diff --git a/README.md b/README.md index 864c7673..6728fab3 100644 --- a/README.md +++ b/README.md @@ -14,7 +14,7 @@ **Robot Control Stack (RCS)** is a flexible, native [Gymnasium](https://gymnasium.farama.org/) wrapper-based robot control interface designed specifically for modern robot learning and Vision-Language-Action (VLA) models. -It completely unifies **MuJoCo simulation** and real-world physical robot control into a single, seamless API. Currently, RCS natively supports five robots out-of-the-box: **Franka FR3/Panda, xArm7, UR5e, SO101, and I2RT YAM.** +It completely unifies **MuJoCo simulation** and real-world physical robot control into a single, seamless API. Currently, RCS natively supports six robots out-of-the-box: **Franka FR3/Panda, xArm7, UR5e, SO101, I2RT YAM, and Flexiv Rizon 4s** (Rizon 4s in simulation only so far). ![RCS Demo](https://raw.githubusercontent.com/RobotControlStack/robotcontrolstack.github.io/refs/heads/master/static/videos/grid.webp) diff --git a/THIRD_PARTY_ASSET_LICENSES.md b/THIRD_PARTY_ASSET_LICENSES.md index 852be8cf..40e5704b 100644 --- a/THIRD_PARTY_ASSET_LICENSES.md +++ b/THIRD_PARTY_ASSET_LICENSES.md @@ -23,6 +23,16 @@ The following directories contain third-party assets: - `assets/grippers/robotiq_2f85/` Origin: MuJoCo Menagerie `robotiq_2f85/` License: BSD-style license reproduced below +- `assets/robots/rizon4s/` + Origin: MuJoCo Menagerie `flexiv_rizon4s/` + License: Apache License 2.0 +- `assets/robots/yam/` + Origin: MuJoCo Menagerie `i2rt_yam/` + License: MIT license reproduced below +- `assets/grippers/flexiv_grav/` + Origin: meshes from Flexiv Robotics `flexiv_description` (https://github.com/flexivrobotics/flexiv_description), + MJCF generated from its URDF by `assets/grippers/flexiv_grav/convert_from_urdf.py` + License: Apache License 2.0 - `assets/cameras/d405/` Origin: Intel RealSense D405 camera assets distributed via MuJoCo Menagerie RealSense assets License: Apache License 2.0 notice reproduced below for the upstream Intel RealSense asset family @@ -319,3 +329,29 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ``` + +## I2RT YAM + +```text +MIT License + +Copyright (c) 2025 i2rt robotics + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +``` diff --git a/assets/grippers/flexiv_grav/assets/base.stl b/assets/grippers/flexiv_grav/assets/base.stl new file mode 100644 index 00000000..e94004b8 Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/base.stl differ diff --git a/assets/grippers/flexiv_grav/assets/base_collision.stl b/assets/grippers/flexiv_grav/assets/base_collision.stl new file mode 100644 index 00000000..9f49772d Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/base_collision.stl differ diff --git a/assets/grippers/flexiv_grav/assets/finger_mount.stl b/assets/grippers/flexiv_grav/assets/finger_mount.stl new file mode 100644 index 00000000..ce08fc11 Binary files /dev/null and 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00000000..4b15f4b7 Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/inner_bar.stl differ diff --git a/assets/grippers/flexiv_grav/assets/inner_bar_collision.stl b/assets/grippers/flexiv_grav/assets/inner_bar_collision.stl new file mode 100644 index 00000000..899a84e8 Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/inner_bar_collision.stl differ diff --git a/assets/grippers/flexiv_grav/assets/outer_bar.stl b/assets/grippers/flexiv_grav/assets/outer_bar.stl new file mode 100644 index 00000000..30e015dc Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/outer_bar.stl differ diff --git a/assets/grippers/flexiv_grav/assets/outer_bar_collision.stl b/assets/grippers/flexiv_grav/assets/outer_bar_collision.stl new file mode 100644 index 00000000..04443fb7 Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/outer_bar_collision.stl differ diff --git a/assets/grippers/flexiv_grav/convert_from_urdf.py b/assets/grippers/flexiv_grav/convert_from_urdf.py new file mode 100755 index 00000000..20555e2d --- /dev/null +++ b/assets/grippers/flexiv_grav/convert_from_urdf.py @@ -0,0 +1,427 @@ +#!/usr/bin/env python3 +# /// script +# requires-python = ">=3.10" +# dependencies = ["mujoco>=3.3", "xacro"] +# /// +"""Generate the Flexiv Grav (GN-01) MJCF from Flexiv's official URDF description. + +Pipeline (every step is deterministic, no hand edits of the output): + +1. Fetch ``grav_macro.xacro``, the license and the Grav meshes from + https://github.com/flexivrobotics/flexiv_description at a pinned commit + (or take them from a local checkout passed via ``--src``). +2. Copy the meshes into ``/assets``. Collision meshes get a ``_collision`` + suffix because MuJoCo names meshes by file stem and would otherwise merge the + visual and collision ``base.stl`` into one mesh. +3. Expand the xacro macro into a URDF with ``xacro`` and rewrite it: point the + mesh paths at ``/assets``, drop the flange parent link so the gripper + base becomes the root, drop the virtual ``finger_width_joint`` (MuJoCo has no + mimic joints) and turn the massless TCP links into recorded frames. +4. Import the URDF with ``mujoco.MjSpec`` and post-process it: default classes, + realistic link masses, pad boxes on the finger tips, TCP sites, contact + excludes, joint equality constraints replacing the URDF mimic joints, a + tendon splitting the actuation between both knuckles and a position actuator + whose control input is the finger opening width in meters. +5. Write ``/flexiv_grav.xml`` plus ``scene.xml`` and ``LICENSE``. + +Usage: + uv run assets/grippers/flexiv_grav/convert_from_urdf.py --out mujoco_menagerie/flexiv_grav + uv run mujoco_menagerie/format_xml.py --write mujoco_menagerie/flexiv_grav/*.xml +""" + +from __future__ import annotations + +import argparse +import pathlib +import shutil +import tempfile +import urllib.request +import xml.etree.ElementTree as ET + +import mujoco +import numpy as np +import xacro + +UPSTREAM_REPO = "flexivrobotics/flexiv_description" +UPSTREAM_COMMIT = "8b8452105c5faf088f456db18b0e2581b16fc630" # branch humble, 2026-09-03 +UPSTREAM_RAW = f"https://raw.githubusercontent.com/{UPSTREAM_REPO}/{UPSTREAM_COMMIT}/" +UPSTREAM_FILES = [ + "LICENSE", + "urdf/common/grav_macro.xacro", + "meshes/Grav/visual/base.stl", + "meshes/Grav/visual/outer_bar.stl", + "meshes/Grav/visual/inner_bar.stl", + "meshes/Grav/visual/finger_mount.stl", + "meshes/Grav/visual/finger_tip.obj", + "meshes/Grav/collision/base.stl", + "meshes/Grav/collision/outer_bar.stl", + "meshes/Grav/collision/inner_bar.stl", + "meshes/Grav/collision/finger_tip.stl", +] + +MODEL_NAME = "flexiv_grav" +ROOT_CLASS = "grav" + +# The URDF drives the linkage through a virtual prismatic joint (finger width in meters) with +# knuckle_angle = WIDTH_GAIN * width + WIDTH_OFFSET. We keep this mapping for the actuator. +WIDTH_GAIN = 9.404 +WIDTH_OFFSET = -0.155 +MAX_WIDTH = 0.1 +# Position controller gains on the tendon length (= knuckle angle) and the force saturation. +KP = 20.0 +KV = 1.0 +FORCERANGE = 5.0 + +# The URDF assigns 1e-4 kg to the moving links, which is too light for a stable simulation. +# Masses below are rough estimates that keep the total at the 1.186 kg of the URDF. +LINK_INERTIALS = { + "base": {"mass": 1.05, "ipos": (0, 0, 0.057), "inertia": (3e-3, 3e-3, 1e-3)}, + "left_outer_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "left_inner_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "left_finger_mount": {"mass": 0.01, "ipos": (0, 0.008, 0.01), "inertia": (2e-6, 2e-6, 1e-6)}, + "left_finger_tip": {"mass": 0.01, "ipos": (0, 0.005, 0.018), "inertia": (2e-6, 2e-6, 1e-6)}, + "right_outer_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "right_inner_bar": {"mass": 0.03, "ipos": (0, 0, 0.029), "inertia": (1e-5, 1e-5, 2e-6)}, + "right_finger_mount": {"mass": 0.01, "ipos": (0, 0.008, 0.01), "inertia": (2e-6, 2e-6, 1e-6)}, + "right_finger_tip": {"mass": 0.01, "ipos": (0, 0.005, 0.018), "inertia": (2e-6, 2e-6, 1e-6)}, +} + +# Massless URDF links that only define frames. They become sites on their parent body. +TCP_LINKS = ["grav_tcp", "closed_fingers_tcp", "left_finger_tcp", "right_finger_tcp"] + +# Thin boxes on the inner face of the finger tips, like the pads of the Menagerie Robotiq 2F-85. +# The finger tip collision hull spans y in [-0.006, 0.0135] and z in [0, 0.036]. +PAD_BOXES = [ + ("pad1", (0, 0.0125, 0.009), (0.007, 0.001, 0.009)), + ("pad2", (0, 0.0125, 0.027), (0.007, 0.001, 0.009)), +] + +CONTACT_EXCLUDES = [ + ("base", "left_outer_bar"), + ("base", "left_inner_bar"), + ("base", "right_outer_bar"), + ("base", "right_inner_bar"), + ("left_outer_bar", "left_inner_bar"), + ("right_outer_bar", "right_inner_bar"), + ("left_inner_bar", "left_finger_tip"), + ("right_inner_bar", "right_finger_tip"), +] + +# (joint, reference joint, polynomial coefficient): joint = coef * reference. These replace the +# tags of the URDF. +JOINT_COUPLINGS = [ + ("right_outer_knuckle_joint", "left_outer_knuckle_joint", 1.0), + ("left_inner_knuckle_joint", "left_outer_knuckle_joint", 1.0), + ("right_inner_knuckle_joint", "right_outer_knuckle_joint", 1.0), + ("left_inner_finger_joint", "left_outer_knuckle_joint", -1.0), + ("right_inner_finger_joint", "right_outer_knuckle_joint", -1.0), +] + +SOLIMP = (0.95, 0.99, 0.001, 0.5, 2.0) +SOLREF = (0.005, 1.0) + +XACRO_WRAPPER = """ + + + + + + +""" + +SCENE_XML = """ + + + + +""" + +XML_COMMENTS = { + " ": ( + " \n" + ), + " ": ( + " \n" + ), + " ": ( + " \n" + ), +} + + +def fetch_upstream(src: pathlib.Path) -> None: + """Downloads the pinned upstream files that are not present in ``src`` yet.""" + for rel in UPSTREAM_FILES: + dst = src / rel + if dst.is_file(): + continue + dst.parent.mkdir(parents=True, exist_ok=True) + url = UPSTREAM_RAW + rel + print(f"fetching {url}") + with urllib.request.urlopen(url, timeout=60) as response: + dst.write_bytes(response.read()) + + +def copy_meshes(src: pathlib.Path, assets: pathlib.Path) -> None: + assets.mkdir(parents=True, exist_ok=True) + for rel in UPSTREAM_FILES: + path = pathlib.Path(rel) + if path.parts[0] != "meshes": + continue + name = path.name if path.parts[2] == "visual" else f"{path.stem}_collision{path.suffix}" + shutil.copyfile(src / rel, assets / name) + + +def expand_xacro(src: pathlib.Path, work: pathlib.Path) -> str: + wrapper = work / f"{MODEL_NAME}.urdf.xacro" + wrapper.write_text(XACRO_WRAPPER.format(model=MODEL_NAME, macro=src / "urdf/common/grav_macro.xacro")) + doc = xacro.process_file(str(wrapper), mappings={"mesh_prefix_path": f"{src}/"}) + return doc.toprettyxml(indent=" ") + + +def rewrite_urdf(urdf_xml: str, assets: pathlib.Path) -> tuple[str, dict[str, tuple[str, np.ndarray]]]: + """Adapts the URDF for the MuJoCo importer and returns it with the removed TCP frames.""" + root = ET.fromstring(urdf_xml) + links = {link.get("name"): link for link in root.findall("link")} + joints = {joint.get("name"): joint for joint in root.findall("joint")} + + for mesh in root.iter("mesh"): + path = pathlib.Path(mesh.get("filename")) + collision = path.parent.name == "collision" + mesh.set("filename", path.name if not collision else f"{path.stem}_collision{path.suffix}") + + # The gripper base becomes the root body. + root.remove(links.pop("flange")) + root.remove(joints.pop("gripper_base_joint")) + + # The virtual width joint has no physical counterpart and is replaced by the actuator mapping. + root.remove(joints.pop("finger_width_joint")) + root.remove(links.pop("unused_finger_width_link")) + + tcps: dict[str, tuple[str, np.ndarray]] = {} + for joint in list(joints.values()): + child = joint.find("child").get("link") + if child not in TCP_LINKS: + continue + xyz = np.array([float(v) for v in joint.find("origin").get("xyz").split()]) + tcps[child] = (joint.find("parent").get("link"), xyz) + root.remove(joint) + root.remove(links.pop(child)) + + mj = ET.SubElement(root, "mujoco") + ET.SubElement(mj, "compiler", meshdir=str(assets), discardvisual="false", fusestatic="false", strippath="false") + return ET.tostring(root, encoding="unicode"), tcps + + +def build_spec(urdf: pathlib.Path, tcps: dict[str, tuple[str, np.ndarray]]) -> mujoco.MjSpec: + spec = mujoco.MjSpec.from_file(str(urdf)) + spec.modelname = MODEL_NAME + spec.compiler.autolimits = True + spec.option.cone = mujoco.mjtCone.mjCONE_ELLIPTIC + spec.option.impratio = 10 + + spec.add_material(name="black", rgba=(0.149, 0.149, 0.149, 1)) + + # Default classes. Values set on the elements below must match these for the XML writer to + # omit them, so the same constants are used in both places. + mesh_scale = (0.001, 0.001, 0.001) # upstream meshes are in millimeters + # The URDF rotates every mesh by 90 degrees about z. Baking the inverse into the mesh reference + # frame moves the rotation from the geoms into the mesh assets. + mesh_refquat = (0.7071068, 0, 0, -0.7071068) + identity = (1, 0, 0, 0) + main = spec.default + grav = spec.add_default(ROOT_CLASS, main) + grav.mesh.scale = mesh_scale # refquat is not allowed in default classes, it is set per mesh + grav.actuator.biastype = mujoco.mjtBias.mjBIAS_AFFINE + grav.joint.axis = (1, 0, 0) + grav.joint.armature = 0.001 + grav.joint.damping = (0.02, 0, 0) # per-DOF vector in MjSpec, hinges use the first entry + grav.joint.solimp_limit = SOLIMP + grav.joint.solref_limit = SOLREF + knuckle = spec.add_default("knuckle", grav) + knuckle.joint.range = (WIDTH_OFFSET, WIDTH_GAIN * MAX_WIDTH + WIDTH_OFFSET) + finger = spec.add_default("finger", grav) + finger.joint.range = (-knuckle.joint.range[1], -knuckle.joint.range[0]) + visual = spec.add_default("visual", grav) + visual.geom.type = mujoco.mjtGeom.mjGEOM_MESH + visual.geom.contype = 0 + visual.geom.conaffinity = 0 + visual.geom.group = 2 + visual.geom.material = "black" + visual.geom.density = 0 + collision = spec.add_default("collision", grav) + collision.geom.type = mujoco.mjtGeom.mjGEOM_MESH + collision.geom.group = 3 + pad = spec.add_default("pad", collision) + pad.geom.type = mujoco.mjtGeom.mjGEOM_BOX + pad.geom.friction = (1, 0.005, 0.0001) + pad.geom.priority = 1 + pad.geom.solimp = SOLIMP + pad.geom.solref = (0.004, 1) + pad.geom.rgba = (0.3, 0.3, 0.3, 1) + + for mesh in spec.meshes: + mesh.file = pathlib.Path(mesh.file).name + mesh.classname = grav + mesh.scale = mesh_scale + mesh.refquat = mesh_refquat + + base = spec.body("grav_base_link") + base.name = "base" + base.childclass = ROOT_CLASS + + for body in spec.bodies: + if body.name in LINK_INERTIALS: + values = LINK_INERTIALS[body.name] + body.explicitinertial = True + body.mass = values["mass"] + body.ipos = values["ipos"] + body.iquat = (1, 0, 0, 0) + body.fullinertia = [float("nan")] * 6 # NaN marks unset, the URDF importer filled it + body.inertia = values["inertia"] + + for joint in spec.joints: + joint.classname = knuckle if joint.range[1] > 0.5 else finger + joint.axis = grav.joint.axis + joint.armature = grav.joint.armature + joint.damping = grav.joint.damping + joint.solimp_limit = SOLIMP + joint.solref_limit = SOLREF + + for geom in spec.geoms: + is_visual = geom.contype == 0 and geom.conaffinity == 0 + cls = visual if is_visual else collision + geom.classname = cls + geom.group = cls.geom.group + geom.quat = identity # the URDF rotation is now part of the mesh + if is_visual: + geom.density = 0 + geom.material = "black" # the finger tip mesh is the black plastic clip, like the rest + else: + geom.density = main.geom.density + + for side in ["left", "right"]: + tip = spec.body(f"{side}_finger_tip") + for suffix, pos, size in PAD_BOXES: + geom = tip.add_geom(default=pad, name=f"{side}_{suffix}", pos=pos, size=size) + geom.type = mujoco.mjtGeom.mjGEOM_BOX + + for name, (parent, xyz) in tcps.items(): + body = spec.body("base" if parent == "grav_base_link" else parent) + body.add_site(name=name, pos=xyz, group=5, size=(0.002, 0.002, 0.002)) + + for body1, body2 in CONTACT_EXCLUDES: + spec.add_exclude(bodyname1=body1, bodyname2=body2) + + for joint, reference, coef in JOINT_COUPLINGS: + eq = spec.add_equality(name1=joint, name2=reference, objtype=mujoco.mjtObj.mjOBJ_JOINT) + eq.type = mujoco.mjtEq.mjEQ_JOINT + eq.data[:5] = (0, coef, 0, 0, 0) + eq.solimp = SOLIMP + eq.solref = SOLREF + + tendon = spec.add_tendon(name="split") + tendon.wrap_joint("left_outer_knuckle_joint", 0.5) + tendon.wrap_joint("right_outer_knuckle_joint", 0.5) + + actuator = spec.add_actuator(default=grav, name="fingers_actuator") + actuator.trntype = mujoco.mjtTrn.mjTRN_TENDON + actuator.target = "split" + actuator.gaintype = mujoco.mjtGain.mjGAIN_FIXED + actuator.biastype = mujoco.mjtBias.mjBIAS_AFFINE + actuator.gainprm[0] = KP * WIDTH_GAIN + actuator.biasprm[:3] = (KP * WIDTH_OFFSET, -KP, -KV) + actuator.ctrlrange = (0, MAX_WIDTH) + actuator.forcerange = (-FORCERANGE, FORCERANGE) + return spec + + +def add_comments(xml: str) -> str: + for anchor, comment in XML_COMMENTS.items(): + assert xml.count(f"\n{anchor}\n") == 1, anchor + xml = xml.replace(f"\n{anchor}\n", f"\n{comment}{anchor}\n", 1) + return xml + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) + parser.add_argument("--out", type=pathlib.Path, required=True, help="output model directory") + parser.add_argument( + "--src", + type=pathlib.Path, + default=None, + help="flexiv_description checkout; defaults to a cache directory filled from GitHub at the pinned commit", + ) + parser.add_argument("--work", type=pathlib.Path, default=None, help="keep intermediate URDF files here") + args = parser.parse_args() + + src = args.src or pathlib.Path(tempfile.gettempdir()) / f"flexiv_description-{UPSTREAM_COMMIT[:12]}" + fetch_upstream(src) + work = args.work or pathlib.Path(tempfile.mkdtemp(prefix="flexiv_grav_")) + work.mkdir(parents=True, exist_ok=True) + out = args.out + assets = out / "assets" + + copy_meshes(src, assets) + urdf_xml, tcps = rewrite_urdf(expand_xacro(src, work), assets.resolve()) + urdf = work / f"{MODEL_NAME}.urdf" + urdf.write_text(urdf_xml) + + spec = build_spec(urdf, tcps) + spec.compile() # fail early on model errors, mesh paths are still absolute here + spec.modelfiledir = str(out.resolve()) # to_xml recompiles, so relative mesh paths must resolve + spec.compiler.meshdir = "assets" + (out / f"{MODEL_NAME}.xml").write_text(add_comments(spec.to_xml())) + (out / "scene.xml").write_text(SCENE_XML) + shutil.copyfile(src / "LICENSE", out / "LICENSE") + print(f"wrote {out / f'{MODEL_NAME}.xml'} (intermediate files in {work})") + + +if __name__ == "__main__": + main() diff --git a/assets/grippers/flexiv_grav/flexiv_grav.xml b/assets/grippers/flexiv_grav/flexiv_grav.xml new file mode 100644 index 00000000..026153bb --- /dev/null +++ b/assets/grippers/flexiv_grav/flexiv_grav.xml @@ -0,0 +1,153 @@ + + + + diff --git a/assets/robots/rizon4s/assets/link0/link0.obj b/assets/robots/rizon4s/assets/link0/link0.obj new file mode 100644 index 00000000..b34159cf --- /dev/null +++ b/assets/robots/rizon4s/assets/link0/link0.obj @@ -0,0 +1,15726 @@ +mtllib material.mtl +usemtl material_0 +v 0.03675000 0.06365287 0.01040344 +v 0.03328590 0.06165287 0.00800000 +v 0.03275000 0.06365287 0.00800000 +v 0.03675000 0.06365287 0.01040344 +v 0.03475000 0.06018876 0.00800000 +v 0.03675000 0.06365287 0.01040344 +v 0.03675000 0.05965287 0.00800000 +v 0.03675000 0.06365287 0.01040344 +v 0.03875000 0.06018876 0.00800000 +v 0.03675000 0.06365287 0.01040344 +v 0.04021410 0.06165287 0.00800000 +v 0.03675000 0.06365287 0.01040344 +v 0.04075000 0.06365287 0.00800000 +v 0.03675000 0.06365287 0.01040344 +v 0.04021410 0.06565287 0.00800000 +v 0.03675000 0.06365287 0.01040344 +v 0.03875000 0.06711697 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This is the end-effector frame u Common examples in the repository are: - `attachment_site_0` for FR3 / Panda -- `attachment_site` for UR5e / XArm7 +- `attachment_site` for UR5e / XArm7 / Rizon 4s - `gripper` for SO101 If you are unsure which frame a robot uses, check its config or the relevant example scene in `python/rcs/envs/configs.py`. diff --git a/examples/rizon4s/rizon4s_env_cartesian_control.py b/examples/rizon4s/rizon4s_env_cartesian_control.py new file mode 100644 index 00000000..6e89765b --- /dev/null +++ b/examples/rizon4s/rizon4s_env_cartesian_control.py @@ -0,0 +1,101 @@ +import logging +from time import sleep + +import gymnasium as gym +import numpy as np +from rcs._core.sim import SimConfig +from rcs.envs.base import ( + ControlMode, + CoverWrapper, + GripperWrapper, + RelativeActionSpace, + RelativeTo, + RobotWrapper, + SimEnv, +) +from rcs.envs.configs import EmptyWorldRizon4S +from rcs.envs.sim import GripperWrapperSim, RobotSimWrapper + +import rcs +from rcs import sim + +logger = logging.getLogger(__name__) +logger.setLevel(logging.INFO) + +""" +This script demonstrates Cartesian position control of the Flexiv Rizon 4s arm in simulation. The +arm is driven to its home pose on reset and then moves 1cm forward and backward along the base x +axis in a loop while opening and closing the Robotiq 2F85 gripper. Every step goes through inverse +kinematics, so the printed TCP positions tracking the commanded ones show that IK works. + +Hardware support for the Rizon 4s is not part of rcs yet, so this example is simulation only. +""" + +STEP_SIZE = 0.01 # meters per step +STEPS_PER_LEG = 10 # steps forward before reversing +CYCLES = 100 + + +def main(): + scene = EmptyWorldRizon4S() + sim_cfg_data = scene.prefixed_cfg(scene.config()) + rizon = scene.lead_robot_name(sim_cfg_data) + + robot_cfg = sim_cfg_data.robot_cfgs[rizon] + gripper_cfg = sim_cfg_data.gripper_cfgs[rizon] # type: ignore[index] + # Synchronous mode: the simulation steps until the commanded pose is reached. + sim_cfg = SimConfig( + realtime=False, + async_control=False, + ) + + mjmodel = scene.create_model(sim_cfg_data) + simulation = sim.Sim(mjmodel, sim_cfg) + + kinematic_model_path, attachment_site = scene.kinematics_cfg(sim_cfg_data)[rizon] + ik = rcs.common.Pin( + kinematic_model_path, + attachment_site, + ) + + robot = rcs.sim.SimRobot(simulation, ik, robot_cfg) + env_rel: gym.Env = SimEnv(simulation) + env_rel = RobotWrapper(env_rel, robot, ControlMode.CARTESIAN_TQuat) + + gripper = sim.SimGripper(simulation, gripper_cfg) + env_rel = GripperWrapper(env_rel, gripper) + + env_rel = RobotSimWrapper(env_rel) + env_rel = GripperWrapperSim(env_rel) + + env_rel = RelativeActionSpace( + env_rel, + max_mov=(0.05, np.deg2rad(5)), + relative_to=RelativeTo.LAST_STEP, + ) + env_rel = CoverWrapper(env_rel) + env_rel.get_wrapper_attr("sim").open_gui() + + # Homing happens on reset, driving the joints to the home pose. + env_rel.reset() + + robot_api = env_rel.get_wrapper_attr("robot") + print(f"home TCP: {np.round(robot_api.get_cartesian_position().translation(), 4)}") + + for _ in range(CYCLES): + for _ in range(STEPS_PER_LEG): + # move forward along x and close the gripper + act = {"tquat": [STEP_SIZE, 0, 0, 0, 0, 0, 1], "gripper": [0]} + obs, reward, terminated, truncated, info = env_rel.step(act) + print(f"TCP: {np.round(robot_api.get_cartesian_position().translation(), 4)}") + sleep(0.1) + for _ in range(STEPS_PER_LEG): + # move backward along x and open the gripper + act = {"tquat": [-STEP_SIZE, 0, 0, 0, 0, 0, 1], "gripper": [1]} + obs, reward, terminated, truncated, info = env_rel.step(act) + print(f"TCP: {np.round(robot_api.get_cartesian_position().translation(), 4)}") + sleep(0.1) + + +if __name__ == "__main__": + main() diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py index cf7fe01c..a3660ff9 100644 --- a/python/rcs/__init__.py +++ b/python/rcs/__init__.py @@ -194,12 +194,26 @@ class RobotMetaConfig: ), attachment_site="tcp_site", ), + common.RobotType("Rizon4S"): RobotMetaConfig( + mjcf_model_path="assets/robots/rizon4s/rizon4s.xml", + dof=7, + # flange pointing straight down (joint2 - joint4 + joint6 = -pi/2), about 0.56 m in front of + # and 0.46 m above the base + q_home=np.array([0.0, -0.2, 0.0, 1.8, 0.0, 2.0 - np.pi / 2, 0.0]), + joint_limits=np.array( + [ + [-2.8798, -2.3562, -3.0543, -1.9548, -3.0543, -1.4835, -3.0543], + [2.8798, 2.3562, 3.0543, 2.7751, 3.0543, 4.6251, 3.0543], + ] + ), + ), } GRIPPER_PATHS: dict[common.GripperType, str] = { common.GripperType.FrankaHand: "assets/grippers/franka_hand/franka_hand.xml", common.GripperType("Robotiq2F85"): "assets/grippers/robotiq_2f85/robotiq_2f85.xml", + common.GripperType("FlexivGrav"): "assets/grippers/flexiv_grav/flexiv_grav.xml", } GRIPPER_TCP_OFFSETS: dict[common.GripperType, common.Pose] = { @@ -208,6 +222,9 @@ class RobotMetaConfig: # The yam gripper is part of the robot mjcf, hence it needs no entry in GRIPPER_PATHS # and no mount offset, only the offset from the flange to the point between the fingers. common.GripperType("Yam"): common.Pose(translation=np.array([0.0, 0.0, 0.1347])), + # The "grav_tcp" frame of Flexiv's URDF, which Flexiv's own software uses as TCP. It sits roughly at the + # pad center of the fully open gripper; the closed finger tips ("closed_fingers_tcp") are at 0.2 m. + common.GripperType("FlexivGrav"): common.Pose(translation=np.array([0.0, 0.0, 0.15])), } GRIPPER_MOUNT_OFFSETS: dict[common.GripperType, common.Pose] = { @@ -217,6 +234,8 @@ class RobotMetaConfig: common.GripperType("Robotiq2F85"): common.Pose( translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 0.7071068, 0.7071068]) ), + # The Grav bolts directly onto the Rizon flange, its fingers open along the flange y axis. + common.GripperType("FlexivGrav"): common.Pose(), } SCENE_PATHS: dict[str, str] = {"empty_world": "assets/scenes/empty_world/scene.xml"} diff --git a/python/rcs/envs/configs.py b/python/rcs/envs/configs.py index da792e64..2dfaa476 100644 --- a/python/rcs/envs/configs.py +++ b/python/rcs/envs/configs.py @@ -625,6 +625,48 @@ def config(self) -> SimEnvCreatorConfig: return cfg +class EmptyWorldRizon4S(EmptyWorldFR3): + """Flexiv Rizon 4s with the Flexiv Grav (GN-01) gripper mounted on the flange.""" + + def config(self) -> SimEnvCreatorConfig: + rt = RobotType("Rizon4S") + cfg = super().config() + lead_robot_name = self.lead_robot_name(cfg) + + robot_cfg = cfg.robot_cfgs[lead_robot_name] + robot_cfg.robot_type = rt + robot_cfg.tcp_offset = GRIPPER_TCP_OFFSETS[GripperType("FlexivGrav")] + robot_cfg.attachment_site = rcs.ROBOTS[rt].attachment_site + robot_cfg.kinematic_model_path = rcs.ROBOTS[rt].mjcf_model_path + robot_cfg.arm_collision_geoms = [] + robot_cfg.joints = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] + robot_cfg.actuators = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"] + robot_cfg.dof = rcs.ROBOTS[rt].dof + robot_cfg.joint_limits = rcs.ROBOTS[rt].joint_limits + robot_cfg.q_home = rcs.ROBOTS[rt].q_home + robot_cfg.base = "base" + + assert cfg.gripper_cfgs is not None + gripper_cfg = cfg.gripper_cfgs[lead_robot_name] + gripper_cfg.gripper_type = GripperType("FlexivGrav") + # The actuator is commanded in finger opening width (0 m closed, 0.1 m open). + gripper_cfg.actuator = "fingers_actuator" + gripper_cfg.min_actuator_width = 0.0 + gripper_cfg.max_actuator_width = 0.1 + # Width is read back from the driving knuckle joints, whose angle maps linearly to the width. + gripper_cfg.joints = ["left_outer_knuckle_joint", "right_outer_knuckle_joint"] + gripper_cfg.min_joint_width = -0.155 + gripper_cfg.max_joint_width = 0.7854 + gripper_cfg.collision_geoms = ["left_pad1", "left_pad2", "right_pad1", "right_pad2"] + gripper_cfg.collision_geoms_fingers = ["left_pad1", "left_pad2", "right_pad1", "right_pad2"] + + cfg.camera_cfgs = None + cfg.camera_adds = None + cfg.gripper_offsets = None + + return cfg + + gym.register(id="rcs/fr3", entry_point=EmptyWorldFR3()) gym.register(id="rcs/duo", entry_point=EmptyWorldFR3Duo()) gym.register(id="rcs/droid", entry_point=EmptyWorldDroid()) @@ -632,6 +674,7 @@ def config(self) -> SimEnvCreatorConfig: gym.register(id="rcs/xarm7", entry_point=EmptyWorldXArm7()) gym.register(id="rcs/so101", entry_point=EmptyWorldSO101()) gym.register(id="rcs/yam", entry_point=EmptyWorldYam()) +gym.register(id="rcs/rizon4s", entry_point=EmptyWorldRizon4S()) if __name__ == "__main__": diff --git a/python/tests/test_kinematics.py b/python/tests/test_kinematics.py index b530303a..84d6bebc 100644 --- a/python/tests/test_kinematics.py +++ b/python/tests/test_kinematics.py @@ -12,6 +12,7 @@ common.RobotType("UR5e"), common.RobotType("SO101"), common.RobotType("Yam"), + common.RobotType("Rizon4S"), ]