Merge pull request #131 from threedworld-mit/urdf

Urdf

Documentation/Changelog.md

@@ -4,6 +4,49 @@
 
 To upgrade from TDW v1.7 to v1.8, read [this guide](Documentation/upgrade_guides/v1.7_to_v1.8).
 
+## v1.8.2
+
+### `tdw` module
+
+### `Controller`
+
+- Fixed: When checking for TDW updates, the recommendation to upgrade gives the incorrect release version if the third number in the version is above 9 (e.g. 1.7.16)
+
+#### `RobotCreator`
+
+- Added: `robot_creator.py` **Frontend users can now add robots to TDW, given the URL of a .urdf or .xacro file.** See: `tdw/Documenation/misc_frontend/robotics.md` and `tdw/Documentation/python/robot_creator.md`
+
+#### Backend
+
+- Added: `asset_bundle_creator_base.py` Shared code between `asset_bundle_creator.py` and `robot_creator.py`
+
+### Robot Library
+
+- Added new robots: Baxter, Sawyer, Niryo One, Fetch, Shadowhand, UR5, and UR10
+
+### Build
+
+- Upgraded to Unity 2020.2.5
+
+### Example Controllers
+
+- `robot_arm.py` uses the UR5 robot instead of the UR3 robot
+
+### Documentation
+
+#### New Documentation
+
+| Document | Description |
+| --- | --- |
+| `robot_creator.md`             | API documentation for `RobotCreator` as well as installation instructions and troubleshooting tips. |
+| `asset_bundle_creator_base.md` | API documentation for `AssetBundleCreatorBase`               |
+
+#### Modified Documentation
+
+| Document                       | Modification                                                 |
+| ------------------------------ | ------------------------------------------------------------ |
+| `robots.md`                    | Added a section for how to start using the new `RobotCreator` |
+
 ## v1.8.1
 
 ### Command API

Documentation/misc_frontend/robots.md

@@ -50,6 +50,59 @@ TDW has a built-in concept of what an "Avatar" is, which has implications for wh
 
 Robots by default don't have cameras. However, you can add a camera to a robot by first creating an avatar and then parenting that avatar to the robot. See: `example_controllers/robot_camera.py` for example implementation.
 
+## Robots Currently in TDW
+
+TDW includes many real-world robots by default. Metadata records of each robot are stored in a [`RobotLibrarian`](../python/librarian/robot_librarian.md).
+
+ To get a list of available robots:
+
+```python
+from tdw.librarian import RobotLibrarian
+
+lib = RobotLibrarian()
+for record in lib.records:
+    print(record.name)
+```
+
+To search for a robot:
+
+```python
+from tdw.librarian import RobotLibrarian
+
+lib = RobotLibrarian()
+
+record = lib.get_record("ur3")
+if record is not None:
+    print(record.name, record.urls)
+
+records = lib.search_records("ur3")
+for record in records:
+    print(record)
+```
+
+To add a robot:
+
+```python
+from tdw.controller import Controller
+from tdw.tdw_utils import TDWUtils
+from tdw.librarian import RobotLibrarian
+
+c = Controller(launch_build=False)
+c.start()
+
+lib = RobotLibrarian()
+record = lib.get_record(name="ur3")
+
+c.communicate([TDWUtils.create_empty_room(12, 12),
+               c.get_add_robot(name=record.name,
+                               robot_id=0,
+                               position={"x": 0.5, "y": 0, "z": 2})])
+```
+
+## How to Add a Robot to TDW
+
+**It is possible to import any robot into TDW, given a .urdf or .xacro file.** To do so, use a `RobotCreator`. [Read this document to learn more about the API and installation requirements](../python/robot_creator.md).
+
 ## Magnebot API
 
 The Magnebot is a specialized robot in TDW that can use "magnets" to pick up objects.

Documentation/python/asset_bundle_creator.md

@@ -1,6 +1,6 @@
 # `asset_bundle_creator.py`
 
-## `AssetBundleCreator`
+## `AssetBundleCreator(AssetBundleCreatorBase)`
 
 `from tdw.asset_bundle_creator import AssetBundleCreator`
 
@@ -97,6 +97,14 @@ _Returns:_ The path to the asset_bundle_creator Unity project.
 
 ***
 
+#### `get_project_path() -> Path`
+
+_This is a static function._
+
+_Returns:_  The expected path of the Unity project.
+
+***
+
 #### `fbx_to_obj(self, model_path: Path) -> Tuple[Path, bool]`
 
 Convert a .fbx file to a .obj file with assimp

Documentation/python/asset_bundle_creator_base.md

@@ -0,0 +1,50 @@
+# `asset_bundle_creator_base.py`
+
+## `AssetBundleCreatorBase(ABC)`
+
+`from tdw.asset_bundle_creator_base import AssetBundleCreatorBase`
+
+Base class for creating asset bundles.
+
+***
+
+#### `__init__(self, quiet: bool = False, display: str = ":0")`
+
+
+| Parameter | Description |
+| --- | --- |
+| quiet | If true, don't print any messages to console. |
+| display | The display to launch Unity Editor on. Ignored if this isn't Linux. |
+
+***
+
+#### `get_base_unity_call(self) -> List[str]`
+
+_Returns:_ The call to launch Unity Editor silently in batchmode, execute something, and then quit.
+
+***
+
+#### `get_editor_path() -> Path`
+
+_This is a static function._
+
+Build the asset_bundle_creator Unity project.
+
+_Returns:_ The path to the asset_bundle_creator Unity project.
+
+***
+
+#### `get_unity_project(self) -> Path`
+
+Build the asset_bundle_creator Unity project.
+
+_Returns:_ The path to the asset_bundle_creator Unity project.
+
+***
+
+#### `get_project_path() -> Path`
+
+_Returns:_  The expected path of the Unity project.
+
+***
+