.33256 9.018521 0.862052 4.29668 9.18265 0.860972 4.28335 9.53541 0.831898 4.30915 9.18306 0.837242 4.29668 9.18265 0.860972 4.28335 9.53541 0.831898 4.29668 9.18265 0.860972 4.26798 9.534911 0.861129 4.33947 9.8269 0.843521 4.28335 9.53541 0.831898 4.31998 9.82607 0.877685 4.28335 9.53541 0.831898 4.26798 9.534911 0.861129 4.31998 9.82607 0.877685 4.31761 10.1999 0.838994 4.33947 9.8269 0.843521 4.31998 9.82607 0.877685 4.31761 10.1999 0.838994 4.31998 9.82607 0.877685 4.29535 10.1989 0.878005 4.28563 10.6191 0.832373 4.31761 10.1999 0.838994 4.29535 10.1989 0.878005 4.28563 10.6191 0.832373 4.29535 10.1989 0.878005 4.26083 10.618 0.875856 3.0698 18.7262 0.580574 3.20296 18.0283 0.608153 3.17203 18.027 0.662385 3.0698 18.7262 0.580574 3.17203 18.027 0.662385 3.04063 18.7249 0.631704 2.8414 18.6816 0.533273 3.0698 18.7262 0.580574 3.04063 18.7249 0.631704 2.8414 18.6816 0.533273 3.04063 18.7249 0.631704 2.81818 18.6811 0.581616 2.78741 18.9647 0.522091 2.8414 18.6816 0.533273 2.81818 18.6811 0.581616 2.78741 18.9647 0.522091 2.81818 18.6811 0.581616 2.76611 18.9642 0.566299 2.93593 19.0403 0.55285 2.78741 18.9647 0.522091 2.91354 19.0393 0.591832 2.78741 18.9647 0.522091 2.76611 18.9642 0.566299 2.91354 19.0393 0.591832 2.91354 19.0393 0.591832 2.76611 18.9642 0.566299 2.88067 19.0365 0.626968 2.76611 18.9642 0.566299 2.74028 18.9629 0.607701 2.88067 19.0365 0.626968 2.76611 18.9642 0.566299 2.81818 18.6811 0.581616 2.79016 18.6796 0.62692 2.76611 18.9642 0.566299 2.79016 18.6796 0.62692 2.74028 18.9629 0.607701 2.81818 18.6811 0.581616 3.04063 18.7249 0.631704 2.99809 18.7213 0.677864 2.81818 18.6811 0.581616 2.99809 18.7213 0.677864 2.79016 18.6796 0.62692 3.04063 18.7249 0.631704 3.17203 18.027 0.662385 3.1269 18.0231 0.711347 3.04063 18.7249 0.631704 3.1269 18.0231 0.711347 2.99809 18.7213 0.677864 4.26083 10.618 0.875856 4.29535 10.1989 0.878005 4.26289 10.1961 0.913224 4.26083 10.618 0.875856 4.26289 10.1961 0.913224 4.22465 10.6149 0.915112 4.29535 10.1989 0.878005 4.31998 9.82607 0.877685 4.26289 10.1961 0.913224 4.31998 9.82607 0.877685 4.29155 9.82362 0.908528 4.26289 10.1961 0.913224 4.31998 9.82607 0.877685 4.26798 9.534911 0.861129 4.29155 9.82362 0.908528 4.26798 9.534911 0.861129 4.24733 9.53342 0.888019 4.29155 9.82362 0.908528 4.26798 9.534911 0.861129 4.29668 9.18265 0.860972 4.27991 9.18145 0.882801 4.26798 9.534911 0.861129 4.27991 9.18145 0.882801 4.24733 9.53342 0.888019 4.29668 9.18265 0.860972 4.33256 9.018521 0.862052 4.31771 9.01724 0.878167 4.29668 9.18265 0.860972 4.31771 9.01724 0.878167 4.27991 9.18145 0.882801 4.33256 9.018521 0.862052 4.3259 8.82691 0.847722 4.31771 9.01724 0.878167 4.3259 8.82691 0.847722 4.30579 8.825281 0.869368 4.31771 9.01724 0.878167 4.3259 8.82691 0.847722 4.2818 8.79523 0.841612 4.30579 8.825281 0.869368 4.31771 9.01724 0.878167 4.30579 8.825281 0.869368 4.29875 9.01516 0.891929 4.27991 9.18145 0.882801 4.31771 9.01724 0.878167 4.29875 9.01516 0.891929 4.27991 9.18145 0.882801 4.29875 9.01516 0.891929 4.2595 9.179491 0.901892 4.24733 9.53342 0.888019 4.27991 9.18145 0.882801 4.2595 9.179491 0.901892 4.24733 9.53342 0.888019 4.2595 9.179491 0.901892 4.22219 9.53101 0.911535 4.29155 9.82362 0.908528 4.24733 9.53342 0.888019 4.25527 9.819641 0.934867 4.24733 9.53342 0.888019 4.22219 9.53101 0.911535 4.25527 9.819641 0.934867 4.26289 10.1961 0.913224 4.29155 9.82362 0.908528 4.22146 10.1916 0.9433 4.29155 9.82362 0.908528 4.25527 9.819641 0.934867 4.22146 10.1916 0.9433 4.22465 10.6149 0.915112 4.26289 10.1961 0.913224 4.17847 10.6098 0.948634 4.26289 10.1961 0.913224 4.22146 10.1916 0.9433 4.17847 10.6098 0.948634 2.99809 18.7213 0.677864 3.1269 18.0231 0.711347 3.0693 18.0168 0.753157 2.99809 18.7213 0.677864 3.0693 18.0168 0.753157 2.94378 18.7153 0.717283 2.79016 18.6796 0.62692 2.99809 18.7213 0.677864 2.94378 18.7153 0.717283 2.79016 18.6796 0.62692 2.94378 18.7153 0.717283 2.75841 18.6773 0.667446 2.74028 18.9629 0.607701 2.79016 18.6796 0.62692 2.75841 18.6773 0.667446 2.74028 18.9629 0.607701 2.75841 18.6773 0.667446 2.71093 18.9607 0.644708 2.88067 19.0365 0.626968 2.74028 18.9629 0.607701 2.83857 19.0318 0.656905 2.74028 18.9629 0.607701 2.71093 18.9607 0.644708 2.83857 19.0318 0.656905 2.83857 19.0318 0.656905 2.71093 18.9607 0.644708 2.78888 19.0256 0.680496 2.71093 18.9607 0.644708 2.67917 18.9577 0.675896 2.78888 19.0256 0.680496 2.71093 18.9607 0.644708 2.75841 18.6773 0.667446 2.67917 18.9577 0.675896 2.75841 18.6773 0.667446 2.72416 18.6742 0.701637 2.67917 18.9577 0.675896 2.75841 18.6773 0.667446 2.94378 18.7153 0.717283 2.87982 18.7073 0.748443 2.75841 18.6773 0.667446 2.87982 18.7073 0.748443 2.72416 18.6742 0.701637 2.94378 18.7153 0.717283 3.0693 18.0168 0.753157 3.00146 18.0083 0.786207 2.94378 18.7153 0.717283 3.00146 18.0083 0.786207 2.87982 18.7073 0.748443 4.17847 10.6098 0.948634 4.22146 10.1916 0.9433 4.12407 10.603 0.975134 4.22146 10.1916 0.9433 4.17266 10.1855 0.967074 4.12407 10.603 0.975134 4.22146 10.1916 0.9433 4.25527 9.819641 0.934867 4.17266 10.1855 0.967074 4.25527 9.819641 0.934867 4.21253 9.814291 0.955687 4.17266 10.1855 0.967074 4.25527 9.819641 0.934867 4.22219 9.53101 0.911535 4.21253 9.814291 0.955687 4.22219 9.53101 0.911535 4.19352 9.52776 0.930774 4.21253 9.814291 0.955687 4.22219 9.53101 0.911535 4.2595 9.179491 0.901892 4.23623 9.176851 0.91751 4.22219 9.53101 0.911535 4.23623 9.176851 0.91751 4.19352 9.52776 0.930774 4.2595 9.179491 0.901892 4.29875 9.01516 0.891929 4.27642 9.01236 0.902807 4.2595 9.179491 0.901892 4.27642 9.01236 0.902807 4.23623 9.176851 0.91751 4.29875 9.01516 0.891929 4.30579 8.825281 0.869368 4.27642 9.01236 0.902807 4.30579 8.825281 0.869368 4.2758 8.821591 0.883914 4.27642 9.01236 0.902807 4.30579 8.825281 0.869368 4.2818 8.79523 0.841612 4.2758 8.821591 0.883914 4.2818 8.79523 0.841612 4.26151 8.793721 0.854035 4.2758 8.821591 0.883914 4.27642 9.01236 0.902807 4.2758 8.821591 0.883914 4.25157 9.00896 0.910385 4.23623 9.176851 0.91751 4.27642 9.01236 0.902807 4.25157 9.00896 0.910385 4.23623 9.176851 0.91751 4.25157 9.00896 0.910385 4.21098 9.173641 0.929055 4.19352 9.52776 0.930774 4.23623 9.176851 0.91751 4.21098 9.173641 0.929055 4.19352 9.52776 0.930774 4.21098 9.173641 0.929055 4.16242 9.523811 0.944994 4.21253 9.814291 0.955687 4.19352 9.52776 0.930774 4.16497 9.80777 0.97019 4.19352 9.52776 0.930774 4.16242 9.523811 0.944994 4.16497 9.80777 0.97019 4.17266 10.1855 0.967074 4.21253 9.814291 0.955687 4.11836 10.178 0.983635 4.21253 9.814291 0.955687 4.16497 9.80777 0.97019 4.11836 10.178 0.983635 4.12407 10.603 0.975134 4.17266 10.1855 0.967074 4.06355 10.5947 0.993592 4.17266 10.1855 0.967074 4.11836 10.178 0.983635 4.06355 10.5947 0.993592 2.87982 18.7073 0.748443 3.00146 18.0083 0.786207 2.92597 17.9979 0.80923 2.87982 18.7073 0.748443 2.92597 17.9979 0.80923 2.80865 18.6975 0.770149 2.72416 18.6742 0.701637 2.87982 18.7073 0.748443 2.80865 18.6975 0.770149 2.72416 18.6742 0.701637 2.80865 18.6975 0.770149 2.68871 18.6703 0.728177 2.67917 18.9577 0.675896 2.72416 18.6742 0.701637 2.64624 18.9541 0.700068 2.72416 18.6742 0.701637 2.68871 18.6703 0.728177 2.64624 18.9541 0.700068 2.78888 19.0256 0.680496 2.67917 18.9577 0.675896 2.73349 19.0179 0.69683 2.67917 18.9577 0.675896 2.64624 18.9541 0.700068 2.73349 19.0179 0.69683 2.73349 19.0179 0.69683 2.64624 18.9541 0.700068 2.67455 19.0092 0.705283 2.64624 18.9541 0.700068 2.61339 18.95 0.716295 2.67455 19.0092 0.705283 2.64624 18.9541 0.700068 2.68871 18.6703 0.728177 2.61339 18.95 0.716295 2.68871 18.6703 0.728177 2.65344 18.6659 0.746049 2.61339 18.95 0.716295 2.68871 18.6703 0.728177 2.80865 18.6975 0.770149 2.73302 18.6864 0.781564 2.68871 18.6703 0.728177 2.73302 18.6864 0.781564 2.65344 18.6659 0.746049 2.80865 18.6975 0.770149 2.92597 17.9979 0.80923 2.84575 17.9861 0.821338 2.80865 18.6975 0.770149 2.84575 17.9861 0.821338 2.73302 18.6864 0.781564 4.06355 10.5947 0.993592 4.11836 10.178 0.983635 3.99922 10.5853 1.0033 4.11836 10.178 0.983635 4.06065 10.1695 0.992345 3.99922 10.5853 1.0033 4.11836 10.178 0.983635 4.16497 9.80777 0.97019 4.06065 10.1695 0.992345 4.16497 9.80777 0.97019 4.11443 9.80032 0.977817 4.06065 10.1695 0.992345 4.16497 9.80777 0.97019 4.16242 9.523811 0.944994 4.11443 9.80032 0.977817 4.16242 9.523811 0.944994 4.13009 9.519301 0.953653 4.11443 9.80032 0.977817 4.16242 9.523811 0.944994 4.21098 9.173641 0.929055 4.18474 9.169981 0.936083 4.16242 9.523811 0.944994 4.18474 9.169981 0.936083 4.13009 9.519301 0.953653 4.21098 9.173641 0.929055 4.25157 9.00896 0.910385 4.21181 9.002771 0.916172 4.21098 9.173641 0.929055 4.21181 9.002771 0.916172 4.18474 9.169981 0.936083 4.25157 9.00896 0.910385 4.2758 8.821591 0.883914 4.21181 9.002771 0.916172 4.2758 8.821591 0.883914 4.24044 8.8164 0.88923 4.21181 9.002771 0.916172 4.2758 8.821591 0.883914 4.26151 8.793721 0.854035 4.24044 8.8164 0.88923 4.26151 8.793721 0.854035 4.23503 8.788901 0.85592 4.24044 8.8164 0.88923 4.18474 9.169981 0.936083 4.21181 9.002771 0.916172 4.1585 9.166001 0.938325 4.13009 9.519301 0.953653 4.18474 9.169981 0.936083 4.1585 9.166001 0.938325 4.13009 9.519301 0.953653 4.1585 9.166001 0.938325 4.09777 9.5144 0.956413 4.11443 9.80032 0.977817 4.13009 9.519301 0.953653 4.06285 9.79225 0.978276 4.13009 9.519301 0.953653 4.09777 9.5144 0.956413 4.06285 9.79225 0.978276 4.06065 10.1695 0.992345 4.11443 9.80032 0.977817 4.00175 10.1603 0.992869 4.11443 9.80032 0.977817 4.06285 9.79225 0.978276 4.00175 10.1603 0.992869 3.99922 10.5853 1.0033 4.06065 10.1695 0.992345 3.93357 10.575 1.00388 4.06065 10.1695 0.992345 4.00175 10.1603 0.992869 3.93357 10.575 1.00388 2.73302 18.6864 0.781564 2.84575 17.9861 0.821338 2.76386 17.9733 0.822067 2.73302 18.6864 0.781564 2.76386 17.9733 0.822067 2.65581 18.6743 0.782251 2.65344 18.6659 0.746049 2.73302 18.6864 0.781564 2.65581 18.6743 0.782251 2.65344 18.6659 0.746049 2.65581 18.6743 0.782251 2.61969 18.6612 0.754563 2.61339 18.95 0.716295 2.65344 18.6659 0.746049 2.58189 18.9456 0.723953 2.65344 18.6659 0.746049 2.61969 18.6612 0.754563 2.58189 18.9456 0.723953 2.67455 19.0092 0.705283 2.61339 18.95 0.716295 2.6143 18.9998 0.70553 2.61339 18.95 0.716295 2.58189 18.9456 0.723953 2.6143 18.9998 0.70553 2.6143 18.9998 0.70553 2.58189 18.9456 0.723953 2.55506 18.9899 0.697559 2.58189 18.9456 0.723953 2.55294 18.9409 0.722746 2.55506 18.9899 0.697559 2.58189 18.9456 0.723953 2.61969 18.6612 0.754563 2.55294 18.9409 0.722746 2.61969 18.6612 0.754563 2.58877 18.6563 0.753394 2.55294 18.9409 0.722746 2.61969 18.6612 0.754563 2.65581 18.6743 0.782251 2.58001 18.6617 0.772184 2.61969 18.6612 0.754563 2.58001 18.6617 0.772184 2.58877 18.6563 0.753394 2.65581 18.6743 0.782251 2.76386 17.9733 0.822067 2.58001 18.6617 0.772184 2.76386 17.9733 0.822067 2.68346 17.96 0.811388 2.58001 18.6617 0.772184 3.93357 10.575 1.00388 4.00175 10.1603 0.992869 3.94391 10.1507 0.985188 3.93357 10.575 1.00388 3.94391 10.1507 0.985188 3.86911 10.5643 0.995323 4.00175 10.1603 0.992869 4.06285 9.79225 0.978276 4.0122 9.78385 0.97155 4.00175 10.1603 0.992869 4.0122 9.78385 0.97155 3.94391 10.1507 0.985188 4.06285 9.79225 0.978276 4.09777 9.5144 0.956413 4.0122 9.78385 0.97155 4.09777 9.5144 0.956413 4.06671 9.50931 0.953172 4.0122 9.78385 0.97155 4.09777 9.5144 0.956413 4.1585 9.166001 0.938325 4.13328 9.16187 0.935694 4.09777 9.5144 0.956413 4.13328 9.16187 0.935694 4.06671 9.50931 0.953172 4.1585 9.166001 0.938325 4.21181 9.002771 0.916172 4.15874 8.99387 0.909503 4.1585 9.166001 0.938325 4.15874 8.99387 0.909503 4.13328 9.16187 0.935694 4.21181 9.002771 0.916172 4.24044 8.8164 0.88923 4.205 8.81051 0.884543 4.21181 9.002771 0.916172 4.205 8.81051 0.884543 4.15874 8.99387 0.909503 4.24044 8.8164 0.88923 4.23503 8.788901 0.85592 4.205 8.81051 0.884543 4.13328 9.16187 0.935694 4.15874 8.99387 0.909503 4.11005 9.157731 0.92829 4.06671 9.50931 0.953172 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4.30872 11.5688 0.07482296 4.19017 12.0918 0.129495 4.30872 11.5688 0.07482296 4.24207 12.1003 0.08429795 4.19017 12.0918 0.129495 4.32124 11.0629 0.103453 4.36672 11.0704 0.06383895 4.2598 11.5608 0.117431 4.36672 11.0704 0.06383895 4.30872 11.5688 0.07482296 4.2598 11.5608 0.117431 4.37391 10.603 0.08769196 4.41552 10.6098 0.051458 4.32124 11.0629 0.103453 4.41552 10.6098 0.051458 4.36672 11.0704 0.06383895 4.32124 11.0629 0.103453 4.32321 10.5947 0.117431 4.37391 10.603 0.08769196 4.26581 11.0539 0.1359609 4.37391 10.603 0.08769196 4.32124 11.0629 0.103453 4.26581 11.0539 0.1359609 4.26581 11.0539 0.1359609 4.32124 11.0629 0.103453 4.20018 11.551 0.152397 4.32124 11.0629 0.103453 4.2598 11.5608 0.117431 4.20018 11.551 0.152397 4.20018 11.551 0.152397 4.2598 11.5608 0.117431 4.12694 12.0814 0.166583 4.2598 11.5608 0.117431 4.19017 12.0918 0.129495 4.12694 12.0814 0.166583 4.12694 12.0814 0.166583 4.19017 12.0918 0.129495 4.0468 12.64 0.17838 4.19017 12.0918 0.129495 4.11304 12.6508 0.139527 4.0468 12.64 0.17838 4.0468 12.64 0.17838 4.11304 12.6508 0.139527 3.96054 13.2212 0.187676 4.11304 12.6508 0.139527 4.02915 13.2325 0.147431 3.96054 13.2212 0.187676 3.96054 13.2212 0.187676 4.02915 13.2325 0.147431 3.86898 13.8197 0.194379 4.02915 13.2325 0.147431 3.9393 13.8312 0.153133 3.86898 13.8197 0.194379 3.86898 13.8197 0.194379 3.9393 13.8312 0.153133 3.77301 14.4295 0.198429 3.9393 13.8312 0.153133 3.84436 14.4412 0.156575 3.77301 14.4295 0.198429 3.77301 14.4295 0.198429 3.84436 14.4412 0.156575 3.67355 15.0448 0.199782 3.84436 14.4412 0.156575 3.74525 15.0565 0.157727 3.67355 15.0448 0.199782 3.67355 15.0448 0.199782 3.74525 15.0565 0.157727 3.64291 15.6714 0.156575 3.67355 15.0448 0.199782 3.64291 15.6714 0.156575 3.57155 15.6597 0.198428 3.57155 15.6597 0.198428 3.64291 15.6714 0.156575 3.53833 16.2798 0.153133 3.57155 15.6597 0.198428 3.53833 16.2798 0.153133 3.46801 16.2682 0.194379 3.46801 16.2682 0.194379 3.53833 16.2798 0.153133 3.43253 16.8758 0.147431 3.46801 16.2682 0.194379 3.43253 16.8758 0.147431 3.36392 16.8646 0.1876749 3.36392 16.8646 0.1876749 3.43253 16.8758 0.147431 3.32651 17.4539 0.139526 3.26027 17.443 0.1783789 3.26027 17.443 0.1783789 3.32651 17.4539 0.139526 3.22131 18.0083 0.129492 3.26027 17.443 0.1783789 3.22131 18.0083 0.129492 3.15808 17.9979 0.166582 3.1847 17.4307 0.207251 3.26027 17.443 0.1783789 3.15808 17.9979 0.166582 3.1847 17.4307 0.207251 3.15808 17.9979 0.166582 3.08593 17.9861 0.194142 3.28564 16.8518 0.217579 3.36392 16.8646 0.1876749 3.26027 17.443 0.1783789 3.28564 16.8518 0.217579 3.26027 17.443 0.1783789 3.1847 17.4307 0.207251 3.38778 16.2551 0.225029 3.46801 16.2682 0.194379 3.36392 16.8646 0.1876749 3.38778 16.2551 0.225029 3.36392 16.8646 0.1876749 3.28564 16.8518 0.217579 3.49015 15.6463 0.229528 3.57155 15.6597 0.198428 3.46801 16.2682 0.194379 3.49015 15.6463 0.229528 3.46801 16.2682 0.194379 3.38778 16.2551 0.225029 3.59175 15.0314 0.231032 3.67355 15.0448 0.199782 3.57155 15.6597 0.198428 3.59175 15.0314 0.231032 3.57155 15.6597 0.198428 3.49015 15.6463 0.229528 3.6916 14.4161 0.229528 3.77301 14.4295 0.198429 3.59175 15.0314 0.231032 3.77301 14.4295 0.198429 3.67355 15.0448 0.199782 3.59175 15.0314 0.231032 3.78875 13.8065 0.22503 3.86898 13.8197 0.194379 3.6916 14.4161 0.229528 3.86898 13.8197 0.194379 3.77301 14.4295 0.198429 3.6916 14.4161 0.229528 3.88226 13.2084 0.217579 3.96054 13.2212 0.187676 3.78875 13.8065 0.22503 3.96054 13.2212 0.187676 3.86898 13.8197 0.194379 3.78875 13.8065 0.22503 3.97123 12.6276 0.207252 4.0468 12.64 0.17838 3.88226 13.2084 0.217579 4.0468 12.64 0.17838 3.96054 13.2212 0.187676 3.88226 13.2084 0.217579 4.0548 12.0696 0.194142 4.12694 12.0814 0.166583 3.97123 12.6276 0.207252 4.12694 12.0814 0.166583 4.0468 12.64 0.17838 3.97123 12.6276 0.207252 4.13216 11.5399 0.17838 4.20018 11.551 0.152397 4.0548 12.0696 0.194142 4.20018 11.551 0.152397 4.12694 12.0814 0.166583 4.0548 12.0696 0.194142 4.20258 11.0435 0.160116 4.26581 11.0539 0.1359609 4.13216 11.5399 0.17838 4.26581 11.0539 0.1359609 4.20018 11.551 0.152397 4.13216 11.5399 0.17838 4.26538 10.5852 0.139527 4.32321 10.5947 0.117431 4.20258 11.0435 0.160116 4.32321 10.5947 0.117431 4.26581 11.0539 0.1359609 4.20258 11.0435 0.160116 4.20261 10.575 0.153135 4.26538 10.5852 0.139527 4.13397 11.0323 0.174992 4.26538 10.5852 0.139527 4.20258 11.0435 0.160116 4.13397 11.0323 0.174992 4.13397 11.0323 0.174992 4.20258 11.0435 0.160116 4.05836 11.5278 0.194382 4.20258 11.0435 0.160116 4.13216 11.5399 0.17838 4.05836 11.5278 0.194382 4.05836 11.5278 0.194382 4.13216 11.5399 0.17838 3.97652 12.0568 0.211115 4.13216 11.5399 0.17838 4.0548 12.0696 0.194142 3.97652 12.0568 0.211115 3.97652 12.0568 0.211115 4.0548 12.0696 0.194142 3.88923 12.6142 0.22503 4.0548 12.0696 0.194142 3.97123 12.6276 0.207252 3.88923 12.6142 0.22503 3.88923 12.6142 0.22503 3.97123 12.6276 0.207252 3.79732 13.1945 0.235996 3.97123 12.6276 0.207252 3.88226 13.2084 0.217579 3.79732 13.1945 0.235996 3.79732 13.1945 0.235996 3.88226 13.2084 0.217579 3.7017 13.7923 0.243903 3.88226 13.2084 0.217579 3.78875 13.8065 0.22503 3.7017 13.7923 0.243903 3.7017 13.7923 0.243903 3.78875 13.8065 0.22503 3.60327 14.4017 0.248678 3.78875 13.8065 0.22503 3.6916 14.4161 0.229528 3.60327 14.4017 0.248678 3.60327 14.4017 0.248678 3.6916 14.4161 0.229528 3.50299 15.0169 0.250276 3.6916 14.4161 0.229528 3.59175 15.0314 0.231032 3.50299 15.0169 0.250276 3.50299 15.0169 0.250276 3.59175 15.0314 0.231032 3.49015 15.6463 0.229528 3.50299 15.0169 0.250276 3.49015 15.6463 0.229528 3.40181 15.6319 0.248678 3.40181 15.6319 0.248678 3.49015 15.6463 0.229528 3.38778 16.2551 0.225029 3.40181 15.6319 0.248678 3.38778 16.2551 0.225029 3.30073 16.2408 0.243903 3.30073 16.2408 0.243903 3.38778 16.2551 0.225029 3.28564 16.8518 0.217579 3.30073 16.2408 0.243903 3.28564 16.8518 0.217579 3.2007 16.8379 0.235994 3.2007 16.8379 0.235994 3.28564 16.8518 0.217579 3.1847 17.4307 0.207251 3.2007 16.8379 0.235994 3.1847 17.4307 0.207251 3.10269 17.4172 0.225029 3.10269 17.4172 0.225029 3.1847 17.4307 0.207251 3.08593 17.9861 0.194142 3.10269 17.4172 0.225029 3.08593 17.9861 0.194142 3.00765 17.9733 0.211112 3.01741 17.4033 0.231032 3.10269 17.4172 0.225029 3.00765 17.9733 0.211112 3.01741 17.4033 0.231032 3.00765 17.9733 0.211112 2.92625 17.96 0.216843 3.11237 16.8234 0.2422119 3.2007 16.8379 0.235994 3.10269 17.4172 0.225029 3.11237 16.8234 0.2422119 3.10269 17.4172 0.225029 3.01741 17.4033 0.231032 3.21019 16.226 0.250276 3.30073 16.2408 0.243903 3.2007 16.8379 0.235994 3.21019 16.226 0.250276 3.2007 16.8379 0.235994 3.11237 16.8234 0.2422119 3.30995 15.6168 0.255144 3.40181 15.6319 0.248678 3.30073 16.2408 0.243903 3.30995 15.6168 0.255144 3.30073 16.2408 0.243903 3.21019 16.226 0.250276 3.41068 15.0017 0.256773 3.50299 15.0169 0.250276 3.40181 15.6319 0.248678 3.41068 15.0017 0.256773 3.40181 15.6319 0.248678 3.30995 15.6168 0.255144 3.51141 14.3866 0.255144 3.60327 14.4017 0.248678 3.41068 15.0017 0.256773 3.60327 14.4017 0.248678 3.50299 15.0169 0.250276 3.41068 15.0017 0.256773 3.61116 13.7774 0.250276 3.7017 13.7923 0.243903 3.51141 14.3866 0.255144 3.60327 14.4017 0.248678 3.70899 13.1801 0.2422119 3.79732 13.1945 0.235996 3.61116 13.7774 0.250276 3.79732 13.1945 0.235996 3.7017 13.7923 0.243903 3.61116 13.7774 0.250276 3.80395 12.6002 0.231032 3.88923 12.6142 0.22503 3.70899 13.1801 0.2422119 3.88923 12.6142 0.22503 3.79732 13.1945 0.235996 3.70899 13.1801 0.2422119 3.89511 12.0435 0.216843 3.97652 12.0568 0.211115 3.80395 12.6002 0.231032 3.97652 12.0568 0.211115 3.88923 12.6142 0.22503 3.80395 12.6002 0.231032 3.98161 11.5153 0.199784 4.05836 11.5278 0.194382 3.89511 12.0435 0.216843 4.05836 11.5278 0.194382 3.97652 12.0568 0.211115 3.89511 12.0435 0.216843 4.06262 11.0206 0.180015 4.13397 11.0323 0.174992 3.98161 11.5153 0.199784 4.13397 11.0323 0.174992 4.05836 11.5278 0.194382 3.98161 11.5153 0.199784 4.13734 10.5643 0.157729 4.20261 10.575 0.153135 4.06262 11.0206 0.180015 4.20261 10.575 0.153135 4.13397 11.0323 0.174992 4.06262 11.0206 0.180015 4.07207 10.5536 0.153135 4.13734 10.5643 0.157729 4.06262 11.0206 0.180015 3.99126 11.0089 0.174993 3.99126 11.0089 0.174993 4.06262 11.0206 0.180015 3.98161 11.5153 0.199784 3.99126 11.0089 0.174993 3.98161 11.5153 0.199784 3.90486 11.5027 0.194382 3.90486 11.5027 0.194382 3.98161 11.5153 0.199784 3.89511 12.0435 0.216843 3.90486 11.5027 0.194382 3.89511 12.0435 0.216843 3.8137 12.0302 0.211114 3.8137 12.0302 0.211114 3.89511 12.0435 0.216843 3.80395 12.6002 0.231032 3.8137 12.0302 0.211114 3.80395 12.6002 0.231032 3.71866 12.5862 0.22503 3.71866 12.5862 0.22503 3.80395 12.6002 0.231032 3.70899 13.1801 0.2422119 3.71866 12.5862 0.22503 3.70899 13.1801 0.2422119 3.62066 13.1656 0.235996 3.62066 13.1656 0.235996 3.70899 13.1801 0.2422119 3.61116 13.7774 0.250276 3.62066 13.1656 0.235996 3.61116 13.7774 0.250276 3.52063 13.7626 0.243903 3.52063 13.7626 0.243903 3.61116 13.7774 0.250276 3.51141 14.3866 0.255144 3.41954 14.3716 0.248678 3.41954 14.3716 0.248678 3.51141 14.3866 0.255144 3.41068 15.0017 0.256773 3.41954 14.3716 0.248678 3.41068 15.0017 0.256773 3.31837 14.9866 0.250276 3.31837 14.9866 0.250276 3.41068 15.0017 0.256773 3.21809 15.6018 0.248678 3.41068 15.0017 0.256773 3.30995 15.6168 0.255144 3.21809 15.6018 0.248678 3.21809 15.6018 0.248678 3.30995 15.6168 0.255144 3.11966 16.2112 0.243903 3.30995 15.6168 0.255144 3.21019 16.226 0.250276 3.11966 16.2112 0.243903 3.11966 16.2112 0.243903 3.21019 16.226 0.250276 3.02404 16.8089 0.235994 3.21019 16.226 0.250276 3.11237 16.8234 0.2422119 3.02404 16.8089 0.235994 3.02404 16.8089 0.235994 3.11237 16.8234 0.2422119 2.93213 17.3893 0.225029 3.11237 16.8234 0.2422119 3.01741 17.4033 0.231032 2.93213 17.3893 0.225029 2.93213 17.3893 0.225029 3.01741 17.4033 0.231032 2.84484 17.9467 0.211112 3.01741 17.4033 0.231032 2.92625 17.96 0.216843 2.84484 17.9467 0.211112 2.85013 17.3759 0.207251 2.93213 17.3893 0.225029 2.76656 17.9338 0.194142 2.93213 17.3893 0.225029 2.84484 17.9467 0.211112 2.76656 17.9338 0.194142 2.9391 16.795 0.217579 3.02404 16.8089 0.235994 2.85013 17.3759 0.207251 3.02404 16.8089 0.235994 2.93213 17.3893 0.225029 2.85013 17.3759 0.207251 3.03261 16.1969 0.225029 3.11966 16.2112 0.243903 2.9391 16.795 0.217579 3.11966 16.2112 0.243903 3.02404 16.8089 0.235994 2.9391 16.795 0.217579 3.12976 15.5873 0.229528 3.21809 15.6018 0.248678 3.03261 16.1969 0.225029 3.21809 15.6018 0.248678 3.11966 16.2112 0.243903 3.03261 16.1969 0.225029 3.22961 14.9721 0.231032 3.31837 14.9866 0.250276 3.12976 15.5873 0.229528 3.31837 14.9866 0.250276 3.21809 15.6018 0.248678 3.12976 15.5873 0.229528 3.33121 14.3571 0.229528 3.41954 14.3716 0.248678 3.31837 14.9866 0.250276 3.33121 14.3571 0.229528 3.31837 14.9866 0.250276 3.22961 14.9721 0.231032 3.43358 13.7484 0.22503 3.52063 13.7626 0.243903 3.41954 14.3716 0.248678 3.43358 13.7484 0.22503 3.41954 14.3716 0.248678 3.33121 14.3571 0.229528 3.53572 13.1517 0.217579 3.62066 13.1656 0.235996 3.52063 13.7626 0.243903 3.53572 13.1517 0.217579 3.52063 13.7626 0.243903 3.43358 13.7484 0.22503 3.63666 12.5728 0.207252 3.71866 12.5862 0.22503 3.62066 13.1656 0.235996 3.63666 12.5728 0.207252 3.62066 13.1656 0.235996 3.53572 13.1517 0.217579 3.73542 12.0173 0.194142 3.8137 12.0302 0.211114 3.71866 12.5862 0.22503 3.73542 12.0173 0.194142 3.71866 12.5862 0.22503 3.63666 12.5728 0.207252 3.83106 11.4906 0.17838 3.90486 11.5027 0.194382 3.8137 12.0302 0.211114 3.83106 11.4906 0.17838 3.8137 12.0302 0.211114 3.73542 12.0173 0.194142 3.92265 10.9977 0.160116 3.99126 11.0089 0.174993 3.90486 11.5027 0.194382 3.92265 10.9977 0.160116 3.90486 11.5027 0.194382 3.83106 11.4906 0.17838 4.00931 10.5433 0.139527 4.07207 10.5536 0.153135 3.99126 11.0089 0.174993 4.00931 10.5433 0.139527 3.99126 11.0089 0.174993 3.92265 10.9977 0.160116 3.95146 10.5338 0.117431 4.00931 10.5433 0.139527 3.92265 10.9977 0.160116 3.95146 10.5338 0.117431 3.92265 10.9977 0.160116 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-0.342015 15.0565 -2.81848 -0.272792 15.0448 -2.7744 -0.272792 15.0448 -2.7744 -0.342015 15.0565 -2.81848 -0.260177 15.6597 -2.70301 -0.342015 15.0565 -2.81848 -0.329067 15.6714 -2.74686 -0.260177 15.6597 -2.70301 -0.260177 15.6597 -2.70301 -0.329067 15.6714 -2.74686 -0.251123 16.2682 -2.63014 -0.329067 15.6714 -2.74686 -0.319017 16.2798 -2.67337 -0.251123 16.2682 -2.63014 -0.251123 16.2682 -2.63014 -0.319017 16.2798 -2.67337 -0.245718 16.8646 -2.55652 -0.319017 16.2798 -2.67337 -0.31196 16.8758 -2.59869 -0.245718 16.8646 -2.55652 -0.245718 16.8646 -2.55652 -0.31196 16.8758 -2.59869 -0.244014 17.443 -2.48284 -0.31196 16.8758 -2.59869 -0.307967 17.4539 -2.52355 -0.244014 17.443 -2.48284 -0.244014 17.443 -2.48284 -0.307967 17.4539 -2.52355 -0.246026 17.9979 -2.40981 -0.307967 17.4539 -2.52355 -0.307075 18.0083 -2.44868 -0.246026 17.9979 -2.40981 -0.192741 17.4307 -2.43418 -0.244014 17.443 -2.48284 -0.197082 17.9861 -2.36337 -0.244014 17.443 -2.48284 -0.246026 17.9979 -2.40981 -0.197082 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-1.0208 -3.25441 14.3438 -1.0208 -3.3201 14.3571 -1.06681 -3.15601 14.9587 -1.00183 -3.3201 14.3571 -1.06681 -3.22201 14.9721 -1.04807 -3.15601 14.9587 -1.00183 -3.15601 14.9587 -1.00183 -3.22201 14.9721 -1.04807 -3.06112 15.574 -0.980764 -3.22201 14.9721 -1.04807 -3.1268 15.5873 -1.02678 -3.06112 15.574 -0.980764 -3.06112 15.574 -0.980764 -3.1268 15.5873 -1.02678 -2.97065 16.1838 -0.957809 -3.1268 15.5873 -1.02678 -3.03539 16.1969 -1.00316 -2.97065 16.1838 -0.957809 -2.97065 16.1838 -0.957809 -3.03539 16.1969 -1.00316 -2.88548 16.7822 -0.933183 -3.03539 16.1969 -1.00316 -2.94864 16.795 -0.977431 -2.88548 16.7822 -0.933183 -2.88548 16.7822 -0.933183 -2.94864 16.795 -0.977431 -2.80642 17.3635 -0.907122 -2.94864 16.795 -0.977431 -2.8674 17.3759 -0.949842 -2.80642 17.3635 -0.907122 -2.80642 17.3635 -0.907122 -2.8674 17.3759 -0.949842 -2.73424 17.922 -0.87988 -2.8674 17.3759 -0.949842 -2.79245 17.9338 -0.920659 -2.73424 17.922 -0.87988 -2.75838 17.3527 -0.85668 -2.80642 17.3635 -0.907122 -2.68839 17.9117 -0.831728 -2.80642 17.3635 -0.907122 -2.73424 17.922 -0.87988 -2.68839 17.9117 -0.831728 -2.83572 16.771 -0.880935 -2.88548 16.7822 -0.933183 -2.75838 17.3527 -0.85668 -2.88548 16.7822 -0.933183 -2.80642 17.3635 -0.907122 -2.75838 17.3527 -0.85668 -2.91965 16.1723 -0.90426 -2.97065 16.1838 -0.957809 -2.83572 16.771 -0.880935 -2.97065 16.1838 -0.957809 -2.88548 16.7822 -0.933183 -2.83572 16.771 -0.880935 -3.00937 15.5623 -0.926429 -3.06112 15.574 -0.980764 -2.91965 16.1723 -0.90426 -3.06112 15.574 -0.980764 -2.97065 16.1838 -0.957809 -2.91965 16.1723 -0.90426 -3.10401 14.9469 -0.947228 -3.15601 14.9587 -1.00183 -3.00937 15.5623 -0.926429 -3.15601 14.9587 -1.00183 -3.06112 15.574 -0.980764 -3.00937 15.5623 -0.926429 -3.20267 14.3321 -0.96646 -3.25441 14.3438 -1.0208 -3.10401 14.9469 -0.947228 -3.25441 14.3438 -1.0208 -3.15601 14.9587 -1.00183 -3.10401 14.9469 -0.947228 -3.30438 13.7237 -0.983937 -3.35538 13.7352 -1.03749 -3.20267 14.3321 -0.96646 -3.35538 13.7352 -1.03749 -3.25441 14.3438 -1.0208 -3.20267 14.3321 -0.96646 -3.40818 13.1276 -0.99949 -3.45793 13.1389 -1.05174 -3.30438 13.7237 -0.983937 -3.45793 13.1389 -1.05174 -3.35538 13.7352 -1.03749 -3.30438 13.7237 -0.983937 -3.51305 12.5496 -1.01297 -3.56109 12.5604 -1.06341 -3.40818 13.1276 -0.99949 -3.56109 12.5604 -1.06341 -3.45793 13.1389 -1.05174 -3.40818 13.1276 -0.99949 -3.61801 11.9952 -1.02425 -3.66386 12.0055 -1.0724 -3.51305 12.5496 -1.01297 -3.66386 12.0055 -1.0724 -3.56109 12.5604 -1.06341 -3.51305 12.5496 -1.01297 -3.72202 11.4697 -1.03322 -3.76525 11.4795 -1.07861 -3.61801 11.9952 -1.02425 -3.76525 11.4795 -1.07861 -3.66386 12.0055 -1.0724 -3.61801 11.9952 -1.02425 -3.82409 10.9782 -1.03979 -3.86428 10.9873 -1.08199 -3.72202 11.4697 -1.03322 -3.86428 10.9873 -1.08199 -3.76525 11.4795 -1.07861 -3.72202 11.4697 -1.03322 -3.92324 10.5255 -1.0439 -3.96 10.5338 -1.0825 -3.82409 10.9782 -1.03979 -3.96 10.5338 -1.0825 -3.86428 10.9873 -1.08199 -3.82409 10.9782 -1.03979 -3.89779 10.5187 -1.00086 -3.92324 10.5255 -1.0439 -3.79627 10.9708 -0.99274 -3.92324 10.5255 -1.0439 -3.82409 10.9782 -1.03979 -3.79627 10.9708 -0.99274 -3.79627 10.9708 -0.99274 -3.82409 10.9782 -1.03979 -3.69209 11.4617 -0.982613 -3.82409 10.9782 -1.03979 -3.72202 11.4697 -1.03322 -3.69209 11.4617 -0.982613 -3.69209 11.4617 -0.982613 -3.72202 11.4697 -1.03322 -3.58627 11.9867 -0.970575 -3.72202 11.4697 -1.03322 -3.61801 11.9952 -1.02425 -3.58627 11.9867 -0.970575 -3.58627 11.9867 -0.970575 -3.61801 11.9952 -1.02425 -3.4798 12.5407 -0.956742 -3.61801 11.9952 -1.02425 -3.51305 12.5496 -1.01297 -3.4798 12.5407 -0.956742 -3.4798 12.5407 -0.956742 -3.51305 12.5496 -1.01297 -3.37374 13.1184 -0.94125 -3.51305 12.5496 -1.01297 -3.40818 13.1276 -0.99949 -3.37374 13.1184 -0.94125 -3.37374 13.1184 -0.94125 -3.40818 13.1276 -0.99949 -3.26908 13.7143 -0.924245 -3.40818 13.1276 -0.99949 -3.30438 13.7237 -0.983937 -3.26908 13.7143 -0.924245 -3.26908 13.7143 -0.924245 -3.30438 13.7237 -0.983937 -3.16685 14.3225 -0.905892 -3.30438 13.7237 -0.983937 -3.20267 14.3321 -0.96646 -3.16685 14.3225 -0.905892 -3.16685 14.3225 -0.905892 -3.20267 14.3321 -0.96646 -3.06802 14.9373 -0.886368 -3.20267 14.3321 -0.96646 -3.10401 14.9469 -0.947228 -3.06802 14.9373 -0.886368 -3.06802 14.9373 -0.886368 -3.10401 14.9469 -0.947228 -2.97355 15.5527 -0.865861 -3.10401 14.9469 -0.947228 -3.00937 15.5623 -0.926429 -2.97355 15.5527 -0.865861 -2.97355 15.5527 -0.865861 -3.00937 15.5623 -0.926429 -2.88435 16.1628 -0.844568 -3.00937 15.5623 -0.926429 -2.91965 16.1723 -0.90426 -2.88435 16.1628 -0.844568 -2.88435 16.1628 -0.844568 -2.91965 16.1723 -0.90426 -2.80128 16.7618 -0.822696 -2.91965 16.1723 -0.90426 -2.83572 16.771 -0.880935 -2.80128 16.7618 -0.822696 -2.80128 16.7618 -0.822696 -2.83572 16.771 -0.880935 -2.72513 17.3437 -0.800452 -2.83572 16.771 -0.880935 -2.75838 17.3527 -0.85668 -2.72513 17.3437 -0.800452 -2.72513 17.3437 -0.800452 -2.75838 17.3527 -0.85668 -2.65665 17.9032 -0.778052 -2.68839 17.9117 -0.831728 -2.70795 17.3371 -0.740599 -2.72513 17.3437 -0.800452 -2.64024 17.8969 -0.720919 -2.72513 17.3437 -0.800452 -2.65665 17.9032 -0.778052 -2.64024 17.8969 -0.720919 -2.78348 16.7549 -0.760701 -2.80128 16.7618 -0.822696 -2.70795 17.3371 -0.740599 -2.80128 16.7618 -0.822696 -2.72513 17.3437 -0.800452 -2.70795 17.3371 -0.740599 -2.86611 16.1558 -0.78103 -2.88435 16.1628 -0.844568 -2.78348 16.7549 -0.760701 -2.88435 16.1628 -0.844568 -2.80128 16.7618 -0.822696 -2.78348 16.7549 -0.760701 -2.95504 15.5456 -0.801389 -2.97355 15.5527 -0.865861 -2.86611 16.1558 -0.78103 -2.97355 15.5527 -0.865861 -2.88435 16.1628 -0.844568 -2.86611 16.1558 -0.78103 -3.04942 14.9302 -0.821585 -3.06802 14.9373 -0.886368 -2.95504 15.5456 -0.801389 -3.06802 14.9373 -0.886368 -2.97355 15.5527 -0.865861 -2.95504 15.5456 -0.801389 -3.14834 14.3154 -0.841419 -3.16685 14.3225 -0.905892 -3.04942 14.9302 -0.821585 -3.06802 14.9373 -0.886368 -3.25084 13.7072 -0.860705 -3.26908 13.7143 -0.924245 -3.14834 14.3154 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17.9117 0.668944 -2.73424 17.922 0.717097 -2.8674 17.3759 0.787058 -2.80642 17.3635 0.744338 -2.73424 17.922 0.717097 -2.8674 17.3759 0.787058 -2.73424 17.922 0.717097 -2.79245 17.9338 0.757874 -2.94864 16.795 0.814647 -2.88548 16.7822 0.7704 -2.80642 17.3635 0.744338 -2.94864 16.795 0.814647 -2.80642 17.3635 0.744338 -2.8674 17.3759 0.787058 -3.03539 16.1969 0.840377 -2.97065 16.1838 0.795026 -2.88548 16.7822 0.7704 -3.03539 16.1969 0.840377 -2.88548 16.7822 0.7704 -2.94864 16.795 0.814647 -3.12681 15.5873 0.863998 -3.06112 15.574 0.817981 -2.97065 16.1838 0.795026 -3.12681 15.5873 0.863998 -2.97065 16.1838 0.795026 -3.03539 16.1969 0.840377 -3.22201 14.9721 0.885283 -3.15601 14.9587 0.839045 -3.06112 15.574 0.817981 -3.22201 14.9721 0.885283 -3.06112 15.574 0.817981 -3.12681 15.5873 0.863998 -3.3201 14.3571 0.904029 -3.25441 14.3438 0.858014 -3.15601 14.9587 0.839045 -3.22201 14.9721 0.885283 -3.42011 13.7484 0.920054 -3.35538 13.7352 0.874703 -3.25441 14.3438 0.858014 -3.42011 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15.0662 2.68948 -0.342019 15.0565 2.65569 -0.32907 15.6714 2.58408 -0.422308 15.0662 2.68948 -0.32907 15.6714 2.58408 -0.408973 15.681 2.61771 -0.408973 15.681 2.61771 -0.32907 15.6714 2.58408 -0.31902 16.2798 2.51058 -0.408973 15.681 2.61771 -0.31902 16.2798 2.51058 -0.397766 16.2892 2.54372 -0.397766 16.2892 2.54372 -0.31902 16.2798 2.51058 -0.311964 16.8758 2.43591 -0.397766 16.2892 2.54372 -0.311964 16.8758 2.43591 -0.388796 16.8851 2.46824 -0.388796 16.8851 2.46824 -0.311964 16.8758 2.43591 -0.307971 17.4539 2.36077 -0.388796 16.8851 2.46824 -0.307971 17.4539 2.36077 -0.382148 17.4628 2.39198 -0.382148 17.4628 2.39198 -0.307971 17.4539 2.36077 -0.307079 18.0083 2.28589 -0.377888 18.0168 2.31569 -0.463699 17.4694 2.4125 -0.382148 17.4628 2.39198 -0.377888 18.0168 2.31569 -0.463699 17.4694 2.4125 -0.377888 18.0168 2.31569 -0.455734 18.0231 2.33527 -0.473265 16.8919 2.48949 -0.388796 16.8851 2.46824 -0.382148 17.4628 2.39198 -0.473265 16.8919 2.48949 -0.382148 17.4628 2.39198 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0.622894 17.922 1.85275 0.650855 17.3635 1.90702 0.702127 17.3759 1.95567 0.622894 17.922 1.85275 0.702127 17.3759 1.95567 0.671838 17.9338 1.89919 0.650855 17.3635 1.90702 0.676177 16.7822 1.96592 0.729284 16.795 2.01631 0.702127 17.3759 1.95567 0.676177 16.7822 1.96592 0.698616 16.1838 2.02888 0.753047 16.1969 2.08053 0.676177 16.7822 1.96592 0.753047 16.1969 2.08053 0.729284 16.795 2.01631 0.698616 16.1838 2.02888 0.717956 15.574 2.09531 0.773186 15.5873 2.14772 0.698616 16.1838 2.02888 0.773186 15.5873 2.14772 0.753047 16.1969 2.08053 0.717956 15.574 2.09531 0.734011 14.9587 2.16456 0.789508 14.9721 2.21722 0.717956 15.574 2.09531 0.789508 14.9721 2.21722 0.773186 15.5873 2.14772 0.734011 14.9587 2.16456 0.746627 14.3438 2.23595 0.801856 14.3571 2.28836 0.734011 14.9587 2.16456 0.801856 14.3571 2.28836 0.789508 14.9721 2.21722 0.746627 14.3438 2.23595 0.75568 13.7352 2.30882 0.810111 13.7484 2.36047 0.746627 14.3438 2.23595 0.810111 13.7484 2.36047 0.801856 14.3571 2.28836 0.75568 13.7352 2.30882 0.761085 13.1389 2.38244 0.814192 13.1517 2.43284 0.810111 13.7484 2.36047 0.761085 13.1389 2.38244 0.76279 12.5604 2.45612 0.814063 12.5728 2.50478 0.761085 13.1389 2.38244 0.814063 12.5728 2.50478 0.814192 13.1517 2.43284 0.76279 12.5604 2.45612 0.760778 12.0055 2.52915 0.809721 12.0173 2.57559 0.76279 12.5604 2.45612 0.809721 12.0173 2.57559 0.814063 12.5728 2.50478 0.760778 12.0055 2.52915 0.755068 11.4795 2.60082 0.801211 11.4906 2.6446 0.760778 12.0055 2.52915 0.801211 11.4906 2.6446 0.809721 12.0173 2.57559 0.755068 11.4795 2.60082 0.745715 10.9873 2.67043 0.788615 10.9977 2.71114 0.755068 11.4795 2.60082 0.788615 10.9977 2.71114 0.801211 11.4906 2.6446 0.745715 10.9873 2.67043 0.73281 10.5338 2.73733 0.772052 10.5433 2.77457 0.745715 10.9873 2.67043 0.772052 10.5433 2.77457 0.788615 10.9977 2.71114 0.788615 10.9977 2.71114 0.772052 10.5433 2.77457 0.80008 10.5536 2.81645 0.788615 10.9977 2.71114 0.80008 10.5536 2.81645 0.819255 11.0089 2.75693 0.801211 11.4906 2.6446 0.788615 10.9977 2.71114 0.819255 11.0089 2.75693 0.801211 11.4906 2.6446 0.819255 11.0089 2.75693 0.834169 11.5027 2.69385 0.809721 12.0173 2.57559 0.801211 11.4906 2.6446 0.834169 11.5027 2.69385 0.809721 12.0173 2.57559 0.834169 11.5027 2.69385 0.844679 12.0302 2.62783 0.814063 12.5728 2.50478 0.809721 12.0173 2.57559 0.844679 12.0302 2.62783 0.814063 12.5728 2.50478 0.844679 12.0302 2.62783 0.850683 12.5862 2.55949 0.814192 13.1517 2.43284 0.814063 12.5728 2.50478 0.850683 12.5862 2.55949 0.814192 13.1517 2.43284 0.850683 12.5862 2.55949 0.852123 13.1656 2.48951 0.810111 13.7484 2.36047 0.814192 13.1517 2.43284 0.852123 13.1656 2.48951 0.810111 13.7484 2.36047 0.852123 13.1656 2.48951 0.848987 13.7626 2.41856 0.801856 14.3571 2.28836 0.810111 13.7484 2.36047 0.848987 13.7626 2.41856 0.801856 14.3571 2.28836 0.848987 13.7626 2.41856 0.841303 14.3716 2.3473 0.789508 14.9721 2.21722 0.801856 14.3571 2.28836 0.841303 14.3716 2.3473 0.789508 14.9721 2.21722 0.841303 14.3716 2.3473 0.829146 14.9866 2.27644 0.773186 15.5873 2.14772 0.789508 14.9721 2.21722 0.829146 14.9866 2.27644 0.773186 15.5873 2.14772 0.829146 14.9866 2.27644 0.812633 15.6018 2.20666 0.753047 16.1969 2.08053 0.773186 15.5873 2.14772 0.812633 15.6018 2.20666 0.753047 16.1969 2.08053 0.812633 15.6018 2.20666 0.791923 16.2112 2.13862 0.729284 16.795 2.01631 0.753047 16.1969 2.08053 0.791923 16.2112 2.13862 0.729284 16.795 2.01631 0.791923 16.2112 2.13862 0.767215 16.8089 2.07299 0.702127 17.3759 1.95567 0.729284 16.795 2.01631 0.767215 16.8089 2.07299 0.702127 17.3759 1.95567 0.767215 16.8089 2.07299 0.738748 17.3893 2.01039 0.671838 17.9338 1.89919 0.702127 17.3759 1.95567 0.738748 17.3893 2.01039 0.706795 17.9467 1.95143 0.706795 17.9467 1.95143 0.738748 17.3893 2.01039 0.759309 17.4033 2.06907 0.706795 17.9467 1.95143 0.759309 17.4033 2.06907 0.726422 17.96 2.00745 0.738748 17.3893 2.01039 0.767215 16.8089 2.07299 0.788512 16.8234 2.13377 0.738748 17.3893 2.01039 0.788512 16.8234 2.13377 0.759309 17.4033 2.06907 0.767215 16.8089 2.07299 0.791923 16.2112 2.13862 0.81375 16.226 2.20092 0.767215 16.8089 2.07299 0.81375 16.226 2.20092 0.788512 16.8234 2.13377 0.791923 16.2112 2.13862 0.812633 15.6018 2.20666 0.834781 15.6168 2.26987 0.791923 16.2112 2.13862 0.834781 15.6168 2.26987 0.81375 16.226 2.20092 0.812633 15.6018 2.20666 0.829146 14.9866 2.27644 0.851401 15.0017 2.33996 0.812633 15.6018 2.20666 0.851401 15.0017 2.33996 0.834781 15.6168 2.26987 0.829146 14.9866 2.27644 0.841303 14.3716 2.3473 0.863451 14.3866 2.41052 0.851401 15.0017 2.33996 0.841303 14.3716 2.3473 0.848987 13.7626 2.41856 0.870815 13.7774 2.48085 0.841303 14.3716 2.3473 0.870815 13.7774 2.48085 0.863451 14.3866 2.41052 0.848987 13.7626 2.41856 0.852123 13.1656 2.48951 0.873421 13.1801 2.5503 0.848987 13.7626 2.41856 0.873421 13.1801 2.5503 0.870815 13.7774 2.48085 0.852123 13.1656 2.48951 0.850683 12.5862 2.55949 0.871244 12.6002 2.61818 0.873421 13.1801 2.5503 0.850683 12.5862 2.55949 0.844679 12.0302 2.62783 0.864306 12.0435 2.68385 0.850683 12.5862 2.55949 0.864306 12.0435 2.68385 0.871244 12.6002 2.61818 0.844679 12.0302 2.62783 0.834169 11.5027 2.69385 0.852674 11.5153 2.74666 0.844679 12.0302 2.62783 0.852674 11.5153 2.74666 0.864306 12.0435 2.68385 0.834169 11.5027 2.69385 0.819255 11.0089 2.75693 0.836458 11.0206 2.80603 0.834169 11.5027 2.69385 0.836458 11.0206 2.80603 0.852674 11.5153 2.74666 0.819255 11.0089 2.75693 0.80008 10.5536 2.81645 0.815817 10.5643 2.86137 0.819255 11.0089 2.75693 0.815817 10.5643 2.86137 0.836458 11.0206 2.80603 0.836458 11.0206 2.80603 0.815817 10.5643 2.86137 0.818658 10.575 2.90759 0.836458 11.0206 2.80603 0.818658 10.575 2.90759 0.839564 11.0323 2.85656 0.852674 11.5153 2.74666 0.836458 11.0206 2.80603 0.839564 11.0323 2.85656 0.852674 11.5153 2.74666 0.839564 11.0323 2.85656 0.856014 11.5278 2.80101 0.864306 12.0435 2.68385 0.852674 11.5153 2.74666 0.856014 11.5278 2.80101 0.86785 12.0568 2.74149 0.871244 12.6002 2.61818 0.864306 12.0435 2.68385 0.86785 12.0568 2.74149 0.871244 12.6002 2.61818 0.86785 12.0568 2.74149 0.874956 12.6142 2.67857 0.873421 13.1801 2.5503 0.871244 12.6002 2.61818 0.874956 12.6142 2.67857 0.873421 13.1801 2.5503 0.874956 12.6142 2.67857 0.877265 13.1945 2.61285 0.870815 13.7774 2.48085 0.873421 13.1801 2.5503 0.877265 13.1945 2.61285 0.874755 13.7923 2.54496 0.863451 14.3866 2.41052 0.870815 13.7774 2.48085 0.874755 13.7923 2.54496 0.863451 14.3866 2.41052 0.874755 13.7923 2.54496 0.86745 14.4017 2.47557 0.851401 15.0017 2.33996 0.863451 14.3866 2.41052 0.86745 14.4017 2.47557 0.851401 15.0017 2.33996 0.86745 14.4017 2.47557 0.855419 15.0169 2.40533 0.834781 15.6168 2.26987 0.851401 15.0017 2.33996 0.855419 15.0169 2.40533 0.834781 15.6168 2.26987 0.855419 15.0169 2.40533 0.83878 15.6319 2.33493 0.81375 16.226 2.20092 0.834781 15.6168 2.26987 0.83878 15.6319 2.33493 0.81375 16.226 2.20092 0.83878 15.6319 2.33493 0.817691 16.2408 2.26503 0.788512 16.8234 2.13377 0.81375 16.226 2.20092 0.817691 16.2408 2.26503 0.788512 16.8234 2.13377 0.817691 16.2408 2.26503 0.792357 16.8379 2.19633 0.759309 17.4033 2.06907 0.788512 16.8234 2.13377 0.792357 16.8379 2.19633 0.759309 17.4033 2.06907 0.792357 16.8379 2.19633 0.763021 17.4172 2.12947 0.726422 17.96 2.00745 0.759309 17.4033 2.06907 0.763021 17.4172 2.12947 0.726422 17.96 2.00745 0.763021 17.4172 2.12947 0.729966 17.9733 2.06509 0.729966 17.9733 2.06509 0.763021 17.4172 2.12947 0.749741 17.4307 2.18924 0.729966 17.9733 2.06509 0.749741 17.4307 2.18924 0.717289 17.9861 2.12216 0.763021 17.4172 2.12947 0.792357 16.8379 2.19633 0.778602 16.8518 2.25824 0.763021 17.4172 2.12947 0.778602 16.8518 2.25824 0.749741 17.4307 2.18924 0.792357 16.8379 2.19633 0.817691 16.2408 2.26503 0.803593 16.2551 2.3285 0.792357 16.8379 2.19633 0.803593 16.2551 2.3285 0.778602 16.8518 2.25824 0.817691 16.2408 2.26503 0.83878 15.6319 2.33493 0.824475 15.6463 2.39932 0.817691 16.2408 2.26503 0.824475 15.6463 2.39932 0.803593 16.2551 2.3285 0.83878 15.6319 2.33493 0.855419 15.0169 2.40533 0.841045 15.0314 2.47004 0.824475 15.6463 2.39932 0.855419 15.0169 2.40533 0.86745 14.4017 2.47557 0.853145 14.4161 2.53996 0.855419 15.0169 2.40533 0.853145 14.4161 2.53996 0.841045 15.0314 2.47004 0.86745 14.4017 2.47557 0.874755 13.7923 2.54496 0.860657 13.8065 2.60843 0.86745 14.4017 2.47557 0.860657 13.8065 2.60843 0.853145 14.4161 2.53996 0.874755 13.7923 2.54496 0.877265 13.1945 2.61285 0.86351 13.2084 2.67477 0.874755 13.7923 2.54496 0.86351 13.2084 2.67477 0.860657 13.8065 2.60843 0.877265 13.1945 2.61285 0.874956 12.6142 2.67857 0.861676 12.6276 2.73835 0.877265 13.1945 2.61285 0.861676 12.6276 2.73835 0.86351 13.2084 2.67477 0.874956 12.6142 2.67857 0.86785 12.0568 2.74149 0.855173 12.0696 2.79856 0.874956 12.6142 2.67857 0.855173 12.0696 2.79856 0.861676 12.6276 2.73835 0.86785 12.0568 2.74149 0.856014 11.5278 2.80101 0.844063 11.5399 2.85481 0.86785 12.0568 2.74149 0.844063 11.5399 2.85481 0.855173 12.0696 2.79856 0.856014 11.5278 2.80101 0.839564 11.0323 2.85656 0.828453 11.0435 2.90657 0.856014 11.5278 2.80101 0.828453 11.0435 2.90657 0.844063 11.5399 2.85481 0.839564 11.0323 2.85656 0.818658 10.575 2.90759 0.808494 10.5853 2.95334 0.839564 11.0323 2.85656 0.808494 10.5853 2.95334 0.828453 11.0435 2.90657 0.828453 11.0435 2.90657 0.808494 10.5853 2.95334 0.785716 10.5947 2.99687 0.828453 11.0435 2.90657 0.785716 10.5947 2.99687 0.803552 11.0539 2.95416 0.844063 11.5399 2.85481 0.828453 11.0435 2.90657 0.803552 11.0539 2.95416 0.817278 11.551 2.90599 0.855173 12.0696 2.79856 0.844063 11.5399 2.85481 0.817278 11.551 2.90599 0.855173 12.0696 2.79856 0.817278 11.551 2.90599 0.826763 12.0814 2.85284 0.861676 12.6276 2.73835 0.855173 12.0696 2.79856 0.826763 12.0814 2.85284 0.861676 12.6276 2.73835 0.826763 12.0814 2.85284 0.831915 12.64 2.79522 0.86351 13.2084 2.67477 0.861676 12.6276 2.73835 0.831915 12.64 2.79522 0.86351 13.2084 2.67477 0.831915 12.64 2.79522 0.832684 13.2212 2.73367 0.860657 13.8065 2.60843 0.86351 13.2084 2.67477 0.832684 13.2212 2.73367 0.860657 13.8065 2.60843 0.832684 13.2212 2.73367 0.829063 13.8197 2.6688 0.853145 14.4161 2.53996 0.860657 13.8065 2.60843 0.829063 13.8197 2.6688 0.853145 14.4161 2.53996 0.829063 13.8197 2.6688 0.821086 14.4295 2.60122 0.841045 15.0314 2.47004 0.853145 14.4161 2.53996 0.821086 14.4295 2.60122 0.841045 15.0314 2.47004 0.821086 14.4295 2.60122 0.808831 15.0448 2.53159 0.824475 15.6463 2.39932 0.841045 15.0314 2.47004 0.808831 15.0448 2.53159 0.824475 15.6463 2.39932 0.808831 15.0448 2.53159 0.792416 15.6597 2.46058 0.803593 16.2551 2.3285 0.824475 15.6463 2.39932 0.792416 15.6597 2.46058 0.803593 16.2551 2.3285 0.792416 15.6597 2.46058 0.771999 16.2682 2.38887 0.778602 16.8518 2.25824 0.803593 16.2551 2.3285 0.771999 16.2682 2.38887 0.778602 16.8518 2.25824 0.771999 16.2682 2.38887 0.747775 16.8646 2.31715 0.749741 17.4307 2.18924 0.778602 16.8518 2.25824 0.747775 16.8646 2.31715 0.749741 17.4307 2.18924 0.747775 16.8646 2.31715 0.719979 17.443 2.24611 0.717289 17.9861 2.12216 0.749741 17.4307 2.18924 0.719979 17.443 2.24611 0.717289 17.9861 2.12216 0.719979 17.443 2.24611 0.688879 17.9979 2.17645 0.688879 17.9979 2.17645 0.719979 17.443 2.24611 0.67488 17.4539 2.29789 0.688879 17.9979 2.17645 0.67488 17.4539 2.29789 0.645828 18.0083 2.22587 0.719979 17.443 2.24611 0.747775 16.8646 2.31715 0.701062 16.8758 2.37078 0.719979 17.443 2.24611 0.701062 16.8758 2.37078 0.67488 17.4539 2.29789 0.747775 16.8646 2.31715 0.771999 16.2682 2.38887 0.724122 16.2798 2.44383 0.747775 16.8646 2.31715 0.724122 16.2798 2.44383 0.701062 16.8758 2.37078 0.771999 16.2682 2.38887 0.792416 15.6597 2.46058 0.743836 15.6714 2.51635 0.771999 16.2682 2.38887 0.743836 15.6714 2.51635 0.724122 16.2798 2.44383 0.792416 15.6597 2.46058 0.808831 15.0448 2.53159 0.760016 15.0565 2.58763 0.792416 15.6597 2.46058 0.760016 15.0565 2.58763 0.743836 15.6714 2.51635 0.808831 15.0448 2.53159 0.821086 14.4295 2.60122 0.772506 14.4412 2.65699 0.808831 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1601 1634

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\ No newline at end of file diff --git a/hand_model/shadow_hand_description/meshes/palm.mtl b/hand_model/shadow_hand_description/meshes/palm.mtl new file mode 100644 index 0000000000000000000000000000000000000000..be3d9306d9d4c9a8cb23321229e2c52c74cb313d --- /dev/null +++ b/hand_model/shadow_hand_description/meshes/palm.mtl @@ -0,0 +1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl black_spec.004 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.163550 0.163550 0.163550 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 0.000000 +illum 9 diff --git a/hand_model/shadow_hand_description/meshes/palm.obj b/hand_model/shadow_hand_description/meshes/palm.obj new file mode 100644 index 0000000000000000000000000000000000000000..dc81532f98245d5d874969c7b6ca1b77e397dae1 --- /dev/null +++ b/hand_model/shadow_hand_description/meshes/palm.obj @@ -0,0 +1,14796 @@ +# Blender v3.0.0 OBJ File: '' +# www.blender.org +mtllib palm.mtl +o palm_palm_001 +v 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\ No newline at end of file diff --git a/hand_model/shadow_hand_description/meshes/wrist.mtl b/hand_model/shadow_hand_description/meshes/wrist.mtl new file mode 100644 index 0000000000000000000000000000000000000000..9ba822a973873ba18c9f1f9edb70d4840bbe7512 --- /dev/null +++ b/hand_model/shadow_hand_description/meshes/wrist.mtl @@ -0,0 +1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl osg2mat0.001 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.900000 0.900000 0.900000 +Ks 0.000000 0.000000 0.000000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 0.000000 +illum 1 diff --git a/hand_model/shadow_hand_description/meshes/wrist.obj b/hand_model/shadow_hand_description/meshes/wrist.obj new file mode 100644 index 0000000000000000000000000000000000000000..30a91b7f6410cfa2b2374ee6abde6577dc39149c --- /dev/null +++ b/hand_model/shadow_hand_description/meshes/wrist.obj @@ -0,0 +1,4362 @@ +# Blender v3.0.0 OBJ File: '' +# www.blender.org +mtllib wrist.mtl +o wrist_wrist_001 +v 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--- /dev/null +++ b/hand_model/shadow_hand_description/package.xml @@ -0,0 +1,35 @@ + + + sr_grasp_description + 0.0.1 + Description of the Shadow Hand robot. + Private + https://github.com/shadow-robot/sr-grasp-stabilisation/wiki/sr_grasp_description + + Shadow Robot's software team + Mark Pitchless + + + + + + + + + + + + + catkin + xacro + xacro + + + + + + + + + + diff --git a/hand_model/shadow_hand_description/simox/README.md b/hand_model/shadow_hand_description/simox/README.md new file mode 100644 index 0000000000000000000000000000000000000000..cb3e2c37a08d427cd45599e4526b00b17c29bd56 --- /dev/null +++ b/hand_model/shadow_hand_description/simox/README.md @@ -0,0 +1,3 @@ +The XML file inside this folder defines the Shadow hand model for Simox. + +Simox (http://simox.sourceforge.net) is a leightweight platform indepedent C++ toolbox containing three libraries for 3D simulation of robot systems, sampling based motion planning and grasp planning. diff --git 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+ + + + + + + + + + + + + + + + + + + + + + thmiddle_geom + 100.0 + + true + 100.0 + thmiddle + thmiddle_bumper + + + + Gazebo/Grey + + + + + + + + + + + + + 1 + 1 + 90000 + + + + + + + + + + + + + + + + + + + + + + + + + + thdistal_geom + 100.0 + + true + 100.0 + thdistal + thdistal_bumper + + + + + + + + Gazebo/Grey + true + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + 90000 + + + diff --git a/pytorch_kinematics/.gitignore b/pytorch_kinematics/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..4ecbc2460db4fb3dab05f0cb4f7d131c1d72e7f7 --- /dev/null +++ b/pytorch_kinematics/.gitignore @@ -0,0 +1,4 @@ +.idea +*.egg-info +__pycache__ +temp* \ No newline at end of file diff --git a/pytorch_kinematics/README.md b/pytorch_kinematics/README.md new file mode 100644 index 0000000000000000000000000000000000000000..f5a42b7b323bfc6e4ad4c1a74d269ca49688dcc7 --- /dev/null +++ b/pytorch_kinematics/README.md @@ -0,0 +1,154 @@ +# PyTorch Robot Kinematics +- Parallel and differentiable forward kinematics (FK) and Jacobian calculation +- Load robot description from URDF, SDF, and MJCF formats + +# Usage +Clone repository somewhere, then `pip3 install -e .` to install in editable mode. + +See `tests` for code samples; some are also shown here. + +## Forward Kinematics (FK) +```python +import math +import pytorch_kinematics as pk + +# load robot description from URDF and specify end effector link +chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") +# prints out the (nested) tree of links +print(chain) +# prints out list of joint names +print(chain.get_joint_parameter_names()) + +# specify joint values (can do so in many forms) +th = [0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0, 0.0] +# do forward kinematics and get transform objects; end_only=False gives a dictionary of transforms for all links +ret = chain.forward_kinematics(th, end_only=False) +# look up the transform for a specific link +tg = ret['lbr_iiwa_link_7'] +# get transform matrix (1,4,4), then convert to separate position and unit quaternion +m = tg.get_matrix() +pos = m[:, :3, 3] +rot = pk.matrix_to_quaternion(m[:, :3, :3]) +``` + +We can parallelize FK by passing in 2D joint values, and also use CUDA if available +```python +import torch +import pytorch_kinematics as pk + +d = "cuda" if torch.cuda.is_available() else "cpu" +dtype = torch.float64 + +chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") +chain = chain.to(dtype=dtype, device=d) + +N = 1000 +th_batch = torch.rand(N, len(chain.get_joint_parameter_names()), dtype=dtype, device=d) + +# order of magnitudes faster when doing FK in parallel +# elapsed 0.008678913116455078s for N=1000 when parallel +# (N,4,4) transform matrix; only the one for the end effector is returned since end_only=True by default +tg_batch = chain.forward_kinematics(th_batch) + +# elapsed 8.44686508178711s for N=1000 when serial +for i in range(N): + tg = chain.forward_kinematics(th_batch[i]) +``` + +We can compute gradients through the FK +```python +import torch +import math +import pytorch_kinematics as pk + +chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") + +# require gradient through the input joint values +th = torch.tensor([0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0, 0.0], requires_grad=True) +tg = chain.forward_kinematics(th) +m = tg.get_matrix() +pos = m[:, :3, 3] +pos.norm().backward() +# now th.grad is populated +``` + +We can load SDF and MJCF descriptions too, and pass in joint values via a dictionary (unspecified joints get th=0) for non-serial chains +```python +import math +import torch +import pytorch_kinematics as pk + +chain = pk.build_chain_from_sdf(open("simple_arm.sdf").read()) +ret = chain.forward_kinematics({'arm_elbow_pan_joint': math.pi / 2.0, 'arm_wrist_lift_joint': -0.5}) +# recall that we specify joint values and get link transforms +tg = ret['arm_wrist_roll'] + +# can also do this in parallel +N = 100 +ret = chain.forward_kinematics({'arm_elbow_pan_joint': torch.rand(N, 1), 'arm_wrist_lift_joint': torch.rand(N, 1)}) +# (N, 4, 4) transform object +tg = ret['arm_wrist_roll'] + +# building the robot from a MJCF file +chain = pk.build_chain_from_mjcf(open("ant.xml").read()) +print(chain) +print(chain.get_joint_parameter_names()) +th = {'hip_1': 1.0, 'ankle_1': 1} +ret = chain.forward_kinematics(th) + +chain = pk.build_chain_from_mjcf(open("humanoid.xml").read()) +print(chain) +print(chain.get_joint_parameter_names()) +th = {'left_knee': 0.0, 'right_knee': 0.0} +ret = chain.forward_kinematics(th) +``` + +## Jacobian calculation +The Jacobian (in the kinematics context) is a matrix describing how the end effector changes with respect to joint value changes +(where ![dx](https://latex.codecogs.com/png.latex?%5Cinline%20%5Cdot%7Bx%7D) is the twist, or stacked velocity and angular velocity): +![jacobian](https://latex.codecogs.com/png.latex?%5Cinline%20%5Cdot%7Bx%7D%3DJ%5Cdot%7Bq%7D) + +For `SerialChain` we provide a differentiable and parallelizable method for computing the Jacobian with respect to the base frame. +```python +import math +import torch +import pytorch_kinematics as pk + +# can convert Chain to SerialChain by choosing end effector frame +chain = pk.build_chain_from_sdf(open("simple_arm.sdf").read()) +# print(chain) to see the available links for use as end effector +# note that any link can be chosen; it doesn't have to be a link with no children +chain = pk.SerialChain(chain, "arm_wrist_roll_frame") + +chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") +th = torch.tensor([0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0, 0.0]) +# (1,6,7) tensor, with 7 corresponding to the DOF of the robot +J = chain.jacobian(th) + +# get Jacobian in parallel and use CUDA if available +N = 1000 +d = "cuda" if torch.cuda.is_available() else "cpu" +dtype = torch.float64 + +chain = chain.to(dtype=dtype, device=d) +# Jacobian calculation is differentiable +th = torch.rand(N, 7, dtype=dtype, device=d, requires_grad=True) +# (N,6,7) +J = chain.jacobian(th) + +# can get Jacobian at a point offset from the end effector (location is specified in EE link frame) +# by default location is at the origin of the EE frame +loc = torch.rand(N, 3, dtype=dtype, device=d) +J = chain.jacobian(th, locations=loc) +``` + +The Jacobian can be used to do inverse kinematics. See [IK survey](https://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf) +for a survey of ways to do so. Note that IK may be better performed through other means (but doing it through the Jacobian can give an end-to-end differentiable method). + +# Credits +- `pytorch_kinematics/transforms` is extracted from [pytorch3d](https://github.com/facebookresearch/pytorch3d) with minor extensions. +This was done instead of including `pytorch3d` as a dependency because it is hard to install and most of its code is unrelated. + An important difference is that we use left hand multiplied transforms as is convention in robotics (T * pt) instead of their + right hand multiplied transforms. +- `pytorch_kinematics/urdf_parser_py`, and `pytorch_kinematics/mjcf_parser` is extracted from [kinpy](https://github.com/neka-nat/kinpy), as well as the FK logic. +This repository ports the logic to pytorch, parallelizes it, and provides some extensions. diff --git a/pytorch_kinematics/pytorch_kinematics/__init__.py b/pytorch_kinematics/pytorch_kinematics/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..4581e0370690c7e8b61afefac2dc0db2be2170ac --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/__init__.py @@ -0,0 +1,5 @@ +from pytorch_kinematics.sdf import * +from pytorch_kinematics.urdf import * +from pytorch_kinematics.mjcf import * +from pytorch_kinematics.transforms import * +from pytorch_kinematics.chain import * diff --git a/pytorch_kinematics/pytorch_kinematics/chain.py b/pytorch_kinematics/pytorch_kinematics/chain.py new file mode 100644 index 0000000000000000000000000000000000000000..8f69c622a7e1a065d0324abdcc01be3c15e4de0f --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/chain.py @@ -0,0 +1,158 @@ +import torch +from . import jacobian +import pytorch_kinematics.transforms as tf + + +def ensure_2d_tensor(th, dtype, device): + if not torch.is_tensor(th): + th = torch.tensor(th, dtype=dtype, device=device) + if len(th.shape) == 0: + N = 1 + th = th.view(1,1) + elif len(th.shape) == 1: + N = len(th) + th = th.view(-1, 1) + else: + N = th.shape[0] + return th, N + + +class Chain(object): + def __init__(self, root_frame, dtype=torch.float32, device="cpu"): + self._root = root_frame + self.dtype = dtype + self.device = device + + def to(self, dtype=None, device=None): + if dtype is not None: + self.dtype = dtype + if device is not None: + self.device = device + self._root = self._root.to(dtype=self.dtype, device=self.device) + return self + + def __str__(self): + return str(self._root) + + @staticmethod + def _find_frame_recursive(name, frame): + for child in frame.children: + if child.name == name: + return child + ret = Chain._find_frame_recursive(name, child) + if not ret is None: + return ret + return None + + def find_frame(self, name): + if self._root.name == name: + return self._root + return self._find_frame_recursive(name, self._root) + + @staticmethod + def _find_link_recursive(name, frame): + for child in frame.children: + if child.link.name == name: + return child.link + ret = Chain._find_link_recursive(name, child) + if not ret is None: + return ret + return None + + def find_link(self, name): + if self._root.link.name == name: + return self._root.link + return self._find_link_recursive(name, self._root) + + @staticmethod + def _get_joint_parameter_names(frame, exclude_fixed=True): + joint_names = [] + if not (exclude_fixed and frame.joint.joint_type == "fixed"): + joint_names.append(frame.joint.name) + for child in frame.children: + joint_names.extend(Chain._get_joint_parameter_names(child, exclude_fixed)) + return joint_names + + def get_joint_parameter_names(self, exclude_fixed=True): + names = self._get_joint_parameter_names(self._root, exclude_fixed) + return sorted(set(names), key=names.index) + + def add_frame(self, frame, parent_name): + frame = self.find_frame(parent_name) + if not frame is None: + frame.add_child(frame) + + @staticmethod + def _forward_kinematics(root, th_dict, world=tf.Transform3d()): + link_transforms = {} + + th, N = ensure_2d_tensor(th_dict.get(root.joint.name, 0.0), world.dtype, world.device) + + trans = world.compose(root.get_transform(th.view(N, 1))) + link_transforms[root.link.name] = trans.compose(root.link.offset) + for child in root.children: + link_transforms.update(Chain._forward_kinematics(child, th_dict, trans)) + return link_transforms + + def forward_kinematics(self, th, world=tf.Transform3d()): + if not isinstance(th, dict): + jn = self.get_joint_parameter_names() + assert len(jn) == th.shape[1] + th_dict = dict((j, th[:,i]) for i, j in enumerate(jn)) + else: + th_dict = th + if world.dtype != self.dtype or world.device != self.device: + world = world.to(dtype=self.dtype, device=self.device, copy=True) + return self._forward_kinematics(self._root, th_dict, world) + + +class SerialChain(Chain): + def __init__(self, chain, end_frame_name, root_frame_name="", **kwargs): + if root_frame_name == "": + super(SerialChain, self).__init__(chain._root, **kwargs) + else: + super(SerialChain, self).__init__(chain.find_frame(root_frame_name), **kwargs) + if self._root is None: + raise ValueError("Invalid root frame name %s." % root_frame_name) + self._serial_frames = self._generate_serial_chain_recurse(self._root, end_frame_name) + if self._serial_frames is None: + raise ValueError("Invalid end frame name %s." % end_frame_name) + + @staticmethod + def _generate_serial_chain_recurse(root_frame, end_frame_name): + for child in root_frame.children: + if child.name == end_frame_name: + return [child] + else: + frames = SerialChain._generate_serial_chain_recurse(child, end_frame_name) + if not frames is None: + return [child] + frames + return None + + def get_joint_parameter_names(self, exclude_fixed=True): + names = [] + for f in self._serial_frames: + if exclude_fixed and f.joint.joint_type == 'fixed': + continue + names.append(f.joint.name) + return names + + def forward_kinematics(self, th, world=tf.Transform3d(), end_only=True): + if world.dtype != self.dtype or world.device != self.device: + world = world.to(dtype=self.dtype, device=self.device, copy=True) + th, N = ensure_2d_tensor(th, self.dtype, self.device) + + cnt = 0 + link_transforms = {} + trans = tf.Transform3d(matrix=world.get_matrix().repeat(N, 1, 1)) + for f in self._serial_frames: + trans = trans.compose(f.get_transform(th[:, cnt].view(N, 1))) + link_transforms[f.link.name] = trans.compose(f.link.offset) + if f.joint.joint_type != "fixed": + cnt += 1 + return link_transforms[self._serial_frames[-1].link.name] if end_only else link_transforms + + def jacobian(self, th, locations=None): + if locations is not None: + locations = tf.Transform3d(pos=locations) + return jacobian.calc_jacobian(self, th, tool=locations) \ No newline at end of file diff --git a/pytorch_kinematics/pytorch_kinematics/frame.py b/pytorch_kinematics/pytorch_kinematics/frame.py new file mode 100644 index 0000000000000000000000000000000000000000..8e69515c7492e4b9442b8e8c2adf5ac0337568a7 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/frame.py @@ -0,0 +1,106 @@ +import pytorch_kinematics.transforms as tf +import torch + + +class Visual(object): + TYPES = ['box', 'cylinder', 'sphere', 'capsule', 'mesh'] + + def __init__(self, offset=tf.Transform3d(), + geom_type=None, geom_param=None): + self.offset = offset + self.geom_type = geom_type + self.geom_param = geom_param + + def __repr__(self): + return "Visual(offset={0}, geom_type='{1}', geom_param={2})".format(self.offset, + self.geom_type, + self.geom_param) + + +class Link(object): + def __init__(self, name=None, offset=tf.Transform3d(), + visuals=()): + self.name = name + self.offset = offset + self.visuals = visuals + + def to(self, *args, **kwargs): + self.offset = self.offset.to(*args, **kwargs) + return self + + def __repr__(self): + return "Link(name='{0}', offset={1}, visuals={2})".format(self.name, + self.offset, + self.visuals) + + +class Joint(object): + TYPES = ['fixed', 'revolute', 'prismatic'] + + def __init__(self, name=None, offset=tf.Transform3d(), joint_type='fixed', axis=(0.0, 0.0, 1.0), + dtype=torch.float32, device="cpu"): + self.name = name + self.offset = offset + if joint_type not in self.TYPES: + raise RuntimeError("joint specified as {} type not, but we only support {}".format(joint_type, self.TYPES)) + self.joint_type = joint_type + if axis is None: + self.axis = torch.tensor([0.0, 0.0, 1.0], dtype=dtype, device=device) + else: + if torch.is_tensor(axis): + self.axis = axis.clone().detach().to(dtype=dtype, device=device) + else: + self.axis = torch.tensor(axis, dtype=dtype, device=device) + # normalize axis to have norm 1 (needed for correct representation scaling with theta) + self.axis = self.axis / self.axis.norm() + + def to(self, *args, **kwargs): + self.axis = self.axis.to(*args, **kwargs) + self.offset = self.offset.to(*args, **kwargs) + return self + + def __repr__(self): + return "Joint(name='{0}', offset={1}, joint_type='{2}', axis={3})".format(self.name, + self.offset, + self.joint_type, + self.axis) + + +class Frame(object): + def __init__(self, name=None, link=Link(), + joint=Joint(), children=()): + self.name = 'None' if name is None else name + self.link = link + self.joint = joint + self.children = children + + def __str__(self, level=0): + ret = " \t" * level + self.name + "\n" + for child in self.children: + ret += child.__str__(level + 1) + return ret + + def to(self, *args, **kwargs): + self.joint = self.joint.to(*args, **kwargs) + self.link = self.link.to(*args, **kwargs) + self.children = [c.to(*args, **kwargs) for c in self.children] + return self + + def add_child(self, child): + self.children.append(child) + + def is_end(self): + return (len(self.children) == 0) + + def get_transform(self, theta): + dtype = self.joint.axis.dtype + d = self.joint.axis.device + if self.joint.joint_type == 'revolute': + t = tf.Transform3d(rot=tf.axis_angle_to_quaternion(theta * self.joint.axis), dtype=dtype, device=d) + elif self.joint.joint_type == 'prismatic': + t = tf.Transform3d(pos=theta * self.joint.axis, dtype=dtype, device=d) + elif self.joint.joint_type == 'fixed': + t = tf.Transform3d(default_batch_size=theta.shape[0], dtype=dtype, device=d) + else: + raise ValueError("Unsupported joint type %s." % self.joint.joint_type) + return self.joint.offset.compose(t) diff --git a/pytorch_kinematics/pytorch_kinematics/jacobian.py b/pytorch_kinematics/pytorch_kinematics/jacobian.py new file mode 100644 index 0000000000000000000000000000000000000000..ecf83ec62a67e2b49ba47e56cd9c9d01064109e3 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/jacobian.py @@ -0,0 +1,58 @@ +import torch +from pytorch_kinematics import transforms + + +def calc_jacobian(serial_chain, th, tool=None): + """ + Return robot Jacobian J in base frame (N,6,DOF) where dot{x} = J dot{q} + The first 3 rows relate the translational velocities and the + last 3 rows relate the angular velocities. + + tool is the transformation wrt the end effector; default is identity. If specified, will have to + specify for each of the N inputs + """ + if not torch.is_tensor(th): + th = torch.tensor(th, dtype=serial_chain.dtype, device=serial_chain.device) + if len(th.shape) <= 1: + N = 1 + th = th.view(1, -1) + else: + N = th.shape[0] + ndof = th.shape[1] + + j_fl = torch.zeros((N, 6, ndof), dtype=serial_chain.dtype, device=serial_chain.device) + + if tool is None: + cur_transform = transforms.Transform3d(device=serial_chain.device, + dtype=serial_chain.dtype).get_matrix().repeat(N, 1, 1) + else: + if tool.dtype != serial_chain.dtype or tool.device != serial_chain.device: + tool = tool.to(device=serial_chain.device, copy=True, dtype=serial_chain.dtype) + cur_transform = tool.get_matrix() + + cnt = 0 + for f in reversed(serial_chain._serial_frames): + if f.joint.joint_type == "revolute": + cnt += 1 + d = torch.stack([-cur_transform[:, 0, 0] * cur_transform[:, 1, 3] + + cur_transform[:, 1, 0] * cur_transform[:, 0, 3], + -cur_transform[:, 0, 1] * cur_transform[:, 1, 3] + + cur_transform[:, 1, 1] * cur_transform[:, 0, 3], + -cur_transform[:, 0, 2] * cur_transform[:, 1, 3] + + cur_transform[:, 1, 2] * cur_transform[:, 0, 3]]).transpose(0, 1) + delta = cur_transform[:, 2, 0:3] + j_fl[:, :, -cnt] = torch.cat((d, delta), dim=-1) + elif f.joint.joint_type == "prismatic": + cnt += 1 + j_fl[:, :3, -cnt] = f.joint.axis.repeat(N, 1) @ cur_transform[:, :3, :3] + cur_frame_transform = f.get_transform(th[:, -cnt].view(N, 1)).get_matrix() + cur_transform = cur_frame_transform @ cur_transform + + # currently j_fl is Jacobian in flange (end-effector) frame, convert to base/world frame + pose = serial_chain.forward_kinematics(th).get_matrix() + rotation = pose[:, :3, :3] + j_tr = torch.zeros((N, 6, 6), dtype=serial_chain.dtype, device=serial_chain.device) + j_tr[:, :3, :3] = rotation + j_tr[:, 3:, 3:] = rotation + j_w = j_tr @ j_fl + return j_w diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf.py b/pytorch_kinematics/pytorch_kinematics/mjcf.py new file mode 100644 index 0000000000000000000000000000000000000000..569e3f43ccb7dc0c22da94577823cb506b551cca --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf.py @@ -0,0 +1,105 @@ +from . import frame +from . import chain +from . import mjcf_parser +import pytorch_kinematics.transforms as tf + +JOINT_TYPE_MAP = {'hinge': 'revolute'} + + +def geoms_to_visuals(geom, base=tf.Transform3d()): + visuals = [] + for g in geom: + if g.type == 'capsule': + param = (g.size[0], g.fromto) + elif g.type == 'sphere': + param = g.size[0] + else: + raise ValueError('Invalid geometry type %s.' % g.type) + visuals.append(frame.Visual(offset=base.compose(tf.Transform3d(rot=g.quat, pos=g.pos)), + geom_type=g.type, + geom_param=param)) + return visuals + + +def body_to_link(body, base=tf.Transform3d()): + return frame.Link(body.name, + offset=base.compose(tf.Transform3d(rot=body.quat, pos=body.pos))) + + +def joint_to_joint(joint, base=tf.Transform3d()): + return frame.Joint(joint.name, + offset=base.compose(tf.Transform3d(pos=joint.pos)), + joint_type=JOINT_TYPE_MAP[joint.type], + axis=joint.axis) + + +def add_composite_joint(root_frame, joints, base=tf.Transform3d()): + if len(joints) > 0: + root_frame.children = root_frame.children + (frame.Frame(link=frame.Link(name=root_frame.link.name + '_child'), + joint=joint_to_joint(joints[0], base)),) + ret, offset = add_composite_joint(root_frame.children[-1], joints[1:]) + return ret, root_frame.joint.offset.compose(offset) + else: + return root_frame, root_frame.joint.offset + + +def _build_chain_recurse(root_frame, root_body): + base = root_frame.link.offset + cur_frame, cur_base = add_composite_joint(root_frame, root_body.joint, base) + jbase = cur_base.inverse().compose(base) + if len(root_body.joint) > 0: + cur_frame.link.visuals = geoms_to_visuals(root_body.geom, jbase) + else: + cur_frame.link.visuals = geoms_to_visuals(root_body.geom) + for b in root_body.body: + cur_frame.children = cur_frame.children + (frame.Frame(),) + next_frame = cur_frame.children[-1] + next_frame.name = b.name + "_frame" + next_frame.link = body_to_link(b, jbase) + _build_chain_recurse(next_frame, b) + + +def build_chain_from_mjcf(data): + """ + Build a Chain object from MJCF data. + + Parameters + ---------- + data : str + MJCF string data. + + Returns + ------- + chain.Chain + Chain object created from MJCF. + """ + model = mjcf_parser.from_xml_string(data) + root_body = model.worldbody.body[0] + root_frame = frame.Frame(root_body.name + "_frame", + link=body_to_link(root_body), + joint=frame.Joint()) + _build_chain_recurse(root_frame, root_body) + return chain.Chain(root_frame) + + +def build_serial_chain_from_mjcf(data, end_link_name, root_link_name=""): + """ + Build a SerialChain object from MJCF data. + + Parameters + ---------- + data : str + MJCF string data. + end_link_name : str + The name of the link that is the end effector. + root_link_name : str, optional + The name of the root link. + + Returns + ------- + chain.SerialChain + SerialChain object created from MJCF. + """ + mjcf_chain = build_chain_from_mjcf(data) + return chain.SerialChain(mjcf_chain, end_link_name + "_frame", + "" if root_link_name == "" else root_link_name + "_frame") diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/__init__.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..447703d381b8b1f5bab81ae1d70a847d09e1738c --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/__init__.py @@ -0,0 +1 @@ +from .parser import * \ No newline at end of file diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/attribute.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/attribute.py new file mode 100644 index 0000000000000000000000000000000000000000..f13a11c60be70ab22cc0dd4b023bee732b8f6c1c --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/attribute.py @@ -0,0 +1,504 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Classes representing various MJCF attribute data types.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import abc +import collections +import hashlib +import os + +from . import base +from . import constants +from . import debugging +from . import util +import six +import torch +import numpy as np + +from . import io as resources + +_INVALID_REFERENCE_TYPE = ( + 'Reference should be an MJCF Element whose type is one of {valid_types!r}: ' + 'got {actual_type!r}.') + + +@six.add_metaclass(abc.ABCMeta) +class _Attribute(object): + """Abstract base class for MJCF attribute data types.""" + + def __init__(self, name, required, parent, value, + conflict_allowed, conflict_behavior): + self._name = name + self._required = required + self._parent = parent + self._value = None + self._conflict_allowed = conflict_allowed + self._conflict_behavior = conflict_behavior + self._check_and_assign(value) + + def _check_and_assign(self, new_value): + if new_value is None: + self.clear() + elif isinstance(new_value, str): + self._assign_from_string(new_value) + else: + self._assign(new_value) + if debugging.debug_mode(): + self._last_modified_stack = debugging.get_current_stack_trace() + + @property + def last_modified_stack(self): + if debugging.debug_mode(): + return self._last_modified_stack + + @property + def value(self): + return self._value + + @value.setter + def value(self, new_value): + self._check_and_assign(new_value) + + @abc.abstractmethod + def _assign(self, value): + raise NotImplementedError # pragma: no cover + + def clear(self): + if self._required: + raise AttributeError( + 'Attribute {!r} of element <{}> is required' + .format(self._name, self._parent.tag)) + else: + self._force_clear() + + def _force_clear(self): + self._before_clear() + self._value = None + if debugging.debug_mode(): + self._last_modified_stack = debugging.get_current_stack_trace() + + def _before_clear(self): + pass + + def _assign_from_string(self, string): + self._assign(string) + + def to_xml_string(self, prefix_root): # pylint: disable=unused-argument + if self._value is None: + return None + else: + return str(self._value) + + @property + def conflict_allowed(self): + return self._conflict_allowed + + @property + def conflict_behavior(self): + return self._conflict_behavior + + +class String(_Attribute): + """A string MJCF attribute.""" + + def _assign(self, value): + if not isinstance(value, str): + raise ValueError('Expect a string value: got {}'.format(value)) + elif not value: + self.clear() + else: + self._value = value + + +class Integer(_Attribute): + """An integer MJCF attribute.""" + + def _assign(self, value): + try: + float_value = float(value) + int_value = int(float(value)) + if float_value != int_value: + raise ValueError + except ValueError: + raise ValueError('Expect an integer value: got {}'.format(value)) + self._value = int_value + + +class Float(_Attribute): + """An float MJCF attribute.""" + + def _assign(self, value): + try: + float_value = float(value) + except ValueError: + raise ValueError('Expect a float value: got {}'.format(value)) + self._value = float_value + + +class Keyword(_Attribute): + """A keyword MJCF attribute.""" + + def __init__(self, name, required, parent, value, + conflict_allowed, conflict_behavior, valid_values): + self._valid_values = collections.OrderedDict( + (value.lower(), value) for value in valid_values) + super(Keyword, self).__init__( + name, required, parent, value, conflict_allowed, conflict_behavior) + + def _assign(self, value): + if not value: + self.clear() + else: + try: + self._value = self._valid_values[str(value).lower()] + except KeyError: + raise ValueError('Expect keyword to be one of {} but got: {}'.format( + list(self._valid_values.values()), value)) + + @property + def valid_values(self): + return list(self._valid_values.keys()) + + +class Array(_Attribute): + """An array MJCF attribute.""" + + def __init__(self, name, required, parent, value, + conflict_allowed, conflict_behavior, length, dtype, device="cpu"): + self._length = length + self.dtype = dtype + self.device = device + super(Array, self).__init__(name, required, parent, value, + conflict_allowed, conflict_behavior) + + def _assign(self, value): + self._value = self._check_shape(torch.tensor(value, dtype=self.dtype, device=self.device)) + + def _assign_from_string(self, string): + self._assign(np.fromstring(string, dtype=self.dtype, sep=' ')) + + def to_xml_string(self, prefix_root=None): # pylint: disable=unused-argument + if self._value is None: + return None + else: + out = six.BytesIO() + # 17 decimal digits is sufficient to represent a double float without loss + # of precision. + # https://en.wikipedia.org/wiki/IEEE_754#Character_representation + np.savetxt(out, self._value, fmt='%.17g', newline=' ') + return util.to_native_string(out.getvalue())[:-1] # Strip trailing space. + + def _check_shape(self, array): + actual_length = array.shape[0] + if len(array.shape) > 1: + raise ValueError('Expect one-dimensional array: got {}'.format(array)) + if self._length and actual_length > self._length: + raise ValueError('Expect array with no more than {} entries: got {}' + .format(self._length, array)) + return array + + +class Identifier(_Attribute): + """A string attribute that represents a unique identifier of an element.""" + + def _assign(self, value): + if not isinstance(value, str): + raise ValueError('Expect a string value: got {}'.format(value)) + elif not value: + self.clear() + elif self._parent.spec.namespace == 'body' and value == 'world': + raise ValueError('A body cannot be named \'world\'. ' + 'The name \'world\' is used by MuJoCo to refer to the ' + '.') + elif constants.PREFIX_SEPARATOR in value: + raise ValueError( + 'An identifier cannot contain a {!r}, ' + 'as this is reserved for scoping purposes: got {!r}' + .format(constants.PREFIX_SEPARATOR, value)) + else: + old_value = self._value + if value != old_value: + self._parent.namescope.add( + self._parent.spec.namespace, value, self._parent) + if old_value: + self._parent.namescope.remove(self._parent.spec.namespace, old_value) + self._value = value + + def _before_clear(self): + if self._value: + self._parent.namescope.remove(self._parent.spec.namespace, self._value) + + def _defaults_string(self, prefix_root): + prefix = self._parent.namescope.full_prefix(prefix_root, as_list=True) + prefix.append(self._value or '') + return constants.PREFIX_SEPARATOR.join(prefix) or constants.PREFIX_SEPARATOR + + def to_xml_string(self, prefix_root=None): + if self._parent.tag == constants.DEFAULT: + return self._defaults_string(prefix_root) + elif self._value: + prefix = self._parent.namescope.full_prefix(prefix_root, as_list=True) + prefix.append(self._value) + return constants.PREFIX_SEPARATOR.join(prefix) + else: + return self._value + + +class Reference(_Attribute): + """A string attribute that represents a reference to an identifier.""" + + def __init__(self, name, required, parent, value, + conflict_allowed, conflict_behavior, reference_namespace): + self._reference_namespace = reference_namespace + super(Reference, self).__init__( + name, required, parent, value, conflict_allowed, conflict_behavior) + + def _check_dead_reference(self): + if isinstance(self._value, base.Element) and self._value.is_removed: + self.clear() + + @property + def value(self): + self._check_dead_reference() + return super(Reference, self).value + + @value.setter + def value(self, new_value): + super(Reference, self.__class__).value.fset(self, new_value) + + @property + def reference_namespace(self): + if isinstance(self._reference_namespace, _Attribute): + return self._reference_namespace.value + else: + return self._reference_namespace + + def _assign(self, value): + if not isinstance(value, (base.Element, six.string_types)): + raise ValueError( + 'Expect a string or `mjcf.Element` value: got {}'.format(value)) + elif not value: + self.clear() + else: + if isinstance(value, base.Element): + value_namespace = ( + value.spec.namespace.split(constants.NAMESPACE_SEPARATOR)[0]) + if isinstance(self._reference_namespace, _Attribute): + try: + self._reference_namespace.value = value_namespace + except ValueError: + raise ValueError(_INVALID_REFERENCE_TYPE.format( + valid_types=self._reference_namespace.valid_values, + actual_type=value_namespace)) + elif value_namespace != self._reference_namespace: + raise ValueError(_INVALID_REFERENCE_TYPE.format( + valid_types=[self._reference_namespace], + actual_type=value_namespace)) + self._value = value + + def _before_clear(self): + if isinstance(self._value, base.Element): + if isinstance(self._reference_namespace, _Attribute): + self._reference_namespace._force_clear() # pylint: disable=protected-access + + def _defaults_string(self, prefix_root): + """Generates the XML string if this is a reference to a defaults class. + + To prevent global defaults from clashing, we turn all global defaults + into a properly named defaults class. Therefore, care must be taken when + this attribute is not explicitly defined. If the parent element can be + traced up to a body with a nontrivial 'childclass' then must continue to + leave this attribute undefined. + + Args: + prefix_root: A `NameScope` object to be treated as root + for the purpose of calculating the prefix. + + Returns: + A string to be used in the generated XML. + """ + self._check_dead_reference() + prefix = self._parent.namescope.full_prefix(prefix_root) + if not self._value: + defaults_root = self._parent.parent + while defaults_root is not None: + if (hasattr(defaults_root, constants.CHILDCLASS) + and defaults_root.childclass): + break + defaults_root = defaults_root.parent + if defaults_root is None: + # This element doesn't belong to a childclass'd body. + global_class = self._parent.root.default.dclass or '' + out_string = (prefix + global_class) or constants.PREFIX_SEPARATOR + else: + out_string = None + else: + out_string = prefix + self._value + return out_string + + def to_xml_string(self, prefix_root): + self._check_dead_reference() + if isinstance(self._value, base.Element): + return self._value.prefixed_identifier(prefix_root) + elif (self.reference_namespace == constants.DEFAULT + and self._name != constants.CHILDCLASS): + return self._defaults_string(prefix_root) + elif self._value: + return self._parent.namescope.full_prefix(prefix_root) + self._value + else: + return None + + +class BasePath(_Attribute): + """A string attribute that represents a base path for an asset type.""" + + def __init__(self, name, required, parent, value, + conflict_allowed, conflict_behavior, path_namespace): + self._path_namespace = path_namespace + super(BasePath, self).__init__( + name, required, parent, value, conflict_allowed, conflict_behavior) + + def _assign(self, value): + if not isinstance(value, str): + raise ValueError('Expect a string value: got {}'.format(value)) + elif not value: + self.clear() + else: + self._parent.namescope.replace( + constants.BASEPATH, self._path_namespace, value) + self._value = value + + def _before_clear(self): + if self._value: + self._parent.namescope.remove(constants.BASEPATH, self._path_namespace) + + def to_xml_string(self, prefix_root=None): + return None + + +class Asset(object): + """Class representing a binary asset.""" + + __slots__ = ('contents', 'extension', 'prefix') + + def __init__(self, contents, extension, prefix=''): + """Initializes a new `Asset`. + + Args: + contents: The contents of the file as a bytestring. + extension: A string specifying the file extension (e.g. '.png', '.stl'). + prefix: (optional) A prefix applied to the filename given in MuJoCo's VFS. + """ + self.contents = contents + self.extension = extension + self.prefix = prefix + + def __eq__(self, other): + return self.get_vfs_filename() == other.get_vfs_filename() + + def get_vfs_filename(self): + """Returns the name of the asset file as registered in MuJoCo's VFS.""" + # Hash the contents of the asset to get a unique identifier. + hash_string = hashlib.sha1(util.to_binary_string(self.contents)).hexdigest() + # Prepend the prefix, if one exists. + if self.prefix: + prefix = self.prefix + raw_length = len(prefix) + len(hash_string) + len(self.extension) + 1 + if raw_length > constants.MAX_VFS_FILENAME_LENGTH: + trim_amount = raw_length - constants.MAX_VFS_FILENAME_LENGTH + prefix = prefix[:-trim_amount] + filename = '-'.join([prefix, hash_string]) + else: + filename = hash_string + + # An extension is needed because MuJoCo's compiler looks at this when + # deciding how to load meshes and heightfields. + return filename + self.extension + + +class File(_Attribute): + """Attribute representing an asset file.""" + + def __init__(self, name, required, parent, value, + conflict_allowed, conflict_behavior, path_namespace): + self._path_namespace = path_namespace + super(File, self).__init__(name, required, parent, value, + conflict_allowed, conflict_behavior) + parent.namescope.files.add(self) + + def _assign(self, value): + if not value: + self.clear() + else: + if isinstance(value, six.string_types): + asset = self._get_asset_from_path(value) + elif isinstance(value, Asset): + asset = value + else: + raise ValueError('Expect either a string or `Asset` value: got {}' + .format(value)) + self._validate_extension(asset.extension) + self._value = asset + + def _get_asset_from_path(self, path): + """Constructs a `Asset` given a file path.""" + _, basename = os.path.split(path) + filename, extension = os.path.splitext(basename) + + # Look in the dict of pre-loaded assets before checking the filesystem. + try: + contents = self._parent.namescope.assets[path] + except KeyError: + # Construct the full path to the asset file, prefixed by the path to the + # model directory, and by `meshdir` or `texturedir` if appropriate. + path_parts = [] + if self._parent.namescope.model_dir: + path_parts.append(self._parent.namescope.model_dir) + try: + base_path = self._parent.namescope.get(constants.BASEPATH, + self._path_namespace) + path_parts.append(base_path) + except KeyError: + pass + path_parts.append(path) + full_path = os.path.join(*path_parts) + contents = resources.GetResource(full_path) + return Asset(contents=contents, extension=extension, prefix=filename) + + def _validate_extension(self, extension): + if self._parent.tag == constants.MESH: + if extension.lower() != '.stl': + # MuJoCo's compiler enforces this. + raise ValueError('Mesh files must have the extension \'.stl\'.') + + def get_contents(self): + """Returns a bytestring representing the contents of the asset.""" + if self._value is None: + raise RuntimeError('You must assign a value to this attribute before ' + 'querying the contents.') + return self._value.contents + + def to_xml_string(self, prefix_root=None): + """Returns the asset filename as it will appear in the generated XML.""" + del prefix_root # Unused + if self._value is not None: + return self._value.get_vfs_filename() + else: + return None diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/base.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/base.py new file mode 100644 index 0000000000000000000000000000000000000000..e3b10d9b94372663bf87386fe0a98adbdd47856e --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/base.py @@ -0,0 +1,38 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Base class for all MJCF elements in the object model.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import abc + +import six + + +@six.add_metaclass(abc.ABCMeta) +class Element(object): + """Abstract base class for an MJCF element. + + This class is provided so that `isinstance(foo, Element)` is `True` for all + Element-like objects. We do not implement the actual element here because + the actual object returned from traversing the object hierarchy is a + weakproxy-like proxy to an actual element. This is because we do not allow + orphaned non-root elements, so when a particular element is removed from the + tree, all references held automatically become invalid. + """ + __slots__ = [] diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/constants.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/constants.py new file mode 100644 index 0000000000000000000000000000000000000000..2bf7ffd879291d9781fb6da9ef0aecdc99949057 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/constants.py @@ -0,0 +1,72 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Magic constants used within `dm_control.mjcf`.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +PREFIX_SEPARATOR = '/' +PREFIX_SEPARATOR_ESCAPE = '\\' + +# Used to disambiguate namespaces between attachment frames. +NAMESPACE_SEPARATOR = '@' + +# Magic attribute names +BASEPATH = 'basepath' +CHILDCLASS = 'childclass' +CLASS = 'class' +DEFAULT = 'default' +DCLASS = 'dclass' + +# Magic tags +ACTUATOR = 'actuator' +BODY = 'body' +DEFAULT = 'default' +MESH = 'mesh' +SITE = 'site' +TENDON = 'tendon' +WORLDBODY = 'worldbody' + +MJDATA_TRIGGERS_DIRTY = [ + 'qpos', 'qvel', 'act', 'ctrl', 'qfrc_applied', 'xfrc_applied'] +MJMODEL_DOESNT_TRIGGER_DIRTY = [ + 'rgba', 'matid', 'emission', 'specular', 'shininess', 'reflectance'] + +# When writing into `model.{body,geom,site}_{pos,quat}` we must ensure that the +# corresponding rows in `model.{body,geom,site}_sameframe` are set to zero, +# otherwise MuJoCo will use the body or inertial frame instead of our modified +# pos/quat values. We must do the same for `body_{ipos,iquat}` and +# `body_simple`. +MJMODEL_DISABLE_ON_WRITE = { + # Field name in MjModel: (attribute names of Binding instance to be zeroed) + 'body_pos': ('sameframe',), + 'body_quat': ('sameframe',), + 'geom_pos': ('sameframe',), + 'geom_quat': ('sameframe',), + 'site_pos': ('sameframe',), + 'site_quat': ('sameframe',), + 'body_ipos': ('simple', 'sameframe'), + 'body_iquat': ('simple', 'sameframe'), +} + +# This is the actual upper limit on VFS filename length, despite what it says +# in the header file (100) or the error message (99). +MAX_VFS_FILENAME_LENGTH = 98 + +# The prefix used in the schema to denote reference_namespace that are defined +# via another attribute. +INDIRECT_REFERENCE_NAMESPACE_PREFIX = 'attrib:' diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/copier.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/copier.py new file mode 100644 index 0000000000000000000000000000000000000000..44fdd15852cd37f52560d865bb1395e3f5f345fc --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/copier.py @@ -0,0 +1,75 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Helper object for keeping track of new elements created when copying MJCF.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +from . import constants + + +class Copier(object): + """Helper for keeping track of new elements created when copying MJCF.""" + + def __init__(self, source): + if source._attachments: # pylint: disable=protected-access + raise NotImplementedError('Cannot copy from elements with attachments') + self._source = source + + def copy_into(self, destination, override_attributes=False): + """Copies this copier's element into a destination MJCF element.""" + newly_created_elements = {} + destination._check_valid_attachment(self._source) # pylint: disable=protected-access + if override_attributes: + destination.set_attributes(**self._source.get_attributes()) + else: + destination._sync_attributes(self._source, copying=True) # pylint: disable=protected-access + for source_child in self._source.all_children(): + dest_child = None + # First, if source_child has an identifier, we look for an existing child + # element of self with the same identifier to override. + if source_child.spec.identifier and override_attributes: + identifier_attr = source_child.spec.identifier + if identifier_attr == constants.CLASS: + identifier_attr = constants.DCLASS + identifier = getattr(source_child, identifier_attr) + if identifier: + dest_child = destination.find(source_child.spec.namespace, identifier) + if dest_child is not None and dest_child.parent is not destination: + raise ValueError( + '<{}> with identifier {!r} is already a child of another element' + .format(source_child.spec.namespace, identifier)) + # Next, we cover the case where either the child is not a repeated element + # or if source_child has an identifier attribute but it isn't set. + if not source_child.spec.repeated and dest_child is None: + dest_child = destination.get_children(source_child.tag) + + # Add a new element if dest_child doesn't exist, either because it is + # supposed to be a repeated child, or because it's an uncreated on-demand. + if dest_child is None: + dest_child = destination.add( + source_child.tag, **source_child.get_attributes()) + newly_created_elements[source_child] = dest_child + override_child_attributes = True + else: + override_child_attributes = override_attributes + + # Finally, copy attributes into dest_child. + child_copier = Copier(source_child) + newly_created_elements.update( + child_copier.copy_into(dest_child, override_child_attributes)) + return newly_created_elements diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/debugging.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/debugging.py new file mode 100644 index 0000000000000000000000000000000000000000..e143cae2ac807afff61e6dccd893bf7eaf6fb3b3 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/debugging.py @@ -0,0 +1,373 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Implements PyMJCF debug mode. + +PyMJCF debug mode stores a stack trace each time the MJCF object is modified. +If Mujoco raises a compile error on the generated XML model, we would then be +able to find the original source line that created the offending element. +""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import collections +import contextlib +import copy +import os +import re +import sys +import traceback + +from absl import flags +from lxml import etree +import six + +FLAGS = flags.FLAGS +flags.DEFINE_boolean( + 'pymjcf_debug', False, + 'Enables PyMJCF debug mode (SLOW!). In this mode, a stack trace is logged ' + 'each the MJCF object is modified. This may be helpful in locating the ' + 'Python source line corresponding to a problematic element in the ' + 'generated XML.') +flags.DEFINE_string( + 'pymjcf_debug_full_dump_dir', '', + 'Path to dump full debug info when Mujoco error is encountered.') + +StackTraceEntry = collections.namedtuple( + 'StackTraceEntry', ('filename', 'line_number', 'function_name', 'text')) + +ElementDebugInfo = collections.namedtuple( + 'ElementDebugInfo', ('element', 'init_stack', 'attribute_stacks')) + +MODULE_PATH = os.path.dirname(sys.modules[__name__].__file__) +DEBUG_METADATA_PREFIX = 'pymjcfdebug' + +_DEBUG_METADATA_TAG_PREFIX = ''.format(DEBUG_METADATA_PREFIX)) + +# Modified by `freeze_current_stack_trace`. +_CURRENT_FROZEN_STACK = None + +# These globals will take their default values from the `--pymjcf_debug` and +# `--pymjcf_debug_full_dump_dir` flags respectively. We cannot use `FLAGS` as +# global variables because flag parsing might not have taken place (e.g. when +# running `nosetests`). +_DEBUG_MODE_ENABLED = None +_DEBUG_FULL_DUMP_DIR = None + + +def debug_mode(): + """Returns a boolean that indicates whether PyMJCF debug mode is enabled.""" + global _DEBUG_MODE_ENABLED + if _DEBUG_MODE_ENABLED is None: + if FLAGS.is_parsed(): + _DEBUG_MODE_ENABLED = FLAGS.pymjcf_debug + else: + _DEBUG_MODE_ENABLED = FLAGS['pymjcf_debug'].default + return _DEBUG_MODE_ENABLED + + +def enable_debug_mode(): + """Enables PyMJCF debug mode.""" + global _DEBUG_MODE_ENABLED + _DEBUG_MODE_ENABLED = True + + +def disable_debug_mode(): + """Disables PyMJCF debug mode.""" + global _DEBUG_MODE_ENABLED + _DEBUG_MODE_ENABLED = False + + +def get_full_dump_dir(): + """Gets the directory to dump full debug info files.""" + global _DEBUG_FULL_DUMP_DIR + if _DEBUG_FULL_DUMP_DIR is None: + if FLAGS.is_parsed(): + _DEBUG_FULL_DUMP_DIR = FLAGS.pymjcf_debug_full_dump_dir + else: + _DEBUG_FULL_DUMP_DIR = FLAGS['pymjcf_debug_full_dump_dir'].default + return _DEBUG_FULL_DUMP_DIR + + +def set_full_dump_dir(dump_path): + """Sets the directory to dump full debug info files.""" + global _DEBUG_FULL_DUMP_DIR + _DEBUG_FULL_DUMP_DIR = dump_path + + +def get_current_stack_trace(): + """Returns the stack trace of the current execution frame. + + Returns: + A list of `StackTraceEntry` named tuples corresponding to the current stack + trace of the process, truncated to immediately before entry into + PyMJCF internal code. + """ + if _CURRENT_FROZEN_STACK: + return copy.deepcopy(_CURRENT_FROZEN_STACK) + else: + return _get_actual_current_stack_trace() + + +def _get_actual_current_stack_trace(): + """Returns the stack trace of the current execution frame. + + Returns: + A list of `StackTraceEntry` named tuples corresponding to the current stack + trace of the process, truncated to immediately before entry into + PyMJCF internal code. + """ + raw_stack = traceback.extract_stack() + processed_stack = [] + for raw_stack_item in raw_stack: + stack_item = StackTraceEntry(*raw_stack_item) + if (stack_item.filename.startswith(MODULE_PATH) + and not stack_item.filename.endswith('_test.py')): + break + else: + processed_stack.append(stack_item) + return processed_stack + + +@contextlib.contextmanager +def freeze_current_stack_trace(): + """A context manager that freezes the stack trace. + + AVOID USING THIS CONTEXT MANAGER OUTSIDE OF INTERNAL PYMJCF IMPLEMENTATION, + AS IT REDUCES THE USEFULNESS OF DEBUG MODE. + + If PyMJCF debug mode is enabled, calls to `debugging.get_current_stack_trace` + within this context will always return the stack trace from when this context + was entered. + + The frozen stack is global to this debugging module. That is, if the context + is entered while another one is still active, then the stack trace of the + outermost one is returned. + + This context significantly speeds up bulk operations in debug mode, e.g. + parsing an existing XML string or creating a deeply-nested element, as it + prevents the same stack trace from being repeatedly constructed. + + Yields: + `None` + """ + global _CURRENT_FROZEN_STACK + if debug_mode() and _CURRENT_FROZEN_STACK is None: + _CURRENT_FROZEN_STACK = _get_actual_current_stack_trace() + yield + _CURRENT_FROZEN_STACK = None + else: + yield + + +class DebugContext(object): + """A helper object to store debug information for a generated XML string. + + This class is intended for internal use within the PyMJCF implementation. + """ + + def __init__(self): + self._xml_string = None + self._debug_info_for_element_ids = {} + + def register_element_for_debugging(self, elem): + """Registers an `Element` and returns debugging metadata for the XML. + + Args: + elem: An `mjcf.Element`. + + Returns: + An `lxml.etree.Comment` that represents debugging metadata in the + generated XML. + """ + if not debug_mode(): + return None + else: + self._debug_info_for_element_ids[id(elem)] = ElementDebugInfo( + elem, + copy.deepcopy(elem.get_init_stack()), + copy.deepcopy(elem.get_last_modified_stacks_for_all_attributes())) + return etree.Comment('{}:{}'.format(DEBUG_METADATA_PREFIX, id(elem))) + + def commit_xml_string(self, xml_string): + """Commits the XML string associated with this debug context. + + This function also formats the XML string to make sure that the debugging + metadata appears on the same line as the corresponding XML element. + + Args: + xml_string: A pretty-printed XML string. + + Returns: + A reformatted XML string where all debugging metadata appears on the same + line as the corresponding XML element. + """ + formatted = re.sub(r'\n\s*' + _DEBUG_METADATA_TAG_PREFIX, + _DEBUG_METADATA_TAG_PREFIX, xml_string) + self._xml_string = formatted + return formatted + + def process_and_raise_last_exception(self): + """Processes and re-raises the last mujoco.wrapper.Error caught. + + This function will insert the relevant line from the source XML to the error + message. If debug mode is enabled, additional debugging information is + appended to the error message. If debug mode is not enabled, the error + message instructs the user to enable it by rerunning the executable with an + appropriate flag. + """ + err_type, err, stack = sys.exc_info() + line_number_match = re.search(r'[Ll][Ii][Nn][Ee]\s*[:=]?\s*(\d+)', str(err)) + if line_number_match: + xml_line_number = int(line_number_match.group(1)) + xml_line = self._xml_string.split('\n')[xml_line_number - 1] + stripped_xml_line = xml_line.strip() + comment_match = re.search(_DEBUG_METADATA_TAG_PREFIX, stripped_xml_line) + if comment_match: + stripped_xml_line = stripped_xml_line[:comment_match.start()] + else: + xml_line = '' + stripped_xml_line = '' + + message_lines = [] + if debug_mode(): + if get_full_dump_dir(): + self.dump_full_debug_info_to_disk() + message_lines.extend([ + 'Compile error raised by Mujoco.', + str(err)]) + if xml_line: + message_lines.extend([ + stripped_xml_line, + self._generate_debug_message_from_xml_line(xml_line)]) + else: + message_lines.extend([ + 'Compile error raised by Mujoco; ' + 'run again with --pymjcf_debug for additional debug information.', + str(err)]) + if xml_line: + message_lines.append(stripped_xml_line) + + message = '\n'.join(message_lines) + six.reraise(err_type, err_type(message), stack) + + @property + def default_dump_dir(self): + return get_full_dump_dir() + + @property + def debug_mode(self): + return debug_mode() + + def dump_full_debug_info_to_disk(self, dump_dir=None): + """Dumps full debug information to disk. + + Full debug information consists of an XML file whose elements are tagged + with a unique ID, and a stack trace file for each element ID. Each stack + trace file consists of a stack trace for when the element was created, and + when each attribute was last modified. + + Args: + dump_dir: Full path to the directory in which dump files are created. + + Raises: + ValueError: If neither `dump_dir` nor the global dump path is given. The + global dump path can be specified either via the + --pymjcf_debug_full_dump_dir flag or via `debugging.set_full_dump_dir`. + """ + dump_dir = dump_dir or self.default_dump_dir + if not dump_dir: + raise ValueError('`dump_dir` is not specified') + section_separator = '\n' + ('=' * 80) + '\n' + + def dump_stack(header, stack, f): + indent = ' ' + f.write(header + '\n') + for stack_entry in stack: + f.write(indent + '`{}` at {}:{}\n' + .format(stack_entry.function_name, + stack_entry.filename, stack_entry.line_number)) + f.write((indent * 2) + str(stack_entry.text) + '\n') + f.write(section_separator) + + with open(os.path.join(dump_dir, 'model.xml'), 'w') as f: + f.write(self._xml_string) + for elem_id, debug_info in six.iteritems(self._debug_info_for_element_ids): + with open(os.path.join(dump_dir, str(elem_id) + '.dump'), 'w') as f: + f.write('{}:{}\n'.format(DEBUG_METADATA_PREFIX, elem_id)) + f.write(str(debug_info.element) + '\n') + dump_stack('Element creation', debug_info.init_stack, f) + for attrib_name, stack in six.iteritems(debug_info.attribute_stacks): + attrib_value = ( + debug_info.element.get_attribute_xml_string(attrib_name)) + if stack[-1] == debug_info.init_stack[-1]: + if attrib_value is not None: + f.write('Attribute {}="{}"\n'.format(attrib_name, attrib_value)) + f.write(' was set when the element was created\n') + f.write(section_separator) + else: + if attrib_value is not None: + dump_stack('Attribute {}="{}"'.format(attrib_name, attrib_value), + stack, f) + else: + dump_stack( + 'Attribute {} was CLEARED'.format(attrib_name), stack, f) + + def _generate_debug_message_from_xml_line(self, xml_line): + """Generates a debug message by parsing the metadata on an XML line.""" + metadata_match = _DEBUG_METADATA_SEARCH_PATTERN.search(xml_line) + if metadata_match: + elem_id = int(metadata_match.group(1)) + return self._generate_debug_message_from_element_id(elem_id) + else: + return '' + + def _generate_debug_message_from_element_id(self, elem_id): + """Generates a debug message for the specified Element.""" + out = [] + debug_info = self._debug_info_for_element_ids[elem_id] + + out.append('Debug summary for element:') + if not get_full_dump_dir(): + out.append( + ' * Full debug info can be dumped to disk by setting the ' + 'flag --pymjcf_debug_full_dump_dir=path/to/dump>') + out.append(' * Element object was created by `{}` at {}:{}' + .format(debug_info.init_stack[-1].function_name, + debug_info.init_stack[-1].filename, + debug_info.init_stack[-1].line_number)) + + for attrib_name, stack in six.iteritems(debug_info.attribute_stacks): + attrib_value = debug_info.element.get_attribute_xml_string(attrib_name) + if stack[-1] == debug_info.init_stack[-1]: + if attrib_value is not None: + out.append(' * {}="{}" was set when the element was created' + .format(attrib_name, attrib_value)) + else: + if attrib_value is not None: + out.append(' * {}="{}" was set by `{}` at `{}:{}`' + .format(attrib_name, attrib_value, + stack[-1].function_name, stack[-1].filename, + stack[-1].line_number)) + else: + out.append(' * {} was CLEARED by `{}` at {}:{}' + .format(attrib_name, stack[-1].function_name, + stack[-1].filename, stack[-1].line_number)) + + return '\n'.join(out) diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/element.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/element.py new file mode 100644 index 0000000000000000000000000000000000000000..04bff53f96f22d446819766e7fb7f17f84b36e1b --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/element.py @@ -0,0 +1,1330 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Classes to represent MJCF elements in the object model.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import collections +import copy +import os +import sys + +from . import attribute as attribute_types +from . import base +from . import constants +from . import copier +from . import debugging +from . import namescope +from . import schema +from . import util +from lxml import etree +import numpy as np +import six +from six.moves import zip + +_raw_property = property # pylint: disable=invalid-name + + +def property(method): # pylint: disable=redefined-builtin + """Modifies `@property` to keep track of any `AttributeError` raised. + + Our `Element` implementations overrides the `__getattr__` method. This does + not interact well with `@property`: if a `property`'s code is buggy so as to + raise an `AttributeError`, then Python would silently discard it and redirect + to our `__getattr__` instead, leading to an uninformative stack trace. This + makes it very difficult to debug issues that involve properties. + + To remedy this, we modify `@property` within this module to store any + `AttributeError` raised within the respective `Element` object. Then, in our + `__getattr__` logic, we could re-raise it to preserve the original stack + trace. + + The reason that this is not implemented as a different decorator is that we + could accidentally use @property on a new method. This would work fine until + someone triggers a subtle bug. This is when a proper trace would be most + useful, but we would still end up with a strange undebuggable stack trace + anyway. + + Note that at the end of this module, we have a `del property` to prevent this + override from being broadcasted externally. + + Args: + method: The method that is being decorated. + + Returns: + A `property` corresponding to the decorated method. + """ + + def _mjcf_property(self): + try: + return method(self) + except: # pylint: disable=bare-except + err_type, err, tb = sys.exc_info() + tb_next = tb.tb_next + if isinstance(err, AttributeError): + self._last_attribute_error = err_type, err, tb_next # pylint: disable=protected-access + six.reraise(err_type, err, tb_next) + + return _raw_property(_mjcf_property) + + +def _make_element(spec, parent, attributes=None): + """Helper function to generate the right kind of Element given a spec.""" + if (spec.name == constants.WORLDBODY + or (spec.name == constants.SITE + and (parent.tag == constants.BODY + or parent.tag == constants.WORLDBODY))): + return _AttachableElement(spec, parent, attributes) + elif isinstance(parent, _AttachmentFrame): + return _AttachmentFrameChild(spec, parent, attributes) + elif spec.name == constants.DEFAULT: + return _DefaultElement(spec, parent, attributes) + elif spec.name == constants.ACTUATOR: + return _ActuatorElement(spec, parent, attributes) + else: + return _ElementImpl(spec, parent, attributes) + + +_DEFAULT_NAME_FROM_FILENAME = frozenset(['mesh', 'hfield', 'texture']) + + +class _ElementImpl(base.Element): + """Actual implementation of a generic MJCF element object.""" + __slots__ = ['__weakref__', '_spec', '_parent', '_attributes', '_children', + '_own_attributes', '_attachments', '_is_removed', '_init_stack', + '_is_worldbody', '_cached_namescope', '_cached_root', + '_cached_full_identifier', '_cached_revision', + '_last_attribute_error'] + + def __init__(self, spec, parent, attributes=None): + attributes = attributes or {} + + # For certain `asset` elements the `name` attribute can be omitted, in which + # case the name will be the filename without the leading path and extension. + # See http://www.mujoco.org/book/XMLreference.html#asset. + if ('name' not in attributes + and 'file' in attributes + and spec.name in _DEFAULT_NAME_FROM_FILENAME): + _, filename = os.path.split(attributes['file']) + basename, _ = os.path.splitext(filename) + attributes['name'] = basename + + self._spec = spec + self._parent = parent + self._attributes = collections.OrderedDict() + self._own_attributes = None + self._children = [] + self._attachments = collections.OrderedDict() + self._is_removed = False + self._is_worldbody = (self.tag == 'worldbody') + + if self._parent: + self._cached_namescope = self._parent.namescope + self._cached_root = self._parent.root + self._cached_full_identifier = '' + self._cached_revision = -1 + + self._last_attribute_error = None + + if debugging.debug_mode(): + self._init_stack = debugging.get_current_stack_trace() + + with debugging.freeze_current_stack_trace(): + for child_spec in six.itervalues(self._spec.children): + if not (child_spec.repeated or child_spec.on_demand): + self._children.append(_make_element(spec=child_spec, parent=self)) + + if constants.DCLASS in attributes: + attributes[constants.CLASS] = attributes[constants.DCLASS] + del attributes[constants.DCLASS] + + for attribute_name in six.iterkeys(attributes): + self._check_valid_attribute(attribute_name) + + for attribute_spec in six.itervalues(self._spec.attributes): + value = None + # Some Reference attributes refer to a namespace that is specified + # via another attribute. We therefore have to set things up for + # the additional indirection. + if attribute_spec.type is attribute_types.Reference: + reference_namespace = ( + attribute_spec.other_kwargs['reference_namespace']) + if reference_namespace.startswith( + constants.INDIRECT_REFERENCE_NAMESPACE_PREFIX): + attribute_spec = copy.deepcopy(attribute_spec) + namespace_attrib_name = reference_namespace[ + len(constants.INDIRECT_REFERENCE_NAMESPACE_PREFIX):] + attribute_spec.other_kwargs['reference_namespace'] = ( + self._attributes[namespace_attrib_name]) + if attribute_spec.name in attributes: + value = attributes[attribute_spec.name] + try: + self._attributes[attribute_spec.name] = attribute_spec.type( + name=attribute_spec.name, + required=attribute_spec.required, + conflict_allowed=attribute_spec.conflict_allowed, + conflict_behavior=attribute_spec.conflict_behavior, + parent=self, value=value, **attribute_spec.other_kwargs) + except: # pylint: disable=bare-except + # On failure, clear attributes already created + for attribute_obj in six.itervalues(self._attributes): + attribute_obj._force_clear() # pylint: disable=protected-access + # Then raise a meaningful error + err_type, err, traceback = sys.exc_info() + message = ( + 'during initialization of attribute {!r} of element <{}>: {}' + .format(attribute_spec.name, self._spec.name, err)) + six.reraise(err_type, err_type(message), traceback) + + def get_init_stack(self): + """Gets the stack trace where this element was first initialized.""" + if debugging.debug_mode(): + return self._init_stack + + def get_last_modified_stacks_for_all_attributes(self): + """Gets a dict of stack traces where each attribute was last modified.""" + return collections.OrderedDict( + [(name, self._attributes[name].last_modified_stack) + for name in six.iterkeys(self._spec.attributes)]) + + def is_same_as(self, other): + """Checks whether another element is semantically equivalent to this one. + + Two elements are considered equivalent if they have the same + specification (i.e. same tag appearing in the same context), the same + attribute values, and all of their children are equivalent. The ordering + of non-repeated children is not important for this comparison, while + the ordering of repeated children are important only amongst the same + type* of children. In other words, for two bodies to be considered + equivalent, their child sites must appear in the same order, and their + child geoms must appear in the same order, but permutations between sites + and geoms are disregarded. (The only exception is in tendon definition, + where strict ordering of all children is necessary for equivalence.) + + *Note that the notion of "same type" in this function is very loose: + for example different actuator element subtypes are treated as separate + types when children ordering is considered. Therefore, two + elements might be considered equivalent even though they result in different + orderings of `mjData.ctrl` when compiled. As it stands, this function + is designed primarily as a testing aid and should not be used to guarantee + that models are actually identical. + + Args: + other: An `mjcf.Element` + + Returns: + `True` if `other` element is semantically equivalent to this one. + """ + if other is None or other.spec != self._spec: + return False + + for attribute_name in six.iterkeys(self._spec.attributes): + attribute = self._attributes[attribute_name] + other_attribute = getattr(other, attribute_name) + if isinstance(attribute.value, base.Element): + if attribute.value.full_identifier != other_attribute.full_identifier: + return False + elif not np.all(attribute.value == other_attribute): + return False + + if (self._parent and + self._parent.tag == constants.TENDON and + self._parent.parent == self.root): + return self._tendon_has_same_children_as(other) + else: + return self._has_same_children_as(other) + + def _has_same_children_as(self, other): + """Helper function to check whether another element has the same children. + + See docstring for `is_same_as` for explanation about the treatment of + children ordering. + + Args: + other: An `mjcf.Element` + + Returns: + A boolean + """ + for child_name, child_spec in six.iteritems(self._spec.children): + child = self.get_children(child_name) + other_child = getattr(other, child_name) + if not child_spec.repeated: + if ((child is None and other_child is not None) or + (child is not None and not child.is_same_as(other_child))): + return False + else: + if len(child) != len(other_child): + return False + else: + for grandchild, other_grandchild in zip(child, other_child): + if not grandchild.is_same_as(other_grandchild): + return False + return True + + def _tendon_has_same_children_as(self, other): + return all(child.is_same_as(other_child) + for child, other_child + in zip(self.all_children(), other.all_children())) + + def _alias_attributes_dict(self, other): + if self._own_attributes is None: + self._own_attributes = self._attributes + self._attributes = other + + def _restore_attributes_dict(self): + if self._own_attributes is not None: + for attribute_name, attribute in six.iteritems(self._attributes): + self._own_attributes[attribute_name].value = attribute.value + self._attributes = self._own_attributes + self._own_attributes = None + + @property + def tag(self): + return self._spec.name + + @property + def spec(self): + return self._spec + + @property + def parent(self): + return self._parent + + @property + def namescope(self): + return self._cached_namescope + + @property + def root(self): + return self._cached_root + + def prefixed_identifier(self, prefix_root): + if not self._spec.identifier and not self._is_worldbody: + return None + elif self._is_worldbody: + prefix = self.namescope.full_prefix(prefix_root=prefix_root) + return prefix or 'world' + else: + full_identifier = ( + self._attributes[self._spec.identifier].to_xml_string( + prefix_root=prefix_root)) + if full_identifier: + return full_identifier + else: + prefix = self.namescope.full_prefix(prefix_root=prefix_root) + prefix = prefix or constants.PREFIX_SEPARATOR + return prefix + self._default_identifier + + @property + def full_identifier(self): + """Fully-qualified identifier used for this element in the generated XML.""" + if self.namescope.revision > self._cached_revision: + self._cached_full_identifier = self.prefixed_identifier( + prefix_root=self.namescope.root) + self._cached_revision = self.namescope.revision + return self._cached_full_identifier + + @property + def _default_identifier(self): + """The default identifier used if this element is not named by the user.""" + if not self._spec.identifier: + return None + else: + siblings = self.root.find_all(self._spec.namespace, + exclude_attachments=True) + return '{separator}unnamed_{namespace}_{index}'.format( + separator=constants.PREFIX_SEPARATOR, + namespace=self._spec.namespace, + index=siblings.index(self)) + + def __dir__(self): + out_dir = set() + classes = (type(self),) + while classes: + super_classes = set() + for klass in classes: + out_dir.update(klass.__dict__) + super_classes.update(klass.__bases__) + classes = super_classes + out_dir.update(self._spec.children) + out_dir.update(self._spec.attributes) + if constants.CLASS in out_dir: + out_dir.remove(constants.CLASS) + out_dir.add(constants.DCLASS) + return sorted(out_dir) + + def find(self, namespace, identifier): + """Finds an element with a particular identifier. + + This function allows the direct access to an arbitrarily deeply nested + child element by name, without the need to manually traverse through the + object tree. The `namespace` argument specifies the kind of element to + find. In most cases, this corresponds to the element's XML tag name. + However, if an element has multiple specialized tags, then the namespace + corresponds to the tag name of the most general element of that kind. + For example, `namespace='joint'` would search for `` and + ``, while `namespace='actuator'` would search for ``, + ``, ``, ``, and ``. + + Args: + namespace: A string specifying the namespace being searched. See the + docstring above for explanation. + identifier: The identifier string of the desired element. + + Returns: + An `mjcf.Element` object, or `None` if an element with the specified + identifier is not found. + + Raises: + ValueError: if either `namespace` or `identifier` is not a string, or if + `namespace` is not a valid namespace. + """ + if not isinstance(namespace, six.string_types): + raise ValueError( + '`namespace` should be a string: got {!r}'.format(namespace)) + if not isinstance(identifier, six.string_types): + raise ValueError( + '`identifier` should be a string: got {!r}'.format(identifier)) + if namespace not in schema.FINDABLE_NAMESPACES: + raise ValueError('{!r} is not a valid namespace.'.format(namespace)) + if constants.PREFIX_SEPARATOR in identifier: + scope_name = identifier.split(constants.PREFIX_SEPARATOR)[0] + try: + attachment = self.namescope.get('attached_model', scope_name) + found_element = attachment.find( + namespace, identifier[(len(scope_name) + 1):]) + except (KeyError, ValueError): + found_element = None + else: + try: + found_element = self.namescope.get(namespace, identifier) + except KeyError: + found_element = None + if found_element and self._parent: + next_parent = found_element.parent + while next_parent and next_parent != self: + next_parent = next_parent.parent + if not next_parent: + found_element = None + return found_element + + def find_all(self, namespace, + immediate_children_only=False, exclude_attachments=False): + """Finds all elements of a particular kind. + + The `namespace` argument specifies the kind of element to + find. In most cases, this corresponds to the element's XML tag name. + However, if an element has multiple specialized tags, then the namespace + corresponds to the tag name of the most general element of that kind. + For example, `namespace='joint'` would search for `` and + ``, while `namespace='actuator'` would search for ``, + ``, ``, ``, and ``. + + Args: + namespace: A string specifying the namespace being searched. See the + docstring above for explanation. + immediate_children_only: (optional) A boolean, if `True` then only + the immediate children of this element are returned. + exclude_attachments: (optional) A boolean, if `True` then elements + belonging to attached models are excluded. + + Returns: + A list of `mjcf.Element`. + + Raises: + ValueError: if `namespace` is not a valid namespace. + """ + if namespace not in schema.FINDABLE_NAMESPACES: + raise ValueError('{!r} is not a valid namespace.'.format(namespace)) + out = [] + children = self._children if exclude_attachments else self.all_children() + for child in children: + if (namespace == child.spec.namespace or + # Direct children of attachment frames have custom namespaces of the + # form "joint@attachment_frame_". + child.spec.namespace and child.spec.namespace.startswith( + namespace + constants.NAMESPACE_SEPARATOR) or + # Attachment frames are considered part of the "body" namespace. + namespace == constants.BODY and isinstance(child, _AttachmentFrame)): + out.append(child) + if not immediate_children_only: + out.extend(child.find_all(namespace, + exclude_attachments=exclude_attachments)) + return out + + def enter_scope(self, scope_identifier): + """Finds the root element of the given scope and returns it. + + This function allows the access to a nested scope that is a child of this + element. The `scope_identifier` argument specifies the path to the child + scope element. + + Args: + scope_identifier: The path of the desired scope element. + + Returns: + An `mjcf.Element` object, or `None` if a scope element with the + specified path is not found. + """ + if constants.PREFIX_SEPARATOR in scope_identifier: + scope_name = scope_identifier.split(constants.PREFIX_SEPARATOR)[0] + try: + attachment = self.namescope.get('attached_model', scope_name) + except KeyError: + return None + + scope_suffix = scope_identifier[(len(scope_name) + 1):] + if scope_suffix: + return attachment.enter_scope(scope_suffix) + else: + return attachment + else: + try: + return self.namescope.get('attached_model', scope_identifier) + except KeyError: + return None + + def _check_valid_attribute(self, attribute_name): + if attribute_name not in self._spec.attributes: + raise AttributeError( + '{!r} is not a valid attribute for <{}>'.format( + attribute_name, self._spec.name)) + + def _get_attribute(self, attribute_name): + self._check_valid_attribute(attribute_name) + return self._attributes[attribute_name].value + + def get_attribute_xml_string(self, attribute_name, prefix_root=None): + self._check_valid_attribute(attribute_name) + return self._attributes[attribute_name].to_xml_string(prefix_root) + + def get_attributes(self): + fix_attribute_name = ( + lambda name: constants.DCLASS if name == constants.CLASS else name) + return collections.OrderedDict( + [(fix_attribute_name(name), self._get_attribute(name)) + for name in six.iterkeys(self._spec.attributes) + if self._get_attribute(name) is not None]) + + def _set_attribute(self, attribute_name, value): + self._check_valid_attribute(attribute_name) + self._attributes[attribute_name].value = value + self.namescope.increment_revision() + + def set_attributes(self, **kwargs): + if constants.DCLASS in kwargs: + kwargs[constants.CLASS] = kwargs[constants.DCLASS] + del kwargs[constants.DCLASS] + old_values = [] + with debugging.freeze_current_stack_trace(): + for attribute_name, new_value in six.iteritems(kwargs): + old_value = self._get_attribute(attribute_name) + try: + self._set_attribute(attribute_name, new_value) + old_values.append((attribute_name, old_value)) + except: # pylint: disable=bare-except + # On failure, restore old attribute values for those already set. + for name, old_value in old_values: + self._set_attribute(name, old_value) + # Then raise a meaningful error. + err_type, err, tb = sys.exc_info() + message = ( + 'during assignment to attribute {!r} of element <{}>: {}' + .format(attribute_name, self._spec.name, err)) + six.reraise(err_type, err_type(message), tb) + + def _remove_attribute(self, attribute_name): + self._check_valid_attribute(attribute_name) + self._attributes[attribute_name].clear() + self.namescope.increment_revision() + + def _check_valid_child(self, element_name): + try: + return self._spec.children[element_name] + except KeyError: + raise AttributeError( + '<{}> is not a valid child of <{}>' + .format(element_name, self._spec.name)) + + def get_children(self, element_name): + child_spec = self._check_valid_child(element_name) + if child_spec.repeated: + return _ElementListView(spec=child_spec, parent=self) + else: + for child in self._children: + if child.tag == element_name: + return child + if child_spec.on_demand: + return None + else: + raise RuntimeError( + 'Cannot find the non-repeated child <{}> of <{}>. ' + 'This should never happen, as we pre-create these in __init__. ' + 'Please file an bug report. Thank you.' + .format(element_name, self._spec.name)) + + def add(self, element_name, **kwargs): + """Add a new child element to this element. + + Args: + element_name: The tag of the element to add. + **kwargs: Attributes of the new element being created. + + Raises: + ValueError: If the 'element_name' is not a valid child, or if an invalid + attribute is specified in `kwargs`. + + Returns: + An `mjcf.Element` corresponding to the newly created child element. + """ + child_spec = self._check_valid_child(element_name) + if child_spec.on_demand: + need_new_on_demand = self.get_children(element_name) is None + else: + need_new_on_demand = False + if not (child_spec.repeated or need_new_on_demand): + raise ValueError('A <{}> child already exists, please access it directly.' + .format(element_name)) + new_element = _make_element(child_spec, self, attributes=kwargs) + self._children.append(new_element) + self.namescope.increment_revision() + return new_element + + def __getattr__(self, name): + if self._last_attribute_error: + # This means that we got here through a @property raising AttributeError. + # We therefore just re-raise the last AttributeError back to the user. + # Note that self._last_attribute_error was set by our specially + # instrumented @property decorator. + exc_info = self._last_attribute_error + self._last_attribute_error = None + six.reraise(*exc_info) + elif name in self._spec.children: + return self.get_children(name) + elif name in self._spec.attributes: + return self._get_attribute(name) + elif name == constants.DCLASS and constants.CLASS in self._spec.attributes: + return self._get_attribute(constants.CLASS) + else: + raise AttributeError('object has no attribute: {}'.format(name)) + + def __setattr__(self, name, value): + # If this name corresponds to a descriptor for a slotted attribute or + # settable property then try to invoke the descriptor to set the attribute + # and return if successful. + klass_attr = getattr(type(self), name, None) + if klass_attr is not None: + try: + return klass_attr.__set__(self, value) + except AttributeError: + pass + # If we did not find a settable descriptor then we look in the attribute + # spec to see if there is a MuJoCo attribute matching this name. + attribute_name = name if name != constants.DCLASS else constants.CLASS + if attribute_name in self._spec.attributes: + self._set_attribute(attribute_name, value) + else: + raise AttributeError('can\'t set attribute: {}'.format(name)) + + def __delattr__(self, name): + if name in self._spec.children: + if self._spec.children[name].repeated: + raise AttributeError( + '`{0}` is a collection of child elements, ' + 'which cannot be deleted. Did you mean to call `{0}.clear()`?' + .format(name)) + else: + return self.get_children(name).remove() + elif name in self._spec.attributes: + return self._remove_attribute(name) + else: + raise AttributeError('object has no attribute: {}'.format(name)) + + def _check_attachments_on_remove(self, affect_attachments): + if not affect_attachments and self._attachments: + raise ValueError( + 'please use remove(affect_attachments=True) as this will affect some ' + 'attributes and/or children belonging to an attached model') + for child in self._children: + child._check_attachments_on_remove(affect_attachments) # pylint: disable=protected-access + + def remove(self, affect_attachments=False): + """Removes this element from the model.""" + self._check_attachments_on_remove(affect_attachments) + if affect_attachments: + for attachment in six.itervalues(self._attachments): + attachment.remove(affect_attachments=True) + for child in list(self._children): + child.remove(affect_attachments) + if self._spec.repeated or self._spec.on_demand: + self._parent._children.remove(self) # pylint: disable=protected-access + for attribute in six.itervalues(self._attributes): + attribute._force_clear() # pylint: disable=protected-access + self._parent = None + self._is_removed = True + else: + for attribute in six.itervalues(self._attributes): + attribute._force_clear() # pylint: disable=protected-access + self.namescope.increment_revision() + + @property + def is_removed(self): + return self._is_removed + + def all_children(self): + all_children = [child for child in self._children] + for attachment in six.itervalues(self._attachments): + all_children += [child for child in attachment.all_children() + if child.spec.repeated] + return all_children + + def to_xml(self, prefix_root=None, debug_context=None): + """Generates an etree._Element corresponding to this MJCF element. + + Args: + prefix_root: (optional) A `NameScope` object to be treated as root + for the purpose of calculating the prefix. + If `None` then no prefix is included. + debug_context: (optional) A `debugging.DebugContext` object to which + the debugging information associated with the generated XML is written. + This is intended for internal use within PyMJCF; users should never need + manually pass this argument. + + Returns: + An etree._Element object. + """ + prefix_root = prefix_root or self.namescope + xml_element = etree.Element(self._spec.name) + self._attributes_to_xml(xml_element, prefix_root, debug_context) + self._children_to_xml(xml_element, prefix_root, debug_context) + return xml_element + + def _attributes_to_xml(self, xml_element, prefix_root, debug_context=None): + del debug_context # Unused. + for attribute_name, attribute in six.iteritems(self._attributes): + attribute_value = attribute.to_xml_string(prefix_root) + if attribute_name == self._spec.identifier and attribute_value is None: + xml_element.set(attribute_name, self.full_identifier) + elif attribute_value is None: + continue + else: + xml_element.set(attribute_name, attribute_value) + + def _children_to_xml(self, xml_element, prefix_root, debug_context=None): + for child in self.all_children(): + child_xml = child.to_xml(prefix_root, debug_context) + if (child_xml.attrib or len(child_xml) # pylint: disable=g-explicit-length-test + or child.spec.repeated or child.spec.on_demand): + xml_element.append(child_xml) + if debugging.debug_mode() and debug_context: + debug_comment = debug_context.register_element_for_debugging(child) + xml_element.append(debug_comment) + if len(child_xml) > 0: # pylint: disable=g-explicit-length-test + child_xml.insert(0, copy.deepcopy(debug_comment)) + + def to_xml_string(self, prefix_root=None, + self_only=False, pretty_print=True, debug_context=None): + """Generates an XML string corresponding to this MJCF element. + + Args: + prefix_root: (optional) A `NameScope` object to be treated as root + for the purpose of calculating the prefix. + If `None` then no prefix is included. + self_only: (optional) A boolean, whether to generate an XML corresponding + only to this element without any children. + pretty_print: (optional) A boolean, whether to the XML string should be + properly indented. + debug_context: (optional) A `debugging.DebugContext` object to which + the debugging information associated with the generated XML is written. + This is intended for internal use within PyMJCF; users should never need + manually pass this argument. + + Returns: + A string. + """ + xml_element = self.to_xml(prefix_root, debug_context) + if self_only and len(xml_element) > 0: # pylint: disable=g-explicit-length-test + etree.strip_elements(xml_element, '*') + xml_element.text = '...' + if (self_only and self._spec.identifier and + not self._attributes[self._spec.identifier].to_xml_string(prefix_root)): + del xml_element.attrib[self._spec.identifier] + xml_string = util.to_native_string( + etree.tostring(xml_element, pretty_print=pretty_print)) + if pretty_print and debug_context: + return debug_context.commit_xml_string(xml_string) + else: + return xml_string + + def __str__(self): + return self.to_xml_string(self_only=True, pretty_print=False) + + def __repr__(self): + return 'MJCF Element: ' + str(self) + + def _check_valid_attachment(self, other): + self_spec = self._spec + if self_spec.name == constants.WORLDBODY: + self_spec = self._spec.children[constants.BODY] + + other_spec = other.spec + if other_spec.name == constants.WORLDBODY: + other_spec = other_spec.children[constants.BODY] + + if other_spec != self_spec: + raise ValueError( + 'The attachment must have the same spec as this element.') + + def _attach(self, other, exclude_worldbody=False, dry_run=False): + """Attaches another element of the same spec to this element. + + All children of `other` will be treated as children of this element. + All XML attributes which are defined in `other` but not defined in this + element will be copied over, and any conflicting XML attribute value causes + an error. After the attachment, any XML attribute modified in this element + will also affect `other` and vice versa. + + Children of this element which are not a repeated elements will also be + attached by the corresponding children of `other`. + + Args: + other: Another Element with the same spec. + exclude_worldbody: (optional) A boolean. If `True`, then don't do anything + if `other` is a worldbody. + dry_run: (optional) A boolean, if `True` only verify that the operation + is valid without actually committing any change. + + Raises: + ValueError: If `other` has a different spec, or if there are conflicting + XML attribute values. + """ + self._check_valid_attachment(other) + if exclude_worldbody and other.tag == constants.WORLDBODY: + return + if dry_run: + self._check_conflicting_attributes(other, copying=False) + else: + self._attachments[other.namescope] = other + self._sync_attributes(other, copying=False) + self._attach_children(other, exclude_worldbody, dry_run) + if other.tag != constants.WORLDBODY and not dry_run: + other._alias_attributes_dict(self._attributes) # pylint: disable=protected-access + + def _detach(self, other_namescope): + """Detaches a model with the specified namescope.""" + attached_element = self._attachments.get(other_namescope) + if attached_element: + attached_element._restore_attributes_dict() # pylint: disable=protected-access + del self._attachments[other_namescope] + for child in self._children: + child._detach(other_namescope) # pylint: disable=protected-access + + def _check_conflicting_attributes(self, other, copying): + for attribute_name, other_attribute in six.iteritems( + other.get_attributes()): + if attribute_name == constants.DCLASS: + attribute_name = constants.CLASS + if ((not self._attributes[attribute_name].conflict_allowed) + and self._attributes[attribute_name].value is not None + and other_attribute is not None + and np.asarray( + self._attributes[attribute_name].value != other_attribute).any()): + raise ValueError( + 'Conflicting values for attribute `{}`: {} vs {}' + .format(attribute_name, + self._attributes[attribute_name].value, + other_attribute)) + + def _sync_attributes(self, other, copying): + self._check_conflicting_attributes(other, copying) + for attribute_name, other_attribute in six.iteritems( + other.get_attributes()): + if attribute_name == constants.DCLASS: + attribute_name = constants.CLASS + + self_attribute = self._attributes[attribute_name] + if other_attribute is not None: + if self_attribute.conflict_behavior == 'max': + if self_attribute.value is not None: + self_attribute.value = max(self_attribute.value, other_attribute) + else: + self_attribute.value = other_attribute + elif copying or not self_attribute.conflict_allowed: + self_attribute.value = other_attribute + + def _attach_children(self, other, exclude_worldbody, dry_run=False): + for other_child in other.all_children(): + if not other_child.spec.repeated: + self_child = self.get_children(other_child.spec.name) + self_child._attach(other_child, exclude_worldbody, dry_run) # pylint: disable=protected-access + + def resolve_references(self): + for attribute in six.itervalues(self._attributes): + if isinstance(attribute, attribute_types.Reference): + if attribute.value and isinstance(attribute.value, six.string_types): + referred = self.root.find( + attribute.reference_namespace, attribute.value) + if referred: + attribute.value = referred + for child in self.all_children(): + child.resolve_references() + + def _update_references(self, reference_dict): + for attribute in six.itervalues(self._attributes): + if isinstance(attribute, attribute_types.Reference): + if attribute.value in reference_dict: + attribute.value = reference_dict[attribute.value] + for child in self.all_children(): + child._update_references(reference_dict) # pylint: disable=protected-access + + +class _AttachableElement(_ElementImpl): + """Specialized object representing a or element. + + This element defines a frame to which another MJCF model can be attached. + """ + __slots__ = [] + + def attach(self, attachment): + """Attaches another MJCF model at this site. + + An empty will be created as an attachment frame. All children of + `attachment`'s will be treated as children of this frame. + Furthermore, all other elements in `attachment` are merged into the root + of the MJCF model to which this element belongs. + + Args: + attachment: An MJCF `RootElement` + + Returns: + An `mjcf.Element` corresponding to the attachment frame. A joint can be + added directly to this frame to give degrees of freedom to the attachment. + + Raises: + ValueError: If `other` is not a valid attachment to this element. + """ + if not isinstance(attachment, RootElement): + raise ValueError('Expected a mjcf.RootElement: got {}' + .format(attachment)) + if attachment.namescope.parent is not None: + raise ValueError('The model specified is already attached elsewhere') + if attachment.namescope == self.namescope: + raise ValueError('Cannot merge a model to itself') + self.root._attach(attachment, exclude_worldbody=True, dry_run=True) # pylint: disable=protected-access + + if self.namescope.has_identifier('namescope', attachment.model): + id_number = 1 + while self.namescope.has_identifier( + 'namescope', '{}_{}'.format(attachment.model, id_number)): + id_number += 1 + attachment.model = '{}_{}'.format(attachment.model, id_number) + attachment.namescope.parent = self.namescope + + if self.tag == constants.WORLDBODY: + frame_parent = self + frame_siblings = self._children + index = len(frame_siblings) + else: + frame_parent = self._parent + frame_siblings = self._parent._children # pylint: disable=protected-access + index = frame_siblings.index(self) + 1 + while (index < len(frame_siblings) + and isinstance(frame_siblings[index], _AttachmentFrame)): + index += 1 + frame = _AttachmentFrame(frame_parent, self, attachment) + frame_siblings.insert(index, frame) + self.root._attach(attachment, exclude_worldbody=True) # pylint: disable=protected-access + return frame + + +class _AttachmentFrame(_ElementImpl): + """An specialized representing a frame holding an external attachment. + """ + __slots__ = ['_site', '_attachment'] + + def __init__(self, parent, site, attachment): + if parent.tag == constants.WORLDBODY: + spec = schema.WORLD_ATTACHMENT_FRAME + else: + spec = schema.ATTACHMENT_FRAME + + spec_is_copied = False + for child_name, child_spec in six.iteritems(spec.children): + if child_spec.namespace: + if not spec_is_copied: + spec = copy.deepcopy(spec) + spec_is_copied = True + spec_as_dict = child_spec._asdict() + spec_as_dict['namespace'] = '{}{}attachment_frame_{}'.format( + child_spec.namespace, constants.NAMESPACE_SEPARATOR, id(self)) + spec.children[child_name] = type(child_spec)(**spec_as_dict) + + attributes = {} + with debugging.freeze_current_stack_trace(): + for attribute_name in six.iterkeys(spec.attributes): + if hasattr(site, attribute_name): + attributes[attribute_name] = getattr(site, attribute_name) + super(_AttachmentFrame, self).__init__(spec, parent, attributes) + self._site = site + self._attachment = attachment + self._attachments[attachment.namescope] = attachment.worldbody + self.namescope.add('attachment_frame', attachment.namescope.name, self) + self.namescope.add('attached_model', attachment.namescope.name, attachment) + + def prefixed_identifier(self, prefix_root=None): + prefix = self.namescope.full_prefix(prefix_root) + return prefix + self._attachment.namescope.name + constants.PREFIX_SEPARATOR + + def to_xml(self, prefix_root=None, debug_context=None): + xml_element = ( + super(_AttachmentFrame, self).to_xml(prefix_root, debug_context)) + xml_element.set('name', self.prefixed_identifier(prefix_root)) + return xml_element + + @property + def full_identifier(self): + return self.prefixed_identifier(self.namescope.root) + + def _detach(self, other_namescope): + super(_AttachmentFrame, self)._detach(other_namescope) + if other_namescope is self._attachment.namescope: + self.namescope.remove('attachment_frame', self._attachment.namescope.name) + self.namescope.remove('attached_model', self._attachment.namescope.name) + self.remove() + + +class _AttachmentFrameChild(_ElementImpl): + """A child element of an attachment frame. + + Right now, this is always a or a . The name of the joint + is not freely specifiable, but instead just inherits from the parent frame. + This ensures uniqueness, as attachment frame identifiers always end in '/'. + """ + __slots__ = [] + + def to_xml(self, prefix_root=None, debug_context=None): + xml_element = ( + super(_AttachmentFrameChild, self).to_xml(prefix_root, debug_context)) + if self.spec.namespace is not None: + if self.name: + name = (self._parent.prefixed_identifier(prefix_root) + + self.name + constants.PREFIX_SEPARATOR) + else: + name = self._parent.prefixed_identifier(prefix_root) + xml_element.set('name', name) + return xml_element + + def prefixed_identifier(self, prefix_root=None): + if self.name: + return (self._parent.prefixed_identifier(prefix_root) + + self.name + constants.PREFIX_SEPARATOR) + else: + return self._parent.prefixed_identifier(prefix_root) + + +class _DefaultElement(_ElementImpl): + """Specialized object representing a element. + + This is necessary for the proper handling of global defaults. + """ + __slots__ = [] + + def _attach(self, other, exclude_worldbody=False, dry_run=False): + self._check_valid_attachment(other) + if ((not isinstance(self._parent, RootElement)) + or (not isinstance(other.parent, RootElement))): + raise ValueError('Only global <{}> can be attached' + .format(constants.DEFAULT)) + if not dry_run: + self._attachments[other.namescope] = other + + def all_children(self): + return [child for child in self._children] + + def to_xml(self, prefix_root=None, debug_context=None): + prefix_root = prefix_root or self.namescope + xml_element = ( + super(_DefaultElement, self).to_xml(prefix_root, debug_context)) + if isinstance(self._parent, RootElement): + root_default = etree.Element(self._spec.name) + root_default.append(xml_element) + for attachment in six.itervalues(self._attachments): + attachment_xml = attachment.to_xml(prefix_root, debug_context) + for attachment_child_xml in attachment_xml: + root_default.append(attachment_child_xml) + xml_element = root_default + return xml_element + + +class _ActuatorElement(_ElementImpl): + """Specialized object representing an element. + + This is necessary because MuJoCo requires that all 3rd-order actuators (i.e. + those with internal dynamics) come after all 2nd-order actuators in the + generated XML. + """ + __slots__ = () + + def _is_third_order_actuator(self, child): + if child.tag == 'general': + return child.dyntype and child.dyntype != 'none' + elif child.tag == 'cylinder': + return True # The `` shortcut has 'filter' dynamics. + else: + return False # No other actuator shortcuts have internal dynamics. + + def _children_to_xml(self, xml_element, prefix_root, debug_context=None): + second_order = [] + third_order = [] + debug_comments = {} + for child in self.all_children(): + child_xml = child.to_xml(prefix_root, debug_context) + if (child_xml.attrib or len(child_xml) # pylint: disable=g-explicit-length-test + or child.spec.repeated or child.spec.on_demand): + if self._is_third_order_actuator(child): + third_order.append(child_xml) + else: + second_order.append(child_xml) + if debugging.debug_mode() and debug_context: + debug_comment = debug_context.register_element_for_debugging(child) + debug_comments[child_xml] = debug_comment + if len(child_xml) > 0: # pylint: disable=g-explicit-length-test + child_xml.insert(0, copy.deepcopy(debug_comment)) + # Ensure that all second-order actuators come before third-order actuators + # in the XML. + for child_xml in second_order + third_order: + xml_element.append(child_xml) + if debugging.debug_mode() and debug_context: + xml_element.append(debug_comments[child_xml]) + + +class RootElement(_ElementImpl): + """The root `` element of an MJCF model.""" + __slots__ = ['_namescope'] + + def __init__(self, model=None, model_dir='', assets=None): + model = model or 'unnamed_model' + self._namescope = namescope.NameScope( + model, self, model_dir=model_dir, assets=assets) + super(RootElement, self).__init__( + spec=schema.MUJOCO, parent=None, attributes={'model': model}) + + def _attach(self, other, exclude_worldbody=False, dry_run=False): + self._check_valid_attachment(other) + if not dry_run: + self._attachments[other.namescope] = other + self._attach_children(other, exclude_worldbody, dry_run) + self.namescope.increment_revision() + + @property + def namescope(self): + return self._namescope + + @property + def root(self): + return self + + @property + def model(self): + return self._namescope.name + + @model.setter + def model(self, new_name): + old_name = self._namescope.name + self._namescope.name = new_name + self._attributes['model'].value = new_name + if self.parent_model: + self.parent_model.namescope.rename('attachment_frame', old_name, new_name) + self.parent_model.namescope.rename('attached_model', old_name, new_name) + + def attach(self, other): + return self.worldbody.attach(other) + + def detach(self): + parent_model = self.parent_model + if not parent_model: + raise RuntimeError( + 'Cannot `detach` a model that is not attached to some other model.') + else: + parent_model._detach(self.namescope) # pylint: disable=protected-access + self.namescope.parent = None + + def include_copy(self, other, override_attributes=False): + other_copier = copier.Copier(other) + new_elements = other_copier.copy_into(self, override_attributes) + self._update_references(new_elements) + self.namescope.increment_revision() + + @property + def parent_model(self): + """The RootElement of the MJCF model to which this one is attached.""" + namescope_parent = self._namescope.parent + return namescope_parent.mjcf_model if namescope_parent else None + + @property + def root_model(self): + return self.parent_model.root_model if self.parent_model else self + + def get_assets(self): + """Returns a dict containing the binary assets referenced in this model. + + This will contain `{vfs_filename: contents}` pairs. `vfs_filename` will be + the name of the asset in MuJoCo's Virtual File System, which corresponds to + the filename given in the XML returned by `to_xml_string()`. `contents` is a + bytestring. + + This dict can be used together with the result of `to_xml_string()` to + construct a `mujoco.Physics` instance: + + ```python + physics = mujoco.Physics.from_xml_string( + xml_string=mjcf_model.to_xml_string(), + assets=mjcf_model.get_assets()) + ``` + """ + # Get the assets referenced within this `RootElement`'s namescope. + assets = {file_obj.to_xml_string(): file_obj.get_contents() + for file_obj in self.namescope.files + if file_obj.value} + + # Recursively add assets belonging to attachments. + for attached_model in six.itervalues(self._attachments): + assets.update(attached_model.get_assets()) + + return assets + + @property + def full_identifier(self): + return self._namescope.full_prefix(self._namescope.root) + + def __copy__(self): + new_model = RootElement(model=self._namescope.name, + model_dir=self.namescope.model_dir) + new_model.include_copy(self) + return new_model + + def __deepcopy__(self, _): + return self.__copy__() + + def is_same_as(self, other): + if other is None or other.spec != self._spec: + return False + return self._has_same_children_as(other) + + +class _ElementListView(object): + """A hybrid list/dict-like view to a group of repeated MJCF elements.""" + + def __init__(self, spec, parent): + self._spec = spec + self._parent = parent + # pylint: disable=protected-access + self._elements = self._parent._children + self._scoped_elements = collections.OrderedDict( + [(scope_namescope.name, getattr(scoped_parent, self._spec.name)) + for scope_namescope, scoped_parent + in six.iteritems(self._parent._attachments)]) + + @property + def spec(self): + return self._spec + + @property + def tag(self): + return self._spec.name + + @property + def namescope(self): + return self._parent.namescope + + @property + def parent(self): + return self._parent + + def __len__(self): + return len(self._full_list()) + + def __iter__(self): + return iter(self._full_list()) + + def _identifier_not_found_error(self, index): + return KeyError('An element <{}> with {}={!r} does not exist' + .format(self._spec.name, self._spec.identifier, index)) + + def _find_index(self, index): + """Locates an element given the index among siblings with the same tag.""" + if isinstance(index, str) and self._spec.identifier: + for i, element in enumerate(self._elements): + if (element.tag == self._spec.name + and getattr(element, self._spec.identifier) == index): + return i + raise self._identifier_not_found_error(index) + else: + count = 0 + for i, element in enumerate(self._elements): + if element.tag == self._spec.name: + if index == count: + return i + else: + count += 1 + raise IndexError('list index out of range') + + def _full_list(self): + out_list = [element for element in self._elements + if element.tag == self._spec.name] + for scoped_elements in six.itervalues(self._scoped_elements): + out_list += scoped_elements[:] + return out_list + + def clear(self): + for child in self._full_list(): + child.remove() + + def __getitem__(self, index): + if (isinstance(index, str) and self._spec.identifier + and constants.PREFIX_SEPARATOR in index): + scope_name = index.split(constants.PREFIX_SEPARATOR)[0] + scoped_elements = self._scoped_elements[scope_name] + try: + return scoped_elements[index[(len(scope_name) + 1):]] + except KeyError: + # Re-raise so that the error shows the full, un-stripped index string + raise self._identifier_not_found_error(index) + elif isinstance(index, slice) or (isinstance(index, int) and index < 0): + return self._full_list()[index] + else: + return self._elements[self._find_index(index)] + + def __delitem__(self, index): + found_index = self._find_index(index) + self._elements[found_index].remove() + + def __str__(self): + return str( + [element.to_xml_string( + prefix_root=self.namescope, self_only=True, pretty_print=False) + for element in self._full_list()]) + + def __repr__(self): + return 'MJCF Elements List: ' + str(self) + + +# This restores @property back to Python's built-in one. +del property +del _raw_property diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/io.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/io.py new file mode 100644 index 0000000000000000000000000000000000000000..ce288d47e2b5b18e329cac640abac509798a2a33 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/io.py @@ -0,0 +1,33 @@ +# Copyright 2017-2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS-IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""IO functions.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + + +def GetResource(name, mode='rb'): + with open(name, mode=mode) as f: + return f.read() + + +def GetResourceFilename(name, mode='rb'): + del mode # Unused. + return name + + +GetResourceAsFile = open # pylint: disable=invalid-name diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/namescope.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/namescope.py new file mode 100644 index 0000000000000000000000000000000000000000..1fd5321a03063b91b2b47d9cef927c4f28ad7fa8 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/namescope.py @@ -0,0 +1,220 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""An object to manage the scoping of identifiers in MJCF models.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import collections + +from . import constants +import six + + +class NameScope(object): + """A name scoping context for an MJCF model. + + This object maintains the uniqueness of identifiers within each MJCF + namespace. Examples of MJCF namespaces include 'body', 'joint', and 'geom'. + Each namescope also carries a name, and can have a parent namescope. + When MJCF models are merged, all identifiers gain a hierarchical prefix + separated by '/', which is the concatenation of all scope names up to + the root namescope. + """ + + def __init__(self, name, mjcf_model, model_dir='', assets=None): + """Initializes a scope with the given name. + + Args: + name: The scope's name + mjcf_model: The RootElement of the MJCF model associated with this scope. + model_dir: (optional) Path to the directory containing the model XML file. + This is used to prefix the paths of all asset files. + assets: (optional) A dictionary of pre-loaded assets, of the form + `{filename: bytestring}`. If present, PyMJCF will search for assets in + this dictionary before attempting to load them from the filesystem. + """ + self._parent = None + self._name = name + self._mjcf_model = mjcf_model + self._namespaces = collections.defaultdict(dict) + self._model_dir = model_dir + self._files = set() + self._assets = assets or {} + self._revision = 0 + + @property + def revision(self): + return self._revision + + def increment_revision(self): + self._revision += 1 + for namescope in six.itervalues(self._namespaces['namescope']): + namescope.increment_revision() + + @property + def name(self): + """This scope's name.""" + return self._name + + @property + def files(self): + """A set containing the `File` attributes registered in this scope.""" + return self._files + + @property + def assets(self): + """A dictionary containing pre-loaded assets.""" + return self._assets + + @property + def model_dir(self): + """Path to the directory containing the model XML file.""" + return self._model_dir + + @name.setter + def name(self, new_name): + if self._parent: + self._parent.add('namescope', new_name, self) + self._parent.remove('namescope', self._name) + self._name = new_name + self.increment_revision() + + @property + def mjcf_model(self): + return self._mjcf_model + + @property + def parent(self): + """This parent `NameScope`, or `None` if this is a root scope.""" + return self._parent + + @parent.setter + def parent(self, new_parent): + if self._parent: + self._parent.remove('namescope', self._name) + self._parent = new_parent + if self._parent: + self._parent.add('namescope', self._name, self) + self.increment_revision() + + @property + def root(self): + if self._parent is None: + return self + else: + return self._parent.root + + def full_prefix(self, prefix_root=None, as_list=False): + """The prefix for identifiers belonging to this scope. + + Args: + prefix_root: (optional) A `NameScope` object to be treated as root + for the purpose of calculating the prefix. If `None` then no prefix + is produced. + as_list: (optional) A boolean, if `True` return the list of prefix + components. If `False`, return the full prefix string separated by + `mjcf.constants.PREFIX_SEPARATOR`. + + Returns: + The prefix string. + """ + prefix_root = prefix_root or self + if prefix_root != self and self._parent: + prefix_list = self._parent.full_prefix(prefix_root, as_list=True) + prefix_list.append(self._name) + else: + prefix_list = [] + if as_list: + return prefix_list + else: + if prefix_list: + prefix_list.append('') + return constants.PREFIX_SEPARATOR.join(prefix_list) + + def _assign(self, namespace, identifier, obj): + """Checks a proposed identifier's validity before assigning to an object.""" + namespace_dict = self._namespaces[namespace] + if not isinstance(identifier, str): + raise ValueError( + 'Identifier must be a string: got {}'.format(type(identifier))) + elif constants.PREFIX_SEPARATOR in identifier: + raise ValueError( + 'Identifier cannot contain {!r}: got {}' + .format(constants.PREFIX_SEPARATOR, identifier)) + else: + namespace_dict[identifier] = obj + + def add(self, namespace, identifier, obj): + """Add an identifier to this name scope. + + Args: + namespace: A string specifying the namespace to which the + identifier belongs. + identifier: The identifier string. + obj: The object referred to by the identifier. + + Raises: + ValueError: If `identifier` not valid. + """ + namespace_dict = self._namespaces[namespace] + if identifier in namespace_dict: + raise ValueError('Duplicated identifier {!r} in namespace <{}>' + .format(identifier, namespace)) + else: + self._assign(namespace, identifier, obj) + self.increment_revision() + + def replace(self, namespace, identifier, obj): + """Reassociates an identifier with a different object. + + Args: + namespace: A string specifying the namespace to which the + identifier belongs. + identifier: The identifier string. + obj: The object referred to by the identifier. + + Raises: + ValueError: If `identifier` not valid. + """ + self._assign(namespace, identifier, obj) + self.increment_revision() + + def remove(self, namespace, identifier): + """Removes an identifier from this name scope. + + Args: + namespace: A string specifying the namespace to which the + identifier belongs. + identifier: The identifier string. + + Raises: + KeyError: If `identifier` does not exist in this scope. + """ + del self._namespaces[namespace][identifier] + self.increment_revision() + + def rename(self, namespace, old_identifier, new_identifier): + obj = self.get(namespace, old_identifier) + self.add(namespace, new_identifier, obj) + self.remove(namespace, old_identifier) + + def get(self, namespace, identifier): + return self._namespaces[namespace][identifier] + + def has_identifier(self, namespace, identifier): + return identifier in self._namespaces[namespace] diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/parser.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/parser.py new file mode 100644 index 0000000000000000000000000000000000000000..d37974e5f3882fed51ae7c79f1cae1b8870bf457 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/parser.py @@ -0,0 +1,224 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Functions for parsing XML into an MJCF object model.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import os +import sys + +from . import constants +from . import debugging +from . import element +from lxml import etree +import six +from . import io as resources + + +def from_xml_string(xml_string, escape_separators=False, + model_dir='', resolve_references=True, assets=None): + """Parses an XML string into an MJCF object model. + + Args: + xml_string: An XML string representing an MJCF model. + escape_separators: (optional) A boolean, whether to replace '/' characters + in element identifiers. If `False`, any '/' present in the XML causes + a ValueError to be raised. + model_dir: (optional) Path to the directory containing the model XML file. + This is used to prefix the paths of all asset files. + resolve_references: (optional) A boolean indicating whether the parser + should attempt to resolve reference attributes to a corresponding element. + assets: (optional) A dictionary of pre-loaded assets, of the form + `{filename: bytestring}`. If present, PyMJCF will search for assets in + this dictionary before attempting to load them from the filesystem. + + Returns: + An `mjcf.RootElement`. + """ + xml_root = etree.fromstring(xml_string) + return _parse(xml_root, escape_separators, + model_dir=model_dir, + resolve_references=resolve_references, + assets=assets) + + +def from_file(file_handle, escape_separators=False, + model_dir='', resolve_references=True, assets=None): + """Parses an XML file into an MJCF object model. + + Args: + file_handle: A Python file-like handle. + escape_separators: (optional) A boolean, whether to replace '/' characters + in element identifiers. If `False`, any '/' present in the XML causes + a ValueError to be raised. + model_dir: (optional) Path to the directory containing the model XML file. + This is used to prefix the paths of all asset files. + resolve_references: (optional) A boolean indicating whether the parser + should attempt to resolve reference attributes to a corresponding element. + assets: (optional) A dictionary of pre-loaded assets, of the form + `{filename: bytestring}`. If present, PyMJCF will search for assets in + this dictionary before attempting to load them from the filesystem. + + Returns: + An `mjcf.RootElement`. + """ + xml_root = etree.parse(file_handle).getroot() + return _parse(xml_root, escape_separators, + model_dir=model_dir, + resolve_references=resolve_references, + assets=assets) + + +def from_path(path, escape_separators=False, resolve_references=True, + assets=None): + """Parses an XML file into an MJCF object model. + + Args: + path: A path to an XML file. This path should be loadable using + `resources.GetResource`. + escape_separators: (optional) A boolean, whether to replace '/' characters + in element identifiers. If `False`, any '/' present in the XML causes + a ValueError to be raised. + resolve_references: (optional) A boolean indicating whether the parser + should attempt to resolve reference attributes to a corresponding element. + assets: (optional) A dictionary of pre-loaded assets, of the form + `{filename: bytestring}`. If present, PyMJCF will search for assets in + this dictionary before attempting to load them from the filesystem. + + Returns: + An `mjcf.RootElement`. + """ + model_dir, _ = os.path.split(path) + contents = resources.GetResource(path) + xml_root = etree.fromstring(contents) + return _parse(xml_root, escape_separators, + model_dir=model_dir, resolve_references=resolve_references, + assets=assets) + + +def _parse(xml_root, escape_separators=False, + model_dir='', resolve_references=True, assets=None): + """Parses a complete MJCF model from an XML. + + Args: + xml_root: An `etree.Element` object. + escape_separators: (optional) A boolean, whether to replace '/' characters + in element identifiers. If `False`, any '/' present in the XML causes + a ValueError to be raised. + model_dir: (optional) Path to the directory containing the model XML file. + This is used to prefix the paths of all asset files. + resolve_references: (optional) A boolean indicating whether the parser + should attempt to resolve reference attributes to a corresponding element. + assets: (optional) A dictionary of pre-loaded assets, of the form + `{filename: bytestring}`. If present, PyMJCF will search for assets in + this dictionary before attempting to load them from the filesystem. + + Returns: + An `mjcf.RootElement`. + + Raises: + ValueError: If `xml_root`'s tag is not 'mujoco'. + """ + + assets = assets or {} + + if xml_root.tag != 'mujoco': + raise ValueError('Root element of the XML should be : got <{}>' + .format(xml_root.tag)) + + with debugging.freeze_current_stack_trace(): + # Recursively parse any included XML files. + to_include = [] + for include_tag in xml_root.findall('include'): + try: + # First look for the path to the included XML file in the assets dict. + path_or_xml_string = assets[include_tag.attrib['file']] + parsing_func = from_xml_string + except KeyError: + # If it's not present in the assets dict then attempt to load the XML + # from the filesystem. + path_or_xml_string = os.path.join(model_dir, include_tag.attrib['file']) + parsing_func = from_path + included_mjcf = parsing_func( + path_or_xml_string, + escape_separators=escape_separators, + resolve_references=resolve_references, + assets=assets) + to_include.append(included_mjcf) + # We must remove tags before parsing the main XML file, since + # these are a schema violation. + xml_root.remove(include_tag) + + # Parse the main XML file. + try: + model = xml_root.attrib.pop('model') + except KeyError: + model = None + mjcf_root = element.RootElement( + model=model, model_dir=model_dir, assets=assets) + _parse_children(xml_root, mjcf_root, escape_separators) + + # Merge in the included XML files. + for included_mjcf in to_include: + # The included MJCF might have been automatically assigned a model name + # that conficts with that of `mjcf_root`, so we override it here. + included_mjcf.model = mjcf_root.model + mjcf_root.include_copy(included_mjcf) + + if resolve_references: + mjcf_root.resolve_references() + return mjcf_root + + +def _parse_children(xml_element, mjcf_element, escape_separators=False): + """Parses all children of a given XML element into an MJCF element. + + Args: + xml_element: The source `etree.Element` object. + mjcf_element: The target `mjcf.Element` object. + escape_separators: (optional) A boolean, whether to replace '/' characters + in element identifiers. If `False`, any '/' present in the XML causes + a ValueError to be raised. + """ + for xml_child in xml_element: + if xml_child.tag is etree.Comment or xml_child.tag is etree.PI: + continue + try: + child_spec = mjcf_element.spec.children[xml_child.tag] + if escape_separators: + attributes = {} + for name, value in six.iteritems(xml_child.attrib): + new_value = value.replace( + constants.PREFIX_SEPARATOR_ESCAPE, + constants.PREFIX_SEPARATOR_ESCAPE * 2) + new_value = new_value.replace( + constants.PREFIX_SEPARATOR, constants.PREFIX_SEPARATOR_ESCAPE) + attributes[name] = new_value + else: + attributes = dict(xml_child.attrib) + if child_spec.repeated or child_spec.on_demand: + mjcf_child = mjcf_element.add(xml_child.tag, **attributes) + else: + mjcf_child = getattr(mjcf_element, xml_child.tag) + mjcf_child.set_attributes(**attributes) + except: # pylint: disable=bare-except + err_type, err, traceback = sys.exc_info() + message = ('Line {}: error while parsing element <{}>: {}' + .format(xml_child.sourceline, xml_child.tag, err)) + six.reraise(err_type, err_type(message), traceback) + _parse_children(xml_child, mjcf_child, escape_separators) diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.py new file mode 100644 index 0000000000000000000000000000000000000000..1e7c3ef63503574a5644cb4b91d2c834427b95e2 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.py @@ -0,0 +1,248 @@ +# Copyright 2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""A Python object representation of Mujoco's MJCF schema. + +The root schema is provided as a module-level constant `schema.MUJOCO`. +""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import collections +import copy +import pkgutil + +from . import attribute +from lxml import etree +import six + +_SCHEMA_XML_PATH = 'mjcf_parser/schema.xml' + +_ARRAY_DTYPE_MAP = { + 'int': int, + 'float': float, + 'string': str +} + +_SCALAR_TYPE_MAP = { + 'int': attribute.Integer, + 'float': attribute.Float, + 'string': attribute.String +} + +ElementSpec = collections.namedtuple( + 'ElementSpec', ('name', 'repeated', 'on_demand', 'identifier', 'namespace', + 'attributes', 'children')) + +AttributeSpec = collections.namedtuple( + 'AttributeSpec', ('name', 'type', 'required', + 'conflict_allowed', 'conflict_behavior', 'other_kwargs')) + +# Additional namespaces that are not present in the MJCF schema but can +# be used in `find` and `find_all`. +_ADDITIONAL_FINDABLE_NAMESPACES = frozenset(['attachment_frame']) + + +def _str2bool(string): + """Converts either 'true' or 'false' (not case-sensitively) into a boolean.""" + if string is None: + return False + else: + string = string.lower() + + if string == 'true': + return True + elif string == 'false': + return False + else: + raise ValueError( + 'String should either be `true` or `false`: got {}'.format(string)) + + +def parse_schema(schema_path): + """Parses the schema XML. + + Args: + schema_path: Path to the schema XML file. + + Returns: + An `ElementSpec` for the root element in the schema. + """ + schema_xml = etree.fromstring(pkgutil.get_data('pytorch_kinematics', schema_path)) + return _parse_element(schema_xml) + + +def _parse_element(element_xml): + """Parses an element in the schema.""" + name = element_xml.get('name') + if not name: + raise ValueError('Element must always have a name') + repeated = _str2bool(element_xml.get('repeated')) + on_demand = _str2bool(element_xml.get('on_demand')) + + attributes = collections.OrderedDict() + attributes_xml = element_xml.find('attributes') + if attributes_xml is not None: + for attribute_xml in attributes_xml.findall('attribute'): + attributes[attribute_xml.get('name')] = _parse_attribute(attribute_xml) + + identifier = None + namespace = None + for attribute_spec in six.itervalues(attributes): + if attribute_spec.type == attribute.Identifier: + identifier = attribute_spec.name + namespace = element_xml.get('namespace') or name + + children = collections.OrderedDict() + children_xml = element_xml.find('children') + if children_xml is not None: + for child_xml in children_xml.findall('element'): + children[child_xml.get('name')] = _parse_element(child_xml) + + element_spec = ElementSpec( + name, repeated, on_demand, identifier, namespace, attributes, children) + + recursive = _str2bool(element_xml.get('recursive')) + if recursive: + element_spec.children[name] = element_spec + + common_keys = set(element_spec.attributes).intersection(element_spec.children) + if common_keys: + raise RuntimeError( + 'Element \'{}\' contains the following attributes and children with ' + 'the same name: \'{}\'. This violates the design assumptions of ' + 'this library. Please file a bug report. Thank you.' + .format(name, sorted(common_keys))) + + return element_spec + + +def _parse_attribute(attribute_xml): + """Parses an element in the schema.""" + name = attribute_xml.get('name') + required = _str2bool(attribute_xml.get('required')) + conflict_allowed = _str2bool(attribute_xml.get('conflict_allowed')) + conflict_behavior = attribute_xml.get('conflict_behavior', 'replace') + attribute_type = attribute_xml.get('type') + other_kwargs = {} + if attribute_type == 'keyword': + attribute_callable = attribute.Keyword + other_kwargs['valid_values'] = attribute_xml.get('valid_values').split(' ') + elif attribute_type == 'array': + array_size_str = attribute_xml.get('array_size') + attribute_callable = attribute.Array + other_kwargs['length'] = int(array_size_str) if array_size_str else None + other_kwargs['dtype'] = _ARRAY_DTYPE_MAP[attribute_xml.get('array_type')] + elif attribute_type == 'identifier': + attribute_callable = attribute.Identifier + elif attribute_type == 'reference': + attribute_callable = attribute.Reference + other_kwargs['reference_namespace'] = ( + attribute_xml.get('reference_namespace') or name) + elif attribute_type == 'basepath': + attribute_callable = attribute.BasePath + other_kwargs['path_namespace'] = attribute_xml.get('path_namespace') + elif attribute_type == 'file': + attribute_callable = attribute.File + other_kwargs['path_namespace'] = attribute_xml.get('path_namespace') + else: + try: + attribute_callable = _SCALAR_TYPE_MAP[attribute_type] + except KeyError: + raise ValueError('Invalid attribute type: {}'.format(attribute_type)) + + return AttributeSpec( + name=name, type=attribute_callable, required=required, + conflict_allowed=conflict_allowed, conflict_behavior=conflict_behavior, + other_kwargs=other_kwargs) + + +def collect_namespaces(root_spec): + """Constructs a set of namespaces in a given ElementSpec. + + Args: + root_spec: An `ElementSpec` for the root element in the schema. + + Returns: + A set of strings specifying the names of all the namespaces that are present + in the spec. + """ + findable_namespaces = set() + + def update_namespaces_from_spec(spec): + findable_namespaces.add(spec.namespace) + for child_spec in six.itervalues(spec.children): + if child_spec is not spec: + update_namespaces_from_spec(child_spec) + + update_namespaces_from_spec(root_spec) + return findable_namespaces + + +MUJOCO = parse_schema(_SCHEMA_XML_PATH) +FINDABLE_NAMESPACES = frozenset( + collect_namespaces(MUJOCO).union(_ADDITIONAL_FINDABLE_NAMESPACES)) + + +def _attachment_frame_spec(is_world_attachment): + """Create specs for attachment frames. + + Attachment frames are specialized without an identifier. + The only allowed children are joints which also don't have identifiers. + + Args: + is_world_attachment: Whether we are creating a spec for attachments to + worldbody. If `True`, allow as child. + + Returns: + An `ElementSpec`. + """ + frame_spec = ElementSpec( + 'body', repeated=True, on_demand=False, identifier=None, namespace='body', + attributes=collections.OrderedDict(), + children=collections.OrderedDict()) + + body_spec = MUJOCO.children['worldbody'].children['body'] + # 'name' and 'childclass' attributes are excluded. + for attrib_name in ( + 'mocap', 'pos', 'quat', 'axisangle', 'xyaxes', 'zaxis', 'euler'): + frame_spec.attributes[attrib_name] = copy.deepcopy( + body_spec.attributes[attrib_name]) + + inertial_spec = body_spec.children['inertial'] + frame_spec.children['inertial'] = copy.deepcopy(inertial_spec) + joint_spec = body_spec.children['joint'] + frame_spec.children['joint'] = ElementSpec( + 'joint', repeated=True, on_demand=False, + identifier=None, namespace='joint', + attributes=copy.deepcopy(joint_spec.attributes), + children=collections.OrderedDict()) + + if is_world_attachment: + freejoint_spec = (MUJOCO.children['worldbody'] + .children['body'].children['freejoint']) + frame_spec.children['freejoint'] = ElementSpec( + 'freejoint', repeated=False, on_demand=True, + identifier=None, namespace='joint', + attributes=copy.deepcopy(freejoint_spec.attributes), + children=collections.OrderedDict()) + + return frame_spec + + +ATTACHMENT_FRAME = _attachment_frame_spec(is_world_attachment=False) +WORLD_ATTACHMENT_FRAME = _attachment_frame_spec(is_world_attachment=True) diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.xml b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.xml new file mode 100644 index 0000000000000000000000000000000000000000..4ea64e4089f7d33209017adb1307aa2545881975 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/schema.xml @@ -0,0 +1,1926 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pytorch_kinematics/pytorch_kinematics/mjcf_parser/util.py b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/util.py new file mode 100644 index 0000000000000000000000000000000000000000..9900159fa80e5ac28bde8862b185007e0fc5e069 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/mjcf_parser/util.py @@ -0,0 +1,42 @@ +# Copyright 2017-2018 The dm_control Authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================ + +"""Various helper functions and classes.""" + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import sys +import six + +DEFAULT_ENCODING = sys.getdefaultencoding() + + +def to_binary_string(s): + """Convert text string to binary.""" + if isinstance(s, six.binary_type): + return s + return s.encode(DEFAULT_ENCODING) + + +def to_native_string(s): + """Convert a text or binary string to the native string format.""" + if six.PY3 and isinstance(s, six.binary_type): + return s.decode(DEFAULT_ENCODING) + elif six.PY2 and isinstance(s, six.text_type): + return s.encode(DEFAULT_ENCODING) + else: + return s diff --git a/pytorch_kinematics/pytorch_kinematics/sdf.py b/pytorch_kinematics/pytorch_kinematics/sdf.py new file mode 100644 index 0000000000000000000000000000000000000000..2b275e9db36a391f4cde752e67911e13ebd3fa57 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/sdf.py @@ -0,0 +1,98 @@ +import torch +import math +from .urdf_parser_py.sdf import SDF, Mesh, Cylinder, Box, Sphere +from . import frame +from . import chain +import pytorch_kinematics.transforms as tf + +JOINT_TYPE_MAP = {'revolute': 'revolute', + 'prismatic': 'prismatic', + 'fixed': 'fixed'} + + +def _convert_transform(pose): + if pose is None: + return tf.Transform3d() + else: + return tf.Transform3d(rot=tf.euler_angles_to_matrix(torch.tensor(pose[3:]), "ZYX"), pos=pose[:3]) + + +def _convert_visuals(visuals): + vlist = [] + for v in visuals: + v_tf = _convert_transform(v.pose) + if isinstance(v.geometry, Mesh): + g_type = "mesh" + g_param = v.geometry.filename + elif isinstance(v.geometry, Cylinder): + g_type = "cylinder" + v_tf = v_tf.compose( + tf.Transform3d(rot=tf.euler_angles_to_matrix(torch.tensor([0.5 * math.pi, 0, 0]), "ZYX"))) + g_param = (v.geometry.radius, v.geometry.length) + elif isinstance(v.geometry, Box): + g_type = "box" + g_param = v.geometry.size + elif isinstance(v.geometry, Sphere): + g_type = "sphere" + g_param = v.geometry.radius + else: + g_type = None + g_param = None + vlist.append(frame.Visual(v_tf, g_type, g_param)) + return vlist + + +def _build_chain_recurse(root_frame, lmap, joints): + children = [] + for j in joints: + if j.parent == root_frame.link.name: + child_frame = frame.Frame(j.child + "_frame") + link_p = lmap[j.parent] + link_c = lmap[j.child] + t_p = _convert_transform(link_p.pose) + t_c = _convert_transform(link_c.pose) + child_frame.joint = frame.Joint(j.name, offset=t_p.inverse().compose(t_c), + joint_type=JOINT_TYPE_MAP[j.type], axis=j.axis.xyz) + child_frame.link = frame.Link(link_c.name, offset=tf.Transform3d(), + visuals=_convert_visuals(link_c.visuals)) + child_frame.children = _build_chain_recurse(child_frame, lmap, joints) + children.append(child_frame) + return children + + +def build_chain_from_sdf(data): + """ + Build a Chain object from SDF data. + + Parameters + ---------- + data : str + SDF string data. + + Returns + ------- + chain.Chain + Chain object created from SDF. + """ + sdf = SDF.from_xml_string(data) + robot = sdf.model + lmap = robot.link_map + joints = robot.joints + n_joints = len(joints) + has_root = [True for _ in range(len(joints))] + for i in range(n_joints): + for j in range(i + 1, n_joints): + if joints[i].parent == joints[j].child: + has_root[i] = False + elif joints[j].parent == joints[i].child: + has_root[j] = False + for i in range(n_joints): + if has_root[i]: + root_link = lmap[joints[i].parent] + break + root_frame = frame.Frame(root_link.name + "_frame") + root_frame.joint = frame.Joint(offset=_convert_transform(root_link.pose)) + root_frame.link = frame.Link(root_link.name, tf.Transform3d(), + _convert_visuals(root_link.visuals)) + root_frame.children = _build_chain_recurse(root_frame, lmap, joints) + return chain.Chain(root_frame) diff --git a/pytorch_kinematics/pytorch_kinematics/transforms/__init__.py b/pytorch_kinematics/pytorch_kinematics/transforms/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..debf6b86286d0b1e67507da521ffee1e5b41c57d --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/transforms/__init__.py @@ -0,0 +1,33 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved. + +from .rotation_conversions import ( + axis_angle_to_matrix, + axis_angle_to_quaternion, + euler_angles_to_matrix, + matrix_to_euler_angles, + matrix_to_quaternion, + matrix_to_rotation_6d, + matrix_to_axis_angle, + quaternion_apply, + quaternion_invert, + quaternion_multiply, + quaternion_raw_multiply, + quaternion_to_matrix, + random_quaternions, + random_rotation, + random_rotations, + rotation_6d_to_matrix, + standardize_quaternion, + xyzw_to_wxyz, + wxyz_to_xyzw +) +from .so3 import ( + so3_exp_map, + so3_log_map, + so3_relative_angle, + so3_rotation_angle, +) +from .transform3d import Rotate, RotateAxisAngle, Scale, Transform3d, Translate + + +__all__ = [k for k in globals().keys() if not k.startswith("_")] diff --git a/pytorch_kinematics/pytorch_kinematics/transforms/math.py b/pytorch_kinematics/pytorch_kinematics/transforms/math.py new file mode 100644 index 0000000000000000000000000000000000000000..cf95520bb896cbe66e63ffe91ad32b060a1e3d02 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/transforms/math.py @@ -0,0 +1,86 @@ +# Copyright (c) Facebook, Inc. and its affiliates. +# All rights reserved. +# +# This source code is licensed under the BSD-style license found in the +# LICENSE file in the root directory of this source tree. + +import math +from typing import Tuple, Union + +import torch + + +def acos_linear_extrapolation( + x: torch.Tensor, + bound: Union[float, Tuple[float, float]] = 1.0 - 1e-4, +) -> torch.Tensor: + """ + Implements `arccos(x)` which is linearly extrapolated outside `x`'s original + domain of `(-1, 1)`. This allows for stable backpropagation in case `x` + is not guaranteed to be strictly within `(-1, 1)`. + More specifically: + ``` + if -bound <= x <= bound: + acos_linear_extrapolation(x) = acos(x) + elif x <= -bound: # 1st order Taylor approximation + acos_linear_extrapolation(x) = acos(-bound) + dacos/dx(-bound) * (x - (-bound)) + else: # x >= bound + acos_linear_extrapolation(x) = acos(bound) + dacos/dx(bound) * (x - bound) + ``` + Note that `bound` can be made more specific with setting + `bound=[lower_bound, upper_bound]` as detailed below. + Args: + x: Input `Tensor`. + bound: A float constant or a float 2-tuple defining the region for the + linear extrapolation of `acos`. + If `bound` is a float scalar, linearly interpolates acos for + `x <= -bound` or `bound <= x`. + If `bound` is a 2-tuple, the first/second element of `bound` + describes the lower/upper bound that defines the lower/upper + extrapolation region, i.e. the region where + `x <= bound[0]`/`bound[1] <= x`. + Note that all elements of `bound` have to be within (-1, 1). + Returns: + acos_linear_extrapolation: `Tensor` containing the extrapolated `arccos(x)`. + """ + + if isinstance(bound, float): + upper_bound = bound + lower_bound = -bound + else: + lower_bound, upper_bound = bound + + if lower_bound > upper_bound: + raise ValueError("lower bound has to be smaller or equal to upper bound.") + + if lower_bound <= -1.0 or upper_bound >= 1.0: + raise ValueError("Both lower bound and upper bound have to be within (-1, 1).") + + # init an empty tensor and define the domain sets + acos_extrap = torch.empty_like(x) + x_upper = x >= upper_bound + x_lower = x <= lower_bound + x_mid = (~x_upper) & (~x_lower) + + # acos calculation for upper_bound < x < lower_bound + acos_extrap[x_mid] = torch.acos(x[x_mid]) + # the linear extrapolation for x >= upper_bound + acos_extrap[x_upper] = _acos_linear_approximation(x[x_upper], upper_bound) + # the linear extrapolation for x <= lower_bound + acos_extrap[x_lower] = _acos_linear_approximation(x[x_lower], lower_bound) + + return acos_extrap + + +def _acos_linear_approximation(x: torch.Tensor, x0: float) -> torch.Tensor: + """ + Calculates the 1st order Taylor expansion of `arccos(x)` around `x0`. + """ + return (x - x0) * _dacos_dx(x0) + math.acos(x0) + + +def _dacos_dx(x: float) -> float: + """ + Calculates the derivative of `arccos(x)` w.r.t. `x`. + """ + return (-1.0) / math.sqrt(1.0 - x * x) diff --git a/pytorch_kinematics/pytorch_kinematics/transforms/rotation_conversions.py b/pytorch_kinematics/pytorch_kinematics/transforms/rotation_conversions.py new file mode 100644 index 0000000000000000000000000000000000000000..73b8214a3589d3008ce44d75cc2698b3db05f7d9 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/transforms/rotation_conversions.py @@ -0,0 +1,557 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved. + +import functools +from typing import Optional + +import torch +import torch.nn.functional as F + +""" +The transformation matrices returned from the functions in this file assume +the points on which the transformation will be applied are column vectors. +i.e. the R matrix is structured as + + R = [ + [Rxx, Rxy, Rxz], + [Ryx, Ryy, Ryz], + [Rzx, Rzy, Rzz], + ] # (3, 3) + +This matrix can be applied to column vectors by post multiplication +by the points e.g. + + points = [[0], [1], [2]] # (3 x 1) xyz coordinates of a point + transformed_points = R * points + +To apply the same matrix to points which are row vectors, the R matrix +can be transposed and pre multiplied by the points: + +e.g. + points = [[0, 1, 2]] # (1 x 3) xyz coordinates of a point + transformed_points = points * R.transpose(1, 0) +""" + + +def xyzw_to_wxyz(quaternions): + return torch.cat([quaternions[..., None, -1], quaternions[..., :3]], dim=-1) + + +def wxyz_to_xyzw(quaternions): + return torch.cat([quaternions[..., 1:], quaternions[..., None, 0]], dim=-1) + + +def quaternion_to_matrix(quaternions): + """ + Convert rotations given as quaternions to rotation matrices. + + Args: + quaternions: quaternions with real part first, + as tensor of shape (..., 4). + + Returns: + Rotation matrices as tensor of shape (..., 3, 3). + """ + r, i, j, k = torch.unbind(quaternions, -1) + two_s = 2.0 / (quaternions * quaternions).sum(-1) + + o = torch.stack( + ( + 1 - two_s * (j * j + k * k), + two_s * (i * j - k * r), + two_s * (i * k + j * r), + two_s * (i * j + k * r), + 1 - two_s * (i * i + k * k), + two_s * (j * k - i * r), + two_s * (i * k - j * r), + two_s * (j * k + i * r), + 1 - two_s * (i * i + j * j), + ), + -1, + ) + return o.reshape(quaternions.shape[:-1] + (3, 3)) + + +def _copysign(a, b): + """ + Return a tensor where each element has the absolute value taken from the, + corresponding element of a, with sign taken from the corresponding + element of b. This is like the standard copysign floating-point operation, + but is not careful about negative 0 and NaN. + + Args: + a: source tensor. + b: tensor whose signs will be used, of the same shape as a. + + Returns: + Tensor of the same shape as a with the signs of b. + """ + signs_differ = (a < 0) != (b < 0) + return torch.where(signs_differ, -a, a) + + +def _sqrt_positive_part(x): + """ + Returns torch.sqrt(torch.max(0, x)) + but with a zero subgradient where x is 0. + """ + ret = torch.zeros_like(x) + positive_mask = x > 0 + ret[positive_mask] = torch.sqrt(x[positive_mask]) + return ret + + +def matrix_to_quaternion(matrix): + """ + Convert rotations given as rotation matrices to quaternions. + + Args: + matrix: Rotation matrices as tensor of shape (..., 3, 3). + + Returns: + quaternions with real part first, as tensor of shape (..., 4). + """ + if matrix.size(-1) != 3 or matrix.size(-2) != 3: + raise ValueError(f"Invalid rotation matrix shape f{matrix.shape}.") + m00 = matrix[..., 0, 0] + m11 = matrix[..., 1, 1] + m22 = matrix[..., 2, 2] + o0 = 0.5 * _sqrt_positive_part(1 + m00 + m11 + m22) + x = 0.5 * _sqrt_positive_part(1 + m00 - m11 - m22) + y = 0.5 * _sqrt_positive_part(1 - m00 + m11 - m22) + z = 0.5 * _sqrt_positive_part(1 - m00 - m11 + m22) + o1 = _copysign(x, matrix[..., 2, 1] - matrix[..., 1, 2]) + o2 = _copysign(y, matrix[..., 0, 2] - matrix[..., 2, 0]) + o3 = _copysign(z, matrix[..., 1, 0] - matrix[..., 0, 1]) + return torch.stack((o0, o1, o2, o3), -1) + + +def _axis_angle_rotation(axis: str, angle): + """ + Return the rotation matrices for one of the rotations about an axis + of which Euler angles describe, for each value of the angle given. + + Args: + axis: Axis label "X" or "Y or "Z". + angle: any shape tensor of Euler angles in radians + + Returns: + Rotation matrices as tensor of shape (..., 3, 3). + """ + + cos = torch.cos(angle) + sin = torch.sin(angle) + one = torch.ones_like(angle) + zero = torch.zeros_like(angle) + + if axis == "X": + R_flat = (one, zero, zero, zero, cos, -sin, zero, sin, cos) + if axis == "Y": + R_flat = (cos, zero, sin, zero, one, zero, -sin, zero, cos) + if axis == "Z": + R_flat = (cos, -sin, zero, sin, cos, zero, zero, zero, one) + + return torch.stack(R_flat, -1).reshape(angle.shape + (3, 3)) + + +def euler_angles_to_matrix(euler_angles, convention: str): + """ + Convert rotations given as Euler angles in radians to rotation matrices. + + Args: + euler_angles: Euler angles in radians as tensor of shape (..., 3). + convention: Convention string of three uppercase letters from + {"X", "Y", and "Z"}. + + Returns: + Rotation matrices as tensor of shape (..., 3, 3). + """ + if euler_angles.dim() == 0 or euler_angles.shape[-1] != 3: + raise ValueError("Invalid input euler angles.") + if len(convention) != 3: + raise ValueError("Convention must have 3 letters.") + if convention[1] in (convention[0], convention[2]): + raise ValueError(f"Invalid convention {convention}.") + for letter in convention: + if letter not in ("X", "Y", "Z"): + raise ValueError(f"Invalid letter {letter} in convention string.") + matrices = map(_axis_angle_rotation, convention, torch.unbind(euler_angles, -1)) + return functools.reduce(torch.matmul, matrices) + + +def _angle_from_tan( + axis: str, other_axis: str, data, horizontal: bool, tait_bryan: bool +): + """ + Extract the first or third Euler angle from the two members of + the matrix which are positive constant times its sine and cosine. + + Args: + axis: Axis label "X" or "Y or "Z" for the angle we are finding. + other_axis: Axis label "X" or "Y or "Z" for the middle axis in the + convention. + data: Rotation matrices as tensor of shape (..., 3, 3). + horizontal: Whether we are looking for the angle for the third axis, + which means the relevant entries are in the same row of the + rotation matrix. If not, they are in the same column. + tait_bryan: Whether the first and third axes in the convention differ. + + Returns: + Euler Angles in radians for each matrix in data as a tensor + of shape (...). + """ + + i1, i2 = {"X": (2, 1), "Y": (0, 2), "Z": (1, 0)}[axis] + if horizontal: + i2, i1 = i1, i2 + even = (axis + other_axis) in ["XY", "YZ", "ZX"] + if horizontal == even: + return torch.atan2(data[..., i1], data[..., i2]) + if tait_bryan: + return torch.atan2(-data[..., i2], data[..., i1]) + return torch.atan2(data[..., i2], -data[..., i1]) + + +def _index_from_letter(letter: str): + if letter == "X": + return 0 + if letter == "Y": + return 1 + if letter == "Z": + return 2 + + +def matrix_to_euler_angles(matrix, convention: str): + """ + Convert rotations given as rotation matrices to Euler angles in radians. + + Args: + matrix: Rotation matrices as tensor of shape (..., 3, 3). + convention: Convention string of three uppercase letters. + + Returns: + Euler angles in radians as tensor of shape (..., 3). + """ + if len(convention) != 3: + raise ValueError("Convention must have 3 letters.") + if convention[1] in (convention[0], convention[2]): + raise ValueError(f"Invalid convention {convention}.") + for letter in convention: + if letter not in ("X", "Y", "Z"): + raise ValueError(f"Invalid letter {letter} in convention string.") + if matrix.size(-1) != 3 or matrix.size(-2) != 3: + raise ValueError(f"Invalid rotation matrix shape f{matrix.shape}.") + i0 = _index_from_letter(convention[0]) + i2 = _index_from_letter(convention[2]) + tait_bryan = i0 != i2 + if tait_bryan: + central_angle = torch.asin( + matrix[..., i0, i2] * (-1.0 if i0 - i2 in [-1, 2] else 1.0) + ) + else: + central_angle = torch.acos(matrix[..., i0, i0]) + + o = ( + _angle_from_tan( + convention[0], convention[1], matrix[..., i2], False, tait_bryan + ), + central_angle, + _angle_from_tan( + convention[2], convention[1], matrix[..., i0, :], True, tait_bryan + ), + ) + return torch.stack(o, -1) + + +def random_quaternions( + n: int, dtype: Optional[torch.dtype] = None, device=None, requires_grad=False +): + """ + Generate random quaternions representing rotations, + i.e. versors with nonnegative real part. + + Args: + n: Number of quaternions in a batch to return. + dtype: Type to return. + device: Desired device of returned tensor. Default: + uses the current device for the default tensor type. + requires_grad: Whether the resulting tensor should have the gradient + flag set. + + Returns: + Quaternions as tensor of shape (N, 4). + """ + o = torch.randn((n, 4), dtype=dtype, device=device, requires_grad=requires_grad) + s = (o * o).sum(1) + o = o / _copysign(torch.sqrt(s), o[:, 0])[:, None] + return o + + +def random_rotations( + n: int, dtype: Optional[torch.dtype] = None, device=None, requires_grad=False +): + """ + Generate random rotations as 3x3 rotation matrices. + + Args: + n: Number of rotation matrices in a batch to return. + dtype: Type to return. + device: Device of returned tensor. Default: if None, + uses the current device for the default tensor type. + requires_grad: Whether the resulting tensor should have the gradient + flag set. + + Returns: + Rotation matrices as tensor of shape (n, 3, 3). + """ + quaternions = random_quaternions( + n, dtype=dtype, device=device, requires_grad=requires_grad + ) + return quaternion_to_matrix(quaternions) + + +def random_rotation( + dtype: Optional[torch.dtype] = None, device=None, requires_grad=False +): + """ + Generate a single random 3x3 rotation matrix. + + Args: + dtype: Type to return + device: Device of returned tensor. Default: if None, + uses the current device for the default tensor type + requires_grad: Whether the resulting tensor should have the gradient + flag set + + Returns: + Rotation matrix as tensor of shape (3, 3). + """ + return random_rotations(1, dtype, device, requires_grad)[0] + + +def standardize_quaternion(quaternions): + """ + Convert a unit quaternion to a standard form: one in which the real + part is non negative. + + Args: + quaternions: Quaternions with real part first, + as tensor of shape (..., 4). + + Returns: + Standardized quaternions as tensor of shape (..., 4). + """ + return torch.where(quaternions[..., 0:1] < 0, -quaternions, quaternions) + + +def quaternion_raw_multiply(a, b): + """ + Multiply two quaternions. + Usual torch rules for broadcasting apply. + + Args: + a: Quaternions as tensor of shape (..., 4), real part first. + b: Quaternions as tensor of shape (..., 4), real part first. + + Returns: + The product of a and b, a tensor of quaternions shape (..., 4). + """ + aw, ax, ay, az = torch.unbind(a, -1) + bw, bx, by, bz = torch.unbind(b, -1) + ow = aw * bw - ax * bx - ay * by - az * bz + ox = aw * bx + ax * bw + ay * bz - az * by + oy = aw * by - ax * bz + ay * bw + az * bx + oz = aw * bz + ax * by - ay * bx + az * bw + return torch.stack((ow, ox, oy, oz), -1) + + +def quaternion_multiply(a, b): + """ + Multiply two quaternions representing rotations, returning the quaternion + representing their composition, i.e. the versor with nonnegative real part. + Usual torch rules for broadcasting apply. + + Args: + a: Quaternions as tensor of shape (..., 4), real part first. + b: Quaternions as tensor of shape (..., 4), real part first. + + Returns: + The product of a and b, a tensor of quaternions of shape (..., 4). + """ + ab = quaternion_raw_multiply(a, b) + return standardize_quaternion(ab) + + +def quaternion_invert(quaternion): + """ + Given a quaternion representing rotation, get the quaternion representing + its inverse. + + Args: + quaternion: Quaternions as tensor of shape (..., 4), with real part + first, which must be versors (unit quaternions). + + Returns: + The inverse, a tensor of quaternions of shape (..., 4). + """ + + return quaternion * quaternion.new_tensor([1, -1, -1, -1]) + + +def quaternion_apply(quaternion, point): + """ + Apply the rotation given by a quaternion to a 3D point. + Usual torch rules for broadcasting apply. + + Args: + quaternion: Tensor of quaternions, real part first, of shape (..., 4). + point: Tensor of 3D points of shape (..., 3). + + Returns: + Tensor of rotated points of shape (..., 3). + """ + if point.size(-1) != 3: + raise ValueError(f"Points are not in 3D, f{point.shape}.") + real_parts = point.new_zeros(point.shape[:-1] + (1,)) + point_as_quaternion = torch.cat((real_parts, point), -1) + out = quaternion_raw_multiply( + quaternion_raw_multiply(quaternion, point_as_quaternion), + quaternion_invert(quaternion), + ) + return out[..., 1:] + + +def axis_angle_to_matrix(axis_angle): + """ + Convert rotations given as axis/angle to rotation matrices. + + Args: + axis_angle: Rotations given as a vector in axis angle form, + as a tensor of shape (..., 3), where the magnitude is + the angle turned anticlockwise in radians around the + vector's direction. + + Returns: + Rotation matrices as tensor of shape (..., 3, 3). + """ + return quaternion_to_matrix(axis_angle_to_quaternion(axis_angle)) + + +def matrix_to_axis_angle(matrix): + """ + Convert rotations given as rotation matrices to axis/angle. + + Args: + matrix: Rotation matrices as tensor of shape (..., 3, 3). + + Returns: + Rotations given as a vector in axis angle form, as a tensor + of shape (..., 3), where the magnitude is the angle + turned anticlockwise in radians around the vector's + direction. + """ + return quaternion_to_axis_angle(matrix_to_quaternion(matrix)) + + +def axis_angle_to_quaternion(axis_angle): + """ + Convert rotations given as axis/angle to quaternions. + + Args: + axis_angle: Rotations given as a vector in axis angle form, + as a tensor of shape (..., 3), where the magnitude is + the angle turned anticlockwise in radians around the + vector's direction. + + Returns: + quaternions with real part first, as tensor of shape (..., 4). + """ + angles = torch.norm(axis_angle, p=2, dim=-1, keepdim=True) + half_angles = 0.5 * angles + eps = 1e-6 + small_angles = angles.abs() < eps + sin_half_angles_over_angles = torch.empty_like(angles) + sin_half_angles_over_angles[~small_angles] = ( + torch.sin(half_angles[~small_angles]) / angles[~small_angles] + ) + # for x small, sin(x/2) is about x/2 - (x/2)^3/6 + # so sin(x/2)/x is about 1/2 - (x*x)/48 + sin_half_angles_over_angles[small_angles] = ( + 0.5 - (angles[small_angles] * angles[small_angles]) / 48 + ) + quaternions = torch.cat( + [torch.cos(half_angles), axis_angle * sin_half_angles_over_angles], dim=-1 + ) + return quaternions + + +def quaternion_to_axis_angle(quaternions): + """ + Convert rotations given as quaternions to axis/angle. + + Args: + quaternions: quaternions with real part first, + as tensor of shape (..., 4). + + Returns: + Rotations given as a vector in axis angle form, as a tensor + of shape (..., 3), where the magnitude is the angle + turned anticlockwise in radians around the vector's + direction. + """ + norms = torch.norm(quaternions[..., 1:], p=2, dim=-1, keepdim=True) + half_angles = torch.atan2(norms, quaternions[..., :1]) + angles = 2 * half_angles + eps = 1e-6 + small_angles = angles.abs() < eps + sin_half_angles_over_angles = torch.empty_like(angles) + sin_half_angles_over_angles[~small_angles] = ( + torch.sin(half_angles[~small_angles]) / angles[~small_angles] + ) + # for x small, sin(x/2) is about x/2 - (x/2)^3/6 + # so sin(x/2)/x is about 1/2 - (x*x)/48 + sin_half_angles_over_angles[small_angles] = ( + 0.5 - (angles[small_angles] * angles[small_angles]) / 48 + ) + return quaternions[..., 1:] / sin_half_angles_over_angles + + +def rotation_6d_to_matrix(d6: torch.Tensor) -> torch.Tensor: + """ + Converts 6D rotation representation by Zhou et al. [1] to rotation matrix + using Gram--Schmidt orthogonalisation per Section B of [1]. + Args: + d6: 6D rotation representation, of size (*, 6) + + Returns: + batch of rotation matrices of size (*, 3, 3) + + [1] Zhou, Y., Barnes, C., Lu, J., Yang, J., & Li, H. + On the Continuity of Rotation Representations in Neural Networks. + IEEE Conference on Computer Vision and Pattern Recognition, 2019. + Retrieved from http://arxiv.org/abs/1812.07035 + """ + + a1, a2 = d6[..., :3], d6[..., 3:] + b1 = F.normalize(a1, dim=-1) + b2 = a2 - (b1 * a2).sum(-1, keepdim=True) * b1 + b2 = F.normalize(b2, dim=-1) + b3 = torch.cross(b1, b2, dim=-1) + return torch.stack((b1, b2, b3), dim=-2) + + +def matrix_to_rotation_6d(matrix: torch.Tensor) -> torch.Tensor: + """ + Converts rotation matrices to 6D rotation representation by Zhou et al. [1] + by dropping the last row. Note that 6D representation is not unique. + Args: + matrix: batch of rotation matrices of size (*, 3, 3) + + Returns: + 6D rotation representation, of size (*, 6) + + [1] Zhou, Y., Barnes, C., Lu, J., Yang, J., & Li, H. + On the Continuity of Rotation Representations in Neural Networks. + IEEE Conference on Computer Vision and Pattern Recognition, 2019. + Retrieved from http://arxiv.org/abs/1812.07035 + """ + return matrix[..., :2, :].clone().reshape(*matrix.size()[:-2], 6) diff --git a/pytorch_kinematics/pytorch_kinematics/transforms/so3.py b/pytorch_kinematics/pytorch_kinematics/transforms/so3.py new file mode 100644 index 0000000000000000000000000000000000000000..1eab95ce551ebc8097587ef88e52b3cd71c86139 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/transforms/so3.py @@ -0,0 +1,252 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved. + +import warnings +from typing import Tuple +import torch + +from pytorch_kinematics.transforms.math import acos_linear_extrapolation + +HAT_INV_SKEW_SYMMETRIC_TOL = 1e-5 + + +def so3_relative_angle(R1, R2, cos_angle: bool = False): + """ + Calculates the relative angle (in radians) between pairs of + rotation matrices `R1` and `R2` with `angle = acos(0.5 * (Trace(R1 R2^T)-1))` + + .. note:: + This corresponds to a geodesic distance on the 3D manifold of rotation + matrices. + + Args: + R1: Batch of rotation matrices of shape `(minibatch, 3, 3)`. + R2: Batch of rotation matrices of shape `(minibatch, 3, 3)`. + cos_angle: If==True return cosine of the relative angle rather than + the angle itself. This can avoid the unstable + calculation of `acos`. + + Returns: + Corresponding rotation angles of shape `(minibatch,)`. + If `cos_angle==True`, returns the cosine of the angles. + + Raises: + ValueError if `R1` or `R2` is of incorrect shape. + ValueError if `R1` or `R2` has an unexpected trace. + """ + R12 = torch.bmm(R1, R2.permute(0, 2, 1)) + return so3_rotation_angle(R12, cos_angle=cos_angle) + + +def so3_rotation_angle( + R: torch.Tensor, + eps: float = 1e-4, + cos_angle: bool = False, + cos_bound: float = 1e-4, +) -> torch.Tensor: + """ + Calculates angles (in radians) of a batch of rotation matrices `R` with + `angle = acos(0.5 * (Trace(R)-1))`. The trace of the + input matrices is checked to be in the valid range `[-1-eps,3+eps]`. + The `eps` argument is a small constant that allows for small errors + caused by limited machine precision. + Args: + R: Batch of rotation matrices of shape `(minibatch, 3, 3)`. + eps: Tolerance for the valid trace check. + cos_angle: If==True return cosine of the rotation angles rather than + the angle itself. This can avoid the unstable + calculation of `acos`. + cos_bound: Clamps the cosine of the rotation angle to + [-1 + cos_bound, 1 - cos_bound] to avoid non-finite outputs/gradients + of the `acos` call. Note that the non-finite outputs/gradients + are returned when the angle is requested (i.e. `cos_angle==False`) + and the rotation angle is close to 0 or π. + Returns: + Corresponding rotation angles of shape `(minibatch,)`. + If `cos_angle==True`, returns the cosine of the angles. + Raises: + ValueError if `R` is of incorrect shape. + ValueError if `R` has an unexpected trace. + """ + + N, dim1, dim2 = R.shape + if dim1 != 3 or dim2 != 3: + raise ValueError("Input has to be a batch of 3x3 Tensors.") + + rot_trace = R[:, 0, 0] + R[:, 1, 1] + R[:, 2, 2] + + if ((rot_trace < -1.0 - eps) + (rot_trace > 3.0 + eps)).any(): + raise ValueError("A matrix has trace outside valid range [-1-eps,3+eps].") + + # phi ... rotation angle + phi_cos = (rot_trace - 1.0) * 0.5 + + if cos_angle: + return phi_cos + else: + if cos_bound > 0.0: + return acos_linear_extrapolation(phi_cos, 1.0 - cos_bound) + else: + return torch.acos(phi_cos) + + +def so3_exp_map(log_rot: torch.Tensor, eps: float = 0.0001) -> torch.Tensor: + """ + Convert a batch of logarithmic representations of rotation matrices `log_rot` + to a batch of 3x3 rotation matrices using Rodrigues formula [1]. + In the logarithmic representation, each rotation matrix is represented as + a 3-dimensional vector (`log_rot`) who's l2-norm and direction correspond + to the magnitude of the rotation angle and the axis of rotation respectively. + The conversion has a singularity around `log(R) = 0` + which is handled by clamping controlled with the `eps` argument. + Args: + log_rot: Batch of vectors of shape `(minibatch, 3)`. + eps: A float constant handling the conversion singularity. + Returns: + Batch of rotation matrices of shape `(minibatch, 3, 3)`. + Raises: + ValueError if `log_rot` is of incorrect shape. + [1] https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula + """ + return _so3_exp_map(log_rot, eps=eps)[0] + + +def _so3_exp_map( + log_rot: torch.Tensor, eps: float = 0.0001 +) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]: + """ + A helper function that computes the so3 exponential map and, + apart from the rotation matrix, also returns intermediate variables + that can be re-used in other functions. + """ + _, dim = log_rot.shape + if dim != 3: + raise ValueError("Input tensor shape has to be Nx3.") + + nrms = (log_rot * log_rot).sum(1) + # phis ... rotation angles + rot_angles = torch.clamp(nrms, eps).sqrt() + rot_angles_inv = 1.0 / rot_angles + fac1 = rot_angles_inv * rot_angles.sin() + fac2 = rot_angles_inv * rot_angles_inv * (1.0 - rot_angles.cos()) + skews = hat(log_rot) + skews_square = torch.bmm(skews, skews) + + R = ( + # pyre-fixme[16]: `float` has no attribute `__getitem__`. + fac1[:, None, None] * skews + + fac2[:, None, None] * skews_square + + torch.eye(3, dtype=log_rot.dtype, device=log_rot.device)[None] + ) + + return R, rot_angles, skews, skews_square + + +def so3_log_map(R, eps: float = 0.0001): + """ + Convert a batch of 3x3 rotation matrices `R` + to a batch of 3-dimensional matrix logarithms of rotation matrices + The conversion has a singularity around `(R=I)` which is handled + by clamping controlled with the `eps` argument. + + Args: + R: batch of rotation matrices of shape `(minibatch, 3, 3)`. + eps: A float constant handling the conversion singularity. + + Returns: + Batch of logarithms of input rotation matrices + of shape `(minibatch, 3)`. + + Raises: + ValueError if `R` is of incorrect shape. + ValueError if `R` has an unexpected trace. + """ + + N, dim1, dim2 = R.shape + if dim1 != 3 or dim2 != 3: + raise ValueError("Input has to be a batch of 3x3 Tensors.") + + phi = so3_rotation_angle(R) + + phi_sin = phi.sin() + + phi_denom = ( + torch.clamp(phi_sin.abs(), eps) * phi_sin.sign() + + (phi_sin == 0).type_as(phi) * eps + ) + + log_rot_hat = (phi / (2.0 * phi_denom))[:, None, None] * (R - R.permute(0, 2, 1)) + log_rot = hat_inv(log_rot_hat) + + return log_rot + + +def hat_inv(h): + """ + Compute the inverse Hat operator [1] of a batch of 3x3 matrices. + + Args: + h: Batch of skew-symmetric matrices of shape `(minibatch, 3, 3)`. + + Returns: + Batch of 3d vectors of shape `(minibatch, 3, 3)`. + + Raises: + ValueError if `h` is of incorrect shape. + ValueError if `h` not skew-symmetric. + + [1] https://en.wikipedia.org/wiki/Hat_operator + """ + + N, dim1, dim2 = h.shape + if dim1 != 3 or dim2 != 3: + raise ValueError("Input has to be a batch of 3x3 Tensors.") + + ss_diff = (h + h.permute(0, 2, 1)).abs().max() + if float(ss_diff) > HAT_INV_SKEW_SYMMETRIC_TOL: + raise ValueError("One of input matrices not skew-symmetric.") + + x = h[:, 2, 1] + y = h[:, 0, 2] + z = h[:, 1, 0] + + v = torch.stack((x, y, z), dim=1) + + return v + + +def hat(v): + """ + Compute the Hat operator [1] of a batch of 3D vectors. + + Args: + v: Batch of vectors of shape `(minibatch , 3)`. + + Returns: + Batch of skew-symmetric matrices of shape + `(minibatch, 3 , 3)` where each matrix is of the form: + `[ 0 -v_z v_y ] + [ v_z 0 -v_x ] + [ -v_y v_x 0 ]` + + Raises: + ValueError if `v` is of incorrect shape. + + [1] https://en.wikipedia.org/wiki/Hat_operator + """ + + N, dim = v.shape + if dim != 3: + raise ValueError("Input vectors have to be 3-dimensional.") + + h = v.new_zeros(N, 3, 3) + + x, y, z = v.unbind(1) + + h[:, 0, 1] = -z + h[:, 0, 2] = y + h[:, 1, 0] = z + h[:, 1, 2] = -x + h[:, 2, 0] = -y + h[:, 2, 1] = x + + return h diff --git a/pytorch_kinematics/pytorch_kinematics/transforms/transform3d.py b/pytorch_kinematics/pytorch_kinematics/transforms/transform3d.py new file mode 100644 index 0000000000000000000000000000000000000000..b321cd6be544f2205eed46e3749e6a6930330a4a --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/transforms/transform3d.py @@ -0,0 +1,761 @@ +# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved. + +import math +import typing +import warnings +from typing import Optional + +import torch + +from .rotation_conversions import _axis_angle_rotation, matrix_to_quaternion, quaternion_to_matrix, \ + euler_angles_to_matrix + +DEFAULT_EULER_CONVENTION = "XYZ" + + +class Transform3d: + """ + A Transform3d object encapsulates a batch of N 3D transformations, and knows + how to transform points and normal vectors. Suppose that t is a Transform3d; + then we can do the following: + + .. code-block:: python + + N = len(t) + points = torch.randn(N, P, 3) + normals = torch.randn(N, P, 3) + points_transformed = t.transform_points(points) # => (N, P, 3) + normals_transformed = t.transform_normals(normals) # => (N, P, 3) + + + BROADCASTING + Transform3d objects supports broadcasting. Suppose that t1 and tN are + Transform3D objects with len(t1) == 1 and len(tN) == N respectively. Then we + can broadcast transforms like this: + + .. code-block:: python + + t1.transform_points(torch.randn(P, 3)) # => (P, 3) + t1.transform_points(torch.randn(1, P, 3)) # => (1, P, 3) + t1.transform_points(torch.randn(M, P, 3)) # => (M, P, 3) + tN.transform_points(torch.randn(P, 3)) # => (N, P, 3) + tN.transform_points(torch.randn(1, P, 3)) # => (N, P, 3) + + + COMBINING TRANSFORMS + Transform3d objects can be combined in two ways: composing and stacking. + Composing is function composition. Given Transform3d objects t1, t2, t3, + the following all compute the same thing: + + .. code-block:: python + + y1 = t3.transform_points(t2.transform_points(t1.transform_points(x))) + y2 = t1.compose(t2).compose(t3).transform_points(x) + y3 = t1.compose(t2, t3).transform_points(x) + + + Composing transforms should broadcast. + + .. code-block:: python + + if len(t1) == 1 and len(t2) == N, then len(t1.compose(t2)) == N. + + We can also stack a sequence of Transform3d objects, which represents + composition along the batch dimension; then the following should compute the + same thing. + + .. code-block:: python + + N, M = len(tN), len(tM) + xN = torch.randn(N, P, 3) + xM = torch.randn(M, P, 3) + y1 = torch.cat([tN.transform_points(xN), tM.transform_points(xM)], dim=0) + y2 = tN.stack(tM).transform_points(torch.cat([xN, xM], dim=0)) + + BUILDING TRANSFORMS + We provide convenience methods for easily building Transform3d objects + as compositions of basic transforms. + + .. code-block:: python + + # Scale by 0.5, then translate by (1, 2, 3) + t1 = Transform3d().scale(0.5).translate(1, 2, 3) + + # Scale each axis by a different amount, then translate, then scale + t2 = Transform3d().scale(1, 3, 3).translate(2, 3, 1).scale(2.0) + + t3 = t1.compose(t2) + tN = t1.stack(t3, t3) + + + BACKPROP THROUGH TRANSFORMS + When building transforms, we can also parameterize them by Torch tensors; + in this case we can backprop through the construction and application of + Transform objects, so they could be learned via gradient descent or + predicted by a neural network. + + .. code-block:: python + + s1_params = torch.randn(N, requires_grad=True) + t_params = torch.randn(N, 3, requires_grad=True) + s2_params = torch.randn(N, 3, requires_grad=True) + + t = Transform3d().scale(s1_params).translate(t_params).scale(s2_params) + x = torch.randn(N, 3) + y = t.transform_points(x) + loss = compute_loss(y) + loss.backward() + + with torch.no_grad(): + s1_params -= lr * s1_params.grad + t_params -= lr * t_params.grad + s2_params -= lr * s2_params.grad + + CONVENTIONS + We adopt a right-hand coordinate system, meaning that rotation about an axis + with a positive angle results in a counter clockwise rotation. + + This class assumes that transformations are applied on inputs which + are column vectors (different from pytorch3d!). The internal representation of the Nx4x4 transformation + matrix is of the form: + + .. code-block:: python + + M = [ + [Rxx, Ryx, Rzx, Tx], + [Rxy, Ryy, Rzy, Ty], + [Rxz, Ryz, Rzz, Tz], + [0, 0, 0, 1], + ] + + To apply the transformation to points which are row vectors, the M matrix + can be pre multiplied by the points: + + .. code-block:: python + + points = [[0, 1, 2]] # (1 x 3) xyz coordinates of a point + transformed_point = M @ points[0] + transformed_points = points @ M.transpose(-1,-2) + + Euler angles given as input by default are interpreted to be in "RXYZ" convention. + Quaternions given as input should be in [w,x,y,z] order. + """ + + def __init__( + self, + default_batch_size=1, + dtype: torch.dtype = torch.float32, + device='cpu', + matrix: Optional[torch.Tensor] = None, + rot: Optional[typing.Iterable] = None, + pos: Optional[typing.Iterable] = None, + ): + """ + Args: + default_batch_size: A positive integer representing the minibatch size + if matrix is None, rot is None, and pos is also None. + dtype: The data type of the transformation matrix. + to be used if `matrix = None`. + device: The device for storing the implemented transformation. + If `matrix != None`, uses the device of input `matrix`. + matrix: A tensor of shape (4, 4) or of shape (minibatch, 4, 4) + representing the 4x4 3D transformation matrix. + If `None`, initializes with identity using + the specified `device` and `dtype`. + rot: A rotation matrix of shape (3, 3) or of shape (minibatch, 3, 3), or + a quaternion of shape (4,) or of shape (minibatch, 4), where + minibatch should match that of matrix if that is also passed in. + The rotation overrides the rotation given in the matrix argument, if any. + pos: A tensor of shape (3,) or of shape (minibatch, 3) representing the position + offsets of the transforms, where minibatch should match that of matrix if + that is also passed in. The position overrides the position given in the + matrix argument, if any. + """ + if matrix is None: + self._matrix = torch.eye(4, dtype=dtype, device=device).unsqueeze(0).repeat(default_batch_size, 1, 1) + else: + if matrix.ndim not in (2, 3): + raise ValueError('"matrix" has to be a 2- or a 3-dimensional tensor.') + if matrix.shape[-2] != 4 or matrix.shape[-1] != 4: + raise ValueError( + '"matrix" has to be a tensor of shape (minibatch, 4, 4)' + ) + # set the device from matrix + device = matrix.device + self._matrix = matrix.view(-1, 4, 4) + + if pos is not None: + if not torch.is_tensor(pos): + pos = torch.tensor(pos, dtype=dtype, device=device) + if pos.ndim in (2, 3) and pos.shape[0] > 1 and self._matrix.shape[0] == 1: + self._matrix = self._matrix.repeat(pos.shape[0], 1, 1) + self._matrix[:, :3, 3] = pos + + if rot is not None: + if not torch.is_tensor(rot): + rot = torch.tensor(rot, dtype=dtype, device=device) + if rot.shape[-1] == 4: + rot = quaternion_to_matrix(rot) + elif rot.shape[-1] == 3 and (len(rot.shape) == 1 or rot.shape[-2] != 3): + rot = euler_angles_to_matrix(rot, DEFAULT_EULER_CONVENTION) + if rot.ndim == 3 and rot.shape[0] > 1 and self._matrix.shape[0] == 1: + self._matrix = self._matrix.repeat(rot.shape[0], 1, 1) + self._matrix[:, :3, :3] = rot + + self._transforms = [] # store transforms to compose + self._lu = None + self.device = device + self.dtype = self._matrix.dtype + + def __len__(self): + return self.get_matrix().shape[0] + + def __repr__(self): + m = self.get_matrix() + pos = m[:, :3, 3] + rot = matrix_to_quaternion(m[:, :3, :3]) + return "Transform3d(rot={}, pos={})".format(rot, pos).replace('\n ', '') + + def compose(self, *others): + """ + Return a new Transform3d with the tranforms to compose stored as + an internal list. + + Args: + *others: Any number of Transform3d objects + + Returns: + A new Transform3d with the stored transforms + """ + out = Transform3d(device=self.device, dtype=self.dtype) + out._matrix = self._matrix.clone() + for other in others: + if not isinstance(other, Transform3d): + msg = "Only possible to compose Transform3d objects; got %s" + raise ValueError(msg % type(other)) + out._transforms = self._transforms + list(others) + return out + + def get_matrix(self): + """ + Return a matrix which is the result of composing this transform + with others stored in self.transforms. Where necessary transforms + are broadcast against each other. + For example, if self.transforms contains transforms t1, t2, and t3, and + given a set of points x, the following should be true: + + .. code-block:: python + + y1 = t1.compose(t2, t3).transform(x) + y2 = t3.transform(t2.transform(t1.transform(x))) + y1.get_matrix() == y2.get_matrix() + + Returns: + A transformation matrix representing the composed inputs. + """ + composed_matrix = self._matrix.clone() + if len(self._transforms) > 0: + for other in self._transforms: + other_matrix = other.get_matrix() + composed_matrix = _broadcast_bmm(composed_matrix, other_matrix) + return composed_matrix + + def _get_matrix_inverse(self): + """ + Return the inverse of self._matrix. + """ + return torch.inverse(self._matrix) + + def inverse(self, invert_composed: bool = False): + """ + Returns a new Transform3D object that represents an inverse of the + current transformation. + + Args: + invert_composed: + - True: First compose the list of stored transformations + and then apply inverse to the result. This is + potentially slower for classes of transformations + with inverses that can be computed efficiently + (e.g. rotations and translations). + - False: Invert the individual stored transformations + independently without composing them. + + Returns: + A new Transform3D object contaning the inverse of the original + transformation. + """ + + tinv = Transform3d(device=self.device) + + if invert_composed: + # first compose then invert + tinv._matrix = torch.inverse(self.get_matrix()) + else: + # self._get_matrix_inverse() implements efficient inverse + # of self._matrix + i_matrix = self._get_matrix_inverse() + + # 2 cases: + if len(self._transforms) > 0: + # a) Either we have a non-empty list of transforms: + # Here we take self._matrix and append its inverse at the + # end of the reverted _transforms list. After composing + # the transformations with get_matrix(), this correctly + # right-multiplies by the inverse of self._matrix + # at the end of the composition. + tinv._transforms = [t.inverse() for t in reversed(self._transforms)] + last = Transform3d(device=self.device) + last._matrix = i_matrix + tinv._transforms.append(last) + else: + # b) Or there are no stored transformations + # we just set inverted matrix + tinv._matrix = i_matrix + + return tinv + + def stack(self, *others): + transforms = [self] + list(others) + matrix = torch.cat([t._matrix for t in transforms], dim=0) + out = Transform3d() + out._matrix = matrix + return out + + def transform_points(self, points, eps: Optional[float] = None): + """ + Use this transform to transform a set of 3D points. Assumes row major + ordering of the input points. + + Args: + points: Tensor of shape (P, 3) or (N, P, 3) + eps: If eps!=None, the argument is used to clamp the + last coordinate before peforming the final division. + The clamping corresponds to: + last_coord := (last_coord.sign() + (last_coord==0)) * + torch.clamp(last_coord.abs(), eps), + i.e. the last coordinates that are exactly 0 will + be clamped to +eps. + + Returns: + points_out: points of shape (N, P, 3) or (P, 3) depending + on the dimensions of the transform + """ + points_batch = points.clone() + if points_batch.dim() == 2: + points_batch = points_batch[None] # (P, 3) -> (1, P, 3) + if points_batch.dim() != 3: + msg = "Expected points to have dim = 2 or dim = 3: got shape %r" + raise ValueError(msg % repr(points.shape)) + + N, P, _3 = points_batch.shape + ones = torch.ones(N, P, 1, dtype=points.dtype, device=points.device) + points_batch = torch.cat([points_batch, ones], dim=2) + + composed_matrix = self.get_matrix().transpose(-1, -2) + points_out = _broadcast_bmm(points_batch, composed_matrix) + denom = points_out[..., 3:] # denominator + if eps is not None: + denom_sign = denom.sign() + (denom == 0.0).type_as(denom) + denom = denom_sign * torch.clamp(denom.abs(), eps) + points_out = points_out[..., :3] / denom + + # When transform is (1, 4, 4) and points is (P, 3) return + # points_out of shape (P, 3) + if points_out.shape[0] == 1 and points.dim() == 2: + points_out = points_out.reshape(points.shape) + + return points_out + + def transform_normals(self, normals): + """ + Use this transform to transform a set of normal vectors. + + Args: + normals: Tensor of shape (P, 3) or (N, P, 3) + + Returns: + normals_out: Tensor of shape (P, 3) or (N, P, 3) depending + on the dimensions of the transform + """ + if normals.dim() not in [2, 3]: + msg = "Expected normals to have dim = 2 or dim = 3: got shape %r" + raise ValueError(msg % (normals.shape,)) + composed_matrix = self.get_matrix() + + # TODO: inverse is bad! Solve a linear system instead + mat = composed_matrix[:, :3, :3] + normals_out = _broadcast_bmm(normals, mat.inverse()) + + # This doesn't pass unit tests. TODO investigate further + # if self._lu is None: + # self._lu = self._matrix[:, :3, :3].transpose(1, 2).lu() + # normals_out = normals.lu_solve(*self._lu) + + # When transform is (1, 4, 4) and normals is (P, 3) return + # normals_out of shape (P, 3) + if normals_out.shape[0] == 1 and normals.dim() == 2: + normals_out = normals_out.reshape(normals.shape) + + return normals_out + + def translate(self, *args, **kwargs): + return self.compose(Translate(device=self.device, *args, **kwargs)) + + def scale(self, *args, **kwargs): + return self.compose(Scale(device=self.device, *args, **kwargs)) + + def rotate(self, *args, **kwargs): + return self.compose(Rotate(device=self.device, *args, **kwargs)) + + def rotate_axis_angle(self, *args, **kwargs): + return self.compose(RotateAxisAngle(device=self.device, *args, **kwargs)) + + def clone(self): + """ + Deep copy of Transforms object. All internal tensors are cloned + individually. + + Returns: + new Transforms object. + """ + other = Transform3d(dtype=self.dtype, device=self.device) + if self._lu is not None: + other._lu = [elem.clone() for elem in self._lu] + other._matrix = self._matrix.clone() + other._transforms = [t.clone() for t in self._transforms] + return other + + def to(self, device, copy: bool = False, dtype=None): + """ + Match functionality of torch.Tensor.to() + If copy = True or the self Tensor is on a different device, the + returned tensor is a copy of self with the desired torch.device. + If copy = False and the self Tensor already has the correct torch.device, + then self is returned. + + Args: + device: Device id for the new tensor. + copy: Boolean indicator whether or not to clone self. Default False. + dtype: If not None, casts the internal tensor variables + to a given torch.dtype. + + Returns: + Transform3d object. + """ + if not copy and (dtype is None or self.dtype == dtype) and self.device == device: + return self + other = self.clone() + other.device = device + other.dtype = dtype if dtype is not None else other.dtype + other._matrix = self._matrix.to(device=device, dtype=dtype) + other._transforms = [t.to(device, copy=copy, dtype=dtype) for t in other._transforms] + return other + + def cpu(self): + return self.to(torch.device("cpu")) + + def cuda(self): + return self.to(torch.device("cuda")) + + +class Translate(Transform3d): + def __init__(self, x, y=None, z=None, dtype=torch.float32, device: str = "cpu"): + """ + Create a new Transform3d representing 3D translations. + + Option I: Translate(xyz, dtype=torch.float32, device='cpu') + xyz should be a tensor of shape (N, 3) + + Option II: Translate(x, y, z, dtype=torch.float32, device='cpu') + Here x, y, and z will be broadcast against each other and + concatenated to form the translation. Each can be: + - A python scalar + - A torch scalar + - A 1D torch tensor + """ + super().__init__(device=device) + xyz = _handle_input(x, y, z, dtype, device, "Translate") + N = xyz.shape[0] + + mat = torch.eye(4, dtype=dtype, device=device) + mat = mat.view(1, 4, 4).repeat(N, 1, 1) + mat[:, :3, 3] = xyz + self._matrix = mat + + def _get_matrix_inverse(self): + """ + Return the inverse of self._matrix. + """ + inv_mask = self._matrix.new_ones([1, 4, 4]) + inv_mask[0, :3, 3] = -1.0 + i_matrix = self._matrix * inv_mask + return i_matrix + + +class Scale(Transform3d): + def __init__(self, x, y=None, z=None, dtype=torch.float32, device: str = "cpu"): + """ + A Transform3d representing a scaling operation, with different scale + factors along each coordinate axis. + + Option I: Scale(s, dtype=torch.float32, device='cpu') + s can be one of + - Python scalar or torch scalar: Single uniform scale + - 1D torch tensor of shape (N,): A batch of uniform scale + - 2D torch tensor of shape (N, 3): Scale differently along each axis + + Option II: Scale(x, y, z, dtype=torch.float32, device='cpu') + Each of x, y, and z can be one of + - python scalar + - torch scalar + - 1D torch tensor + """ + super().__init__(device=device) + xyz = _handle_input(x, y, z, dtype, device, "scale", allow_singleton=True) + N = xyz.shape[0] + + # TODO: Can we do this all in one go somehow? + mat = torch.eye(4, dtype=dtype, device=device) + mat = mat.view(1, 4, 4).repeat(N, 1, 1) + mat[:, 0, 0] = xyz[:, 0] + mat[:, 1, 1] = xyz[:, 1] + mat[:, 2, 2] = xyz[:, 2] + self._matrix = mat + + def _get_matrix_inverse(self): + """ + Return the inverse of self._matrix. + """ + xyz = torch.stack([self._matrix[:, i, i] for i in range(4)], dim=1) + ixyz = 1.0 / xyz + imat = torch.diag_embed(ixyz, dim1=1, dim2=2) + return imat + + +class Rotate(Transform3d): + def __init__( + self, R, dtype=torch.float32, device: str = "cpu", orthogonal_tol: float = 1e-5 + ): + """ + Create a new Transform3d representing 3D rotation using a rotation + matrix as the input. + + Args: + R: a tensor of shape (3, 3) or (N, 3, 3) + orthogonal_tol: tolerance for the test of the orthogonality of R + + """ + super().__init__(device=device) + if not torch.is_tensor(R): + R = torch.tensor(R, dtype=dtype, device=device) + R = R.to(dtype=dtype).to(device=device) + if R.shape[-1] == 4: + R = quaternion_to_matrix(R) + elif R.shape[-1] == 3 and (len(R.shape) == 1 or R.shape[-2] != 3): + R = euler_angles_to_matrix(R, DEFAULT_EULER_CONVENTION) + else: + _check_valid_rotation_matrix(R, tol=orthogonal_tol) + if R.dim() == 2: + R = R[None] + + if R.shape[-2:] != (3, 3): + msg = "R must have shape (3, 3) or (N, 3, 3); got %s" + raise ValueError(msg % repr(R.shape)) + N = R.shape[0] + mat = torch.eye(4, dtype=dtype, device=device) + mat = mat.view(1, 4, 4).repeat(N, 1, 1) + mat[:, :3, :3] = R + self._matrix = mat + + def _get_matrix_inverse(self): + """ + Return the inverse of self._matrix. + """ + return self._matrix.permute(0, 2, 1).contiguous() + + +class RotateAxisAngle(Rotate): + def __init__( + self, + angle, + axis: str = "X", + degrees: bool = True, + dtype=torch.float64, + device: str = "cpu", + ): + """ + Create a new Transform3d representing 3D rotation about an axis + by an angle. + + Assuming a right-hand coordinate system, positive rotation angles result + in a counter clockwise rotation. + + Args: + angle: + - A torch tensor of shape (N,) + - A python scalar + - A torch scalar + axis: + string: one of ["X", "Y", "Z"] indicating the axis about which + to rotate. + NOTE: All batch elements are rotated about the same axis. + """ + axis = axis.upper() + if axis not in ["X", "Y", "Z"]: + msg = "Expected axis to be one of ['X', 'Y', 'Z']; got %s" + raise ValueError(msg % axis) + angle = _handle_angle_input(angle, dtype, device, "RotateAxisAngle") + angle = (angle / 180.0 * math.pi) if degrees else angle + # We assume the points on which this transformation will be applied + # are row vectors. The rotation matrix returned from _axis_angle_rotation + # is for transforming column vectors. Therefore we transpose this matrix. + # R will always be of shape (N, 3, 3) + R = _axis_angle_rotation(axis, angle) + super().__init__(device=device, R=R) + + +def _handle_coord(c, dtype, device): + """ + Helper function for _handle_input. + + Args: + c: Python scalar, torch scalar, or 1D torch tensor + + Returns: + c_vec: 1D torch tensor + """ + if not torch.is_tensor(c): + c = torch.tensor(c, dtype=dtype, device=device) + if c.dim() == 0: + c = c.view(1) + return c + + +def _handle_input(x, y, z, dtype, device, name: str, allow_singleton: bool = False): + """ + Helper function to handle parsing logic for building transforms. The output + is always a tensor of shape (N, 3), but there are several types of allowed + input. + + Case I: Single Matrix + In this case x is a tensor of shape (N, 3), and y and z are None. Here just + return x. + + Case II: Vectors and Scalars + In this case each of x, y, and z can be one of the following + - Python scalar + - Torch scalar + - Torch tensor of shape (N, 1) or (1, 1) + In this case x, y and z are broadcast to tensors of shape (N, 1) + and concatenated to a tensor of shape (N, 3) + + Case III: Singleton (only if allow_singleton=True) + In this case y and z are None, and x can be one of the following: + - Python scalar + - Torch scalar + - Torch tensor of shape (N, 1) or (1, 1) + Here x will be duplicated 3 times, and we return a tensor of shape (N, 3) + + Returns: + xyz: Tensor of shape (N, 3) + """ + # If x is actually a tensor of shape (N, 3) then just return it + if torch.is_tensor(x) and x.dim() == 2: + if x.shape[1] != 3: + msg = "Expected tensor of shape (N, 3); got %r (in %s)" + raise ValueError(msg % (x.shape, name)) + if y is not None or z is not None: + msg = "Expected y and z to be None (in %s)" % name + raise ValueError(msg) + return x + + if allow_singleton and y is None and z is None: + y = x + z = x + + # Convert all to 1D tensors + xyz = [_handle_coord(c, dtype, device) for c in [x, y, z]] + + # Broadcast and concatenate + sizes = [c.shape[0] for c in xyz] + N = max(sizes) + for c in xyz: + if c.shape[0] != 1 and c.shape[0] != N: + msg = "Got non-broadcastable sizes %r (in %s)" % (sizes, name) + raise ValueError(msg) + xyz = [c.expand(N) for c in xyz] + xyz = torch.stack(xyz, dim=1) + return xyz + + +def _handle_angle_input(x, dtype, device: str, name: str): + """ + Helper function for building a rotation function using angles. + The output is always of shape (N,). + + The input can be one of: + - Torch tensor of shape (N,) + - Python scalar + - Torch scalar + """ + if torch.is_tensor(x) and x.dim() > 1: + msg = "Expected tensor of shape (N,); got %r (in %s)" + raise ValueError(msg % (x.shape, name)) + else: + return _handle_coord(x, dtype, device) + + +def _broadcast_bmm(a, b): + """ + Batch multiply two matrices and broadcast if necessary. + + Args: + a: torch tensor of shape (P, K) or (M, P, K) + b: torch tensor of shape (N, K, K) + + Returns: + a and b broadcast multipled. The output batch dimension is max(N, M). + + To broadcast transforms across a batch dimension if M != N then + expect that either M = 1 or N = 1. The tensor with batch dimension 1 is + expanded to have shape N or M. + """ + if a.dim() == 2: + a = a[None] + if len(a) != len(b): + if not ((len(a) == 1) or (len(b) == 1)): + msg = "Expected batch dim for bmm to be equal or 1; got %r, %r" + raise ValueError(msg % (a.shape, b.shape)) + if len(a) == 1: + a = a.expand(len(b), -1, -1) + if len(b) == 1: + b = b.expand(len(a), -1, -1) + return a.bmm(b) + + +def _check_valid_rotation_matrix(R, tol: float = 1e-7): + """ + Determine if R is a valid rotation matrix by checking it satisfies the + following conditions: + + ``RR^T = I and det(R) = 1`` + + Args: + R: an (N, 3, 3) matrix + + Returns: + None + + Emits a warning if R is an invalid rotation matrix. + """ + N = R.shape[0] + eye = torch.eye(3, dtype=R.dtype, device=R.device) + eye = eye.view(1, 3, 3).expand(N, -1, -1) + orthogonal = torch.allclose(R.bmm(R.transpose(1, 2)), eye, atol=tol) + det_R = torch.det(R) + no_distortion = torch.allclose(det_R, torch.ones_like(det_R)) + if not (orthogonal and no_distortion): + msg = "R is not a valid rotation matrix" + warnings.warn(msg) + return diff --git a/pytorch_kinematics/pytorch_kinematics/urdf.py b/pytorch_kinematics/pytorch_kinematics/urdf.py new file mode 100644 index 0000000000000000000000000000000000000000..dc36c993974dd6b6925a39b9757a49b9f25f634c --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/urdf.py @@ -0,0 +1,135 @@ +from .urdf_parser_py.urdf import URDF, Mesh, Cylinder, Box, Sphere +from . import frame +from . import chain +import torch +import pytorch_kinematics.transforms as tf +# has better RPY to quaternion transformation +import transformations as tf2 + +JOINT_TYPE_MAP = {'revolute': 'revolute', + 'continuous': 'revolute', + 'prismatic': 'prismatic', + 'fixed': 'fixed'} + + +def _convert_transform(origin): + if origin is None: + return tf.Transform3d() + else: + return tf.Transform3d(rot=torch.tensor(tf2.quaternion_from_euler(*origin.rpy, "sxyz"), dtype=torch.float32), + pos=origin.xyz) + + +def _convert_visual(visual): + if visual is None or visual.geometry is None: + return frame.Visual() + else: + v_tf = _convert_transform(visual.origin) + if isinstance(visual.geometry, Mesh): + g_type = "mesh" + g_param = visual.geometry.filename + elif isinstance(visual.geometry, Cylinder): + g_type = "cylinder" + g_param = (visual.geometry.radius, visual.geometry.length) + elif isinstance(visual.geometry, Box): + g_type = "box" + g_param = visual.geometry.size + elif isinstance(visual.geometry, Sphere): + g_type = "sphere" + g_param = visual.geometry.radius + else: + g_type = None + g_param = None + return frame.Visual(v_tf, g_type, g_param) + + +def _build_chain_recurse(root_frame, lmap, joints): + children = [] + for j in joints: + if j.parent == root_frame.link.name: + child_frame = frame.Frame(j.child + "_frame") + child_frame.joint = frame.Joint(j.name, offset=_convert_transform(j.origin), + joint_type=JOINT_TYPE_MAP[j.type], axis=j.axis) + link = lmap[j.child] + child_frame.link = frame.Link(link.name, offset=_convert_transform(link.origin), + visuals=[_convert_visual(link.visual)]) + child_frame.children = _build_chain_recurse(child_frame, lmap, joints) + children.append(child_frame) + return children + + +def build_chain_from_urdf(data): + """ + Build a Chain object from URDF data. + + Parameters + ---------- + data : str + URDF string data. + + Returns + ------- + chain.Chain + Chain object created from URDF. + + Example + ------- + >>> import pytorch_kinematics as pk + >>> data = ''' + ... + ... + ... + ... + ... + ... + ... ''' + >>> chain = pk.build_chain_from_urdf(data) + >>> print(chain) + link1_frame + link2_frame + + """ + robot = URDF.from_xml_string(data) + lmap = robot.link_map + joints = robot.joints + n_joints = len(joints) + has_root = [True for _ in range(len(joints))] + for i in range(n_joints): + for j in range(i + 1, n_joints): + if joints[i].parent == joints[j].child: + has_root[i] = False + elif joints[j].parent == joints[i].child: + has_root[j] = False + for i in range(n_joints): + if has_root[i]: + root_link = lmap[joints[i].parent] + break + root_frame = frame.Frame(root_link.name + "_frame") + root_frame.joint = frame.Joint() + root_frame.link = frame.Link(root_link.name, _convert_transform(root_link.origin), + [_convert_visual(root_link.visual)]) + root_frame.children = _build_chain_recurse(root_frame, lmap, joints) + return chain.Chain(root_frame) + + +def build_serial_chain_from_urdf(data, end_link_name, root_link_name=""): + """ + Build a SerialChain object from urdf data. + + Parameters + ---------- + data : str + URDF string data. + end_link_name : str + The name of the link that is the end effector. + root_link_name : str, optional + The name of the root link. + + Returns + ------- + chain.SerialChain + SerialChain object created from URDF. + """ + urdf_chain = build_chain_from_urdf(data) + return chain.SerialChain(urdf_chain, end_link_name + "_frame", + "" if root_link_name == "" else root_link_name + "_frame") diff --git a/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/__init__.py b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..64eee9ae0b7fc09508b34596af86a362a2fbc8c3 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/__init__.py @@ -0,0 +1,2 @@ +from . import urdf +from . import sdf diff --git a/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/sdf.py b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/sdf.py new file mode 100644 index 0000000000000000000000000000000000000000..74d8fc7b485ac6587a64be7056922e6301cbb7de --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/sdf.py @@ -0,0 +1,319 @@ +from .xml_reflection.basics import * +from . import xml_reflection as xmlr + +# What is the scope of plugins? Model, World, Sensor? + +xmlr.start_namespace('sdf') + +name_attribute = xmlr.Attribute('name', str, False) +pose_element = xmlr.Element('pose', 'vector6', False) + + +class Inertia(xmlr.Object): + KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz'] + + def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0): + self.ixx = ixx + self.ixy = ixy + self.ixz = ixz + self.iyy = iyy + self.iyz = iyz + self.izz = izz + + def to_matrix(self): + return [ + [self.ixx, self.ixy, self.ixz], + [self.ixy, self.iyy, self.iyz], + [self.ixz, self.iyz, self.izz]] + + +xmlr.reflect(Inertia, + params=[xmlr.Element(key, float) for key in Inertia.KEYS]) + + +# Pretty much copy-paste... Better method? +# Use multiple inheritance to separate the objects out so they are unique? + + +class Inertial(xmlr.Object): + def __init__(self, mass=0.0, inertia=None, pose=None): + self.mass = mass + self.inertia = inertia + self.pose = pose + + +xmlr.reflect(Inertial, params=[ + xmlr.Element('mass', float), + xmlr.Element('inertia', Inertia), + pose_element +]) + + +class Box(xmlr.Object): + def __init__(self, size=None): + self.size = size + + +xmlr.reflect(Box, tag='box', params=[ + xmlr.Element('size', 'vector3') +]) + + +class Cylinder(xmlr.Object): + def __init__(self, radius=0.0, length=0.0): + self.radius = radius + self.length = length + + +xmlr.reflect(Cylinder, tag='cylinder', params=[ + xmlr.Element('radius', float), + xmlr.Element('length', float) +]) + + +class Sphere(xmlr.Object): + def __init__(self, radius=0.0): + self.radius = radius + + +xmlr.reflect(Sphere, tag='sphere', params=[ + xmlr.Element('radius', float) +]) + + +class Mesh(xmlr.Object): + def __init__(self, filename=None, scale=None): + self.filename = filename + self.scale = scale + + +xmlr.reflect(Mesh, tag='mesh', params=[ + xmlr.Element('filename', str), + xmlr.Element('scale', 'vector3', required=False) +]) + + +class GeometricType(xmlr.ValueType): + def __init__(self): + self.factory = xmlr.FactoryType('geometric', { + 'box': Box, + 'cylinder': Cylinder, + 'sphere': Sphere, + 'mesh': Mesh + }) + + def from_xml(self, node, path): + children = xml_children(node) + assert len(children) == 1, 'One element only for geometric' + return self.factory.from_xml(children[0], path=path) + + def write_xml(self, node, obj): + name = self.factory.get_name(obj) + child = node_add(node, name) + obj.write_xml(child) + + +xmlr.add_type('geometric', GeometricType()) + + +class Script(xmlr.Object): + def __init__(self, uri=None, name=None): + self.uri = uri + self.name = name + + +xmlr.reflect(Script, tag='script', params=[ + xmlr.Element('name', str, False), + xmlr.Element('uri', str, False) +]) + + +class Material(xmlr.Object): + def __init__(self, name=None, script=None): + self.name = name + self.script = script + + +xmlr.reflect(Material, tag='material', params=[ + name_attribute, + xmlr.Element('script', Script, False) +]) + + +class Visual(xmlr.Object): + def __init__(self, name=None, geometry=None, pose=None): + self.name = name + self.geometry = geometry + self.pose = pose + + +xmlr.reflect(Visual, tag='visual', params=[ + name_attribute, + xmlr.Element('geometry', 'geometric'), + xmlr.Element('material', Material, False), + pose_element +]) + + +class Collision(xmlr.Object): + def __init__(self, name=None, geometry=None, pose=None): + self.name = name + self.geometry = geometry + self.pose = pose + + +xmlr.reflect(Collision, tag='collision', params=[ + name_attribute, + xmlr.Element('geometry', 'geometric'), + pose_element +]) + + +class Dynamics(xmlr.Object): + def __init__(self, damping=None, friction=None): + self.damping = damping + self.friction = friction + + +xmlr.reflect(Dynamics, tag='dynamics', params=[ + xmlr.Element('damping', float, False), + xmlr.Element('friction', float, False) +]) + + +class Limit(xmlr.Object): + def __init__(self, lower=None, upper=None): + self.lower = lower + self.upper = upper + + +xmlr.reflect(Limit, tag='limit', params=[ + xmlr.Element('lower', float, False), + xmlr.Element('upper', float, False) +]) + + +class Axis(xmlr.Object): + def __init__(self, xyz=None, limit=None, dynamics=None, + use_parent_model_frame=None): + self.xyz = xyz + self.limit = limit + self.dynamics = dynamics + self.use_parent_model_frame = use_parent_model_frame + + +xmlr.reflect(Axis, tag='axis', params=[ + xmlr.Element('xyz', 'vector3'), + xmlr.Element('limit', Limit, False), + xmlr.Element('dynamics', Dynamics, False), + xmlr.Element('use_parent_model_frame', bool, False) +]) + + +class Joint(xmlr.Object): + TYPES = ['unknown', 'revolute', 'gearbox', 'revolute2', + 'prismatic', 'ball', 'screw', 'universal', 'fixed'] + + def __init__(self, name=None, parent=None, child=None, joint_type=None, + axis=None, pose=None): + self.aggregate_init() + self.name = name + self.parent = parent + self.child = child + self.type = joint_type + self.axis = axis + self.pose = pose + + # Aliases + @property + def joint_type(self): return self.type + + @joint_type.setter + def joint_type(self, value): self.type = value + + +xmlr.reflect(Joint, tag='joint', params=[ + name_attribute, + xmlr.Attribute('type', str, False), + xmlr.Element('axis', Axis), + xmlr.Element('parent', str), + xmlr.Element('child', str), + pose_element +]) + + +class Link(xmlr.Object): + def __init__(self, name=None, pose=None, inertial=None, kinematic=False): + self.aggregate_init() + self.name = name + self.pose = pose + self.inertial = inertial + self.kinematic = kinematic + self.visuals = [] + self.collisions = [] + + +xmlr.reflect(Link, tag='link', params=[ + name_attribute, + xmlr.Element('inertial', Inertial), + xmlr.Attribute('kinematic', bool, False), + xmlr.AggregateElement('visual', Visual, var='visuals'), + xmlr.AggregateElement('collision', Collision, var='collisions'), + pose_element +]) + + +class Model(xmlr.Object): + def __init__(self, name=None, pose=None): + self.aggregate_init() + self.name = name + self.pose = pose + self.links = [] + self.joints = [] + self.joint_map = {} + self.link_map = {} + + self.parent_map = {} + self.child_map = {} + + def add_aggregate(self, typeName, elem): + xmlr.Object.add_aggregate(self, typeName, elem) + + if typeName == 'joint': + joint = elem + self.joint_map[joint.name] = joint + self.parent_map[joint.child] = (joint.name, joint.parent) + if joint.parent in self.child_map: + self.child_map[joint.parent].append((joint.name, joint.child)) + else: + self.child_map[joint.parent] = [(joint.name, joint.child)] + elif typeName == 'link': + link = elem + self.link_map[link.name] = link + + def add_link(self, link): + self.add_aggregate('link', link) + + def add_joint(self, joint): + self.add_aggregate('joint', joint) + + +xmlr.reflect(Model, tag='model', params=[ + name_attribute, + xmlr.AggregateElement('link', Link, var='links'), + xmlr.AggregateElement('joint', Joint, var='joints'), + pose_element +]) + + +class SDF(xmlr.Object): + def __init__(self, version=None): + self.version = version + + +xmlr.reflect(SDF, tag='sdf', params=[ + xmlr.Attribute('version', str, False), + xmlr.Element('model', Model, False), +]) + +xmlr.end_namespace() diff --git a/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/urdf.py b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/urdf.py new file mode 100644 index 0000000000000000000000000000000000000000..0d4b945336020c749449e515af7af5e11ce900c6 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/urdf.py @@ -0,0 +1,562 @@ +from .xml_reflection.basics import * +from . import xml_reflection as xmlr + +# Add a 'namespace' for names to avoid a conflict between URDF and SDF? +# A type registry? How to scope that? Just make a 'global' type pointer? +# Or just qualify names? urdf.geometric, sdf.geometric + +xmlr.start_namespace('urdf') + +xmlr.add_type('element_link', xmlr.SimpleElementType('link', str)) +xmlr.add_type('element_xyz', xmlr.SimpleElementType('xyz', 'vector3')) + +verbose = True + + +class Pose(xmlr.Object): + def __init__(self, xyz=None, rpy=None): + self.xyz = xyz + self.rpy = rpy + + def check_valid(self): + assert (self.xyz is None or len(self.xyz) == 3) and \ + (self.rpy is None or len(self.rpy) == 3) + + # Aliases for backwards compatibility + @property + def rotation(self): return self.rpy + + @rotation.setter + def rotation(self, value): self.rpy = value + + @property + def position(self): return self.xyz + + @position.setter + def position(self, value): self.xyz = value + + +xmlr.reflect(Pose, tag='origin', params=[ + xmlr.Attribute('xyz', 'vector3', False, default=[0, 0, 0]), + xmlr.Attribute('rpy', 'vector3', False, default=[0, 0, 0]) +]) + +# Common stuff +name_attribute = xmlr.Attribute('name', str) +origin_element = xmlr.Element('origin', Pose, False) + + +class Color(xmlr.Object): + def __init__(self, *args): + # What about named colors? + count = len(args) + if count == 4 or count == 3: + self.rgba = args + elif count == 1: + self.rgba = args[0] + elif count == 0: + self.rgba = None + if self.rgba is not None: + if len(self.rgba) == 3: + self.rgba += [1.] + if len(self.rgba) != 4: + raise Exception('Invalid color argument count') + + +xmlr.reflect(Color, tag='color', params=[ + xmlr.Attribute('rgba', 'vector4') +]) + + +class JointDynamics(xmlr.Object): + def __init__(self, damping=None, friction=None): + self.damping = damping + self.friction = friction + + +xmlr.reflect(JointDynamics, tag='dynamics', params=[ + xmlr.Attribute('damping', float, False), + xmlr.Attribute('friction', float, False) +]) + + +class Box(xmlr.Object): + def __init__(self, size=None): + self.size = size + + +xmlr.reflect(Box, tag='box', params=[ + xmlr.Attribute('size', 'vector3') +]) + + +class Cylinder(xmlr.Object): + def __init__(self, radius=0.0, length=0.0): + self.radius = radius + self.length = length + + +xmlr.reflect(Cylinder, tag='cylinder', params=[ + xmlr.Attribute('radius', float), + xmlr.Attribute('length', float) +]) + + +class Sphere(xmlr.Object): + def __init__(self, radius=0.0): + self.radius = radius + + +xmlr.reflect(Sphere, tag='sphere', params=[ + xmlr.Attribute('radius', float) +]) + + +class Mesh(xmlr.Object): + def __init__(self, filename=None, scale=None): + self.filename = filename + self.scale = scale + + +xmlr.reflect(Mesh, tag='mesh', params=[ + xmlr.Attribute('filename', str), + xmlr.Attribute('scale', 'vector3', required=False) +]) + + +class GeometricType(xmlr.ValueType): + def __init__(self): + self.factory = xmlr.FactoryType('geometric', { + 'box': Box, + 'cylinder': Cylinder, + 'sphere': Sphere, + 'mesh': Mesh + }) + + def from_xml(self, node, path): + children = xml_children(node) + assert len(children) == 1, 'One element only for geometric' + return self.factory.from_xml(children[0], path=path) + + def write_xml(self, node, obj): + name = self.factory.get_name(obj) + child = node_add(node, name) + obj.write_xml(child) + + +xmlr.add_type('geometric', GeometricType()) + + +class Collision(xmlr.Object): + def __init__(self, geometry=None, origin=None): + self.geometry = geometry + self.origin = origin + + +xmlr.reflect(Collision, tag='collision', params=[ + origin_element, + xmlr.Element('geometry', 'geometric') +]) + + +class Texture(xmlr.Object): + def __init__(self, filename=None): + self.filename = filename + + +xmlr.reflect(Texture, tag='texture', params=[ + xmlr.Attribute('filename', str) +]) + + +class Material(xmlr.Object): + def __init__(self, name=None, color=None, texture=None): + self.name = name + self.color = color + self.texture = texture + + def check_valid(self): + if self.color is None and self.texture is None: + xmlr.on_error("Material has neither a color nor texture.") + + +xmlr.reflect(Material, tag='material', params=[ + name_attribute, + xmlr.Element('color', Color, False), + xmlr.Element('texture', Texture, False) +]) + + +class LinkMaterial(Material): + def check_valid(self): + pass + + +class Visual(xmlr.Object): + def __init__(self, geometry=None, material=None, origin=None): + self.geometry = geometry + self.material = material + self.origin = origin + + +xmlr.reflect(Visual, tag='visual', params=[ + origin_element, + xmlr.Element('geometry', 'geometric'), + xmlr.Element('material', LinkMaterial, False) +]) + + +class Inertia(xmlr.Object): + KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz'] + + def __init__(self, ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0): + self.ixx = ixx + self.ixy = ixy + self.ixz = ixz + self.iyy = iyy + self.iyz = iyz + self.izz = izz + + def to_matrix(self): + return [ + [self.ixx, self.ixy, self.ixz], + [self.ixy, self.iyy, self.iyz], + [self.ixz, self.iyz, self.izz]] + + +xmlr.reflect(Inertia, tag='inertia', + params=[xmlr.Attribute(key, float) for key in Inertia.KEYS]) + + +class Inertial(xmlr.Object): + def __init__(self, mass=0.0, inertia=None, origin=None): + self.mass = mass + self.inertia = inertia + self.origin = origin + + +xmlr.reflect(Inertial, tag='inertial', params=[ + origin_element, + xmlr.Element('mass', 'element_value'), + xmlr.Element('inertia', Inertia, False) +]) + + +# FIXME: we are missing the reference position here. +class JointCalibration(xmlr.Object): + def __init__(self, rising=None, falling=None): + self.rising = rising + self.falling = falling + + +xmlr.reflect(JointCalibration, tag='calibration', params=[ + xmlr.Attribute('rising', float, False, 0), + xmlr.Attribute('falling', float, False, 0) +]) + + +class JointLimit(xmlr.Object): + def __init__(self, effort=None, velocity=None, lower=None, upper=None): + self.effort = effort + self.velocity = velocity + self.lower = lower + self.upper = upper + + +xmlr.reflect(JointLimit, tag='limit', params=[ + xmlr.Attribute('effort', float), + xmlr.Attribute('lower', float, False, 0), + xmlr.Attribute('upper', float, False, 0), + xmlr.Attribute('velocity', float) +]) + + +# FIXME: we are missing __str__ here. + + +class JointMimic(xmlr.Object): + def __init__(self, joint_name=None, multiplier=None, offset=None): + self.joint = joint_name + self.multiplier = multiplier + self.offset = offset + + +xmlr.reflect(JointMimic, tag='mimic', params=[ + xmlr.Attribute('joint', str), + xmlr.Attribute('multiplier', float, False), + xmlr.Attribute('offset', float, False) +]) + + +class SafetyController(xmlr.Object): + def __init__(self, velocity=None, position=None, lower=None, upper=None): + self.k_velocity = velocity + self.k_position = position + self.soft_lower_limit = lower + self.soft_upper_limit = upper + + +xmlr.reflect(SafetyController, tag='safety_controller', params=[ + xmlr.Attribute('k_velocity', float), + xmlr.Attribute('k_position', float, False, 0), + xmlr.Attribute('soft_lower_limit', float, False, 0), + xmlr.Attribute('soft_upper_limit', float, False, 0) +]) + + +class Joint(xmlr.Object): + TYPES = ['unknown', 'revolute', 'continuous', 'prismatic', + 'floating', 'planar', 'fixed'] + + def __init__(self, name=None, parent=None, child=None, joint_type=None, + axis=None, origin=None, + limit=None, dynamics=None, safety_controller=None, + calibration=None, mimic=None): + self.name = name + self.parent = parent + self.child = child + self.type = joint_type + self.axis = axis + self.origin = origin + self.limit = limit + self.dynamics = dynamics + self.safety_controller = safety_controller + self.calibration = calibration + self.mimic = mimic + + def check_valid(self): + assert self.type in self.TYPES, "Invalid joint type: {}".format(self.type) # noqa + + # Aliases + @property + def joint_type(self): return self.type + + @joint_type.setter + def joint_type(self, value): self.type = value + + +xmlr.reflect(Joint, tag='joint', params=[ + name_attribute, + xmlr.Attribute('type', str), + origin_element, + xmlr.Element('axis', 'element_xyz', False), + xmlr.Element('parent', 'element_link'), + xmlr.Element('child', 'element_link'), + xmlr.Element('limit', JointLimit, False), + xmlr.Element('dynamics', JointDynamics, False), + xmlr.Element('safety_controller', SafetyController, False), + xmlr.Element('calibration', JointCalibration, False), + xmlr.Element('mimic', JointMimic, False), +]) + + +class Link(xmlr.Object): + def __init__(self, name=None, visual=None, inertial=None, collision=None, + origin=None): + self.aggregate_init() + self.name = name + self.visuals = [] + self.inertial = inertial + self.collisions = [] + self.origin = origin + + def __get_visual(self): + """Return the first visual or None.""" + if self.visuals: + return self.visuals[0] + + def __set_visual(self, visual): + """Set the first visual.""" + if self.visuals: + self.visuals[0] = visual + else: + self.visuals.append(visual) + + def __get_collision(self): + """Return the first collision or None.""" + if self.collisions: + return self.collisions[0] + + def __set_collision(self, collision): + """Set the first collision.""" + if self.collisions: + self.collisions[0] = collision + else: + self.collisions.append(collision) + + # Properties for backwards compatibility + visual = property(__get_visual, __set_visual) + collision = property(__get_collision, __set_collision) + + +xmlr.reflect(Link, tag='link', params=[ + name_attribute, + origin_element, + xmlr.AggregateElement('visual', Visual), + xmlr.AggregateElement('collision', Collision), + xmlr.Element('inertial', Inertial, False), +]) + + +class PR2Transmission(xmlr.Object): + def __init__(self, name=None, joint=None, actuator=None, type=None, + mechanicalReduction=1): + self.name = name + self.type = type + self.joint = joint + self.actuator = actuator + self.mechanicalReduction = mechanicalReduction + + +xmlr.reflect(PR2Transmission, tag='pr2_transmission', params=[ + name_attribute, + xmlr.Attribute('type', str), + xmlr.Element('joint', 'element_name'), + xmlr.Element('actuator', 'element_name'), + xmlr.Element('mechanicalReduction', float) +]) + + +class Actuator(xmlr.Object): + def __init__(self, name=None, mechanicalReduction=1): + self.name = name + self.mechanicalReduction = None + + +xmlr.reflect(Actuator, tag='actuator', params=[ + name_attribute, + xmlr.Element('mechanicalReduction', float, required=False) +]) + + +class TransmissionJoint(xmlr.Object): + def __init__(self, name=None): + self.aggregate_init() + self.name = name + self.hardwareInterfaces = [] + + def check_valid(self): + assert len(self.hardwareInterfaces) > 0, "no hardwareInterface defined" + + +xmlr.reflect(TransmissionJoint, tag='joint', params=[ + name_attribute, + xmlr.AggregateElement('hardwareInterface', str), +]) + + +class Transmission(xmlr.Object): + """ New format: http://wiki.ros.org/urdf/XML/Transmission """ + + def __init__(self, name=None): + self.aggregate_init() + self.name = name + self.joints = [] + self.actuators = [] + + def check_valid(self): + assert len(self.joints) > 0, "no joint defined" + assert len(self.actuators) > 0, "no actuator defined" + + +xmlr.reflect(Transmission, tag='new_transmission', params=[ + name_attribute, + xmlr.Element('type', str), + xmlr.AggregateElement('joint', TransmissionJoint), + xmlr.AggregateElement('actuator', Actuator) +]) + +xmlr.add_type('transmission', + xmlr.DuckTypedFactory('transmission', + [Transmission, PR2Transmission])) + + +class Robot(xmlr.Object): + def __init__(self, name=None): + self.aggregate_init() + + self.name = name + self.joints = [] + self.links = [] + self.materials = [] + self.gazebos = [] + self.transmissions = [] + + self.joint_map = {} + self.link_map = {} + + self.parent_map = {} + self.child_map = {} + + def add_aggregate(self, typeName, elem): + xmlr.Object.add_aggregate(self, typeName, elem) + + if typeName == 'joint': + joint = elem + self.joint_map[joint.name] = joint + self.parent_map[joint.child] = (joint.name, joint.parent) + if joint.parent in self.child_map: + self.child_map[joint.parent].append((joint.name, joint.child)) + else: + self.child_map[joint.parent] = [(joint.name, joint.child)] + elif typeName == 'link': + link = elem + self.link_map[link.name] = link + + def add_link(self, link): + self.add_aggregate('link', link) + + def add_joint(self, joint): + self.add_aggregate('joint', joint) + + def get_chain(self, root, tip, joints=True, links=True, fixed=True): + chain = [] + if links: + chain.append(tip) + link = tip + while link != root: + (joint, parent) = self.parent_map[link] + if joints: + if fixed or self.joint_map[joint].joint_type != 'fixed': + chain.append(joint) + if links: + chain.append(parent) + link = parent + chain.reverse() + return chain + + def get_root(self): + root = None + for link in self.link_map: + if link not in self.parent_map: + assert root is None, "Multiple roots detected, invalid URDF." + root = link + assert root is not None, "No roots detected, invalid URDF." + return root + + @classmethod + def from_parameter_server(cls, key='robot_description'): + """ + Retrieve the robot model on the parameter server + and parse it to create a URDF robot structure. + + Warning: this requires roscore to be running. + """ + # Could move this into xml_reflection + import rospy + return cls.from_xml_string(rospy.get_param(key)) + + +xmlr.reflect(Robot, tag='robot', params=[ + xmlr.Attribute('name', str, False), # Is 'name' a required attribute? + xmlr.AggregateElement('link', Link), + xmlr.AggregateElement('joint', Joint), + xmlr.AggregateElement('gazebo', xmlr.RawType()), + xmlr.AggregateElement('transmission', 'transmission'), + xmlr.AggregateElement('material', Material) +]) + +# Make an alias +URDF = Robot + +xmlr.end_namespace() diff --git a/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/__init__.py b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..bb67a43fa4e5791ab58e7e40260bc3df8b6bc7cc --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/__init__.py @@ -0,0 +1 @@ +from .core import * diff --git a/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/basics.py b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/basics.py new file mode 100644 index 0000000000000000000000000000000000000000..60a0d44b2aea1422ec01ca6e0933d402c986e612 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/basics.py @@ -0,0 +1,90 @@ +import string +import yaml +import collections +from lxml import etree + + +def xml_string(rootXml, addHeader=True): + # Meh + xmlString = etree.tostring(rootXml, pretty_print=True, encoding='unicode') + if addHeader: + xmlString = '\n' + xmlString + return xmlString + + +def dict_sub(obj, keys): + return dict((key, obj[key]) for key in keys) + + +def node_add(doc, sub): + if sub is None: + return None + if type(sub) == str: + return etree.SubElement(doc, sub) + elif isinstance(sub, etree._Element): + doc.append(sub) # This screws up the rest of the tree for prettyprint + return sub + else: + raise Exception('Invalid sub value') + + +def pfloat(x): + return str(x).rstrip('.') + + +def xml_children(node): + children = node.getchildren() + + def predicate(node): + return not isinstance(node, etree._Comment) + + return list(filter(predicate, children)) + + +def isstring(obj): + try: + return isinstance(obj, basestring) + except NameError: + return isinstance(obj, str) + + +def to_yaml(obj): + """ Simplify yaml representation for pretty printing """ + # Is there a better way to do this by adding a representation with + # yaml.Dumper? + # Ordered dict: http://pyyaml.org/ticket/29#comment:11 + if obj is None or isstring(obj): + out = str(obj) + elif type(obj) in [int, float, bool]: + return obj + elif hasattr(obj, 'to_yaml'): + out = obj.to_yaml() + elif isinstance(obj, etree._Element): + out = etree.tostring(obj, pretty_print=True) + elif type(obj) == dict: + out = {} + for (var, value) in obj.items(): + out[str(var)] = to_yaml(value) + elif hasattr(obj, 'tolist'): + # For numpy objects + out = to_yaml(obj.tolist()) + elif isinstance(obj, collections.Iterable): + out = [to_yaml(item) for item in obj] + else: + out = str(obj) + return out + + +class SelectiveReflection(object): + def get_refl_vars(self): + return list(vars(self).keys()) + + +class YamlReflection(SelectiveReflection): + def to_yaml(self): + raw = dict((var, getattr(self, var)) for var in self.get_refl_vars()) + return to_yaml(raw) + + def __str__(self): + # Good idea? Will it remove other important things? + return yaml.dump(self.to_yaml()).rstrip() diff --git a/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/core.py b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/core.py new file mode 100644 index 0000000000000000000000000000000000000000..8659bde9954e82ee0d287d01360c08580c8864d9 --- /dev/null +++ b/pytorch_kinematics/pytorch_kinematics/urdf_parser_py/xml_reflection/core.py @@ -0,0 +1,682 @@ +from .basics import * +import sys +import copy + + +# @todo Get rid of "import *" +# @todo Make this work with decorators + +# Is this reflection or serialization? I think it's serialization... +# Rename? + +# Do parent operations after, to allow child to 'override' parameters? +# Need to make sure that duplicate entires do not get into the 'unset*' lists + + +def reflect(cls, *args, **kwargs): + """ + Simple wrapper to add XML reflection to an xml_reflection.Object class + """ + cls.XML_REFL = Reflection(*args, **kwargs) + + +# Rename 'write_xml' to 'write_xml' to have paired 'load/dump', and make +# 'pre_dump' and 'post_load'? +# When dumping to yaml, include tag name? + +# How to incorporate line number and all that jazz? +def on_error_stderr(message): + """ What to do on an error. This can be changed to raise an exception. """ + sys.stderr.write(message + '\n') + + +on_error = on_error_stderr + +skip_default = False +# defaultIfMatching = True # Not implemeneted yet + +# Registering Types +value_types = {} +value_type_prefix = '' + + +def start_namespace(namespace): + """ + Basic mechanism to prevent conflicts for string types for URDF and SDF + @note Does not handle nesting! + """ + global value_type_prefix + value_type_prefix = namespace + '.' + + +def end_namespace(): + global value_type_prefix + value_type_prefix = '' + + +def add_type(key, value): + if isinstance(key, str): + key = value_type_prefix + key + assert key not in value_types + value_types[key] = value + + +def get_type(cur_type): + """ Can wrap value types if needed """ + if value_type_prefix and isinstance(cur_type, str): + # See if it exists in current 'namespace' + curKey = value_type_prefix + cur_type + value_type = value_types.get(curKey) + else: + value_type = None + if value_type is None: + # Try again, in 'global' scope + value_type = value_types.get(cur_type) + if value_type is None: + value_type = make_type(cur_type) + add_type(cur_type, value_type) + return value_type + + +def make_type(cur_type): + if isinstance(cur_type, ValueType): + return cur_type + elif isinstance(cur_type, str): + if cur_type.startswith('vector'): + extra = cur_type[6:] + if extra: + count = float(extra) + else: + count = None + return VectorType(count) + else: + raise Exception("Invalid value type: {}".format(cur_type)) + elif cur_type == list: + return ListType() + elif issubclass(cur_type, Object): + return ObjectType(cur_type) + elif cur_type in [str, float, bool]: + return BasicType(cur_type) + else: + raise Exception("Invalid type: {}".format(cur_type)) + + +class Path(object): + def __init__(self, tag, parent=None, suffix="", tree=None): + self.parent = parent + self.tag = tag + self.suffix = suffix + self.tree = tree # For validating general path (getting true XML path) + + def __str__(self): + if self.parent is not None: + return "{}/{}{}".format(self.parent, self.tag, self.suffix) + else: + if self.tag is not None and len(self.tag) > 0: + return "/{}{}".format(self.tag, self.suffix) + else: + return self.suffix + + +class ParseError(Exception): + def __init__(self, e, path): + self.e = e + self.path = path + message = "ParseError in {}:\n{}".format(self.path, self.e) + super(ParseError, self).__init__(message) + + +class ValueType(object): + """ Primitive value type """ + + def from_xml(self, node, path): + return self.from_string(node.text) + + def write_xml(self, node, value): + """ + If type has 'write_xml', this function should expect to have it's own + XML already created i.e., In Axis.to_sdf(self, node), 'node' would be + the 'axis' element. + @todo Add function that makes an XML node completely independently? + """ + node.text = self.to_string(value) + + def equals(self, a, b): + return a == b + + +class BasicType(ValueType): + def __init__(self, cur_type): + self.type = cur_type + + def to_string(self, value): + return str(value) + + def from_string(self, value): + return self.type(value) + + +class ListType(ValueType): + def to_string(self, values): + return ' '.join(values) + + def from_string(self, text): + return text.split() + + def equals(self, aValues, bValues): + return len(aValues) == len(bValues) and all(a == b for (a, b) in zip(aValues, bValues)) # noqa + + +class VectorType(ListType): + def __init__(self, count=None): + self.count = count + + def check(self, values): + if self.count is not None: + assert len(values) == self.count, "Invalid vector length" + + def to_string(self, values): + self.check(values) + raw = list(map(str, values)) + return ListType.to_string(self, raw) + + def from_string(self, text): + raw = ListType.from_string(self, text) + self.check(raw) + return list(map(float, raw)) + + +class RawType(ValueType): + """ + Simple, raw XML value. Need to bugfix putting this back into a document + """ + + def from_xml(self, node, path): + return node + + def write_xml(self, node, value): + # @todo rying to insert an element at root level seems to screw up + # pretty printing + children = xml_children(value) + list(map(node.append, children)) + # Copy attributes + for (attrib_key, attrib_value) in value.attrib.items(): + node.set(attrib_key, attrib_value) + + +class SimpleElementType(ValueType): + """ + Extractor that retrieves data from an element, given a + specified attribute, casted to value_type. + """ + + def __init__(self, attribute, value_type): + self.attribute = attribute + self.value_type = get_type(value_type) + + def from_xml(self, node, path): + text = node.get(self.attribute) + return self.value_type.from_string(text) + + def write_xml(self, node, value): + text = self.value_type.to_string(value) + node.set(self.attribute, text) + + +class ObjectType(ValueType): + def __init__(self, cur_type): + self.type = cur_type + + def from_xml(self, node, path): + obj = self.type() + obj.read_xml(node, path) + return obj + + def write_xml(self, node, obj): + obj.write_xml(node) + + +class FactoryType(ValueType): + def __init__(self, name, typeMap): + self.name = name + self.typeMap = typeMap + self.nameMap = {} + for (key, value) in typeMap.items(): + # Reverse lookup + self.nameMap[value] = key + + def from_xml(self, node, path): + cur_type = self.typeMap.get(node.tag) + if cur_type is None: + raise Exception("Invalid {} tag: {}".format(self.name, node.tag)) + value_type = get_type(cur_type) + return value_type.from_xml(node, path) + + def get_name(self, obj): + cur_type = type(obj) + name = self.nameMap.get(cur_type) + if name is None: + raise Exception("Invalid {} type: {}".format(self.name, cur_type)) + return name + + def write_xml(self, node, obj): + obj.write_xml(node) + + +class DuckTypedFactory(ValueType): + def __init__(self, name, typeOrder): + self.name = name + assert len(typeOrder) > 0 + self.type_order = typeOrder + + def from_xml(self, node, path): + error_set = [] + for value_type in self.type_order: + try: + return value_type.from_xml(node, path) + except Exception as e: + error_set.append((value_type, e)) + # Should have returned, we encountered errors + out = "Could not perform duck-typed parsing." + for (value_type, e) in error_set: + out += "\nValue Type: {}\nException: {}\n".format(value_type, e) + raise ParseError(Exception(out), path) + + def write_xml(self, node, obj): + obj.write_xml(node) + + +class Param(object): + """ Mirroring Gazebo's SDF api + + @param xml_var: Xml name + @todo If the value_type is an object with a tag defined in it's + reflection, allow it to act as the default tag name? + @param var: Python class variable name. By default it's the same as the + XML name + """ + + def __init__(self, xml_var, value_type, required=True, default=None, + var=None): + self.xml_var = xml_var + if var is None: + self.var = xml_var + else: + self.var = var + self.type = None + self.value_type = get_type(value_type) + self.default = default + if required: + assert default is None, "Default does not make sense for a required field" # noqa + self.required = required + self.is_aggregate = False + + def set_default(self, obj): + if self.required: + raise Exception("Required {} not set in XML: {}".format(self.type, self.xml_var)) # noqa + elif not skip_default: + setattr(obj, self.var, self.default) + + +class Attribute(Param): + def __init__(self, xml_var, value_type, required=True, default=None, + var=None): + Param.__init__(self, xml_var, value_type, required, default, var) + self.type = 'attribute' + + def set_from_string(self, obj, value): + """ Node is the parent node in this case """ + # Duplicate attributes cannot occur at this point + setattr(obj, self.var, self.value_type.from_string(value)) + + def get_value(self, obj): + return getattr(obj, self.var) + + def add_to_xml(self, obj, node): + value = getattr(obj, self.var) + # Do not set with default value if value is None + if value is None: + if self.required: + raise Exception("Required attribute not set in object: {}".format(self.var)) # noqa + elif not skip_default: + value = self.default + # Allow value type to handle None? + if value is not None: + node.set(self.xml_var, self.value_type.to_string(value)) + + +# Add option if this requires a header? +# Like .... ??? +# Not really... This would be a specific list type, not really aggregate + + +class Element(Param): + def __init__(self, xml_var, value_type, required=True, default=None, + var=None, is_raw=False): + Param.__init__(self, xml_var, value_type, required, default, var) + self.type = 'element' + self.is_raw = is_raw + + def set_from_xml(self, obj, node, path): + value = self.value_type.from_xml(node, path) + setattr(obj, self.var, value) + + def add_to_xml(self, obj, parent): + value = getattr(obj, self.xml_var) + if value is None: + if self.required: + raise Exception("Required element not defined in object: {}".format(self.var)) # noqa + elif not skip_default: + value = self.default + if value is not None: + self.add_scalar_to_xml(parent, value) + + def add_scalar_to_xml(self, parent, value): + if self.is_raw: + node = parent + else: + node = node_add(parent, self.xml_var) + self.value_type.write_xml(node, value) + + +class AggregateElement(Element): + def __init__(self, xml_var, value_type, var=None, is_raw=False): + if var is None: + var = xml_var + 's' + Element.__init__(self, xml_var, value_type, required=False, var=var, + is_raw=is_raw) + self.is_aggregate = True + + def add_from_xml(self, obj, node, path): + value = self.value_type.from_xml(node, path) + obj.add_aggregate(self.xml_var, value) + + def set_default(self, obj): + pass + + +class Info: + """ Small container for keeping track of what's been consumed """ + + def __init__(self, node): + self.attributes = list(node.attrib.keys()) + self.children = xml_children(node) + + +class Reflection(object): + def __init__(self, params=[], parent_cls=None, tag=None): + """ Construct a XML reflection thing + @param parent_cls: Parent class, to use it's reflection as well. + @param tag: Only necessary if you intend to use Object.write_xml_doc() + This does not override the name supplied in the reflection + definition thing. + """ + if parent_cls is not None: + self.parent = parent_cls.XML_REFL + else: + self.parent = None + self.tag = tag + + # Laziness for now + attributes = [] + elements = [] + for param in params: + if isinstance(param, Element): + elements.append(param) + else: + attributes.append(param) + + self.vars = [] + self.paramMap = {} + + self.attributes = attributes + self.attribute_map = {} + self.required_attribute_names = [] + for attribute in attributes: + self.attribute_map[attribute.xml_var] = attribute + self.paramMap[attribute.xml_var] = attribute + self.vars.append(attribute.var) + if attribute.required: + self.required_attribute_names.append(attribute.xml_var) + + self.elements = [] + self.element_map = {} + self.required_element_names = [] + self.aggregates = [] + self.scalars = [] + self.scalarNames = [] + for element in elements: + self.element_map[element.xml_var] = element + self.paramMap[element.xml_var] = element + self.vars.append(element.var) + if element.required: + self.required_element_names.append(element.xml_var) + if element.is_aggregate: + self.aggregates.append(element) + else: + self.scalars.append(element) + self.scalarNames.append(element.xml_var) + + def set_from_xml(self, obj, node, path, info=None): + is_final = False + if info is None: + is_final = True + info = Info(node) + + if self.parent: + path = self.parent.set_from_xml(obj, node, path, info) + + # Make this a map instead? Faster access? {name: isSet} ? + unset_attributes = list(self.attribute_map.keys()) + unset_scalars = copy.copy(self.scalarNames) + + def get_attr_path(attribute): + attr_path = copy.copy(path) + attr_path.suffix += '[@{}]'.format(attribute.xml_var) + return attr_path + + def get_element_path(element): + element_path = Path(element.xml_var, parent=path) + # Add an index (allow this to be overriden) + if element.is_aggregate: + values = obj.get_aggregate_list(element.xml_var) + index = 1 + len(values) # 1-based indexing for W3C XPath + element_path.suffix = "[{}]".format(index) + return element_path + + id_var = "name" + # Better method? Queues? + for xml_var in copy.copy(info.attributes): + attribute = self.attribute_map.get(xml_var) + if attribute is not None: + value = node.attrib[xml_var] + attr_path = get_attr_path(attribute) + try: + attribute.set_from_string(obj, value) + if attribute.xml_var == id_var: + # Add id_var suffix to current path (do not copy so it propagates) + path.suffix = "[@{}='{}']".format(id_var, attribute.get_value(obj)) + except ParseError: + raise + except Exception as e: + raise ParseError(e, attr_path) + unset_attributes.remove(xml_var) + info.attributes.remove(xml_var) + + # Parse unconsumed nodes + for child in copy.copy(info.children): + tag = child.tag + element = self.element_map.get(tag) + if element is not None: + # Name will have been set + element_path = get_element_path(element) + if element.is_aggregate: + element.add_from_xml(obj, child, element_path) + else: + if tag in unset_scalars: + element.set_from_xml(obj, child, element_path) + unset_scalars.remove(tag) + else: + on_error("Scalar element defined multiple times: {}".format(tag)) # noqa + info.children.remove(child) + + # For unset attributes and scalar elements, we should not pass the attribute + # or element path, as those paths will implicitly not exist. + # If we do supply it, then the user would need to manually prune the XPath to try + # and find where the problematic parent element. + for attribute in map(self.attribute_map.get, unset_attributes): + try: + attribute.set_default(obj) + except ParseError: + raise + except Exception as e: + raise ParseError(e, path) # get_attr_path(attribute.xml_var) + + for element in map(self.element_map.get, unset_scalars): + try: + element.set_default(obj) + except ParseError: + raise + except Exception as e: + raise ParseError(e, path) # get_element_path(element) + + if is_final: + for xml_var in info.attributes: + on_error('Unknown attribute "{}" in {}'.format(xml_var, path)) + for node in info.children: + on_error('Unknown tag "{}" in {}'.format(node.tag, path)) + # Allow children parsers to adopt this current path (if modified with id_var) + return path + + def add_to_xml(self, obj, node): + if self.parent: + self.parent.add_to_xml(obj, node) + for attribute in self.attributes: + attribute.add_to_xml(obj, node) + for element in self.scalars: + element.add_to_xml(obj, node) + # Now add in aggregates + if self.aggregates: + obj.add_aggregates_to_xml(node) + + +class Object(YamlReflection): + """ Raw python object for yaml / xml representation """ + XML_REFL = None + + def get_refl_vars(self): + return self.XML_REFL.vars + + def check_valid(self): + pass + + def pre_write_xml(self): + """ If anything needs to be converted prior to dumping to xml + i.e., getting the names of objects and such """ + pass + + def write_xml(self, node): + """ Adds contents directly to XML node """ + self.check_valid() + self.pre_write_xml() + self.XML_REFL.add_to_xml(self, node) + + def to_xml(self): + """ Creates an overarching tag and adds its contents to the node """ + tag = self.XML_REFL.tag + assert tag is not None, "Must define 'tag' in reflection to use this function" # noqa + doc = etree.Element(tag) + self.write_xml(doc) + return doc + + def to_xml_string(self, addHeader=True): + return xml_string(self.to_xml(), addHeader) + + def post_read_xml(self): + pass + + def read_xml(self, node, path): + self.XML_REFL.set_from_xml(self, node, path) + self.post_read_xml() + try: + self.check_valid() + except ParseError: + raise + except Exception as e: + raise ParseError(e, path) + + @classmethod + def from_xml(cls, node, path): + cur_type = get_type(cls) + return cur_type.from_xml(node, path) + + @classmethod + def from_xml_string(cls, xml_string): + node = etree.fromstring(xml_string) + path = Path(cls.XML_REFL.tag, tree=etree.ElementTree(node)) + return cls.from_xml(node, path) + + @classmethod + def from_xml_file(cls, file_path): + xml_string = open(file_path, 'r').read() + return cls.from_xml_string(xml_string) + + # Confusing distinction between loading code in object and reflection + # registry thing... + + def get_aggregate_list(self, xml_var): + var = self.XML_REFL.paramMap[xml_var].var + values = getattr(self, var) + assert isinstance(values, list) + return values + + def aggregate_init(self): + """ Must be called in constructor! """ + self.aggregate_order = [] + # Store this info in the loaded object??? Nah + self.aggregate_type = {} + + def add_aggregate(self, xml_var, obj): + """ NOTE: One must keep careful track of aggregate types for this system. + Can use 'lump_aggregates()' before writing if you don't care. """ + self.get_aggregate_list(xml_var).append(obj) + self.aggregate_order.append(obj) + self.aggregate_type[obj] = xml_var + + def add_aggregates_to_xml(self, node): + for value in self.aggregate_order: + typeName = self.aggregate_type[value] + element = self.XML_REFL.element_map[typeName] + element.add_scalar_to_xml(node, value) + + def remove_aggregate(self, obj): + self.aggregate_order.remove(obj) + xml_var = self.aggregate_type[obj] + del self.aggregate_type[obj] + self.get_aggregate_list(xml_var).remove(obj) + + def lump_aggregates(self): + """ Put all aggregate types together, just because """ + self.aggregate_init() + for param in self.XML_REFL.aggregates: + for obj in self.get_aggregate_list(param.xml_var): + self.add_aggregate(param.var, obj) + + """ Compatibility """ + + def parse(self, xml_string): + node = etree.fromstring(xml_string) + path = Path(self.XML_REFL.tag, tree=etree.ElementTree(node)) + self.read_xml(node, path) + return self + + +# Really common types +# Better name: element_with_name? Attributed element? +add_type('element_name', SimpleElementType('name', str)) +add_type('element_value', SimpleElementType('value', float)) + +# Add in common vector types so they aren't absorbed into the namespaces +get_type('vector3') +get_type('vector4') +get_type('vector6') diff --git a/pytorch_kinematics/setup.py b/pytorch_kinematics/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..7e73108931b119a0a0f8a6a2fbd4ce852f47e29a --- /dev/null +++ b/pytorch_kinematics/setup.py @@ -0,0 +1,21 @@ +from setuptools import setup + +setup( + name='pytorch_kinematics', + version='0.3.0', + packages=['pytorch_kinematics'], + url='https://github.com/UM-ARM-Lab/pytorch_kinematics', + license='MIT', + author='zhsh', + author_email='zhsh@umich.edu', + description='Robot kinematics implemented in pytorch', + install_requires=[ + 'torch', + 'numpy', + 'transformations', + 'absl-py' + ], + tests_require=[ + 'pytest' + ] +) diff --git a/pytorch_kinematics/tests/__init__.py b/pytorch_kinematics/tests/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/pytorch_kinematics/tests/ant.xml b/pytorch_kinematics/tests/ant.xml new file mode 100644 index 0000000000000000000000000000000000000000..311d96febb6c6b829212d0eab284b40fc1ca9df6 --- /dev/null +++ b/pytorch_kinematics/tests/ant.xml @@ -0,0 +1,71 @@ + + + diff --git a/pytorch_kinematics/tests/humanoid.xml b/pytorch_kinematics/tests/humanoid.xml new file mode 100644 index 0000000000000000000000000000000000000000..2ed2f55ec3b0a799a1504470e91f42404b9a835a --- /dev/null +++ b/pytorch_kinematics/tests/humanoid.xml @@ -0,0 +1,130 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pytorch_kinematics/tests/kuka_iiwa.urdf b/pytorch_kinematics/tests/kuka_iiwa.urdf new file mode 100644 index 0000000000000000000000000000000000000000..98e54cb3762e48e2a79c2a2e23628423bb160f9b --- /dev/null +++ b/pytorch_kinematics/tests/kuka_iiwa.urdf @@ -0,0 +1,289 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pytorch_kinematics/tests/meshes/link_0.obj b/pytorch_kinematics/tests/meshes/link_0.obj new file mode 100644 index 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+ + + + + + 0.3 0 0.15 0 0 0 + + + 0.5 0.03 0.1 + + + + + 0.3 0 0.15 0 0 0 + + + 0.5 0.03 0.1 + + + + + + + + 0.55 0 0.15 0 0 0 + + + 0.05 + 0.3 + + + + + 0.55 0 0.15 0 0 0 + + + 0.05 + 0.3 + + + + + + + + + 1.6 0 1.05 0 0 0 + + 0 0 0 0 0 0 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.001 + + 0.1 + + + 0 0 0.5 0 0 0 + + + 0.03 + 1.0 + + + + + 0 0 0.5 0 0 0 + + + 0.03 + 1.0 + + + + + + + + + 1.6 0 1.0 0 0 0 + + 0 0 0 0 0 0 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.001 + + 0.1 + + + 0 0 0.025 0 0 0 + + + 0.05 + 0.05 + + + + + 0 0 0.025 0 0 0 + + + 0.05 + 0.05 + + + + + + + + + arm_base + arm_shoulder_pan + + + 1.000000 + 0.000000 + + 0 0 1 + true + + + + arm_shoulder_pan + arm_elbow_pan + + + 1.000000 + 0.000000 + + 0 0 1 + true + + + + arm_elbow_pan + arm_wrist_lift + + + 1.000000 + 0.000000 + + + -0.8 + 0.1 + + 0 0 1 + true + + + + arm_wrist_lift + arm_wrist_roll + + + 1.000000 + 0.000000 + + + -2.999994 + 2.999994 + + 0 0 1 + true + + + + + diff --git a/pytorch_kinematics/tests/test_jacobian.py b/pytorch_kinematics/tests/test_jacobian.py new file mode 100644 index 0000000000000000000000000000000000000000..95371951e4dadac8bc0bf2cf60a51052396bd962 --- /dev/null +++ b/pytorch_kinematics/tests/test_jacobian.py @@ -0,0 +1,137 @@ +import math +import torch +import pytorch_kinematics as pk + + +def test_correctness(): + chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") + th = torch.tensor([0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0, 0.0]) + J = chain.jacobian(th) + + assert torch.allclose(J, torch.tensor([[[0, 1.41421356e-02, 0, 2.82842712e-01, 0, 0, 0], + [-6.60827561e-01, 0, -4.57275649e-01, 0, 5.72756493e-02, 0, 0], + [0, 6.60827561e-01, 0, -3.63842712e-01, 0, 8.10000000e-02, 0], + [0, 0, -7.07106781e-01, 0, -7.07106781e-01, 0, -1], + [0, 1, 0, -1, 0, 1, 0], + [1, 0, 7.07106781e-01, 0, -7.07106781e-01, 0, 0]]])) + + chain = pk.build_chain_from_sdf(open("simple_arm.sdf").read()) + chain = pk.SerialChain(chain, "arm_wrist_roll_frame") + th = torch.tensor([0.8, 0.2, -0.5, -0.3]) + J = chain.jacobian(th) + torch.allclose(J, torch.tensor([[[0., -1.51017878, -0.46280904, 0.], + [0., 0.37144033, 0.29716627, 0.], + [0., 0., 0., 0.], + [0., 0., 0., 0.], + [0., 0., 0., 0.], + [0., 1., 1., 1.]]])) + + +def test_jacobian_at_different_loc_than_ee(): + chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") + th = torch.tensor([0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0, 0.0]) + loc = torch.tensor([0.1, 0, 0]) + J = chain.jacobian(th, locations=loc) + J_c1 = torch.tensor([[[-0., 0.11414214, -0., 0.18284271, 0., 0.1, 0.], + [-0.66082756, -0., -0.38656497, -0., 0.12798633, -0., 0.1], + [-0., 0.66082756, -0., -0.36384271, 0., 0.081, -0.], + [-0., -0., -0.70710678, -0., -0.70710678, 0., -1.], + [0., 1., 0., -1., 0., 1., 0.], + [1., 0., 0.70710678, 0., -0.70710678, -0., 0.]]]) + + assert torch.allclose(J, J_c1) + + loc = torch.tensor([-0.1, 0.05, 0]) + J = chain.jacobian(th, locations=loc) + J_c2 = torch.tensor([[[-0.05, -0.08585786, -0.03535534, 0.38284271, 0.03535534, -0.1, -0.], + [-0.66082756, -0., -0.52798633, -0., -0.01343503, 0., -0.1], + [-0., 0.66082756, -0.03535534, -0.36384271, -0.03535534, 0.081, -0.05], + [-0., -0., -0.70710678, -0., -0.70710678, 0., -1.], + [0., 1., 0., -1., 0., 1., 0.], + [1., 0., 0.70710678, 0., -0.70710678, -0., 0.]]]) + + assert torch.allclose(J, J_c2) + + # check that batching the location is fine + th = th.repeat(2, 1) + loc = torch.tensor([[0.1, 0, 0], [-0.1, 0.05, 0]]) + J = chain.jacobian(th, locations=loc) + assert torch.allclose(J, torch.cat((J_c1, J_c2))) + + +def test_parallel(): + N = 100 + chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") + th = torch.cat( + (torch.tensor([[0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0, 0.0]]), torch.rand(N, 7))) + J = chain.jacobian(th) + for i in range(N): + J_i = chain.jacobian(th[i]) + assert torch.allclose(J[i], J_i) + + +def test_dtype_device(): + N = 1000 + d = "cuda" if torch.cuda.is_available() else "cpu" + dtype = torch.float64 + + chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") + chain = chain.to(dtype=dtype, device=d) + th = torch.rand(N, 7, dtype=dtype, device=d) + J = chain.jacobian(th) + assert J.dtype is dtype + + +def test_gradient(): + N = 10 + d = "cuda" if torch.cuda.is_available() else "cpu" + dtype = torch.float64 + + chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") + chain = chain.to(dtype=dtype, device=d) + th = torch.rand(N, 7, dtype=dtype, device=d, requires_grad=True) + J = chain.jacobian(th) + assert th.grad is None + J.norm().backward() + assert th.grad is not None + + +def test_jacobian_prismatic(): + chain = pk.build_serial_chain_from_urdf(open("prismatic_robot.urdf").read(), "link4") + th = torch.zeros(3) + tg = chain.forward_kinematics(th) + m = tg.get_matrix() + pos = m[0, :3, 3] + assert torch.allclose(pos, torch.tensor([0, 0, 1.])) + th = torch.tensor([0, 0.1, 0]) + tg = chain.forward_kinematics(th) + m = tg.get_matrix() + pos = m[0, :3, 3] + assert torch.allclose(pos, torch.tensor([0, -0.1, 1.])) + th = torch.tensor([0.1, 0.1, 0]) + tg = chain.forward_kinematics(th) + m = tg.get_matrix() + pos = m[0, :3, 3] + assert torch.allclose(pos, torch.tensor([0, -0.1, 1.1])) + th = torch.tensor([0.1, 0.1, 0.1]) + tg = chain.forward_kinematics(th) + m = tg.get_matrix() + pos = m[0, :3, 3] + assert torch.allclose(pos, torch.tensor([0.1, -0.1, 1.1])) + + J = chain.jacobian(th) + assert torch.allclose(J, torch.tensor([[[0., 0., 1.], + [0., -1., 0.], + [1., 0., 0.], + [0., 0., 0.], + [0., 0., 0.], + [0., 0., 0.]]])) + + +if __name__ == "__main__": + test_correctness() + test_parallel() + test_dtype_device() + test_gradient() + test_jacobian_prismatic() + test_jacobian_at_different_loc_than_ee() diff --git a/pytorch_kinematics/tests/test_kinematics.py b/pytorch_kinematics/tests/test_kinematics.py new file mode 100644 index 0000000000000000000000000000000000000000..68eda54d3770e598c2976c2014933583e61811c7 --- /dev/null +++ b/pytorch_kinematics/tests/test_kinematics.py @@ -0,0 +1,188 @@ +import math + +import torch +import pytorch_kinematics as pk + + +def quat_pos_from_transform3d(tg): + m = tg.get_matrix() + pos = m[:, :3, 3] + rot = pk.matrix_to_quaternion(m[:, :3, :3]) + return pos, rot + + +def quaternion_equality(a, b): + # negative of a quaternion is the same rotation + return torch.allclose(a, b) or torch.allclose(a, -b) + + +def test_fkik(): + data = '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' + chain = pk.build_serial_chain_from_urdf(data, 'link3') + th1 = torch.tensor([0.42553542, 0.17529176]) + tg = chain.forward_kinematics(th1) + pos, rot = quat_pos_from_transform3d(tg) + assert torch.allclose(pos, torch.tensor([[1.91081784, 0.41280851, 0.0000]])) + assert quaternion_equality(rot, torch.tensor([[0.95521418, 0.0000, 0.0000, 0.2959153]])) + print(tg) + # TODO implement and test inverse kinematics + # th2 = chain.inverse_kinematics(tg) + # self.assertTrue(np.allclose(th1, th2, atol=1.0e-6)) + # test batch kinematics + N = 20 + th_batch = torch.rand(N, 2) + tg_batch = chain.forward_kinematics(th_batch) + m = tg_batch.get_matrix() + for i in range(N): + tg = chain.forward_kinematics(th_batch[i]) + assert torch.allclose(tg.get_matrix().view(4, 4), m[i]) + + # check that gradients are passed through + th2 = torch.tensor([0.42553542, 0.17529176], requires_grad=True) + tg = chain.forward_kinematics(th2) + pos, rot = quat_pos_from_transform3d(tg) + # note that since we are using existing operations we are not checking grad calculation correctness + assert th2.grad is None + pos.norm().backward() + assert th2.grad is not None + + +def test_urdf(): + chain = pk.build_serial_chain_from_urdf(open("kuka_iiwa.urdf").read(), "lbr_iiwa_link_7") + print(chain) + print(chain.get_joint_parameter_names()) + th = [0.0, -math.pi / 4.0, 0.0, math.pi / 2.0, 0.0, math.pi / 4.0, 0.0] + ret = chain.forward_kinematics(th, end_only=False) + tg = ret['lbr_iiwa_link_7'] + pos, rot = quat_pos_from_transform3d(tg) + assert quaternion_equality(rot, torch.tensor([7.07106781e-01, 0, -7.07106781e-01, 0])) + assert torch.allclose(pos, torch.tensor([-6.60827561e-01, 0, 3.74142136e-01])) + + N = 1000 + d = "cuda" if torch.cuda.is_available() else "cpu" + dtype = torch.float64 + + th_batch = torch.rand(N, len(chain.get_joint_parameter_names()), dtype=dtype, device=d) + chain = chain.to(dtype=dtype, device=d) + + import time + start = time.time() + tg_batch = chain.forward_kinematics(th_batch) + m = tg_batch.get_matrix() + elapsed = time.time() - start + print("elapsed {}s for N={} when parallel".format(elapsed, N)) + + start = time.time() + elapsed = 0 + for i in range(N): + tg = chain.forward_kinematics(th_batch[i]) + elapsed += time.time() - start + start = time.time() + assert torch.allclose(tg.get_matrix().view(4, 4), m[i]) + print("elapsed {}s for N={} when serial".format(elapsed, N)) + + +# test robot with prismatic and fixed joints +def test_fk_simple_arm(): + chain = pk.build_chain_from_sdf(open("simple_arm.sdf").read()) + # print(chain) + # print(chain.get_joint_parameter_names()) + ret = chain.forward_kinematics({'arm_elbow_pan_joint': math.pi / 2.0, 'arm_wrist_lift_joint': -0.5}) + tg = ret['arm_wrist_roll'] + pos, rot = quat_pos_from_transform3d(tg) + assert quaternion_equality(rot, torch.tensor([0.70710678, 0., 0., 0.70710678])) + assert torch.allclose(pos, torch.tensor([1.05, 0.55, 0.5])) + + N = 100 + ret = chain.forward_kinematics({'arm_elbow_pan_joint': torch.rand(N, 1), 'arm_wrist_lift_joint': torch.rand(N, 1)}) + tg = ret['arm_wrist_roll'] + assert list(tg.get_matrix().shape) == [N, 4, 4] + + +def test_cuda(): + if torch.cuda.is_available(): + d = "cuda" + dtype = torch.float64 + chain = pk.build_chain_from_sdf(open("simple_arm.sdf").read()) + chain = chain.to(dtype=dtype, device=d) + + ret = chain.forward_kinematics({'arm_elbow_pan_joint': math.pi / 2.0, 'arm_wrist_lift_joint': -0.5}) + tg = ret['arm_wrist_roll'] + pos, rot = quat_pos_from_transform3d(tg) + assert quaternion_equality(rot, torch.tensor([0.70710678, 0., 0., 0.70710678], dtype=dtype, device=d)) + assert torch.allclose(pos, torch.tensor([1.05, 0.55, 0.5], dtype=dtype, device=d)) + + data = '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' \ + '' + chain = pk.build_serial_chain_from_urdf(data, 'link3') + chain = chain.to(dtype=dtype, device=d) + N = 20 + th_batch = torch.rand(N, 2).to(device=d, dtype=dtype) + tg_batch = chain.forward_kinematics(th_batch) + m = tg_batch.get_matrix() + for i in range(N): + tg = chain.forward_kinematics(th_batch[i]) + assert torch.allclose(tg.get_matrix().view(4, 4), m[i]) + + +# test more complex robot and the MJCF parser +def test_fk_mjcf(): + chain = pk.build_chain_from_mjcf(open("ant.xml").read()) + print(chain) + print(chain.get_joint_parameter_names()) + th = {'hip_1': 1.0, 'ankle_1': 1} + ret = chain.forward_kinematics(th) + tg = ret['aux_1_child'] + pos, rot = quat_pos_from_transform3d(tg) + assert quaternion_equality(rot, torch.tensor([0.87758256, 0., 0., 0.47942554])) + assert torch.allclose(pos, torch.tensor([0.2, 0.2, 0.75])) + tg = ret['front_left_foot_child'] + pos, rot = quat_pos_from_transform3d(tg) + assert quaternion_equality(rot, torch.tensor([0.77015115, -0.4600326, 0.13497724, 0.42073549])) + assert torch.allclose(pos, torch.tensor([0.13976626, 0.47635466, 0.75])) + print(ret) + + +def test_fk_mjcf_humanoid(): + chain = pk.build_chain_from_mjcf(open("humanoid.xml").read()) + print(chain) + print(chain.get_joint_parameter_names()) + th = {'left_knee': 0.0, 'right_knee': 0.0} + ret = chain.forward_kinematics(th) + print(ret) + + +if __name__ == "__main__": + test_fkik() + test_fk_simple_arm() + test_fk_mjcf() + test_cuda() + test_urdf() + # test_fk_mjcf_humanoid() diff --git a/pytorch_kinematics/tests/test_transform.py b/pytorch_kinematics/tests/test_transform.py new file mode 100644 index 0000000000000000000000000000000000000000..57803e3789a38e0812b869758c0aa094f534106c --- /dev/null +++ b/pytorch_kinematics/tests/test_transform.py @@ -0,0 +1,120 @@ +import torch +import pytorch_kinematics.transforms as tf + + +def test_transform(): + N = 20 + mats = tf.random_rotations(N, dtype=torch.float64, device="cpu", requires_grad=True) + assert list(mats.shape) == [N, 3, 3] + # test batch conversions + quat = tf.matrix_to_quaternion(mats) + assert list(quat.shape) == [N, 4] + mats_recovered = tf.quaternion_to_matrix(quat) + assert torch.allclose(mats, mats_recovered) + + quat_identity = tf.quaternion_multiply(quat, tf.quaternion_invert(quat)) + assert torch.allclose(tf.quaternion_to_matrix(quat_identity), torch.eye(3, dtype=torch.float64).repeat(N, 1, 1)) + + +def test_translations(): + t = tf.Translate(1, 2, 3) + points = torch.tensor([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.5, 0.5, 0.0]]).view( + 1, 3, 3 + ) + points_out = t.transform_points(points) + points_out_expected = torch.tensor( + [[2.0, 2.0, 3.0], [1.0, 3.0, 3.0], [1.5, 2.5, 3.0]] + ).view(1, 3, 3) + assert torch.allclose(points_out, points_out_expected) + + N = 20 + points = torch.randn((N, N, 3)) + translation = torch.randn((N, 3)) + transforms = tf.Transform3d(pos=translation) + translated_points = transforms.transform_points(points) + assert torch.allclose(translated_points, translation.repeat(N, 1, 1).transpose(0, 1) + points) + returned_points = transforms.inverse().transform_points(translated_points) + assert torch.allclose(returned_points, points, atol=1e-6) + + +def test_rotate_axis_angle(): + t = tf.Transform3d().rotate_axis_angle(90.0, axis="Z") + points = torch.tensor([[0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 1.0, 1.0]]).view( + 1, 3, 3 + ) + normals = torch.tensor( + [[1.0, 0.0, 0.0], [1.0, 0.0, 0.0], [1.0, 0.0, 0.0]] + ).view(1, 3, 3) + points_out = t.transform_points(points) + normals_out = t.transform_normals(normals) + points_out_expected = torch.tensor( + [[0.0, 0.0, 0.0], [-1.0, 0.0, 0.0], [-1.0, 0.0, 1.0]] + ).view(1, 3, 3) + normals_out_expected = torch.tensor( + [[0.0, 1.0, 0.0], [0.0, 1.0, 0.0], [0.0, 1.0, 0.0]] + ).view(1, 3, 3) + assert torch.allclose(points_out, points_out_expected) + assert torch.allclose(normals_out, normals_out_expected) + + +def test_rotate(): + R = tf.so3_exp_map(torch.randn((1, 3))) + t = tf.Transform3d().rotate(R) + points = torch.tensor([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.5, 0.5, 0.0]]).view( + 1, 3, 3 + ) + normals = torch.tensor( + [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [1.0, 1.0, 0.0]] + ).view(1, 3, 3) + points_out = t.transform_points(points) + normals_out = t.transform_normals(normals) + points_out_expected = torch.bmm(points, R.transpose(-1, -2)) + normals_out_expected = torch.bmm(normals, R.transpose(-1, -2)) + assert torch.allclose(points_out, points_out_expected) + assert torch.allclose(normals_out, normals_out_expected) + for i in range(3): + assert torch.allclose(points_out[0, i], R @ points[0, i]) + assert torch.allclose(normals_out[0, i], R @ normals[0, i]) + + +def test_transform_combined(): + R = tf.so3_exp_map(torch.randn((1, 3))) + tr = torch.randn((1, 3)) + t = tf.Transform3d(rot=R, pos=tr) + N = 10 + points = torch.randn((N, 3)) + normals = torch.randn((N, 3)) + points_out = t.transform_points(points) + normals_out = t.transform_normals(normals) + for i in range(N): + assert torch.allclose(points_out[i], R @ points[i] + tr) + assert torch.allclose(normals_out[i], R @ normals[i]) + + +def test_euler(): + euler_angles = torch.tensor([1, 0, 0.5]) + t = tf.Transform3d(rot=euler_angles) + sxyz_matrix = torch.tensor([[0.87758256, -0.47942554, 0., 0., ], + [0.25903472, 0.47415988, -0.84147098, 0.], + [0.40342268, 0.73846026, 0.54030231, 0.], + [0., 0., 0., 1.]]) + # from tf.transformations import euler_matrix + # print(euler_matrix(*euler_angles, "rxyz")) + # print(t.get_matrix()) + assert torch.allclose(sxyz_matrix, t.get_matrix()) + + +def test_quaternions(): + n = 10 + q = tf.random_quaternions(n) + q_tf = tf.wxyz_to_xyzw(q) + assert torch.allclose(q, tf.xyzw_to_wxyz(q_tf)) + + +if __name__ == "__main__": + test_transform() + test_translations() + test_rotate_axis_angle() + test_rotate() + test_euler() + test_quaternions() diff --git a/requirements_eval.txt b/requirements_eval.txt new file mode 100644 index 0000000000000000000000000000000000000000..908468c6a5c55480aed690d74dee1b57a2757b3a --- /dev/null +++ b/requirements_eval.txt @@ -0,0 +1,11 @@ +transforms3d==0.4.2 +urdf-parser-py +tqdm +ipykernel +numpy==1.26.4 +trimesh +matplotlib +plotly +nbformat +pytorch3d==0.7.7 +open3d diff --git a/utils/__pycache__/hand_model.cpython-39.pyc b/utils/__pycache__/hand_model.cpython-39.pyc new file mode 100644 index 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b/utils/__pycache__/utils_math.cpython-39.pyc differ diff --git a/utils/__pycache__/visualize_plotly.cpython-39.pyc b/utils/__pycache__/visualize_plotly.cpython-39.pyc new file mode 100644 index 0000000000000000000000000000000000000000..6cbd125c113d60525188fa7513a919c46e69cefc Binary files /dev/null and b/utils/__pycache__/visualize_plotly.cpython-39.pyc differ diff --git a/utils/hand_model.py b/utils/hand_model.py new file mode 100644 index 0000000000000000000000000000000000000000..853282cd3e65b497253fd488cde881a2d5d587d4 --- /dev/null +++ b/utils/hand_model.py @@ -0,0 +1,256 @@ +import json +import os +from tabnanny import check + +import matplotlib.pyplot as plt +import numpy as np +import pytorch_kinematics as pk +import torch +import torch.nn +import transforms3d +import trimesh as tm +import urdf_parser_py.urdf as URDF_PARSER +from plotly import graph_objects as go +from pytorch_kinematics.urdf_parser_py.urdf import (URDF, Box, Cylinder, Mesh, Sphere) +from .rot6d import * +from .utils_math import * +import trimesh.sample +# from kaolin.metrics.trianglemesh import point_to_mesh_distance +# from kaolin.ops.mesh import check_sign, index_vertices_by_faces, face_normals + +# from utils.visualize_plotly import plot_mesh + + +class HandModel: + def __init__(self, robot_name, urdf_filename, mesh_path, + batch_size=1, + device=torch.device('cuda' if torch.cuda.is_available() else 'cpu'), + mesh_nsp=128, + hand_scale=2. + ): + self.device = device + self.robot_name = robot_name + self.batch_size = batch_size + # prepare model + self.robot = pk.build_chain_from_urdf(open(urdf_filename).read()).to(dtype=torch.float, device=self.device) + self.robot_full = URDF_PARSER.URDF.from_xml_file(urdf_filename) + # prepare contact point basis and surface point samples + # self.no_contact_dict = json.load(open(os.path.join('data', 'urdf', 'intersection_%s.json'%robot_name))) + + # prepare geometries for visualization + self.global_translation = None + self.global_rotation = None + self.softmax = torch.nn.Softmax(dim=-1) + # prepare contact point basis and surface point samples + self.contact_point_dict = json.load(open(os.path.join("./hand_model", 'contact_%s.json' % robot_name))) + self.contact_point_basis = {} + self.contact_normals = {} + self.surface_points = {} + self.surface_points_normal = {} + visual = URDF.from_xml_string(open(urdf_filename).read()) + self.mesh_verts = {} + self.mesh_faces = {} + + self.canon_verts = [] + self.canon_faces = [] + self.idx_vert_faces = [] + self.face_normals = [] + verts_bias = 0 + + for i_link, link in enumerate(visual.links): + print(f"Processing link #{i_link}: {link.name}") + # load mesh + if len(link.visuals) == 0: + continue + if type(link.visuals[0].geometry) == Mesh: + # print(link.visuals[0]) + if robot_name == 'shadowhand' or robot_name == 'allegro' or robot_name == 'barrett': + filename = link.visuals[0].geometry.filename.split('/')[-1] + elif robot_name == 'allegro': + filename = f"{link.visuals[0].geometry.filename.split('/')[-2]}/{link.visuals[0].geometry.filename.split('/')[-1]}" + else: + filename = link.visuals[0].geometry.filename + mesh = tm.load(os.path.join(mesh_path, filename), force='mesh', process=False) + elif type(link.visuals[0].geometry) == Cylinder: + mesh = tm.primitives.Cylinder( + radius=link.visuals[0].geometry.radius, height=link.visuals[0].geometry.length) + elif type(link.visuals[0].geometry) == Box: + mesh = tm.primitives.Box(extents=link.visuals[0].geometry.size) + elif type(link.visuals[0].geometry) == Sphere: + mesh = tm.primitives.Sphere( + radius=link.visuals[0].geometry.radius) + else: + print(type(link.visuals[0].geometry)) + raise NotImplementedError + try: + scale = np.array( + link.visuals[0].geometry.scale).reshape([1, 3]) + except: + scale = np.array([[1, 1, 1]]) + try: + rotation = transforms3d.euler.euler2mat(*link.visuals[0].origin.rpy) + translation = np.reshape(link.visuals[0].origin.xyz, [1, 3]) + # print('---') + # print(link.visuals[0].origin.rpy, rotation) + # print('---') + except AttributeError: + rotation = transforms3d.euler.euler2mat(0, 0, 0) + translation = np.array([[0, 0, 0]]) + + # Surface point + # mesh.sample(int(mesh.area * 100000)) * scale + # todo: marked original count is 128 + if self.robot_name == 'shadowhand': + pts, pts_face_index = trimesh.sample.sample_surface_even(mesh=mesh, count=64) + pts_normal = np.array([mesh.face_normals[x] for x in pts_face_index], dtype=float) + else: + pts, pts_face_index = trimesh.sample.sample_surface_even(mesh=mesh, count=128) + pts_normal = np.array([mesh.face_normals[x] for x in pts_face_index], dtype=float) + + if self.robot_name == 'barrett': + if link.name in ['bh_base_link']: + pts = trimesh.sample.volume_mesh(mesh=mesh, count=1024) + pts_normal = np.array([[0., 0., 1.] for x in range(pts.shape[0])], dtype=float) + if self.robot_name == 'ezgripper': + if link.name in ['left_ezgripper_palm_link']: + pts = trimesh.sample.volume_mesh(mesh=mesh, count=1024) + pts_normal = np.array([[1., 0., 0.] for x in range(pts.shape[0])], dtype=float) + if self.robot_name == 'robotiq_3finger': + if link.name in ['gripper_palm']: + pts = trimesh.sample.volume_mesh(mesh=mesh, count=1024) + pts_normal = np.array([[0., 0., 1.] for x in range(pts.shape[0])], dtype=float) + + pts *= scale + # pts = mesh.sample(128) * scale + # print(link.name, len(pts)) + # new + if robot_name == 'shadowhand': + pts = pts[:, [0, 2, 1]] + pts_normal = pts_normal[:, [0, 2, 1]] + pts[:, 1] *= -1 + pts_normal[:, 1] *= -1 + + pts = np.matmul(rotation, pts.T).T + translation + # pts_normal = np.matmul(rotation, pts_normal.T).T + pts = np.concatenate([pts, np.ones([len(pts), 1])], axis=-1) + pts_normal = np.concatenate([pts_normal, np.ones([len(pts_normal), 1])], axis=-1) + self.surface_points[link.name] = torch.from_numpy(pts).to( + device).float().unsqueeze(0).repeat(batch_size, 1, 1) + self.surface_points_normal[link.name] = torch.from_numpy(pts_normal).to( + device).float().unsqueeze(0).repeat(batch_size, 1, 1) + + # visualization mesh + self.mesh_verts[link.name] = np.array(mesh.vertices) * scale + if robot_name == 'shadowhand': + self.mesh_verts[link.name] = self.mesh_verts[link.name][:, [0, 2, 1]] + self.mesh_verts[link.name][:, 1] *= -1 + self.mesh_verts[link.name] = np.matmul(rotation, self.mesh_verts[link.name].T).T + translation + self.mesh_faces[link.name] = np.array(mesh.faces) + + # point and normal of palm center + + # contact point + if link.name in self.contact_point_dict: + # if link.name != 'index_1': continue + # new 1.11 + cpb = np.array(self.contact_point_dict[link.name]) + # print("cpb shape: ", cpb.shape, len(cpb.shape)) + if len(cpb.shape) > 1: + cpb = cpb[np.random.randint(cpb.shape[0], size=1)][0] + # print(link.name, cpb) + # go.Figure(data = [ + # go.Mesh3d(x=mesh.vertices[:,0], y=mesh.vertices[:,1], z=mesh.vertices[:,2], i=mesh.faces[:,0], j=mesh.faces[:,1], k=mesh.faces[:,2]), + # go.Scatter3d(x=mesh.vertices[cpb,0], y=mesh.vertices[cpb, 1], z=mesh.vertices[cpb,2])]).show() + # input() + + cp_basis = mesh.vertices[cpb] * scale + # print(cpb, "cp_basis: ", cp_basis) + if robot_name == 'shadowhand': + cp_basis = cp_basis[:, [0, 2, 1]] + cp_basis[:, 1] *= -1 + cp_basis = np.matmul(rotation, cp_basis.T).T + translation + cp_basis = torch.cat([torch.from_numpy(cp_basis).to(device).float(), torch.ones([4, 1]).to(device).float()], dim=-1) + self.contact_point_basis[link.name] = cp_basis.unsqueeze( 0).repeat(batch_size, 1, 1) + v1 = cp_basis[1, :3] - cp_basis[0, :3] + v2 = cp_basis[2, :3] - cp_basis[0, :3] + v1 = v1 / torch.norm(v1) + v2 = v2 / torch.norm(v2) + self.contact_normals[link.name] = torch.cross(v1, v2).view([1, 3]) + self.contact_normals[link.name] = self.contact_normals[link.name].unsqueeze(0).repeat(batch_size, 1, 1) + + + self.revolute_joints = [] + for i in range(len(self.robot_full.joints)): + if self.robot_full.joints[i].joint_type == 'revolute': + self.revolute_joints.append(self.robot_full.joints[i]) + self.revolute_joints_q_mid = [] + self.revolute_joints_q_var = [] + self.revolute_joints_q_upper = [] + self.revolute_joints_q_lower = [] + for i in range(len(self.robot.get_joint_parameter_names())): + for j in range(len(self.revolute_joints)): + if self.revolute_joints[j].name == self.robot.get_joint_parameter_names()[i]: + joint = self.revolute_joints[j] + assert joint.name == self.robot.get_joint_parameter_names()[i] + self.revolute_joints_q_mid.append( + (joint.limit.lower + joint.limit.upper) / 2) + self.revolute_joints_q_var.append( + ((joint.limit.upper - joint.limit.lower) / 2) ** 2) + self.revolute_joints_q_lower.append(joint.limit.lower) + self.revolute_joints_q_upper.append(joint.limit.upper) + + self.revolute_joints_q_lower = torch.Tensor( + self.revolute_joints_q_lower).repeat([self.batch_size, 1]).to(device) + self.revolute_joints_q_upper = torch.Tensor( + self.revolute_joints_q_upper).repeat([self.batch_size, 1]).to(device) + + self.current_status = None + + self.scale = hand_scale + + + def update_kinematics(self, q): + self.global_translation = q[:, :3] + + self.global_rotation = robust_compute_rotation_matrix_from_ortho6d(q[:,3:9]) + self.current_status = self.robot.forward_kinematics(q[:,9:]) + + + + + def get_meshes_from_q(self, q=None, i=0): + data = [] + if q is not None: self.update_kinematics(q) + for idx, link_name in enumerate(self.mesh_verts): + trans_matrix = self.current_status[link_name].get_matrix() + trans_matrix = trans_matrix[min(len(trans_matrix) - 1, i)].detach().cpu().numpy() + v = self.mesh_verts[link_name] + transformed_v = np.concatenate([v, np.ones([len(v), 1])], axis=-1) + transformed_v = np.matmul(trans_matrix, transformed_v.T).T[..., :3] + transformed_v = np.matmul(self.global_rotation[i].detach().cpu().numpy(), + transformed_v.T).T + np.expand_dims( + self.global_translation[i].detach().cpu().numpy(), 0) + transformed_v = transformed_v * self.scale + f = self.mesh_faces[link_name] + data.append(tm.Trimesh(vertices=transformed_v, faces=f)) + return data + + def get_plotly_data(self, q=None, i=0, color='lightblue', opacity=1.): + data = [] + if q is not None: self.update_kinematics(q) + for idx, link_name in enumerate(self.mesh_verts): + trans_matrix = self.current_status[link_name].get_matrix() + trans_matrix = trans_matrix[min(len(trans_matrix) - 1, i)].detach().cpu().numpy() + v = self.mesh_verts[link_name] + transformed_v = np.concatenate([v, np.ones([len(v), 1])], axis=-1) + transformed_v = np.matmul(trans_matrix, transformed_v.T).T[..., :3] + transformed_v = np.matmul(self.global_rotation[i].detach().cpu().numpy(), + transformed_v.T).T + np.expand_dims( + self.global_translation[i].detach().cpu().numpy(), 0) + transformed_v = transformed_v * self.scale + f = self.mesh_faces[link_name] + data.append( + go.Mesh3d(x=transformed_v[:, 0], y=transformed_v[:, 1], z=transformed_v[:, 2], i=f[:, 0], j=f[:, 1], + k=f[:, 2], color=color, opacity=opacity)) + return data + diff --git a/utils/panda_gripper.py b/utils/panda_gripper.py new file mode 100644 index 0000000000000000000000000000000000000000..18c7b05440e0baec98bddba209f0d428f4e15c85 --- /dev/null +++ b/utils/panda_gripper.py @@ -0,0 +1,75 @@ +import copy +import os +import trimesh.transformations as tra +import trimesh +import numpy as np +import pickle +import torch + +class PandaGripper(object): + """An object representing a Franka Panda gripper.""" + + def __init__(self, q=None, num_contact_points_per_finger=10, root_folder="./hand_model/panda_gripper_description"): + """Create a Franka Panda parallel-yaw gripper object. + + Keyword Arguments: + q {list of int} -- opening configuration (default: {None}) + num_contact_points_per_finger {int} -- contact points per finger (default: {10}) + root_folder {str} -- base folder for model files (default: {''}) + """ + self.joint_limits = [0.0, 0.04] + self.root_folder = root_folder + + self.default_pregrasp_configuration = 0.04 + if q is None: + q = self.default_pregrasp_configuration + + self.q = q + fn_base = os.path.join(root_folder, 'gripper_models/panda_gripper/hand.stl') + fn_finger = os.path.join(root_folder, 'gripper_models/panda_gripper/finger.stl') + + self.base = trimesh.load(fn_base) + self.finger_l = trimesh.load(fn_finger) + self.finger_r = self.finger_l.copy() + + # transform fingers relative to the base + self.finger_l.apply_transform(tra.euler_matrix(0, 0, np.pi)) + self.finger_l.apply_translation([+q, 0, 0.0584]) + self.finger_r.apply_translation([-q, 0, 0.0584]) + + self.fingers = trimesh.util.concatenate([self.finger_l, self.finger_r]) + self.hand = trimesh.util.concatenate([self.fingers, self.base]) + + + self.contact_ray_origins = [] + self.contact_ray_directions = [] + + # coords_path = os.path.join(root_folder, 'gripper_control_points/panda_gripper_coords.npy') + with open(os.path.join(root_folder,'gripper_control_points/panda_gripper_coords.pickle'), 'rb') as f: + self.finger_coords = pickle.load(f, encoding='latin1') + finger_direction = self.finger_coords['gripper_right_center_flat'] - self.finger_coords['gripper_left_center_flat'] + self.contact_ray_origins.append(np.r_[self.finger_coords['gripper_left_center_flat'], 1]) + self.contact_ray_origins.append(np.r_[self.finger_coords['gripper_right_center_flat'], 1]) + self.contact_ray_directions.append(finger_direction / np.linalg.norm(finger_direction)) + self.contact_ray_directions.append(-finger_direction / np.linalg.norm(finger_direction)) + + self.contact_ray_origins = np.array(self.contact_ray_origins) + self.contact_ray_directions = np.array(self.contact_ray_directions) + self.mesh=trimesh.util.concatenate([self.finger_l, self.finger_r, self.base]) + self.points=trimesh.sample.sample_surface(self.mesh, 1024)[0] + + def get_meshes(self,transform): + """Get list of meshes that this gripper consists of. + + Returns: + list of trimesh -- visual meshes + """ + + mesh_copy=copy.deepcopy(self.mesh) + + return mesh_copy.apply_transform(transform) + + + def get_points(self,angle): + point_copy=copy.deepcopy(self.points) + return torch.tensor(trimesh.points.PointCloud(point_copy).apply_transform(angle).vertices) \ No newline at end of file diff --git a/utils/rot6d.py b/utils/rot6d.py new file mode 100644 index 0000000000000000000000000000000000000000..a11ab2e1dd055815e5bfd35aea4f9ca032985e19 --- /dev/null +++ b/utils/rot6d.py @@ -0,0 +1,79 @@ +import torch +import numpy as np +import transforms3d + + +def get_rot6d_from_rot3d(rot3d): + global_rotation = np.array(transforms3d.euler.euler2mat(rot3d[0], rot3d[1], rot3d[2])) + return global_rotation.T.reshape(9)[:6] + + +def compute_rotation_matrix_from_ortho6d(poses): + """ + Code from + https://github.com/papagina/RotationContinuity + On the Continuity of Rotation Representations in Neural Networks + Zhou et al. CVPR19 + https://zhouyisjtu.github.io/project_rotation/rotation.html + """ + x_raw = poses[:, 0:3] # batch*3 + y_raw = poses[:, 3:6] # batch*3 + + x = normalize_vector(x_raw) # batch*3 + z = cross_product(x, y_raw) # batch*3 + z = normalize_vector(z) # batch*3 + y = cross_product(z, x) # batch*3 + + x = x.view(-1, 3, 1) + y = y.view(-1, 3, 1) + z = z.view(-1, 3, 1) + matrix = torch.cat((x, y, z), 2) # batch*3*3 + return matrix + + +def robust_compute_rotation_matrix_from_ortho6d(poses): + """ + Instead of making 2nd vector orthogonal to first + create a base that takes into account the two predicted + directions equally + """ + x_raw = poses[:, 0:3] # batch*3 + y_raw = poses[:, 3:6] # batch*3 + + x = normalize_vector(x_raw) # batch*3 + y = normalize_vector(y_raw) # batch*3 + middle = normalize_vector(x + y) + orthmid = normalize_vector(x - y) + x = normalize_vector(middle + orthmid) + y = normalize_vector(middle - orthmid) + # Their scalar product should be small ! + # assert torch.einsum("ij,ij->i", [x, y]).abs().max() < 0.00001 + z = normalize_vector(cross_product(x, y)) + + x = x.view(-1, 3, 1) + y = y.view(-1, 3, 1) + z = z.view(-1, 3, 1) + matrix = torch.cat((x, y, z), 2) # batch*3*3 + # Check for reflection in matrix ! If found, flip last vector TODO + # assert (torch.stack([torch.det(mat) for mat in matrix ])< 0).sum() == 0 + return matrix + + +def normalize_vector(v): + batch = v.shape[0] + v_mag = torch.sqrt(v.pow(2).sum(1)) # batch + v_mag = torch.max(v_mag, v.new([1e-8])) + v_mag = v_mag.view(batch, 1).expand(batch, v.shape[1]) + v = v/v_mag + return v + + +def cross_product(u, v): + batch = u.shape[0] + i = u[:, 1] * v[:, 2] - u[:, 2] * v[:, 1] + j = u[:, 2] * v[:, 0] - u[:, 0] * v[:, 2] + k = u[:, 0] * v[:, 1] - u[:, 1] * v[:, 0] + + out = torch.cat((i.view(batch, 1), j.view(batch, 1), k.view(batch, 1)), 1) + + return out diff --git a/utils/set_seed.py b/utils/set_seed.py new file mode 100644 index 0000000000000000000000000000000000000000..c0b4b9651daf44fc893149137a20b999a1686d42 --- /dev/null +++ b/utils/set_seed.py @@ -0,0 +1,10 @@ +import torch +import numpy as np +import random + + +def set_global_seed(seed=42): + torch.cuda.manual_seed_all(seed) + torch.manual_seed(seed) + np.random.seed(seed) + random.seed(seed) diff --git a/utils/utils_math.py b/utils/utils_math.py new file mode 100644 index 0000000000000000000000000000000000000000..5af30b094129ff8d2cf4d7f57793ea70bcb6d196 --- /dev/null +++ b/utils/utils_math.py @@ -0,0 +1,268 @@ +''' +LastEditTime: 2022-05-21 01:13:08 +Description: More utilities +Date: 2021-10-28 05:01:01 +Author: Aiden Li +LastEditors: Aiden Li (i@aidenli.net) +''' +import numpy as np +import open3d as o3d +import torch +import torch.nn.functional as F + + +def cross_product(u, v): + batch = u.shape[0] + i = u[:, 1] * v[:, 2] - u[:, 2] * v[:, 1] + j = u[:, 2] * v[:, 0] - u[:, 0] * v[:, 2] + k = u[:, 0] * v[:, 1] - u[:, 1] * v[:, 0] + + out = torch.cat((i.view(batch, 1), j.view(batch, 1), k.view(batch, 1)), 1) + + return out + +def rot_to_orthod6d(rot): + return rot.transpose(1, 2)[:, :2].reshape([-1, 6]) + +def orthod6d_to_rot(o6d): + x_raw = o6d[:, 0:3] # batch*3 + y_raw = o6d[:, 3:6] # batch*3 + + x = x_raw / torch.norm(x_raw, dim=-1, keepdim=True) # batch*3 + z = cross_product(x, y_raw) # batch*3 + z = z / torch.norm(z, dim=-1, keepdim=True) # batch*3 + y = cross_product(z, x) # batch*3 + + matrix = torch.cat([ + x.view(-1, 3, 1), + y.view(-1, 3, 1), + z.view(-1, 3, 1) + ], 2) # batch*3*3 + return matrix + +def do_rotation(points, rots, rot_cents=None): + """ + Args: + `points`: `[batch_shape]` x `num_points` x 3 + `rots`: `[batch_shape]` x 3 x 3 + `rot_cents`: `[batch_shape]` x 3 + """ + shape = points.shape + + if rot_cents is not None: + # Send to rotation-center coordinate + points = undo_translation(points, rot_cents) + + # Calculate rotation + points_local = torch.bmm( + rots.unsqueeze(-3).expand(list(points.shape) + [3]).reshape([-1, 3, 3]), + points.reshape([-1, 3]).unsqueeze(-1) + ).reshape(shape) + + if rot_cents is not None: + # Send to world coordinate + points = do_translation(points, rot_cents) + + return points_local + +def do_translation(points, trans): + """ + Args: + `points`: `[batch_shape]` x `num_points` x 3 + `trans`: `[batch_shape]` x 3 + """ + trans = trans.unsqueeze(-2).expand(points.shape) + return points + trans + +def undo_rotation(points, rots, cents=None): + return do_rotation(points, torch.transpose(rots, -1, -2), cents) + +def undo_translation(points, trans): + return do_translation(points, -trans) + +def random_rot(device='cuda'): + rot_angles = np.random.random(3) * np.pi * 2 + theta_x, theta_y, theta_z = rot_angles[0], rot_angles[1], rot_angles[2] + Rx = torch.tensor([[1, 0, 0], [0, np.cos(theta_x), -np.sin(theta_x)], [0, np.sin(theta_x), np.cos(theta_x)]]).to(device) + Ry = torch.tensor([[np.cos(theta_y), 0, np.sin(theta_y)], [0, 1, 0], [-np.sin(theta_y), 0, np.cos(theta_y)]]).to(device) + Rz = torch.tensor([[np.cos(theta_z), -np.sin(theta_z), 0], [np.sin(theta_z), np.cos(theta_z), 0], [0, 0, 1]]).to(device) + return torch.tensor(Rx @ Ry @ Rz, device=device).float() # [3, 3] + + +def hand_param_comp(hand_param, mode='mano_right'): + if mode == 'mano_right': + return torch.concat([ torch.tensor([[0., 0., 0., 1., 0., 0., 0., 1., 0.]]).to(hand_param.device).tile((hand_param.shape[0], 1)), hand_param ]) + else: + raise NotImplementedError() + +def btrace(matrix): + return torch.diagonal(matrix, offset=0, dim1=-1, dim2=-2).sum(dim=-1) + +def rot_to_quaternion(rotations): + """ + Args: + rotations: B x 3 x 3 + """ + w = torch.sqrt(btrace(rotations) + 1 / 2).unsqueeze(-1) + return torch.concat([ + w, + (rotations[:, 1, 2] - rotations[:, 2, 1]).unsqueeze(-1) / w / 4, + (rotations[:, 2, 0] - rotations[:, 0, 2]).unsqueeze(-1) / w / 4, + (rotations[:, 0, 1] - rotations[:, 1, 0]).unsqueeze(-1) / w / 4 + ], dim=-1) + +def quaternion_to_rot(quaternions): + """ + Args: + `quaternions`: B x 4 + + Returns: + B x 3 x 3 + """ + w, a, b, c = quaternions.chunk(quaternions.shape[-1], dim=1) + + return torch.concat([ + torch.concat([ + 1 - 2 * (b**2 + c**2), + 2 * (a * b - w * c), + 2 * (a * c + w * b) + ], dim=-1).unsqueeze(-2), + torch.concat([ + 2 * (a * b + w * c), + 1 - 2 * (a**2 + c**2), + 2 * (b * c - w * a) + ], dim=-1).unsqueeze(-2), + torch.concat([ + 2 * (a * c - w * b), + 2 * (b * c - w * a), + 1 - 2 * (a**2 + b**2) + ], dim=-1).unsqueeze(-2) + ], dim=-2) + + +def do_rotation(points, rots, rot_cents=None): + """ + Args: + `points`: `[batch_shape]` x `num_points` x 3 + `rots`: `[batch_shape]` x 3 x 3 + `rot_cents`: `[batch_shape]` x 3 + """ + shape = points.shape + + if rot_cents is not None: + # Send to rotation-center coordinate + points = undo_translation(points, rot_cents) + + # Calculate rotation + points_local = torch.bmm(rots.unsqueeze(-3).expand(list(points.shape) + [3]).reshape([-1, 3, 3]), points.reshape([-1, 3]).unsqueeze(-1) + ).reshape(shape) + + if rot_cents is not None: + # Send to world coordinate + points = do_translation(points, rot_cents) + + return points_local + +def do_translation(points, trans): + """ + Args: + `points`: `[batch_shape]` x `num_points` x 3 + `trans`: `[batch_shape]` x 3 + """ + trans = trans.unsqueeze(-2).expand(points.shape) + return points + trans + +def undo_rotation(points, rots, cents=None): + return do_rotation(points, torch.transpose(rots, -1, -2), cents) + +def undo_translation(points, trans): + return do_translation(points, -trans) + +def trans_rot_to_homo_matrix(translation, rotation): + """ + Args: + `translation`: `batch_size` x 3 x 3 + `rotation`: `batch_size` x 3 + """ + batch_size = translation.shape[0] + # `batch_size` x 4 x 3 + rotation = torch.concat([rotation, torch.zeros([batch_size, 1, 3], device=rotation.device)], dim=-2) + # `batch_size` x 4 x 1 + translation = torch.concat([translation.unsqueeze(-1), torch.ones([batch_size, 1, 1], device=translation.device)], dim=-2) + # `batch_size` x 4 x 4 + return torch.concat([rotation, translation], dim=-1) + +def meshgrid_points(range, ticks, device='cuda', requires_grad=True): + [[x_lo, x_hi], [y_lo, y_hi], [z_lo, z_hi]] = range + x_ticks, y_ticks, z_ticks = ticks + + xx = torch.linspace(x_lo, x_hi, x_ticks, device=device, requires_grad=requires_grad) + yy = torch.linspace(y_lo, y_hi, y_ticks, device=device, requires_grad=requires_grad) + zz = torch.linspace(z_lo, z_hi, z_ticks, device=device, requires_grad=requires_grad) + + ii, jj, kk = torch.meshgrid([xx, yy, zz]) + return torch.concat([ii.unsqueeze(-1), jj.unsqueeze(-1), kk.unsqueeze(-1)], dim=-1).reshape([-1, 3]) + +def mesh_from_points(points, radii=[0.005, 0.01, 0.02, 0.04]): + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(points[0]) + pcd = pcd.voxel_down_sample(voxel_size=0.5) + pcd.estimate_normals() + +def mesh_to_pts(mesh, padding=False): + if padding: + padding_len = np.max([ m.vertices.shape[0] for m in mesh ]) + pts = [ + F.pad(F.pad(torch.Tensor(m.vertices), [0, 1], mode='constant', value=1.), [0, 0, 0, padding_len - m.vertices.shape[0]], mode='constant', value=0.) + for m in mesh + ] + return torch.stack(pts, dim=0) + + else: + pts = [ torch.Tensor(m.verties) for m in mesh ] + return torch.stack(pts, dim=0) + +def shuffle_tensor(tensor, dim=-1): + return tensor[:, torch.randperm(tensor.shape[dim])].view(tensor.size()) + +def accept_and_tile(tensor, accept_indices, trim=False): + """Accept parts of a tensor and retile them to recover (may outnumbers by a bit) the batch size. + """ + old_batch_size = tensor.shape[0] + tile_factor = [int(tensor.shape[0] / accept_indices.shape[0])] + [1] * (tensor.dim() - 1) + + if trim: + return tensor[accept_indices].tile(tile_factor)[:old_batch_size] + else: + return tensor[accept_indices].tile(tile_factor) + +def tensor_in_arr(ten, dic): + for elem in dic: + if ten.equal(elem): + return True + return False + +def neighbors_on_mesh(ind, tri=None, neighbor_array=None): + if tri is None: + return neighbor_array[ind] + elif neighbor_array is None: + neighbors = [] + for t in tri: + if ind == t[0]: + if t[1] not in neighbors: + neighbors.append(t[1]) + if t[2] not in neighbors: + neighbors.append(t[2]) + if ind == t[1]: + if t[0] not in neighbors: + neighbors.append(t[0]) + if t[2] not in neighbors: + neighbors.append(t[2]) + if ind == t[2]: + if t[0] not in neighbors: + neighbors.append(t[0]) + if t[1] not in neighbors: + neighbors.append(t[1]) + else: + raise NotImplementedError() + return neighbors diff --git a/vis_mid_dataset.ipynb b/vis_mid_dataset.ipynb new file mode 100644 index 0000000000000000000000000000000000000000..d36b9bc4dce5c0d8652485baf62b6dc30daa7d5e --- /dev/null +++ b/vis_mid_dataset.ipynb @@ -0,0 +1,4120 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Wed Dec 11 15:28:03 2024 \n", + "+-----------------------------------------------------------------------------+\n", + "| NVIDIA-SMI 525.116.04 Driver Version: 525.116.04 CUDA Version: 12.0 |\n", + "|-------------------------------+----------------------+----------------------+\n", + "| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |\n", + "| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |\n", + "| | | MIG M. |\n", + "|===============================+======================+======================|\n", + "| 0 NVIDIA GeForce ... On | 00000000:3D:00.0 Off | N/A |\n", + "| 27% 28C P8 10W / 250W | 3MiB / 11264MiB | 0% Default |\n", + "| | | N/A |\n", + "+-------------------------------+----------------------+----------------------+\n", + " \n", + "+-----------------------------------------------------------------------------+\n", + "| Processes: |\n", + "| GPU GI CI PID Type Process name GPU Memory |\n", + "| ID ID Usage |\n", + "|=============================================================================|\n", + "| No running processes found |\n", + "+-----------------------------------------------------------------------------+\n" + ] + } + ], + "source": [ + "!nvidia-smi" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "only got 88/128 samples!\n", + "only got 117/128 samples!\n", + "only got 120/128 samples!\n", + "only got 119/128 samples!\n", + "only got 126/128 samples!\n", + "only got 124/128 samples!\n", + "only got 120/128 samples!\n", + "only got 116/128 samples!\n", + "only got 120/128 samples!\n", + "only got 121/128 samples!\n", + "only got 124/128 samples!\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Processing link #0: base_link\n", + "Processing link #1: link_0.0\n", + "Processing link #2: link_1.0\n", + "Processing link #3: link_2.0\n", + "Processing link #4: link_3.0\n", + "Processing link #5: link_3.0_tip\n", + "Processing link #6: link_4.0\n", + "Processing link #7: link_5.0\n", + "Processing link #8: link_6.0\n", + "Processing link #9: link_7.0\n", + "Processing link #10: link_7.0_tip\n", + "Processing link #11: link_8.0\n", + "Processing link #12: link_9.0\n", + "Processing link #13: link_10.0\n", + "Processing link #14: link_11.0\n", + "Processing link #15: link_11.0_tip\n", + "Processing link #16: link_12.0\n", + "Processing link #17: link_13.0\n", + "Processing link #18: link_14.0\n", + "Processing link #19: link_15.0\n", + "Processing link #20: link_15.0_tip\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "only got 58/64 samples!\n", + "only got 59/64 samples!\n", + "only got 63/64 samples!\n", + "only got 62/64 samples!\n", + "only got 63/64 samples!\n", + "only got 62/64 samples!\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Processing link #0: palm\n", + "Processing link #1: ffknuckle\n", + "Processing link #2: ffproximal\n", + "Processing link #3: ffmiddle\n", + "Processing link #4: ffdistal\n", + "Processing link #5: fftip\n", + "Processing link #6: mfknuckle\n", + "Processing link #7: mfproximal\n", + "Processing link #8: mfmiddle\n", + "Processing link #9: mfdistal\n", + "Processing link #10: mftip\n", + "Processing link #11: rfknuckle\n", + "Processing link #12: rfproximal\n", + "Processing link #13: rfmiddle\n", + "Processing link #14: rfdistal\n", + "Processing link #15: rftip\n", + "Processing link #16: lfmetacarpal\n", + "Processing link #17: lfknuckle\n", + "Processing link #18: lfproximal\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "only got 62/64 samples!\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Processing link #19: lfmiddle\n", + "Processing link #20: lfdistal\n", + "Processing link #21: lftip\n", + "Processing link #22: thbase\n", + "Processing link #23: thproximal\n", + "Processing link #24: thhub\n", + "Processing link #25: thmiddle\n", + "Processing link #26: thdistal\n", + "Processing link #27: thtip\n" + ] + } + ], + "source": [ + "# ROOT_DIR = \"/data/Multi-GraspLLM\"\n", + "# import os\n", + "# import sys\n", + "# sys.path.append(ROOT_DIR)\n", + "# os.chdir(ROOT_DIR)\n", + "\n", + "from utils.hand_model import HandModel\n", + "from utils.panda_gripper import PandaGripper\n", + "import json\n", + "\n", + "\n", + "urdf_allegro_path=\"./hand_model/allegro_hand_description/allegro_hand_description_right.urdf\"\n", + "meshes_allegro_path=\"./hand_model/allegro_hand_description/meshes\"\n", + "allegro_hand_model = HandModel(\"allegro\", urdf_allegro_path, meshes_allegro_path, batch_size=1, device=\"cuda\", hand_scale=1)\n", + "\n", + "urdf_shadow_path=\"./hand_model/shadow_hand_description/urdf/shadowhand_adjust.urdf\"\n", + "meshes_shadow_path=\"./hand_model/shadow_hand_description/meshes\"\n", + "shadow_hand_model = HandModel(\"shadowhand\", urdf_shadow_path, meshes_shadow_path, batch_size=1, device=\"cuda\", hand_scale=1)\n", + "\n", + "\n", + "panda_gripper=PandaGripper()\n", + "\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import pickle\n", + "\n", + "with open(\"./mid-level-data/shadow.pkl\",\"rb\") as f:\n", + " meta_shadow=pickle.load(f)\n", + "\n", + "with open(\"./mid-level-data/allegro.pkl\",\"rb\") as f:\n", + " meta_allegro=pickle.load(f)\n", + " \n", + "with open(\"./mid-level-data/panda.pkl\",\"rb\") as f:\n", + " meta_panda=pickle.load(f)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Visualize Allegro Hand" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['Little finger,middle finger,thumb finger and index finger touch the bottle body of cylinder_bottle.', 'Little finger,middle finger,thumb finger and index finger touch the bottle body of cylinder_bottle.']\n" + ] + }, + { + "data": { + "text/html": [ + "
" + ], + "text/plain": [ + "" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "import trimesh\n", + "import re\n", + "import torch\n", + "import numpy as np\n", + "vocab_size=511\n", + "object_code=\"cylinder_bottle_s104\"\n", + "num=1\n", + "angle=meta_allegro[object_code][num]['angle']\n", + "obj_id=object_code\n", + "\n", + "\n", + "infer_pose=torch.tensor(angle[0]+angle[1][:, :2].T.ravel().tolist()+angle[2])\n", + "mesh_hand_list_infer=allegro_hand_model.get_meshes_from_q(q=infer_pose.cuda().unsqueeze(0))\n", + "mesh_hand= trimesh.util.concatenate(mesh_hand_list_infer)\n", + "\n", + "pc=np.load(f\"./pc_8192/{obj_id}.npy\")[:,:3]\n", + "point_colors = np.tile([255, 0, 0, 255], (pc.shape[0], 1))\n", + "point_cloud = trimesh.points.PointCloud(pc,colors=point_colors)\n", + "print(meta_allegro[object_code][num]['contact_info'])\n", + "scene = trimesh.Scene()\n", + "scene.add_geometry(point_cloud)\n", + "scene.add_geometry(mesh_hand)\n", + "scene.show()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Visualize Shadow Hand" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['Little finger,ring finger,middle finger,thumb finger and index finger touch the mug body of mug.', 'all fingers touches the mug body of mug']\n" + ] + }, + { + "data": { + "text/html": [ + "
" + ], + "text/plain": [ + "" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "import trimesh\n", + "import re\n", + "vocab_size=511\n", + "object_code=\"mug_s139\"\n", + "num=1\n", + "angle=meta_shadow[object_code][num]['angle']\n", + "obj_id=object_code\n", + "\n", + "\n", + "\n", + "\n", + "\n", + "infer_pose=torch.tensor(angle[0]+angle[1][:, :2].T.ravel().tolist()+angle[2])\n", + "mesh_hand_list_infer=shadow_hand_model.get_meshes_from_q(q=infer_pose.cuda().unsqueeze(0))\n", + "mesh_hand= trimesh.util.concatenate(mesh_hand_list_infer)\n", + "\n", + "print(meta_shadow[object_code][num]['contact_info'])\n", + "pc=np.load(f\"./data/pc_8192/{obj_id}.npy\")[:,:3]\n", + "point_colors = np.tile([255, 0, 0, 255], (pc.shape[0], 1))\n", + "point_cloud = trimesh.points.PointCloud(pc,colors=point_colors)\n", + "scene = trimesh.Scene()\n", + "scene.add_geometry(point_cloud)\n", + "scene.add_geometry(mesh_hand)\n", + "scene.show()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Visual Panda Gripper" + ] + }, + { + "cell_type": "code", + "execution_count": 20, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "dict_keys(['pump head', 'bottle body'])\n" + ] + }, + { + "data": { + "text/html": [ + "
" + ], + "text/plain": [ + "" + ] + }, + "execution_count": 20, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "object_code=\"chaoneng_handwash\"\n", + "print(meta_panda[object_code].keys())\n", + "\n", + "angle=meta_panda[object_code]['pump head'][0]\n", + "mesh_hand=panda_gripper.get_meshes(angle)\n", + "\n", + "pc=np.load(f\"./data/pc_8192/{object_code}.npy\")[:,:3]\n", + "point_colors = np.tile([255, 0, 0, 255], (pc.shape[0], 1))\n", + "point_cloud = trimesh.points.PointCloud(pc,colors=point_colors)\n", + "scene = trimesh.Scene()\n", + "scene.add_geometry(point_cloud)\n", + "scene.add_geometry(mesh_hand)\n", + "scene.show()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python [conda env:eval_github]", + "language": "python", + "name": "conda-env-eval_github-py" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.9.21" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +}