Merge pull request UM-ARM-Lab#41 from StoneT2000/bug-fixes

Fix some bugs in recently raised issues (capsule support, default torch device bug, and mujoco dependency)

Closes UM-ARM-Lab#40 , closes UM-ARM-Lab#39 , and closes UM-ARM-Lab#35

.github/workflows/python-package.yml

@@ -30,6 +30,7 @@ jobs:
           python -m pip install .[test]
           python -m pip install flake8 pytest
           if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+          pip install mujoco
       - name: Clone mujoco_menagerie repository into the tests/ folder
         run: |
           git clone https://github.com/google-deepmind/mujoco_menagerie

pyproject.toml

@@ -42,7 +42,6 @@ classifiers = [# Optional
 dependencies = [
     'absl-py',
     'lxml',
-    "mujoco",
     'numpy<2', # pybullet requires numpy<2 for testing; for future versions this may be relaxed
     'pyyaml',
     'torch',

src/pytorch_kinematics/urdf.py

@@ -14,7 +14,7 @@ def _convert_transform(origin):
     if origin is None:
         return tf.Transform3d()
     else:
-        rpy = torch.tensor(origin.rpy, dtype=torch.float32)
+        rpy = torch.tensor(origin.rpy, dtype=torch.float32, device="cpu")
         return tf.Transform3d(rot=tf.quaternion_from_euler(rpy, "sxyz"), pos=origin.xyz)
 
 

src/pytorch_kinematics/urdf_parser_py/urdf.py

@@ -101,6 +101,15 @@ def __init__(self, radius=0.0, length=0.0):
     xmlr.Attribute('length', float)
 ])
 
+class Capsule(xmlr.Object):
+    def __init__(self, radius=0.0, length=0.0):
+        self.radius = radius
+        self.length = length
+
+xmlr.reflect(Capsule, tag='capsule', params=[
+    xmlr.Attribute('radius', float),
+    xmlr.Attribute('length', float)
+])
 
 class Sphere(xmlr.Object):
     def __init__(self, radius=0.0):
@@ -130,7 +139,8 @@ def __init__(self):
             'box': Box,
             'cylinder': Cylinder,
             'sphere': Sphere,
-            'mesh': Mesh
+            'mesh': Mesh,
+            'capsule': Capsule
         })
 
     def from_xml(self, node, path):