From 7bc36300b04bb157add128f359baef158f36936a Mon Sep 17 00:00:00 2001 From: JeanElsner Date: Sat, 25 Nov 2023 03:28:20 +0100 Subject: [PATCH 1/4] Move to radian/quat description --- doc/tutorial.rst | 2 +- examples/assets/two_arm.xml | 12 ++------ examples/rl_environment.py | 2 +- src/dm_robotics/panda/assets/panda/panda.xml | 28 +++++++++---------- .../panda/assets/panda/panda_hand.xml | 11 ++++---- src/dm_robotics/panda/environment.py | 2 -- 6 files changed, 24 insertions(+), 33 deletions(-) diff --git a/doc/tutorial.rst b/doc/tutorial.rst index 6cecc28..d7981bf 100644 --- a/doc/tutorial.rst +++ b/doc/tutorial.rst @@ -374,7 +374,7 @@ The latter allows us to attach cameras to the robots as well. panda_env.robots[robot_params.name].gripper.tool_center_point.parent.add( 'camera', pos=(.1, 0, -.1), - euler=(180, 0, -90), + euler=(np.pi, 0, -np.pi / 2), fovy=90, name='wrist_camera') diff --git a/examples/assets/two_arm.xml b/examples/assets/two_arm.xml index 8efd397..cb4987d 100644 --- a/examples/assets/two_arm.xml +++ b/examples/assets/two_arm.xml @@ -4,23 +4,17 @@ - - - - - - - + - - + + diff --git a/examples/rl_environment.py b/examples/rl_environment.py index 8f90702..c0e50eb 100644 --- a/examples/rl_environment.py +++ b/examples/rl_environment.py @@ -74,7 +74,7 @@ def goal_reward(observation: spec_utils.ObservationValue): panda_env.robots[robot_params.name].gripper.tool_center_point.parent.add( 'camera', pos=(.1, 0, -.1), - euler=(180, 0, -90), + euler=(np.pi, 0, -np.pi / 2), fovy=90, name='wrist_camera') diff --git a/src/dm_robotics/panda/assets/panda/panda.xml b/src/dm_robotics/panda/assets/panda/panda.xml index 1ff5716..a1f748c 100644 --- a/src/dm_robotics/panda/assets/panda/panda.xml +++ b/src/dm_robotics/panda/assets/panda/panda.xml @@ -1,5 +1,5 @@ - + @@ -32,37 +32,37 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + diff --git a/src/dm_robotics/panda/assets/panda/panda_hand.xml b/src/dm_robotics/panda/assets/panda/panda_hand.xml index 86e5517..d9b649b 100644 --- a/src/dm_robotics/panda/assets/panda/panda_hand.xml +++ b/src/dm_robotics/panda/assets/panda/panda_hand.xml @@ -1,5 +1,5 @@ - + @@ -19,17 +19,17 @@ - + - + - + @@ -44,7 +44,6 @@ - - + diff --git a/src/dm_robotics/panda/environment.py b/src/dm_robotics/panda/environment.py index 2620434..548e830 100644 --- a/src/dm_robotics/panda/environment.py +++ b/src/dm_robotics/panda/environment.py @@ -32,8 +32,6 @@ def __init__(self, self._robot_params = robot_params if isinstance( robot_params, Sequence) else [robot_params] self._control_timestep = control_timestep - - self._arena.mjcf_model.compiler.angle = 'degree' self._arena.mjcf_model.option.timestep = physics_timestep self._robots = collections.OrderedDict() From b8a522fefcf58c3b3899ee84e8f7726c829c1580 Mon Sep 17 00:00:00 2001 From: JeanElsner Date: Sat, 25 Nov 2023 04:12:25 +0100 Subject: [PATCH 2/4] Custom gripper interface and tutorial section --- doc/img/custom_gripper.png | Bin 0 -> 230862 bytes 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index d7981bf..9b09475 100644 --- a/doc/tutorial.rst +++ b/doc/tutorial.rst @@ -311,6 +311,33 @@ body to rotate it, while the motion remains invariant. .. youtube:: cAUjkhrBmN4 +Custom Gripper +-------------- + +You can use the Panda model with any gripper that implements the ``dm_robotics`` gripper interface. +The example implemented in ``examples/custom_gripper.py`` uses a model of the `Robotiq 2-finger 85` +gripper, sensor and effector to attach to a Panda robot. This is again done using the robot configuration. + +.. code:: python + + gripper = robotiq_2f85.Robotiq2F85() + gripper_params = params.GripperParams( + model=gripper, + effector=default_gripper_effector.DefaultGripperEffector( + gripper, 'robotique'), + sensors=[ + robotiq_gripper_sensor.RobotiqGripperSensor(gripper, 'robotique') + ]) + robot_params = params.RobotParams(gripper=gripper_params, has_hand=False) + +Gripper parameters above include model, sensors and an effector that are part of the robot configuration. +You also need to set ``has_hand`` to `False`, otherwise the Panda gripper will be used. The Robotiq gripper +can be controlled continuously and the example uses a simple agent to apply a sinusoidal action to control +the gripper. The resulting model is pictured below. + +.. image:: img/custom_gripper.png + :alt: Custom Gripper + RL Environment -------------- diff --git a/examples/custom_gripper.py b/examples/custom_gripper.py new file mode 100644 index 0000000..f6e6971 --- /dev/null +++ b/examples/custom_gripper.py @@ -0,0 +1,60 @@ +"""Example showing how to use a custom gripper with the Panda model.""" +import dm_env +import numpy as np +from dm_env import specs +from dm_robotics.moma.effectors import default_gripper_effector +from dm_robotics.moma.models.end_effectors.robot_hands import robotiq_2f85 +from dm_robotics.moma.sensors import robotiq_gripper_sensor + +from dm_robotics.panda import environment +from dm_robotics.panda import parameters as params +from dm_robotics.panda import run_loop, utils + + +class Agent: + """Agents are used to control a robot's actions given + current observations and rewards. + """ + + def __init__(self, spec: specs.BoundedArray) -> None: + self._spec = spec + + def step(self, timestep: dm_env.TimeStep) -> np.ndarray: + """Sinusoidal movement of the gripper's fingers.""" + time = timestep.observation['time'][0] + action = np.zeros(shape=self._spec.shape, dtype=self._spec.dtype) + action[6] = 255 * np.sin(time) + return action + + +if __name__ == '__main__': + # We initialize the default configuration for logging + # and argument parsing. These steps are optional. + utils.init_logging() + parser = utils.default_arg_parser() + args = parser.parse_args() + + gripper = robotiq_2f85.Robotiq2F85() + gripper_params = params.GripperParams( + model=gripper, + effector=default_gripper_effector.DefaultGripperEffector( + gripper, 'robotique'), + sensors=[ + robotiq_gripper_sensor.RobotiqGripperSensor(gripper, 'robotique') + ]) + + # Use RobotParams to customize Panda robots added to the environment. + robot_params = params.RobotParams(gripper=gripper_params, has_hand=False) + panda_env = environment.PandaEnvironment(robot_params) + + with panda_env.build_task_environment() as env: + # Print the full action, observation and reward specification + utils.full_spec(env) + # Initialize the agent + agent = Agent(env.action_spec()) + # Run the environment and agent either in headless mode or inside the GUI. + if args.gui: + app = utils.ApplicationWithPlot() + app.launch(env, policy=agent.step) + else: + run_loop.run(env, agent, [], max_steps=1000, real_time=True) diff --git a/src/dm_robotics/panda/arm.py b/src/dm_robotics/panda/arm.py index fbdaeb9..d3a6fe7 100644 --- a/src/dm_robotics/panda/arm.py +++ b/src/dm_robotics/panda/arm.py @@ -491,16 +491,21 @@ def build_robot(robot_params: params.RobotParams) -> robot.Robot: ns_gripper = f'{robot_params.name}_gripper' if robot_params.has_hand: - _gripper = gripper_module.PandaHand(name=ns_gripper) - panda_hand_sensor = gripper_module.PandaHandSensor(_gripper, ns_gripper) + gripper = gripper_module.PandaHand(name=ns_gripper) + panda_hand_sensor = gripper_module.PandaHandSensor(gripper, ns_gripper) robot_sensors.append(panda_hand_sensor) - gripper_effector = gripper_module.PandaHandEffector(robot_params, _gripper, + gripper_effector = gripper_module.PandaHandEffector(robot_params, gripper, panda_hand_sensor) + elif robot_params.gripper is not None: + gripper = robot_params.gripper.model + if robot_params.gripper.sensors is not None: + robot_sensors.extend(robot_params.gripper.sensors) + gripper_effector = robot_params.gripper.effector else: - _gripper = gripper_module.DummyHand(name=ns_gripper) + gripper = gripper_module.DummyHand(name=ns_gripper) gripper_effector = None - tcp_sensor = RobotTCPSensor(_gripper, robot_params) + tcp_sensor = RobotTCPSensor(gripper, robot_params) robot_sensors.extend([ ExternalWrenchObserver(robot_params, arm, arm_sensor), tcp_sensor, arm_sensor @@ -513,14 +518,14 @@ def build_robot(robot_params: params.RobotParams) -> robot.Robot: _arm_effector = ArmEffector(robot_params, arm) elif robot_params.actuation == consts.Actuation.CARTESIAN_VELOCITY: joint_velocity_effector = ArmEffector(robot_params, arm) - _arm_effector = Cartesian6dVelocityEffector(robot_params, arm, _gripper, + _arm_effector = Cartesian6dVelocityEffector(robot_params, arm, gripper, joint_velocity_effector, tcp_sensor) - robot.standard_compose(arm, _gripper) + robot.standard_compose(arm, gripper) moma_robot = robot.StandardRobot(arm=arm, arm_base_site_name=arm.base_site.name, - gripper=_gripper, + gripper=gripper, robot_sensors=robot_sensors, arm_effector=_arm_effector, gripper_effector=gripper_effector) diff --git a/src/dm_robotics/panda/hardware.py b/src/dm_robotics/panda/hardware.py index 6b17063..286e4ee 100644 --- a/src/dm_robotics/panda/hardware.py +++ b/src/dm_robotics/panda/hardware.py @@ -234,6 +234,11 @@ def build_robot(robot_params: params.RobotParams) -> robot.Robot: robot_sensors.append(panda_hand_sensor) gripper_effector = PandaHandEffector(robot_params, gripper, panda_hand_sensor, hardware_gripper) + elif robot_params.gripper is not None: + gripper = robot_params.gripper.model + if robot_params.gripper.sensors is not None: + robot_sensors.extend(robot_params.gripper.sensors) + gripper_effector = robot_params.gripper.effector else: gripper = gripper_module.DummyHand(name=ns_gripper) gripper_effector = None diff --git a/src/dm_robotics/panda/parameters.py b/src/dm_robotics/panda/parameters.py index 2a40ad9..f04c60d 100644 --- a/src/dm_robotics/panda/parameters.py +++ b/src/dm_robotics/panda/parameters.py @@ -3,10 +3,20 @@ from typing import Optional, Sequence from dm_control import mjcf +from dm_robotics.moma import effector, sensor +from dm_robotics.moma.models.end_effectors.robot_hands import robot_hand from . import arm_constants +@dataclasses.dataclass +class GripperParams: + """Parameters describing a custom gripper.""" + model: robot_hand.RobotHand + effector: effector.Effector + sensors: Optional[Sequence[sensor.Sensor]] = None + + @dataclasses.dataclass class RobotParams: """Parameters used for building the Panda robot model. @@ -33,6 +43,7 @@ class RobotParams: control_frame: Optional[mjcf.Element] = None actuation: arm_constants.Actuation = arm_constants.Actuation.CARTESIAN_VELOCITY has_hand: bool = True + gripper: Optional[GripperParams] = None robot_ip: Optional[str] = None joint_stiffness: Sequence[float] = (600, 600, 600, 600, 250, 150, 50) joint_damping: Sequence[float] = (50, 50, 50, 20, 20, 20, 10) diff --git a/test/test_environment.py b/test/test_environment.py index 491bd8d..bdb37f3 100644 --- a/test/test_environment.py +++ b/test/test_environment.py @@ -1,5 +1,6 @@ import numpy as np from dm_control import mjcf +from dm_control.composer.variation import distributions, rotations from dm_env import specs from dm_robotics.agentflow.preprocessors import rewards from dm_robotics.moma import effector, entity_initializer, prop @@ -58,7 +59,8 @@ def test_components(): panda_env.add_props(props) entity_initializers = [ - entity_initializer.PropPlacer(props, [0, 0, 0], [1, 0, 0, 0]) + entity_initializer.prop_initializer.PropPlacer( + props, distributions.Uniform(-1, 1), rotations.UniformQuaternion()) ] panda_env.add_extra_effectors(extra_effectors) panda_env.add_extra_sensors(extra_sensors) @@ -66,5 +68,5 @@ def test_components(): panda_env.add_scene_initializers([initialize_scene]) panda_env.add_timestep_preprocessors(preprocessors) - with panda_env.build_task_environment(): + with panda_env.build_task_environment() as env: pass From 6bd75d5500bdf6763237b043780ba82abf1f3183 Mon Sep 17 00:00:00 2001 From: JeanElsner Date: Sat, 25 Nov 2023 04:26:18 +0100 Subject: [PATCH 3/4] Add custom gripper test --- test/test_arm.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/test/test_arm.py b/test/test_arm.py index c8e2880..1f8d80e 100644 --- a/test/test_arm.py +++ b/test/test_arm.py @@ -1,5 +1,8 @@ import numpy as np from dm_control import mjcf +from dm_robotics.moma.effectors import default_gripper_effector +from dm_robotics.moma.models.end_effectors.robot_hands import robotiq_2f85 +from dm_robotics.moma.sensors import robotiq_gripper_sensor from numpy import testing from dm_robotics.panda import arm, arm_constants, parameters @@ -27,6 +30,7 @@ def test_arm_effector(): physics = mjcf.Physics.from_mjcf_model(robot.mjcf_model) effector = arm.ArmEffector(robot_params, robot) effector.set_control(physics, np.zeros(7, dtype=np.float32)) + robot.after_substep(physics, np.random.RandomState(0)) effector.close() @@ -37,3 +41,15 @@ def test_arm_haptic(): physics = mjcf.Physics.from_mjcf_model(robot.mjcf_model) effector = arm.ArmEffector(robot_params, robot) effector.set_control(physics, np.zeros(0, dtype=np.float32)) + + +def test_custom_gripper(): + gripper = robotiq_2f85.Robotiq2F85() + gripper_params = parameters.GripperParams( + model=gripper, + effector=default_gripper_effector.DefaultGripperEffector( + gripper, 'robotique'), + sensors=[ + robotiq_gripper_sensor.RobotiqGripperSensor(gripper, 'robotique') + ]) + arm.build_robot(parameters.RobotParams(gripper=gripper_params)) From 1b469cdddd3c2168e604a4aa9d7c5f944987bc29 Mon Sep 17 00:00:00 2001 From: JeanElsner Date: Sat, 25 Nov 2023 04:46:10 +0100 Subject: [PATCH 4/4] Additional tests --- test/test_arm.py | 3 ++- test/test_hardware.py | 20 +++++++++++++++++++- 2 files changed, 21 insertions(+), 2 deletions(-) diff --git a/test/test_arm.py b/test/test_arm.py index 1f8d80e..314f153 100644 --- a/test/test_arm.py +++ b/test/test_arm.py @@ -52,4 +52,5 @@ def test_custom_gripper(): sensors=[ robotiq_gripper_sensor.RobotiqGripperSensor(gripper, 'robotique') ]) - arm.build_robot(parameters.RobotParams(gripper=gripper_params)) + arm.build_robot(parameters.RobotParams(gripper=gripper_params, + has_hand=False)) diff --git a/test/test_hardware.py b/test/test_hardware.py index 7193322..3c1b328 100644 --- a/test/test_hardware.py +++ b/test/test_hardware.py @@ -3,7 +3,11 @@ import numpy as np import pytest from dm_control import mjcf -from dm_robotics.moma.sensors import joint_observations, wrench_observations +from dm_robotics.moma.effectors import default_gripper_effector +from dm_robotics.moma.models.end_effectors.robot_hands import robotiq_2f85 +from dm_robotics.moma.sensors import (joint_observations, + robotiq_gripper_sensor, + wrench_observations) from dm_robotics.panda import arm, hardware, parameters @@ -63,3 +67,17 @@ def test_wrench_sensor(mock_hardware): wrench_observations.Observations.FORCE)](physics) sensor.observables[sensor.get_obs_key( wrench_observations.Observations.TORQUE)](physics) + + +def test_custom_gripper(): + with patch('panda_py.Panda') as mock_panda: + gripper = robotiq_2f85.Robotiq2F85() + gripper_params = parameters.GripperParams( + model=gripper, + effector=default_gripper_effector.DefaultGripperEffector( + gripper, 'robotique'), + sensors=[ + robotiq_gripper_sensor.RobotiqGripperSensor(gripper, 'robotique') + ]) + hardware.build_robot( + parameters.RobotParams(gripper=gripper_params, has_hand=False))