Revision binder all robots

binder/01-import.py

@@ -0,0 +1,54 @@
+import sys
+
+from demos.pycram_virtual_building_demos.setup.setup_utils import get_robot_name
+
+sys.path.insert(0, '/home/jovyan/workspace/ros/src/pycram')
+
+from demos.pycram_virtual_building_demos.setup.setup_launch_robot import launch_pr2, launch_hsrb, launch_stretch, \
+    launch_tiago, launch_justin, launch_donbot, launch_armar, launch_icub, launch_fetch
+from pycram.datastructures.enums import ObjectType, WorldMode
+from pycram.designators.object_designator import *
+from pycram.object_descriptors.urdf import ObjectDescription
+from pycram.ros.tf_broadcaster import TFBroadcaster
+from pycram.ros.viz_marker_publisher import VizMarkerPublisher, VizMarkerRobotPublisher
+from pycram.world_concepts.world_object import Object
+from pycram.worlds.bullet_world import BulletWorld
+
+robot_param = rospy.get_param('/nbparam_robots')
+environment_param = rospy.get_param('/nbparam_environments')
+if robot_param == 'pr2':
+    launch_pr2()
+elif robot_param == 'hsrb':
+    launch_hsrb()
+elif robot_param == 'stretch':
+    launch_stretch()
+elif robot_param == 'tiago':
+    launch_tiago()
+elif robot_param == 'justin':
+    launch_justin()
+elif robot_param == 'donbot':
+    launch_donbot()
+elif robot_param == 'armar':
+    launch_armar()
+elif robot_param == 'icub':
+    launch_icub()
+elif robot_param == 'fetch':
+    launch_fetch()
+
+robot_name = get_robot_name(robot_param)
+
+extension = ObjectDescription.get_file_extension()
+
+world = BulletWorld(WorldMode.DIRECT)
+
+# Set this to True to publish costmaps and axis marker during the demo. May slow down the simulation.
+world.allow_publish_debug_poses = False
+
+VizMarkerPublisher()
+
+robot = Object(robot_name, ObjectType.ROBOT, f"{robot_name}{extension}", pose=Pose([1, 2, 0]))
+apartment = Object(environment_param, ObjectType.ENVIRONMENT, f"{environment_param}{extension}")
+if robot_param not in ["pr2", "icub", "fetch", "tiago", "donbot"]:
+    VizMarkerRobotPublisher()
+else:
+    TFBroadcaster()

binder/Dockerfile

@@ -14,6 +14,54 @@ COPY --chown=${NB_USER}:users binder/me ${PYCRAM_WS}/src/me
 USER root
 RUN apt-get update
 
+# Giskard
+USER ${NB_USER}
+COPY --chown=${NB_USER}:users binder/giskard.rosinstall /home/${NB_USER}/giskard.rosinstall
+RUN vcs import --input /home/${NB_USER}/giskard.rosinstall --recursive
+
+# Giskard: requirements + missing packages
+RUN pip install --requirement ${PYCRAM_WS}/src/giskardpy/requirements.txt
+RUN pip install termcolor pydot
+
+# Giskard: Pybind + betterpybullet
+WORKDIR /home/${NB_USER} 
+RUN git clone https://github.com/pybind/pybind11.git \
+  && cd pybind11 \
+  && mkdir build \
+  && cd build \
+  && cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_PYTHON_VERSION=3 -DPYBIND11_TEST=OFF
+USER root
+RUN cd pybind11/build && make install
+USER ${NB_USER}
+
+RUN git clone https://github.com/SemRoCo/bullet3.git
+COPY --chown=${NB_USER}:users binder/build_cmake_pybullet_3.10_double.sh /home/${NB_USER}/bullet3/
+RUN cd bullet3 && ./build_cmake_pybullet_3.10_double.sh
+ENV PYTHONPATH=${PYTHONPATH}:/home/${NB_USER}/bullet3/build_cmake/better_python:/home/${NB_USER}/bullet3/examples/pybullet
+
+
+# New geometry msgs
+WORKDIR ${PYCRAM_WS}/src/
+RUN git clone https://github.com/sunava/geometry2.git
+
+
+# HSR resources
+WORKDIR ${PYCRAM_WS}/src/
+RUN git clone https://github.com/code-iai/iai_hsr.git
+WORKDIR  ${PYCRAM_WS}/src/iai_hsr/
+RUN git submodule update --init
+
+# Stretch resources
+WORKDIR ${PYCRAM_WS}/src/
+RUN git clone https://github.com/hello-robot/stretch_ros.git
+RUN git clone https://github.com/issaiass/realsense2_description.git
+
+# Tiago resources
+WORKDIR ${PYCRAM_WS}/src/
+RUN git clone https://github.com/code-iai/iai_tiago.git
+WORKDIR  ${PYCRAM_WS}/src/iai_tiago/
+RUN git submodule update --init
+
 # Build pycram workspace
 WORKDIR  ${PYCRAM_WS}
 USER root
@@ -24,6 +72,7 @@ USER ${NB_USER}
 RUN catkin build
 
 RUN pip install service_identity
+RUN pip install netifaces
 
 # Jupyter Config
 COPY --chown=${NB_USER}:users binder/jupyter-config.json /opt/conda/share/jupyter/lab/settings/overrides.json
@@ -34,3 +83,8 @@ COPY --chown=${NB_USER}:users binder/entrypoint.sh /
 ENTRYPOINT ["/entrypoint.sh"]
 CMD ["jupyter", "lab", "--allow-root", "--NotebookApp.token=''", "--no-browser", "--ip=0.0.0.0"]
 RUN pip install https://raw.githubusercontent.com/yxzhan/jupyterlab-rviz/master/dist/jupyterlab_rviz-0.3.1.tar.gz
+RUN mkdir -p /home/${NB_USER}/.ipython/profile_default/startup/
+
+RUN curl https://raw.githubusercontent.com/sunava/pycram/revision-binder-all-robots/binder/01-import.py -o /home/${NB_USER}/.ipython/profile_default/startup/01-import.py
+# RUN curl https://raw.githubusercontent.com/LucaKro/pycram/revision-binder-all-robots/binder/01-import.py -o /home/${NB_USER}/.ipython/profile_default/startup/01-import.py
+

binder/build_cmake_pybullet_3.10_double.sh

@@ -0,0 +1,35 @@
+#!/bin/sh
+
+if [ "$#" -ge 1 ]; then
+    BUILD_TYPE=$1
+else
+    BUILD_TYPE="Release"    
+fi
+
+echo "Building in ${BUILD_TYPE} mode..."
+
+if [ -e CMakeCache.txt ]; then
+  rm CMakeCache.txt
+fi
+mkdir -p build_cmake
+cd build_cmake
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DBT_ENABLE_VHACD=TRUE -DUSE_DOUBLE_PRECISION=ON -DBT_USE_EGL=ON -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DPYTHON_EXECUTABLE=/opt/conda/bin/python -DPYTHON_INCLUDE_DIR=/opt/conda/include/python3.10 -DPYTHON_LIBRARY=/opt/conda/lib/libpython3.10.so .. || exit 1
+make -j $(command nproc 2>/dev/null || echo 12) || exit 1
+cd examples
+cd pybullet
+if [ -e pybullet.dylib ]; then
+  ln -f -s pybullet.dylib pybullet.so
+fi
+if [ -e pybullet_envs ]; then
+  rm pybullet_envs
+fi
+if [ -e pybullet_data ]; then
+  rm pybullet_data
+fi
+if [ -e pybullet_utils ]; then
+  rm pybullet_utils
+fi
+ln -s ../../../examples/pybullet/gym/pybullet_envs .
+ln -s ../../../examples/pybullet/gym/pybullet_data .
+ln -s ../../../examples/pybullet/gym/pybullet_utils .
+echo "Completed build of Bullet."

binder/entrypoint.sh

@@ -3,6 +3,6 @@
 source ${PYCRAM_WS}/devel/setup.bash
 roscore &
 roslaunch --wait rvizweb rvizweb.launch config_file:=${PYCRAM_WS}/src/pycram/binder/rviz_configs/pr2_config.json &
-cp ${PYCRAM_WS}/src/pycram/binder/webapps.json ${PYCRAM_WS}/src/rvizweb/webapps/app.json 
+cp ${PYCRAM_WS}/src/pycram/binder/webapps.json ${PYCRAM_WS}/src/rvizweb/webapps/app.json
 
 xvfb-run exec "$@"

binder/giskard.rosinstall

@@ -0,0 +1,21 @@
+repositories:
+  giskardpy:
+    type: git
+    url: https://github.com/SemRoCo/giskardpy.git
+    version: devel
+  giskard_msgs:
+    type: git
+    url: https://github.com/SemRoCo/giskard_msgs.git
+    version: v0.5.1
+  iai_tracy:
+    type: git
+    url: https://github.com/code-iai/iai_tracy.git
+    version: main
+  robotiq_2finger_grippers:
+    type: git
+    url: https://github.com/Danfoa/robotiq_2finger_grippers.git
+    version: master
+  iai_boxy:
+    type: git
+    url: https://github.com/code-iai/iai_boxy.git
+    version: master