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maniskill3_environment_assets/plates/kalas_plate/kalas_plate009.obj

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maniskill3_environment_assets/plates/kalas_plate/kalas_plate016.obj

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maniskill3_environment_assets/plates/kalas_plate/kalas_plate046.obj

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maniskill3_environment_assets/plates/stamling_rack/stamling_rack023.obj

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+v -0.170910376 0.071336721 0.017754517
+v -0.178183179 0.062134860 0.018104008
+v -0.168486970 0.056539667 0.028999001
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 5
+f 11 10 9
+f 11 9 5
+f 12 10 4
+f 12 4 3
+f 13 11 5
+f 13 5 4
+f 13 4 10
+f 13 10 11
+f 14 12 3
+f 14 3 9
+f 14 9 10
+f 14 10 12

maniskill3_environment_assets/plates/stamling_rack/stamling_rack060.obj

@@ -0,0 +1,20 @@
+v 0.214548193 0.076680466 0.018104008
+v 0.214134441 0.068533879 0.018035268
+v 0.214548193 0.076680466 -0.003714402
+v -0.149091966 0.072503000 -0.000078000
+v -0.149091966 0.069951615 0.018143331
+v 0.214685601 0.069697847 -0.000078000
+v -0.149085898 0.071286964 0.017787902
+v -0.149091966 0.071096003 -0.000078000
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 8 2 5

maniskill3_environment_assets/robots/trifinger/cube_multicolor_rrc.urdf

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<robot name="object">
+  <link name="object">
+    <visual>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/cube_multicolor.obj" scale=".065 .065 .065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <box size="0.065 0.065 0.065"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <density value="291.3"/>
+    </inertial>
+  </link>
+</robot>

maniskill3_environment_assets/robots/trifinger/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf

@@ -0,0 +1,762 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot_properties_fingers/xacro/pro/trifingerpro_with_stage.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="trifingerpro_with_stage">
+  <!--
+    Frames are defined such that they all align with the base frame when all
+    joints are at position zero.
+
+    In zero-configuration the origins of all joints are in one line.
+
+    In zero-configuration the origin of the base link is exactly above the
+    finger tip which should make it easy to place the finger in the world.
+    -->
+  <material name="fingerpro_shell">
+    <!-- colour from image -->
+    <color rgba="0.804 0.764 0.761 1.0"/>
+  </material>
+  <material name="fingerpro_tip">
+    <!-- colour from image -->
+    <color rgba="0.33 0.36 0.37 1.0"/>
+  </material>
+  <material name="fingerpro_motor">
+    <color rgba="0.17 0.17 0.17 1.0"/>
+  </material>
+  <material name="center_holder_material">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <!-- Define the global base_link and place all other objects relative to it. -->
+  <link name="base_link">
+    <!-- add inertial to suppress warning -->
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <!-- Define the upper holder -->
+  <link name="upper_holder_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/center_axis_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="center_holder_material"/>
+    </visual>
+    <!-- add inertial to suppress warning -->
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_to_upper_holder_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="upper_holder_link"/>
+    <origin xyz="0 0 0.29"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_0">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_0">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_0" type="fixed">
+    <parent link="finger_upper_link_0"/>
+    <child link="finger_upper_link_visuals_0"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_0">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_0" type="fixed">
+    <parent link="finger_middle_link_0"/>
+    <child link="finger_middle_link_visuals_0"/>
+  </joint>
+  <link name="finger_lower_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_0" type="fixed">
+    <parent link="finger_lower_link_0"/>
+    <child link="finger_tip_link_0"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_0" type="revolute">
+    <parent link="finger_base_link_0"/>
+    <child link="finger_upper_link_0"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_0" type="revolute">
+    <parent link="finger_upper_link_0"/>
+    <child link="finger_middle_link_0"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_0" type="revolute">
+    <parent link="finger_middle_link_0"/>
+    <child link="finger_lower_link_0"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_120">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_120">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_120" type="fixed">
+    <parent link="finger_upper_link_120"/>
+    <child link="finger_upper_link_visuals_120"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_120">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_120" type="fixed">
+    <parent link="finger_middle_link_120"/>
+    <child link="finger_middle_link_visuals_120"/>
+  </joint>
+  <link name="finger_lower_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_120" type="fixed">
+    <parent link="finger_lower_link_120"/>
+    <child link="finger_tip_link_120"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_120" type="revolute">
+    <parent link="finger_base_link_120"/>
+    <child link="finger_upper_link_120"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_120" type="revolute">
+    <parent link="finger_upper_link_120"/>
+    <child link="finger_middle_link_120"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_120" type="revolute">
+    <parent link="finger_middle_link_120"/>
+    <child link="finger_lower_link_120"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_240">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_240">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_240" type="fixed">
+    <parent link="finger_upper_link_240"/>
+    <child link="finger_upper_link_visuals_240"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_240">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_240" type="fixed">
+    <parent link="finger_middle_link_240"/>
+    <child link="finger_middle_link_visuals_240"/>
+  </joint>
+  <link name="finger_lower_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_240" type="fixed">
+    <parent link="finger_lower_link_240"/>
+    <child link="finger_tip_link_240"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_240" type="revolute">
+    <parent link="finger_base_link_240"/>
+    <child link="finger_upper_link_240"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_240" type="revolute">
+    <parent link="finger_upper_link_240"/>
+    <child link="finger_middle_link_240"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_240" type="revolute">
+    <parent link="finger_middle_link_240"/>
+    <child link="finger_lower_link_240"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <joint name="holder_to_finger_0" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_0"/>
+    <origin rpy="0 0 0.0" xyz="0 0 0"/>
+  </joint>
+  <joint name="holder_to_finger_120" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_120"/>
+    <origin rpy="0 0 -2.0943951023931953" xyz="0 0 0"/>
+  </joint>
+  <joint name="holder_to_finger_240" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_240"/>
+    <origin rpy="0 0 -4.1887902047863905" xyz="0 0 0"/>
+  </joint>
+  <material name="table_material">
+    <color rgba="0.31 0.27 0.25 1.0"/>
+  </material>
+  <material name="boundary_material">
+    <color rgba="0.95 0.95 0.95 1.0"/>
+  </material>
+  <link name="table_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="table_material"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.09628333333333333" ixy="0" ixz="0" iyy="0.08403333333333332" iyz="0" izz="0.18028333333333335"/>
+    </inertial>
+  </link>
+  <link name="boundary_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/high_table_boundary.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="boundary_material"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/high_table_boundary.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.05708333333333333" ixy="0" ixz="0" iyy="0.05708333333333333" iyz="0" izz="0.10453333333333334"/>
+    </inertial>
+  </link>
+  <joint name="base_to_table" type="fixed">
+    <parent link="base_link"/>
+    <child link="table_link"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <joint name="table_to_boundary" type="fixed">
+    <parent link="table_link"/>
+    <child link="boundary_link"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+</robot>

maniskill3_environment_assets/robots/trifinger/table_without_border.urdf

@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/felixwidmaier/ws/fingers/workspace/src/catkin/robots/robot_properties/robot_properties_fingers/xacro/trifinger_stage.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="trifinger_stage">
+  <link name="base_link">
+  </link>
+  <material name="table_material">
+    <color rgba="0.31 0.27 0.25 1.0"/>
+  </material>
+  <link name="table_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="table_material"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.0962833333333" ixy="0" ixz="0" iyy="0.0840333333333" iyz="0" izz="0.180283333333"/>
+    </inertial>
+  </link>
+  <joint name="base_to_table" type="fixed">
+    <parent link="base_link"/>
+    <child link="table_link"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+</robot>

msx_assets/object/014_lemon/material_0.mtl

@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/014_lemon/textured.mtl

@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/058_golf_ball/material_0.mtl

@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/058_golf_ball/textured.mtl

@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/065-b_cups/collision.obj

@@ -0,0 +1,3799 @@
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msx_assets/object/065-b_cups/material_0.mtl

@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/065-b_cups/textured.mtl

@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/065-j_cups/material_0.mtl

@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/065-j_cups/textured.mtl

@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/073-c_lego_duplo/collision.obj

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msx_assets/object/073-c_lego_duplo/material_0.mtl

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+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/073-c_lego_duplo/textured.mtl

@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/storage_rack_02/rack_convex/storage_rack_02018.obj

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msx_assets/object/storage_rack_02/rack_convex/storage_rack_02019.obj

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msx_assets/object/storage_rack_02/rack_convex/storage_rack_02037.obj

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msx_assets/object/storage_rack_02/rack_convex/storage_rack_02045.obj

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msx_assets/object/storage_rack_02/rack_convex/storage_rack_02046.obj

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msx_assets/object/storage_rack_02/rack_convex/storage_rack_02049.obj

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project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/agents.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import random
+import numpy as np
+from franka_gym.utils import *
+import tf
+import copy
+
+MAX_JOINT_VELs = max_joint_vel = (np.ones(7)*0.13).tolist()
+MAX_CART_VELs = [0.008, 0.008, 0.008, 0.02]
+
+def clamp_action(action):
+    for i in range(action.shape[0]):
+        action[i] = min(
+            max(action[i], -MAX_JOINT_VELs[i]), MAX_JOINT_VELs[i]
+        )
+    return action
+
+
+class ExpertAgent:
+    def __init__(self):
+        self.nnnn = 5
+
+    def act(self, ee_states, ref_ee_states, jacobian, add_noise=True):
+        # quaternion vector from franka robot gym env:  [x,y,z,w, x, y, z]
+        # quaternion vector required in pytransform3d: (x, y, z, qw, qx, qy, qz)
+        ct = pbvs6(ee_states, ref_ee_states)
+        joint_vel = np.matmul(np.linalg.pinv(jacobian), np.expand_dims(ct, axis=1))
+        # print(joint_vel)
+        action = np.squeeze(joint_vel)  # [random.uniform(-max_vel * 0.2, max_vel * 0.2) for max_vel in MAX_JOINT_VELs]
+        sigma = 0.1
+        if add_noise:
+            action += np.random.normal(0, sigma, len(action))
+        return clamp_action(action)
+
+
+class RandomAgent:
+    def __init__(self, ref_pos):
+        self.random_target = self.initialize_random_target(copy.deepcopy(ref_pos))
+
+    def initialize_random_target(self, ref_pos):
+        # uniformly sample from ref_state, x [-0.2, 0.2], y[-0.2, 0.2], z[0, 0.2]
+        # rotation, roll, pitch, yaw [-70,70]
+        # quaternion vector from franka robot gym env:  [x,y,z,w, x, y, z]
+        random_xy = np.random.uniform(-0.10, 0.10, 2)
+        random_z = np.random.uniform(0, 0.2, 1)[0]
+        ref_pos[0:2] += random_xy
+        ref_pos[2] += random_z
+        rotation_angle = np.radians(10)
+        random_eulers = np.random.uniform(-rotation_angle, rotation_angle, 3)
+        eulers = tf.transformations.euler_from_quaternion((ref_pos[4], ref_pos[5], ref_pos[6], ref_pos[3]))
+        eulers = np.array(eulers) + random_eulers
+        quaternions = tf.transformations.quaternion_from_euler(eulers[0], eulers[1], eulers[2])  # tf output quaternion as x, y, z, w
+        ref_pos[3:7] = np.array([quaternions[3], quaternions[0], quaternions[1], quaternions[2]])
+        return ref_pos
+
+    def act(self, ee_states, ref_ee_states=None, jacobian=None, add_noise=True):
+        ct = pbvs6(ee_states, self.random_target)
+        joint_vel = np.matmul(np.linalg.pinv(jacobian), np.expand_dims(ct, axis=1))
+        # print(joint_vel)
+        action = np.squeeze(joint_vel)  # [random.uniform(-max_vel * 0.2, max_vel * 0.2) for max_vel in MAX_JOINT_VELs]
+        sigma = 0.1
+        if add_noise:
+            action += np.random.normal(0, sigma, len(action))*0.5
+        # add clamp to fix max vels
+        return clamp_action(action)

project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/data_collection.py

@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import time
+import pickle
+import random
+from franka_gym.utils import *
+from franka_gym.agents import *
+import franka_gym
+import gym
+import os
+import argparse
+import gc
+import time
+import matplotlib.pyplot as plt
+from pynput import keyboard
+
+path = '/home/franka/prompt_retriever/data'
+
+if not os.path.exists(path):
+    os.mkdir(path)
+
+
+def parse_arguments():
+    parser = argparse.ArgumentParser(description='args')
+    parser.add_argument('-c', '--config', help='config file.', default='example.yaml')
+    args = parser.parse_args()
+    return args
+
+
+def save(obj, path):
+    with open(path, 'wb') as f:
+        pickle.dump(obj, f)
+
+
+def on_release(key):
+    global run_episode
+
+    if key == keyboard.Key.esc:
+        run_episode = False;
+
+
+def collect_episode(grasp=0):
+    episode_info = []
+    global run_episode
+
+    while run_episode:
+        action = np.ones(8) * 0.0
+        action[-1] = grasp
+        next_obs, reward, done, info = env.step(action)
+        next_obs['image'] = None
+        next_obs['depth'] = None
+        episode_info.append(next_obs)
+        print(next_obs['joint_pos'])
+
+        if done:
+            print('task done, break!')
+            break
+
+    run_episode = True
+
+    return episode_info
+
+
+if __name__ == "__main__":
+    global run_episode
+    args = parse_arguments()
+    config_file_path = 'configs/' + args.config
+    configs = configure(config_file_path)
+    conf_exp = configs['experiment']
+    # if not os.path.exists(conf_exp['save-dir']):
+    #     os.mkdir(conf_exp['save-dir'])
+
+    env = gym.make(conf_exp['env-name'], config_file=config_file_path)
+    
+    # 0.013 is nice, 0.13 is too fast
+    max_joint_vel = (np.ones(7) * 0.03).tolist()
+    while True:
+        input("Press Enter to continue...")
+        episodes_ran = sorted(os.listdir(path), key=lambda x: int(x))
+        i_episode = 0
+        if len(episodes_ran) == 0:
+            i_episode = '0'
+            episode_path = os.path.join(path, i_episode)
+        else:
+            for e in episodes_ran:
+                episode_path = os.path.join(path, e)
+                if os.path.exists(os.path.join(episode_path, 'obs.pkl')):
+                    continue
+                i_episode = e
+                break
+            else:
+                i_episode = int(episodes_ran[-1]) + 1
+                episode_path = os.path.join(path, str(i_episode))
+
+        print("Running {}".format(i_episode))
+
+        listener = keyboard.Listener(on_release=on_release)
+        # run listener in background so that the while loop gets executed
+        listener.start()
+
+        if not os.path.exists(episode_path):
+            os.mkdir(episode_path)
+
+        obs = env.reset()
+        run_episode = True
+        episode_info = {}
+
+        print('Reaching ...')
+        episode_info['reach'] = collect_episode()
+        print('Grasping ...')
+        episode_info['grasp'] = collect_episode(1)
+        print('Placing ...')
+        episode_info['place'] = collect_episode(1)
+        print('Releasing ...')
+        episode_info['release'] = collect_episode()
+        print('Pressing ...')
+        episode_info['button'] = collect_episode(1)
+
+        print('Saving episode ...')
+        save(episode_info, os.path.join(episode_path, 'obs.pkl'))
+    env.close()

project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/utils.py

@@ -0,0 +1,309 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+# =============================================================================
+# Created By  : Jun Jin
+# Created Date: Thu May 14 MDT 2020
+# Revised Date: N/A
+# =============================================================================
+"""
+utils functions
+Copyright (c) 2019, Huawei Canada Inc.
+All rights reserved.
+"""
+
+import os
+import numpy as np
+import collections
+import math
+import random
+from collections import namedtuple
+from PIL import Image
+import pickle
+import time
+import yaml
+import pytransform3d.rotations as pr
+import pytransform3d.transformations as pt
+import time
+
+
+def configure(config_file):
+    """
+    Opens and reads the config file and stores the data in dictionary form as an instance attribute.
+
+    :param config_file: (.yaml) file consisting of simulation config
+    """
+    with open(config_file) as config:
+        try:
+            return yaml.safe_load(config)
+        except Exception as err:
+            print('Error Configuration File:{}'.format(err))
+            raise err
+
+
+def numpy_img_normalize(obs):
+    obs = obs.transpose((2, 0, 1)) / 255  # transform to C X H X W for pytorch support
+    obs += -(np.min(obs))
+    obs_max = np.max(obs)
+    if obs_max != 0:
+        obs /= np.max(obs) / 2
+    obs += -1
+    return obs
+
+
+def numpy_normalize(obs):
+    obs += -(np.min(obs))
+    obs_max = np.max(obs)
+    if obs_max != 0:
+        obs /= np.max(obs) / 2
+    obs += -1
+    return obs
+
+def numpy_img_to_torch(obs):
+    return obs.transpose((2, 0, 1)) / 255
+
+
+def grey_scale_img_norm(grey_scale_img):
+    obs = grey_scale_img/255
+    obs += -(np.min(obs))
+    obs_max = np.max(obs)
+    if obs_max != 0:
+        obs /= np.max(obs) / 2
+    obs += -1
+    return np.expand_dims(obs,0)
+
+def smoothly_move_to_position(robot, target_joints, control_frequency=30, motion_duration=4):
+    initial_pose = robot.joint_angles()  # get current joint angles of the robot
+    # print(initial_pose)
+    max_iterations = int(motion_duration * control_frequency)
+    for i in range(max_iterations):
+        vals = robot.joint_angles()
+        elapsed_time = i/control_frequency
+        ratio = math.exp(2*elapsed_time - 4)/(math.exp(2*elapsed_time - 4)+1)   # ration [0, 1]
+        #ratio = 1
+        for j in robot.joint_names():
+            vals[j] = initial_pose[j] + (target_joints[j] - initial_pose[j]) * ratio
+        robot.set_joint_positions(vals) # set joint positions for the robot.
+        time.sleep(1/control_frequency)
+    # fine tuning for accuracy, TODO
+    return True
+
+def smoothly_move_to_position_vel(robot, robot_status, target_joints, control_frequency=20, motion_duration=1):
+    def dict_to_numpy(dict_joints, robot):
+        numpy_joints = []
+        for j in robot.joint_names():
+            numpy_joints.append(dict_joints[j])
+        return np.array(numpy_joints)
+    
+    initial_pose = robot.joint_angles()  # get current joint angles of the robot
+    # print(initial_pose)
+    max_iterations = int(motion_duration * control_frequency)
+    robot_status.enable()
+    MAX_JOINT_VELs = 1
+    diff = np.linalg.norm(dict_to_numpy(robot.joint_angles(), robot) - dict_to_numpy(target_joints, robot))
+    while diff > 1e-3:
+        for _ in range(max_iterations):
+            vals = robot.joint_angles()
+            ratio = 1
+            for j in robot.joint_names():
+                vals[j] = (target_joints[j] - vals[j])*ratio
+                vals[j] = np.clip(vals[j], -MAX_JOINT_VELs, MAX_JOINT_VELs)
+            robot.set_joint_velocities(vals) # set joint positions for the robot.
+            time.sleep(1/control_frequency)
+        diff = np.linalg.norm(dict_to_numpy(robot.joint_angles(), robot) - dict_to_numpy(target_joints, robot))
+        # print('current diff', diff)
+    
+    # diff=[]
+    # vals = robot.joint_angles()
+    # for j in robot.joint_names():
+    #     diff.append(target_joints[j] - vals[j])
+    # print('rest error diff in joints')
+    # print(diff)
+    # fine tuning for accuracy, TODO
+    return True
+
+def scalar_out_of_range(scalar, range):
+    if scalar < range[0] or scalar > range[1]:
+        return True
+    else:
+        return False
+
+def random_val_continous(arg):
+    """
+    Will check if a value should be random, and randoimize it if so.
+
+    Parameters
+    ----------
+    arg : list or float
+        The value to possibly be randomized
+    Returns
+    -------
+    float
+        If arg is a list it is a random number between arg[0] and arg[1],
+        otherwise it is arg.
+    """
+    if isinstance(arg,list):
+        return random.uniform(*arg)
+    else:
+        return arg
+
+def extract_values(dict, ordered_keys):
+    values = []
+    for key in ordered_keys:
+        values.append(dict[key])
+    return values
+
+def generate_random_target_robot_pose(bullet_client, slot_id, yaw_bound=[-math.pi, math.pi]):
+    slot_pos, _ = bullet_client.getBasePositionAndOrientation(slot_id)
+    x, y, z = slot_pos
+    z = 0.9
+    orn_euler = [math.pi, 0, random.uniform(yaw_bound[0], yaw_bound[1])]
+    upright_orientation = bullet_client.getQuaternionFromEuler(orn_euler)
+    bullet_client.addUserDebugLine([x, y, z - 0.5], [x, y, z], lineColorRGB=[1, 0, 0])
+    return [x, y, z], upright_orientation
+
+def generate_skew_mat(v):
+    """
+    Returns the corresponding skew symmetric matrix from a 2-vector
+    """
+    skew_matrix=np.array([[0,-v[2],v[1]],[v[2],0,-v[0]],[-v[1],v[0],0]])
+    return skew_matrix
+
+def pbvs(current_pos, ref_pos, _lambda=0.1):
+    """
+
+    :param current_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :param ref_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :return:
+    """
+    current_pos = np.concatenate((current_pos[0:3], current_pos[6:7], current_pos[3:6]), axis=0)
+    tf_current_pos = pt.transform_from_pq(current_pos)
+    ref_pos = np.concatenate((ref_pos[0:3], ref_pos[6:7], ref_pos[3:6]), axis=0)
+    tf_ref_pos = pt.transform_from_pq(ref_pos)
+    tf_ref_pos_inv = pt.invert_transform(tf_ref_pos)
+    tf_current2ref = pt.concat(tf_ref_pos_inv, tf_current_pos)  # current to world + world to ref = current to ref
+    rotation_current2ref = tf_current2ref[0:3, 0:3]
+    translation_current2ref = tf_current2ref[0:3, 3]
+    # (x, y, z, angle). The angle is constrained to [0, pi].
+    axis_angle = pr.axis_angle_from_matrix(rotation_current2ref)
+    linear_vel = np.matmul(rotation_current2ref.T, translation_current2ref)
+    angular_vel = axis_angle[3] * axis_angle[0:3]
+    error_xyz = np.array(ref_pos[0:3]) - np.array(current_pos[0:3])
+    print(np.squeeze(error_xyz))
+    return (-1) * _lambda * np.hstack((linear_vel, angular_vel))
+
+
+def pbvs2(current_pos, ref_pos, _lambda=0.1):
+    current_pos = np.concatenate((current_pos[0:3], current_pos[6:7], current_pos[3:6]), axis=0)
+    print('current pos')
+    print(current_pos[0:3])
+    tf_current_pos = pt.transform_from_pq(current_pos)
+    ref_pos = np.concatenate((ref_pos[0:3], ref_pos[6:7], ref_pos[3:6]), axis=0)
+    # print('ref pos')
+    # print(ref_pos)
+    tf_ref_pos = pt.transform_from_pq(ref_pos)
+    R_rotated = np.dot(tf_current_pos[0:3, 0:3].T, tf_ref_pos[0:3, 0:3])
+    axis_angle = pr.axis_angle_from_matrix(R_rotated)
+    theta, u = axis_angle[3], axis_angle[0:3]
+    feature_current = np.concatenate((tf_current_pos[0:3, 3], theta * u), axis=0)
+    feature_target = np.concatenate((tf_ref_pos[0:3, 3], np.zeros(3)), axis=0)
+    error = feature_current - feature_target
+    # print(np.squeeze(error))
+
+    # interaction matrix
+    axis_angle = pr.axis_angle_from_matrix(tf_current_pos[0:3, 0:3])
+    theta, u = axis_angle[3], axis_angle[0:3]
+    L_top = np.concatenate((-np.identity(3), generate_skew_mat(tf_ref_pos[0:3, 3])), axis=1)
+    L_bottom = np.concatenate((np.zeros((3, 3)), (np.identity(3) - theta / 2 * generate_skew_mat(u) + (
+                1 - (np.sinc(theta) / (np.sinc(theta / 2) * np.sinc(theta / 2)))) * np.dot(generate_skew_mat(u),
+                                                                                           generate_skew_mat(u)))),
+                              axis=1)
+
+    L = np.concatenate((L_top, L_bottom), axis=0)
+    vel = -_lambda * np.dot(np.linalg.pinv(L), error)
+    next_pos = np.array(current_pos[0:3]) + vel[0:3]
+    print('next pos')
+    print(next_pos)
+    return vel
+
+
+def go_to_position(pos, ortn, env):
+    """
+
+    :param pos:
+    :param ortn:  [x,y,z,w]
+    :param env:
+    :return:
+    """
+    joint_poses = env.franka_robot.use_inverse_kinematics(pos, ortn, True)
+    joint_poses[7:] = [0, 0]
+    # env.franka_robot.apply_action_pos(joint_poses)
+    # for _ in range(100):
+    #     env.bullet_client.stepSimulation()
+    # reset_robot_pose(env.franka_robot, joint_poses)
+
+def expert_vel(current_pos, ref_pos, env, _lambda=0.1):
+    current_xyz = np.array(current_pos[0:3])
+    current_eulers = np.array(env.bullet_client.getEulerFromQuaternion(current_pos[3:7]))
+    ref_xyz = np.array(ref_pos[0:3])
+    next_xyz = current_xyz + (ref_xyz - current_xyz) * _lambda
+    ref_eulers = np.array(env.bullet_client.getEulerFromQuaternion(ref_pos[3:7]))
+    next_eulers = current_eulers + (ref_eulers - current_eulers) * _lambda
+    next_q_xyzw = env.bullet_client.getQuaternionFromEuler(next_eulers)
+    # current_q = np.concatenate((current_pos[4:5], current_pos[2:4]), axis=0)
+    #
+    # ref_q = np.concatenate((ref_pos[4:5], ref_pos[2:4]), axis=0)
+    # # w, x, y, z
+    # next_q_wxyz = pr.quaternion_slerp(current_q, ref_q, _lambda)
+    # next_q_xyzw = np.concatenate((ref_pos[1:4], ref_pos[0:1]), axis=0)
+    go_to_position(next_xyz, next_q_xyzw, env)
+
+
+def pbvs4(current_pos, ref_pos, _lambda=0.1):
+    """
+
+    :param current_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :param ref_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :return:
+    """
+    current_xyz = np.array(current_pos[0:3])
+    ref_xyz = np.array(ref_pos[0:3])
+    error = (ref_xyz - current_xyz) * _lambda
+    next_xyz = current_xyz + error
+    residual_error = np.linalg.norm(ref_xyz - current_xyz)
+    print('current | target | error | next')
+    print('[{:+.4f}] [{:+.4f}|{:+.4f}|{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}|{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}|{:+.4f}|{:+.4f}]'.format(residual_error, current_xyz[0], ref_xyz[0], error[0], next_xyz[0], current_xyz[1], ref_xyz[1], error[1], next_xyz[1], current_xyz[2], ref_xyz[2], error[2], next_xyz[2]))
+    return error
+
+def change_qxyzw2qwxyz(q):
+    new_q = np.concatenate((q[3:4], q[0:3]), axis=0)
+    return new_q
+
+def pbvs5(current_pos, ref_pos, _lambda=0.1):
+    current_qxyzw = change_qxyzw2qwxyz(current_pos[3:7])
+    ref_qxyzw = change_qxyzw2qwxyz(ref_pos[3:7])
+    next_qxyzw = pr.quaternion_slerp(current_qxyzw, ref_qxyzw, _lambda)
+    #  (w, x, y, z)
+    # Compute the rotation in angle-axis format that rotates next_qxyzw into current_qxyzw.
+    (x, y, z, angle) = pr.quaternion_diff(current_qxyzw, ref_qxyzw)
+    error = (-1) * _lambda * angle * np.array([x,y,z])
+    print('current | target | error | next')
+    print('[{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}]'.format(current_pos[3], ref_pos[3], current_pos[4], ref_pos[4],current_pos[5], ref_pos[5],current_pos[6], ref_pos[6]))
+    return error
+
+
+def pbvs6(current_pos, ref_pos, _lambda_xyz=1.2, _lambda_orn=1.2):
+    current_xyz = np.array(current_pos[0:3])
+    ref_xyz = np.array(ref_pos[0:3])  # + [0,0,0.005]
+    residual_error = np.linalg.norm(ref_xyz - current_xyz)
+    if residual_error<0.008:
+        ref_xyz = np.array(ref_pos[0:3]) - [0, 0, 0.001]
+    error_xyz = (ref_xyz - current_xyz)*_lambda_xyz
+    # next_xyz = current_xyz + error_xyz
+    current_qxyzw = current_pos[3:7]
+    ref_qxyzw = ref_pos[3:7]
+    # Compute the rotation in angle-axis format that rotates next_qxyzw into current_qxyzw.
+    (x, y, z, angle) = pr.quaternion_diff(current_qxyzw, ref_qxyzw)
+    error_orn = (-1) * _lambda_orn * angle * np.array([x, y, z])
+    # print('current | target')
+    # print('[xyz {:+.4f}] [{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}], q [{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}]'.format(residual_error, current_xyz[0], ref_xyz[0], current_xyz[1], ref_xyz[1], current_xyz[2], ref_xyz[2], current_pos[2], ref_pos[2], current_pos[4], ref_pos[4],current_pos[5], ref_pos[5],current_pos[4], ref_pos[4]))
+    return np.hstack((error_xyz, error_orn))

project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/pkg_resources/api_tests.txt

@@ -0,0 +1,424 @@
+Pluggable Distributions of Python Software
+==========================================
+
+Distributions
+-------------
+
+A "Distribution" is a collection of files that represent a "Release" of a
+"Project" as of a particular point in time, denoted by a
+"Version"::
+
+    >>> import sys, pkg_resources
+    >>> from pkg_resources import Distribution
+    >>> Distribution(project_name="Foo", version="1.2")
+    Foo 1.2
+
+Distributions have a location, which can be a filename, URL, or really anything
+else you care to use::
+
+    >>> dist = Distribution(
+    ...     location="http://example.com/something",
+    ...     project_name="Bar", version="0.9"
+    ... )
+
+    >>> dist
+    Bar 0.9 (http://example.com/something)
+
+
+Distributions have various introspectable attributes::
+
+    >>> dist.location
+    'http://example.com/something'
+
+    >>> dist.project_name
+    'Bar'
+
+    >>> dist.version
+    '0.9'
+
+    >>> dist.py_version == '{}.{}'.format(*sys.version_info)
+    True
+
+    >>> print(dist.platform)
+    None
+
+Including various computed attributes::
+
+    >>> from pkg_resources import parse_version
+    >>> dist.parsed_version == parse_version(dist.version)
+    True
+
+    >>> dist.key    # case-insensitive form of the project name
+    'bar'
+
+Distributions are compared (and hashed) by version first::
+
+    >>> Distribution(version='1.0') == Distribution(version='1.0')
+    True
+    >>> Distribution(version='1.0') == Distribution(version='1.1')
+    False
+    >>> Distribution(version='1.0') <  Distribution(version='1.1')
+    True
+
+but also by project name (case-insensitive), platform, Python version,
+location, etc.::
+
+    >>> Distribution(project_name="Foo",version="1.0") == \
+    ... Distribution(project_name="Foo",version="1.0")
+    True
+
+    >>> Distribution(project_name="Foo",version="1.0") == \
+    ... Distribution(project_name="foo",version="1.0")
+    True
+
+    >>> Distribution(project_name="Foo",version="1.0") == \
+    ... Distribution(project_name="Foo",version="1.1")
+    False
+
+    >>> Distribution(project_name="Foo",py_version="2.3",version="1.0") == \
+    ... Distribution(project_name="Foo",py_version="2.4",version="1.0")
+    False
+
+    >>> Distribution(location="spam",version="1.0") == \
+    ... Distribution(location="spam",version="1.0")
+    True
+
+    >>> Distribution(location="spam",version="1.0") == \
+    ... Distribution(location="baz",version="1.0")
+    False
+
+
+
+Hash and compare distribution by prio/plat
+
+Get version from metadata
+provider capabilities
+egg_name()
+as_requirement()
+from_location, from_filename (w/path normalization)
+
+Releases may have zero or more "Requirements", which indicate
+what releases of another project the release requires in order to
+function.  A Requirement names the other project, expresses some criteria
+as to what releases of that project are acceptable, and lists any "Extras"
+that the requiring release may need from that project.  (An Extra is an
+optional feature of a Release, that can only be used if its additional
+Requirements are satisfied.)
+
+
+
+The Working Set
+---------------
+
+A collection of active distributions is called a Working Set.  Note that a
+Working Set can contain any importable distribution, not just pluggable ones.
+For example, the Python standard library is an importable distribution that
+will usually be part of the Working Set, even though it is not pluggable.
+Similarly, when you are doing development work on a project, the files you are
+editing are also a Distribution.  (And, with a little attention to the
+directory names used,  and including some additional metadata, such a
+"development distribution" can be made pluggable as well.)
+
+    >>> from pkg_resources import WorkingSet
+
+A working set's entries are the sys.path entries that correspond to the active
+distributions.  By default, the working set's entries are the items on
+``sys.path``::
+
+    >>> ws = WorkingSet()
+    >>> ws.entries == sys.path
+    True
+
+But you can also create an empty working set explicitly, and add distributions
+to it::
+
+    >>> ws = WorkingSet([])
+    >>> ws.add(dist)
+    >>> ws.entries
+    ['http://example.com/something']
+    >>> dist in ws
+    True
+    >>> Distribution('foo',version="") in ws
+    False
+
+And you can iterate over its distributions::
+
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+Adding the same distribution more than once is a no-op::
+
+    >>> ws.add(dist)
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+For that matter, adding multiple distributions for the same project also does
+nothing, because a working set can only hold one active distribution per
+project -- the first one added to it::
+
+    >>> ws.add(
+    ...     Distribution(
+    ...         'http://example.com/something', project_name="Bar",
+    ...         version="7.2"
+    ...     )
+    ... )
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+You can append a path entry to a working set using ``add_entry()``::
+
+    >>> ws.entries
+    ['http://example.com/something']
+    >>> ws.add_entry(pkg_resources.__file__)
+    >>> ws.entries
+    ['http://example.com/something', '...pkg_resources...']
+
+Multiple additions result in multiple entries, even if the entry is already in
+the working set (because ``sys.path`` can contain the same entry more than
+once)::
+
+    >>> ws.add_entry(pkg_resources.__file__)
+    >>> ws.entries
+    ['...example.com...', '...pkg_resources...', '...pkg_resources...']
+
+And you can specify the path entry a distribution was found under, using the
+optional second parameter to ``add()``::
+
+    >>> ws = WorkingSet([])
+    >>> ws.add(dist,"foo")
+    >>> ws.entries
+    ['foo']
+
+But even if a distribution is found under multiple path entries, it still only
+shows up once when iterating the working set:
+
+    >>> ws.add_entry(ws.entries[0])
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+You can ask a WorkingSet to ``find()`` a distribution matching a requirement::
+
+    >>> from pkg_resources import Requirement
+    >>> print(ws.find(Requirement.parse("Foo==1.0")))   # no match, return None
+    None
+
+    >>> ws.find(Requirement.parse("Bar==0.9"))  # match, return distribution
+    Bar 0.9 (http://example.com/something)
+
+Note that asking for a conflicting version of a distribution already in a
+working set triggers a ``pkg_resources.VersionConflict`` error:
+
+    >>> try:
+    ...     ws.find(Requirement.parse("Bar==1.0"))
+    ... except pkg_resources.VersionConflict as exc:
+    ...     print(str(exc))
+    ... else:
+    ...     raise AssertionError("VersionConflict was not raised")
+    (Bar 0.9 (http://example.com/something), Requirement.parse('Bar==1.0'))
+
+You can subscribe a callback function to receive notifications whenever a new
+distribution is added to a working set.  The callback is immediately invoked
+once for each existing distribution in the working set, and then is called
+again for new distributions added thereafter::
+
+    >>> def added(dist): print("Added %s" % dist)
+    >>> ws.subscribe(added)
+    Added Bar 0.9
+    >>> foo12 = Distribution(project_name="Foo", version="1.2", location="f12")
+    >>> ws.add(foo12)
+    Added Foo 1.2
+
+Note, however, that only the first distribution added for a given project name
+will trigger a callback, even during the initial ``subscribe()`` callback::
+
+    >>> foo14 = Distribution(project_name="Foo", version="1.4", location="f14")
+    >>> ws.add(foo14)   # no callback, because Foo 1.2 is already active
+
+    >>> ws = WorkingSet([])
+    >>> ws.add(foo12)
+    >>> ws.add(foo14)
+    >>> ws.subscribe(added)
+    Added Foo 1.2
+
+And adding a callback more than once has no effect, either::
+
+    >>> ws.subscribe(added)     # no callbacks
+
+    # and no double-callbacks on subsequent additions, either
+    >>> just_a_test = Distribution(project_name="JustATest", version="0.99")
+    >>> ws.add(just_a_test)
+    Added JustATest 0.99
+
+
+Finding Plugins
+---------------
+
+``WorkingSet`` objects can be used to figure out what plugins in an
+``Environment`` can be loaded without any resolution errors::
+
+    >>> from pkg_resources import Environment
+
+    >>> plugins = Environment([])   # normally, a list of plugin directories
+    >>> plugins.add(foo12)
+    >>> plugins.add(foo14)
+    >>> plugins.add(just_a_test)
+
+In the simplest case, we just get the newest version of each distribution in
+the plugin environment::
+
+    >>> ws = WorkingSet([])
+    >>> ws.find_plugins(plugins)
+    ([JustATest 0.99, Foo 1.4 (f14)], {})
+
+But if there's a problem with a version conflict or missing requirements, the
+method falls back to older versions, and the error info dict will contain an
+exception instance for each unloadable plugin::
+
+    >>> ws.add(foo12)   # this will conflict with Foo 1.4
+    >>> ws.find_plugins(plugins)
+    ([JustATest 0.99, Foo 1.2 (f12)], {Foo 1.4 (f14): VersionConflict(...)})
+
+But if you disallow fallbacks, the failed plugin will be skipped instead of
+trying older versions::
+
+    >>> ws.find_plugins(plugins, fallback=False)
+    ([JustATest 0.99], {Foo 1.4 (f14): VersionConflict(...)})
+
+
+
+Platform Compatibility Rules
+----------------------------
+
+On the Mac, there are potential compatibility issues for modules compiled
+on newer versions of macOS than what the user is running. Additionally,
+macOS will soon have two platforms to contend with: Intel and PowerPC.
+
+Basic equality works as on other platforms::
+
+    >>> from pkg_resources import compatible_platforms as cp
+    >>> reqd = 'macosx-10.4-ppc'
+    >>> cp(reqd, reqd)
+    True
+    >>> cp("win32", reqd)
+    False
+
+Distributions made on other machine types are not compatible::
+
+    >>> cp("macosx-10.4-i386", reqd)
+    False
+
+Distributions made on earlier versions of the OS are compatible, as
+long as they are from the same top-level version. The patchlevel version
+number does not matter::
+
+    >>> cp("macosx-10.4-ppc", reqd)
+    True
+    >>> cp("macosx-10.3-ppc", reqd)
+    True
+    >>> cp("macosx-10.5-ppc", reqd)
+    False
+    >>> cp("macosx-9.5-ppc", reqd)
+    False
+
+Backwards compatibility for packages made via earlier versions of
+setuptools is provided as well::
+
+    >>> cp("darwin-8.2.0-Power_Macintosh", reqd)
+    True
+    >>> cp("darwin-7.2.0-Power_Macintosh", reqd)
+    True
+    >>> cp("darwin-8.2.0-Power_Macintosh", "macosx-10.3-ppc")
+    False
+
+
+Environment Markers
+-------------------
+
+    >>> from pkg_resources import invalid_marker as im, evaluate_marker as em
+    >>> import os
+
+    >>> print(im("sys_platform"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        sys_platform
+                    ^
+
+    >>> print(im("sys_platform=="))
+    Expected a marker variable or quoted string
+        sys_platform==
+                      ^
+
+    >>> print(im("sys_platform=='win32'"))
+    False
+
+    >>> print(im("sys=='x'"))
+    Expected a marker variable or quoted string
+        sys=='x'
+        ^
+
+    >>> print(im("(extra)"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        (extra)
+              ^
+
+    >>> print(im("(extra"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        (extra
+              ^
+
+    >>> print(im("os.open('foo')=='y'"))
+    Expected a marker variable or quoted string
+        os.open('foo')=='y'
+        ^
+
+    >>> print(im("'x'=='y' and os.open('foo')=='y'"))   # no short-circuit!
+    Expected a marker variable or quoted string
+        'x'=='y' and os.open('foo')=='y'
+                     ^
+
+    >>> print(im("'x'=='x' or os.open('foo')=='y'"))   # no short-circuit!
+    Expected a marker variable or quoted string
+        'x'=='x' or os.open('foo')=='y'
+                    ^
+
+    >>> print(im("r'x'=='x'"))
+    Expected a marker variable or quoted string
+        r'x'=='x'
+        ^
+
+    >>> print(im("'''x'''=='x'"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        '''x'''=='x'
+          ^
+
+    >>> print(im('"""x"""=="x"'))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        """x"""=="x"
+          ^
+
+    >>> print(im(r"x\n=='x'"))
+    Expected a marker variable or quoted string
+        x\n=='x'
+        ^
+
+    >>> print(im("os.open=='y'"))
+    Expected a marker variable or quoted string
+        os.open=='y'
+        ^
+
+    >>> em("sys_platform=='win32'") == (sys.platform=='win32')
+    True
+
+    >>> em("python_version >= '2.7'")
+    True
+
+    >>> em("python_version > '2.6'")
+    True
+
+    >>> im("implementation_name=='cpython'")
+    False
+
+    >>> im("platform_python_implementation=='CPython'")
+    False
+
+    >>> im("implementation_version=='3.5.1'")
+    False