diff --git a/assets/grippers/robotiq_2f85/stl/base_2f85.stl b/assets/grippers/robotiq_2f85/stl/base_2f85.stl new file mode 100644 index 00000000..1b3bb6af Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/base_2f85.stl differ diff --git a/assets/grippers/robotiq_2f85/stl/base_mount.stl b/assets/grippers/robotiq_2f85/stl/base_mount.stl new file mode 100644 index 00000000..69ace5fe Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/base_mount.stl differ diff --git a/assets/grippers/robotiq_2f85/stl/coupler.stl b/assets/grippers/robotiq_2f85/stl/coupler.stl new file mode 100644 index 00000000..170b0dad Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/coupler.stl differ diff --git a/assets/grippers/robotiq_2f85/stl/driver.stl b/assets/grippers/robotiq_2f85/stl/driver.stl new file mode 100644 index 00000000..57595939 Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/driver.stl differ diff --git a/assets/grippers/robotiq_2f85/stl/follower.stl b/assets/grippers/robotiq_2f85/stl/follower.stl new file mode 100644 index 00000000..3cda9be7 Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/follower.stl differ diff --git a/assets/grippers/robotiq_2f85/stl/pad.stl b/assets/grippers/robotiq_2f85/stl/pad.stl new file mode 100644 index 00000000..fa0ef62b Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/pad.stl differ diff --git a/assets/grippers/robotiq_2f85/stl/silicone_pad.stl b/assets/grippers/robotiq_2f85/stl/silicone_pad.stl new file mode 100644 index 00000000..9a0de435 Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/silicone_pad.stl differ diff --git a/assets/grippers/robotiq_2f85/stl/spring_link.stl b/assets/grippers/robotiq_2f85/stl/spring_link.stl new file mode 100644 index 00000000..d92de810 Binary files /dev/null and b/assets/grippers/robotiq_2f85/stl/spring_link.stl differ diff --git a/assets/scenes/ur5e_empty_world/assets/base_0.obj b/assets/scenes/ur5e_empty_world/assets/base_0.obj new file mode 120000 index 00000000..967383b1 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/base_0.obj @@ -0,0 +1 @@ +../../../ur5e/obj/base_0.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/base_1.obj b/assets/scenes/ur5e_empty_world/assets/base_1.obj new file mode 120000 index 00000000..27c1006e --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/base_1.obj @@ -0,0 +1 @@ +../../../ur5e/obj/base_1.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/base_2f85.stl b/assets/scenes/ur5e_empty_world/assets/base_2f85.stl new file mode 120000 index 00000000..1917d6ac --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/base_2f85.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/base_2f85.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/base_mount.stl b/assets/scenes/ur5e_empty_world/assets/base_mount.stl new file mode 120000 index 00000000..77b49c1b --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/base_mount.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/base_mount.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/coupler.stl b/assets/scenes/ur5e_empty_world/assets/coupler.stl new file mode 120000 index 00000000..806eb082 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/coupler.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/coupler.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/driver.stl b/assets/scenes/ur5e_empty_world/assets/driver.stl new file mode 120000 index 00000000..4ae9fd9a --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/driver.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/driver.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/follower.stl b/assets/scenes/ur5e_empty_world/assets/follower.stl new file mode 120000 index 00000000..3fbfa686 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/follower.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/follower.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/forearm_0.obj b/assets/scenes/ur5e_empty_world/assets/forearm_0.obj new file mode 120000 index 00000000..56cf8644 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/forearm_0.obj @@ -0,0 +1 @@ +../../../ur5e/obj/forearm_0.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/forearm_1.obj b/assets/scenes/ur5e_empty_world/assets/forearm_1.obj new file mode 120000 index 00000000..d89032c9 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/forearm_1.obj @@ -0,0 +1 @@ +../../../ur5e/obj/forearm_1.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/forearm_2.obj b/assets/scenes/ur5e_empty_world/assets/forearm_2.obj new file mode 120000 index 00000000..af655d3f --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/forearm_2.obj @@ -0,0 +1 @@ +../../../ur5e/obj/forearm_2.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/forearm_3.obj b/assets/scenes/ur5e_empty_world/assets/forearm_3.obj new file mode 120000 index 00000000..f44ad5a9 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/forearm_3.obj @@ -0,0 +1 @@ +../../../ur5e/obj/forearm_3.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/pad.stl b/assets/scenes/ur5e_empty_world/assets/pad.stl new file mode 120000 index 00000000..5122a8af --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/pad.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/pad.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/shoulder_0.obj b/assets/scenes/ur5e_empty_world/assets/shoulder_0.obj new file mode 120000 index 00000000..37e48440 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/shoulder_0.obj @@ -0,0 +1 @@ +../../../ur5e/obj/shoulder_0.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/shoulder_1.obj b/assets/scenes/ur5e_empty_world/assets/shoulder_1.obj new file mode 120000 index 00000000..5f76fe58 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/shoulder_1.obj @@ -0,0 +1 @@ +../../../ur5e/obj/shoulder_1.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/shoulder_2.obj b/assets/scenes/ur5e_empty_world/assets/shoulder_2.obj new file mode 120000 index 00000000..175bce8d --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/shoulder_2.obj @@ -0,0 +1 @@ +../../../ur5e/obj/shoulder_2.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/silicone_pad.stl b/assets/scenes/ur5e_empty_world/assets/silicone_pad.stl new file mode 120000 index 00000000..b31d0b41 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/silicone_pad.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/silicone_pad.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/spring_link.stl b/assets/scenes/ur5e_empty_world/assets/spring_link.stl new file mode 120000 index 00000000..bb1f414f --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/spring_link.stl @@ -0,0 +1 @@ +../../../grippers/robotiq_2f85/stl/spring_link.stl \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/upperarm_0.obj b/assets/scenes/ur5e_empty_world/assets/upperarm_0.obj new file mode 120000 index 00000000..76718751 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/upperarm_0.obj @@ -0,0 +1 @@ +../../../ur5e/obj/upperarm_0.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/upperarm_1.obj b/assets/scenes/ur5e_empty_world/assets/upperarm_1.obj new file mode 120000 index 00000000..d49e9c13 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/upperarm_1.obj @@ -0,0 +1 @@ +../../../ur5e/obj/upperarm_1.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/upperarm_2.obj b/assets/scenes/ur5e_empty_world/assets/upperarm_2.obj new file mode 120000 index 00000000..d3862a1b --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/upperarm_2.obj @@ -0,0 +1 @@ +../../../ur5e/obj/upperarm_2.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/upperarm_3.obj b/assets/scenes/ur5e_empty_world/assets/upperarm_3.obj new file mode 120000 index 00000000..29a43257 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/upperarm_3.obj @@ -0,0 +1 @@ +../../../ur5e/obj/upperarm_3.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/wrist1_0.obj b/assets/scenes/ur5e_empty_world/assets/wrist1_0.obj new file mode 120000 index 00000000..6475435c --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/wrist1_0.obj @@ -0,0 +1 @@ +../../../ur5e/obj/wrist1_0.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/wrist1_1.obj b/assets/scenes/ur5e_empty_world/assets/wrist1_1.obj new file mode 120000 index 00000000..eec442d6 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/wrist1_1.obj @@ -0,0 +1 @@ +../../../ur5e/obj/wrist1_1.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/wrist1_2.obj b/assets/scenes/ur5e_empty_world/assets/wrist1_2.obj new file mode 120000 index 00000000..c0053e4b --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/wrist1_2.obj @@ -0,0 +1 @@ +../../../ur5e/obj/wrist1_2.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/wrist2_0.obj b/assets/scenes/ur5e_empty_world/assets/wrist2_0.obj new file mode 120000 index 00000000..a64c6969 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/wrist2_0.obj @@ -0,0 +1 @@ +../../../ur5e/obj/wrist2_0.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/wrist2_1.obj b/assets/scenes/ur5e_empty_world/assets/wrist2_1.obj new file mode 120000 index 00000000..b951cd97 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/wrist2_1.obj @@ -0,0 +1 @@ +../../../ur5e/obj/wrist2_1.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/wrist2_2.obj b/assets/scenes/ur5e_empty_world/assets/wrist2_2.obj new file mode 120000 index 00000000..66226a3d --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/wrist2_2.obj @@ -0,0 +1 @@ +../../../ur5e/obj/wrist2_2.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/assets/wrist3.obj b/assets/scenes/ur5e_empty_world/assets/wrist3.obj new file mode 120000 index 00000000..cbb7118e --- /dev/null +++ b/assets/scenes/ur5e_empty_world/assets/wrist3.obj @@ -0,0 +1 @@ +../../../ur5e/obj/wrist3.obj \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/robot.xml b/assets/scenes/ur5e_empty_world/robot.xml new file mode 120000 index 00000000..ecef056d --- /dev/null +++ b/assets/scenes/ur5e_empty_world/robot.xml @@ -0,0 +1 @@ +../../ur5e/mjcf/ur5e.xml \ No newline at end of file diff --git a/assets/scenes/ur5e_empty_world/scene.xml b/assets/scenes/ur5e_empty_world/scene.xml new file mode 100644 index 00000000..534eec78 --- /dev/null +++ b/assets/scenes/ur5e_empty_world/scene.xml @@ -0,0 +1,25 @@ + + + \ No newline at end of file diff --git a/assets/ur5e/mjcf/ur5e.xml b/assets/ur5e/mjcf/ur5e.xml new file mode 100644 index 00000000..2408a319 --- /dev/null +++ b/assets/ur5e/mjcf/ur5e.xml @@ -0,0 +1,301 @@ + + + \ No newline at end of file diff --git a/assets/ur5e/obj/base_0.obj b/assets/ur5e/obj/base_0.obj new file mode 100644 index 00000000..25107a3d --- /dev/null +++ b/assets/ur5e/obj/base_0.obj @@ -0,0 +1,15306 @@ +mtllib Black.mtl +usemtl Black +v 0.00497600 -0.05767200 0.08487900 +v 0.00497600 -0.05767200 0.08487900 +v 0.00497600 -0.05767200 0.08487900 +v 0.01478200 -0.05596700 0.08487900 +v 0.01478200 -0.05596700 0.08487900 +v 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transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/teleop/quest_iris_dual_arm.py b/examples/teleop/quest_iris_dual_arm.py index a6746a39..2fdee15c 100644 --- a/examples/teleop/quest_iris_dual_arm.py +++ b/examples/teleop/quest_iris_dual_arm.py @@ -107,7 +107,7 @@ def next_action(self) -> tuple[dict[str, Pose], dict[str, float]]: for controller in self.controller_names: transform = Pose( translation=( - self._last_controller_pose[controller].translation() + self._last_controller_pose[controller].translation() # type: ignore - self._offset_pose[controller].translation() ), quaternion=( @@ -176,7 +176,7 @@ def run(self): ) if controller == "left": last_controller_pose = ( - Pose(translation=np.array([0, 0, 0]), rpy=RPY(roll=0, pitch=0, yaw=np.deg2rad(180))) + Pose(translation=np.array([0, 0, 0]), rpy=RPY(roll=0, pitch=0, yaw=np.deg2rad(180))) # type: ignore * last_controller_pose ) @@ -195,7 +195,7 @@ def run(self): # released transform = Pose( translation=( - self._last_controller_pose[controller].translation() + self._last_controller_pose[controller].translation() # type: ignore - self._offset_pose[controller].translation() ), quaternion=( @@ -265,7 +265,7 @@ def environment_step_loop(self): actions = {} for robot, transform in transforms.items(): action = dict( - LimitedTQuatRelDictType(tquat=np.concatenate([transform.translation(), transform.rotation_q()])) + LimitedTQuatRelDictType(tquat=np.concatenate([transform.translation(), transform.rotation_q()])) # type: ignore ) action.update(GripperDictType(gripper=grippers[robot])) diff --git a/examples/ur5e/ur5e_env_cartesian_control.py b/examples/ur5e/ur5e_env_cartesian_control.py new file mode 100644 index 00000000..bf46e8da --- /dev/null +++ b/examples/ur5e/ur5e_env_cartesian_control.py @@ -0,0 +1,84 @@ +import logging +from time import sleep + +import numpy as np +from rcs._core.common import RobotPlatform +from rcs.envs.base import ControlMode, RelativeTo +from rcs.envs.creators import SimEnvCreator +from rcs_ur5e.creators import RCSUR5eEnvCreator +from rcs_ur5e.hw import UR5eConfig + +import rcs +from rcs import sim + +logger = logging.getLogger(__name__) +logger.setLevel(logging.INFO) + +ROBOT_IP = "192.168.1.15" +ROBOT_INSTANCE = RobotPlatform.SIMULATION # Change to RobotPlatform.HARDWARE for real robot + + +def main(): + if ROBOT_INSTANCE == RobotPlatform.HARDWARE: + robot_cfg = UR5eConfig() + robot_cfg.async_control = False + env_rel = RCSUR5eEnvCreator()( + robot_cfg=robot_cfg, + control_mode=ControlMode.CARTESIAN_TQuat, + ip=ROBOT_IP, + camera_set=None, + max_relative_movement=0.2, + relative_to=RelativeTo.LAST_STEP, + ) + else: + robot_sim_cfg = sim.SimRobotConfig() + robot_sim_cfg.actuators = ["shoulder_pan", "shoulder_lift", "elbow", "wrist_1", "wrist_2", "wrist_3"] + robot_sim_cfg.joints = [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint", + ] + robot_sim_cfg.robot_type = rcs.common.RobotType.UR5e + robot_sim_cfg.attachment_site = "attachment_site" + robot_sim_cfg.arm_collision_geoms = [] + robot_sim_cfg.mjcf_scene_path = rcs.scenes["ur5e_empty_world"].mjb + robot_sim_cfg.kinematic_model_path = rcs.scenes["ur5e_empty_world"].mjcf_robot + robot_sim_cfg.base = "base" + robot_sim_cfg.tcp_offset = rcs.common.Pose() + + gripper_config = sim.SimGripperConfig() + gripper_config.actuator = "fingers_actuator" + gripper_config.joints = ["right_driver_joint"] + gripper_config.collision_geoms = [] + gripper_config.collision_geoms_fingers = [] + + env_rel = SimEnvCreator()( + control_mode=ControlMode.CARTESIAN_TQuat, + collision_guard=False, + robot_cfg=robot_sim_cfg, + gripper_cfg=gripper_config, + max_relative_movement=(0.1, np.deg2rad(5)), + relative_to=RelativeTo.LAST_STEP, + ) + env_rel.get_wrapper_attr("sim").open_gui() + + obs, info = env_rel.reset() + + for _ in range(100): + for _ in range(10): + # move 1cm in x direction (forward) and close gripper + act = {"tquat": [0.01, 0, 0, 0, 0, 0, 1.0], "gripper": 0} + obs, reward, terminated, truncated, info = env_rel.step(act) + sleep(0.6) + for _ in range(10): + # move 1cm in negative x direction (backward) and open gripper + act = {"tquat": [-0.01, 0, 0, 0, 0, 0, 1.0], "gripper": 1} + obs, reward, terminated, truncated, info = env_rel.step(act) + sleep(0.6) + + +if __name__ == "__main__": + main() diff --git a/examples/ur5e/ur5e_env_joint_control.py b/examples/ur5e/ur5e_env_joint_control.py new file mode 100644 index 00000000..139b9c39 --- /dev/null +++ b/examples/ur5e/ur5e_env_joint_control.py @@ -0,0 +1,81 @@ +import logging +from time import sleep + +import numpy as np +from rcs._core.common import RobotPlatform +from rcs.envs.base import ControlMode, RelativeTo +from rcs.envs.creators import SimEnvCreator +from rcs_ur5e.creators import RCSUR5eEnvCreator +from rcs_ur5e.hw import UR5eConfig + +import rcs +from rcs import sim + +logger = logging.getLogger(__name__) +logger.setLevel(logging.INFO) + +ROBOT_IP = "192.168.25.201" +ROBOT_INSTANCE = RobotPlatform.SIMULATION +# ROBOT_INSTANCE = RobotPlatform.HARDWARE + + +def main(): + + if ROBOT_INSTANCE == RobotPlatform.HARDWARE: + robot_cfg = UR5eConfig() + env_rel = RCSUR5eEnvCreator()( + control_mode=ControlMode.JOINTS, + robot_cfg=robot_cfg, + ip=ROBOT_IP, + camera_set=None, + max_relative_movement=np.deg2rad(5), + relative_to=RelativeTo.LAST_STEP, + ) + else: + robot_sim_cfg = sim.SimRobotConfig() + robot_sim_cfg.actuators = ["shoulder_pan", "shoulder_lift", "elbow", "wrist_1", "wrist_2", "wrist_3"] + robot_sim_cfg.joints = [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint", + ] + robot_sim_cfg.robot_type = rcs.common.RobotType.UR5e + robot_sim_cfg.attachment_site = "attachment_site" + robot_sim_cfg.arm_collision_geoms = [] + robot_sim_cfg.mjcf_scene_path = rcs.scenes["ur5e_empty_world"].mjb + robot_sim_cfg.kinematic_model_path = rcs.scenes["ur5e_empty_world"].mjcf_robot + robot_sim_cfg.base = "base" + + gripper_config = sim.SimGripperConfig() + gripper_config.actuator = "fingers_actuator" + gripper_config.joints = ["right_driver_joint"] + gripper_config.collision_geoms = [] + gripper_config.collision_geoms_fingers = [] + + env_rel = SimEnvCreator()( + control_mode=ControlMode.JOINTS, + collision_guard=False, + robot_cfg=robot_sim_cfg, + gripper_cfg=gripper_config, + max_relative_movement=np.deg2rad(5), + relative_to=RelativeTo.LAST_STEP, + ) + env_rel.get_wrapper_attr("sim").open_gui() + + for _ in range(100): + obs, info = env_rel.reset() + for _ in range(3): + # sample random relative action and execute it + act = env_rel.action_space.sample() + obs, reward, terminated, truncated, info = env_rel.step(act) + if truncated or terminated: + logger.info("Truncated or terminated!") + return + sleep(0.4) + + +if __name__ == "__main__": + main() diff --git a/extensions/rcs_ur5e/pyproject.toml b/extensions/rcs_ur5e/pyproject.toml new file mode 100644 index 00000000..6afefe9f --- /dev/null +++ b/extensions/rcs_ur5e/pyproject.toml @@ -0,0 +1,27 @@ +[build-system] +requires = ["setuptools"] +build-backend = "setuptools.build_meta" + +[project] +name = "rcs_ur5e" +version = "0.5.2" +description="RCS UR5e module" +dependencies = [ + "rcs>=0.5.0", + "ur_rtde==1.6.1", +] +readme = "README.md" +maintainers = [ + { name = "Johannes Hechtl", email = "johannes.hechtl@siemens.com" }, +] +authors = [ + { name = "Tobias Jülg", email = "tobias.juelg@utn.de" }, + { name = "Johannes Hechtl", email = "johannes.hechtl@siemens.com" }, +] +requires-python = ">=3.10" +classifiers = [ + "Development Status :: 3 - Alpha", + "License :: OSI Approved :: GNU Affero General Public License v3 (AGPLv3)", + "Programming Language :: Python :: 3", +] + diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/__init__.py b/extensions/rcs_ur5e/src/rcs_ur5e/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/creators.py b/extensions/rcs_ur5e/src/rcs_ur5e/creators.py new file mode 100644 index 00000000..f56353d8 --- /dev/null +++ b/extensions/rcs_ur5e/src/rcs_ur5e/creators.py @@ -0,0 +1,53 @@ +import logging + +import gymnasium as gym +from rcs.camera.hw import HardwareCameraSet +from rcs.envs.base import ( + CameraSetWrapper, + ControlMode, + GripperWrapper, + RelativeActionSpace, + RelativeTo, + RobotEnv, +) +from rcs.envs.creators import RCSHardwareEnvCreator +from rcs_ur5e.hw import RobotiQGripper, UR5e, UR5eConfig + +import rcs + +logger = logging.getLogger(__name__) +logger.setLevel(logging.INFO) + + +class RCSUR5eEnvCreator(RCSHardwareEnvCreator): + def __call__( # type: ignore + self, + ip: str, + robot_cfg: UR5eConfig, + camera_set: HardwareCameraSet | None = None, + control_mode: ControlMode = ControlMode.CARTESIAN_TRPY, + max_relative_movement: float | tuple[float, float] | None = None, + relative_to: RelativeTo = RelativeTo.LAST_STEP, + ) -> gym.Env: + ik = rcs.common.Pin( + robot_cfg.kinematic_model_path, + robot_cfg.attachment_site, + urdf=robot_cfg.kinematic_model_path.endswith(".urdf"), + ) + robot = UR5e(ip, ik) + robot.set_config(robot_cfg) + env: gym.Env = RobotEnv(robot, control_mode, home_on_reset=True) + + gripper = RobotiQGripper(ip) + env = GripperWrapper(env, gripper, binary=True) + + if camera_set is not None: + camera_set.start() + camera_set.wait_for_frames() + logger.info("CameraSet started") + env = CameraSetWrapper(env, camera_set, include_depth=True) + + if max_relative_movement is not None: + env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to) + + return env diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/hw.py b/extensions/rcs_ur5e/src/rcs_ur5e/hw.py new file mode 100644 index 00000000..5eaa44e2 --- /dev/null +++ b/extensions/rcs_ur5e/src/rcs_ur5e/hw.py @@ -0,0 +1,361 @@ +"""Hardware abstraction layer for the UR5e robot. +Starts a Thread with Multiprocessing to control the robot via RTDE interface in real-time. +Uses shared memory to communicate between the main process and the control process.""" + +import multiprocessing as mp +import time +import typing +from dataclasses import dataclass +from enum import IntEnum +from multiprocessing.shared_memory import SharedMemory + +import numpy as np +import rtde_control +import rtde_receive +from rcs_ur5e import robotiq_gripper + +import rcs +from rcs import common + + +@dataclass(kw_only=True) +class UR5eConfig(common.RobotConfig): + # Kinematics Setup + robot_type: common.RobotType = common.RobotType.UR5e + kinematic_model_path = rcs.scenes["ur5e_empty_world"].mjcf_robot + attachment_site = "attachment_site" + + # Robot movement parameters + max_velocity: float = 1.0 + max_acceleration: float = 1.0 + async_control: bool = True + max_servo_joint_step: float = 0.15 + max_servo_cartesian_step: float = 0.01 + + # UR Controller parameters, change with caution + lookahead_time: float = 0.05 + gain: float = 500.0 + + def to_dict(self) -> dict[str, typing.Any]: + return { + "kinematic_model_path": self.kinematic_model_path, + "attachment_site": self.attachment_site, + "max_velocity": self.max_velocity, + "max_acceleration": self.max_acceleration, + "async_control": self.async_control, + "max_servo_joint_step": self.max_servo_joint_step, + "max_servo_cartesian_step": self.max_servo_cartesian_step, + "lookahead_time": self.lookahead_time, + "gain": self.gain, + } + + def from_dict(self, data: dict[str, typing.Any]) -> None: + for key, value in data.items(): + setattr(self, key, value) + + def __post_init__(self): + super().__init__() + + +# Define the shared memory +SHM_SIZE = 4 + 1 + 48 + 48 + 48 + 48 +SHM_NAME = "ur5e_control_shm" + + +class ControlMode(IntEnum): + IDLE = 0 + JOINT_MODE = 1 + CARTESIAN_MODE = 2 + + +def _control_robot(shm_name: str, ip: str, stop_queue: mp.Queue, config_queue: mp.Queue) -> None: + """ + Control loop for the robot, running in a separate process. + """ + robot_config = UR5eConfig() + try: + # Initialize robot interfaces + ur_control = rtde_control.RTDEControlInterface(ip) + ur_receive = rtde_receive.RTDEReceiveInterface(ip) + + if not ur_control.isConnected(): + msg = f"Could not connect to UR5e at {ip}." + raise ConnectionError(msg) + + # Setup Shared Memory + shm = SharedMemory(name=shm_name) + data_buffer = shm.buf + offset_mode = 0 + offset_target_reached = offset_mode + 4 + offset_joint_target = offset_target_reached + 1 + offset_cartesian_target = offset_joint_target + 48 + offset_joint_state = offset_cartesian_target + 48 + offset_cartesian_state = offset_joint_state + 48 + joint_target_view: np.ndarray = np.ndarray( + (6,), dtype=np.float64, buffer=data_buffer, offset=offset_joint_target + ) + cartesian_target_view: np.ndarray = np.ndarray( + (6,), dtype=np.float64, buffer=data_buffer, offset=offset_cartesian_target + ) + joint_state_view: np.ndarray = np.ndarray((6,), dtype=np.float64, buffer=data_buffer, offset=offset_joint_state) + cartesian_state_view: np.ndarray = np.ndarray( + (6,), dtype=np.float64, buffer=data_buffer, offset=offset_cartesian_state + ) + + print("Robot control process started.") + + dt = 1.0 / 500.0 # 2ms + + while stop_queue.empty(): + if not config_queue.empty(): + robot_config.from_dict(config_queue.get()) + t_start = ur_control.initPeriod() + mode = int.from_bytes(data_buffer[offset_mode:offset_target_reached], "little") + + joint_state = np.array(ur_receive.getActualQ()) + joint_state_view[:] = joint_state + + cartesian_state = np.array(ur_receive.getActualTCPPose()) + cartesian_state_view[:] = cartesian_state + + if mode == ControlMode.JOINT_MODE: + diff = joint_target_view - joint_state_view + if np.max(np.abs(diff)) < 0.01: + data_buffer[offset_target_reached] = 1 + + if np.max(np.abs(diff)) > robot_config.max_servo_joint_step: + diff = (robot_config.max_servo_joint_step / np.max(np.abs(diff))) * diff + target_q = (joint_state_view + diff).tolist() + else: + target_q = joint_target_view.tolist() + + ur_control.servoJ( + target_q, + robot_config.max_velocity, + robot_config.max_acceleration, + dt, + robot_config.lookahead_time, + robot_config.gain, + ) + + elif mode == ControlMode.CARTESIAN_MODE: + rotvec = common.RotVec(np.array(cartesian_target_view[3:6])) + a = common.Pose(quaternion=rotvec.as_quaternion_vector(), translation=cartesian_target_view[:3]) # type: ignore + rotvec = common.RotVec(np.array(cartesian_state_view[3:6])) + b = common.Pose(quaternion=rotvec.as_quaternion_vector(), translation=cartesian_state_view[:3]) # type: ignore + diff = b * a.inverse() + diff.limit_rotation_angle(np.deg2rad(0.01)).limit_translation_length(0.008) + target = a * diff + target_pose = target.rotvec() + + diff = cartesian_target_view - cartesian_state_view + if np.max(np.abs(diff)) < 0.0025: + data_buffer[offset_target_reached] = 1 + + ur_control.servoL( + target_pose, + robot_config.max_velocity, + robot_config.max_acceleration, + dt, + robot_config.lookahead_time, + robot_config.gain, + ) + + ur_control.waitPeriod(t_start) + + except Exception as e: + print(f"Robot control process encountered an error: {e}") + + finally: + print("Robot control process is shutting down...") + if "ur_control" in locals(): + ur_control.servoStop() + ur_control.stopScript() + ur_control.disconnect() + if "shm" in locals(): + shm.close() + + +class UR5e(common.Robot): + + def __init__(self, ip: str, ik: common.Kinematics): + super().__init__() + self.ik = ik + self._config = UR5eConfig() + self._config.robot_type = common.RobotType.UR5e + self._ip = ip + + # Delete shared memory if it exists + try: + existing_shm = SharedMemory(name=SHM_NAME) + existing_shm.close() + existing_shm.unlink() + print("Existing shared memory unlinked.") + except FileNotFoundError: + pass + + # Initialize shared memory and communication queues + self._shm = SharedMemory(name=SHM_NAME, create=True, size=SHM_SIZE) + self._shm_buffer = self._shm.buf + self._stop_queue: mp.Queue[str] = mp.Queue() + self._config_queue: mp.Queue[dict[str, typing.Any]] = mp.Queue() + self._offset_mode = 0 + self._offset_target_reached = self._offset_mode + 4 + self._offset_joint_target = self._offset_target_reached + 1 + self._offset_cartesian_target = self._offset_joint_target + 48 + self._offset_joint_state = self._offset_cartesian_target + 48 + self._offset_cartesian_state = self._offset_joint_state + 48 + self._joint_target_shm: np.ndarray = np.ndarray( + (6,), dtype=np.float64, buffer=self._shm_buffer, offset=self._offset_joint_target + ) + self._cartesian_target_shm: np.ndarray = np.ndarray( + (6,), dtype=np.float64, buffer=self._shm_buffer, offset=self._offset_cartesian_target + ) + self._joint_state_shm: np.ndarray = np.ndarray( + (6,), dtype=np.float64, buffer=self._shm_buffer, offset=self._offset_joint_state + ) + self._cartesian_state_shm: np.ndarray = np.ndarray( + (6,), dtype=np.float64, buffer=self._shm_buffer, offset=self._offset_cartesian_state + ) + + # Initialise with -10 to check for first value + self._joint_state_shm[:] = -10 + + # Start the robot control process + self._robot_process = mp.Process( + target=_control_robot, args=(SHM_NAME, self._ip, self._stop_queue, self._config_queue) + ) + self._robot_process.daemon = True # Kills process if main process exits + self._robot_process.start() + + while self._joint_state_shm[0] == -10: + print("Waiting for first robot state to arrive..") + time.sleep(1) + print("Robot Connection established.") + + def __del__(self): + """Ensures resources are cleaned up when the object is garbage collected.""" + self.stop_control_process() + + def stop_control_process(self): + """Safely stops the robot control process.""" + if self._robot_process.is_alive(): + self._stop_queue.put("STOP") + self._robot_process.join(timeout=5) + if self._robot_process.is_alive(): + self._robot_process.terminate() + self._shm.close() + self._shm.unlink() + print("UR5e control process stopped and shared memory unlinked.") + + def get_cartesian_position(self) -> common.Pose: + ur_pose = self._cartesian_state_shm + trans = ur_pose[0:3] + rotvec = common.RotVec(np.array(ur_pose[3:6])) + pose = common.Pose(quaternion=rotvec.as_quaternion_vector(), translation=trans) # type: ignore + return ( + common.Pose(rpy_vector=np.array([0, 0, np.deg2rad(180)]), translation=np.array([0, 0, 0])).inverse() * pose # type: ignore + ) + + def get_ik(self) -> common.Kinematics | None: + return self.ik + + def get_joint_position(self) -> np.ndarray[tuple[typing.Any], np.dtype[np.float64]]: + return np.array(self._joint_state_shm) + + def get_config(self) -> UR5eConfig: + return self._config + + def set_config(self, robot_cfg: UR5eConfig) -> None: + self._config = robot_cfg + self._config_queue.put(robot_cfg.to_dict()) + + def get_state(self) -> common.RobotState: + return common.RobotState() + + def set_cartesian_position(self, pose: common.Pose) -> None: + q = self.ik.inverse(pose, q0=self.get_joint_position()) + if q is None: + print("IK failed") + return + self.set_joint_position(q[0:6]) + return + + def set_joint_position(self, q: np.ndarray[tuple[typing.Any], np.dtype[np.float64]]) -> None: + self._shm_buffer[self._offset_target_reached] = 0 + self._joint_target_shm[:] = q + self._shm_buffer[self._offset_mode : self._offset_target_reached] = (ControlMode.JOINT_MODE).to_bytes( + 4, "little" + ) + if not self._config.async_control: + while not self._shm_buffer[self._offset_target_reached]: + time.sleep(0.01) + + def move_home(self) -> None: + home = typing.cast( + np.ndarray[tuple[typing.Literal[6]], np.dtype[np.float64]], + common.robots_meta_config(common.RobotType.UR5e).q_home, + ) + if np.any((home < -2 * np.pi) | (home > 2 * np.pi)): + msg = f"Home position {home} is out of bounds." + raise ValueError(msg) + print(f"Moving to home position: {home}") + self._joint_target_shm[:] = home + self._shm_buffer[self._offset_mode : self._offset_target_reached] = (ControlMode.JOINT_MODE).to_bytes( + 4, "little" + ) + while not self._shm_buffer[self._offset_target_reached]: + time.sleep(0.01) + + def reset(self) -> None: + pass + + +class RobotiQGripper(common.Gripper): + def __init__(self, ip): + super().__init__() + self.gripper = robotiq_gripper.RobotiqGripper() + try: + self.gripper.connect(ip, 63352, socket_timeout=3.0) # default port for Robotiq gripper + except Exception as e: + msg = f"Failed to connect to RobotiQ gripper at {ip}" + raise RuntimeError(msg) from e + if not self.gripper.is_active(): + self.gripper.activate() + print("Gripper Connection established.") + + def get_normalized_width(self) -> float: + # value between 0 and 1 (0 is closed) + return (self.gripper.get_max_position() - self.gripper.get_current_position()) / self.gripper.get_max_position() + + def grasp(self) -> None: + """ + Close the gripper to grasp an object. + """ + self.set_normalized_width(0.0) + + def open(self) -> None: + """ + Open the gripper to its maximum width. + """ + self.set_normalized_width(1.0) + + def reset(self) -> None: + self.open() + + def set_normalized_width(self, width: float, _: float = 0) -> None: + """ + Set the gripper width to a normalized value between 0 and 1. + """ + if not (0 <= width <= 1): + msg = f"Width must be between 0 and 1, got {width}." + raise ValueError(msg) + abs_width = (1 - width) * self.gripper.get_max_position() + # print(f"Setting gripper width to {width:.2f} (absolute: {abs_width:.2f})") + self.gripper.move(int(abs_width), int(self.gripper._max_speed), int(self.gripper._max_force)) + + def shut(self) -> None: + """ + Close the gripper. + """ + self.set_normalized_width(0.0) diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/readme.md b/extensions/rcs_ur5e/src/rcs_ur5e/readme.md new file mode 100644 index 00000000..12fc81c8 --- /dev/null +++ b/extensions/rcs_ur5e/src/rcs_ur5e/readme.md @@ -0,0 +1,28 @@ +# UR5e Extension for Robot Control Stack 🤖 +This repository contains a basic Python-based controller plugin for the UR5 robot. It allows for direct manipulation of the UR5. + +## Warnings & Safety Notices +- Non-Compliant Operation: This controller does not implement any force-based control (e.g., force mode or impedance control). The robot will not be compliant to external forces. The robot will go into Emergency-Stop when it detects a collision. + +- Rough Control: This is a basic joint-level or Cartesian controller implementation. Movements may be slightly rough or non-optimal compared to highly tuned industrial controllers. + +- Home Position Verification: Always check and verify the robot's starting (home) position configured in the plugin or the control stack before starting any program. An incorrect home position could lead to collisions. + +- Gradual Velocity Increase: Start all operations using a very slow velocity setting on the pendant or control panel(i.e., 10%). Gradually increase the velocity only after confirming that the basic movements are safe, stable, and correct. Never immediately jump to high speeds. + +## Installation +To install hardware extension use +```shell +pip install -ve rcs_ur5e +``` + +## Usage +You can initially test the connection to the robot and basic movements by running the scripts in the [scripts](./scripts/) folder. + +For code examples see the [examples](../../../../examples/ur5e) folder. + +You can switch between hardware and simulation by setting the following flag: +```python +ROBOT_INSTANCE = RobotPlatform.HARDWARE +# ROBOT_INSTANCE = RobotPlatform.SIMULATION +``` diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/robotiq_gripper.py b/extensions/rcs_ur5e/src/rcs_ur5e/robotiq_gripper.py new file mode 100644 index 00000000..1a175bf0 --- /dev/null +++ b/extensions/rcs_ur5e/src/rcs_ur5e/robotiq_gripper.py @@ -0,0 +1,269 @@ +"""Module to control Robotiq's grippers - tested with HAND-E +Source: https://sdurobotics.gitlab.io/ur_rtde/_static/robotiq_gripper.py""" + +import socket +import threading +import time +from enum import Enum +from typing import OrderedDict, Tuple, Union + + +class RobotiqGripper: + """ + Communicates with the gripper directly, via socket with string commands, leveraging string names for variables. + """ + + # WRITE VARIABLES (CAN ALSO READ) + ACT = "ACT" # act : activate (1 while activated, can be reset to clear fault status) + GTO = "GTO" # gto : go to (will perform go to with the actions set in pos, for, spe) + ATR = "ATR" # atr : auto-release (emergency slow move) + ADR = "ADR" # adr : auto-release direction (open(1) or close(0) during auto-release) + FOR = "FOR" # for : force (0-255) + SPE = "SPE" # spe : speed (0-255) + POS = "POS" # pos : position (0-255), 0 = open + # READ VARIABLES + STA = "STA" # status (0 = is reset, 1 = activating, 3 = active) + PRE = "PRE" # position request (echo of last commanded position) + OBJ = "OBJ" # object detection (0 = moving, 1 = outer grip, 2 = inner grip, 3 = no object at rest) + FLT = "FLT" # fault (0=ok, see manual for errors if not zero) + + ENCODING = "UTF-8" # ASCII and UTF-8 both seem to work + + class GripperStatus(Enum): + """Gripper status reported by the gripper. The integer values have to match what the gripper sends.""" + + RESET = 0 + ACTIVATING = 1 + # UNUSED = 2 # This value is currently not used by the gripper firmware + ACTIVE = 3 + + class ObjectStatus(Enum): + """Object status reported by the gripper. The integer values have to match what the gripper sends.""" + + MOVING = 0 + STOPPED_OUTER_OBJECT = 1 + STOPPED_INNER_OBJECT = 2 + AT_DEST = 3 + + def __init__(self): + """Constructor.""" + self.socket = None + self.command_lock = threading.Lock() + self._min_position = 0 + self._max_position = 255 + self._min_speed = 0 + self._max_speed = 255 + self._min_force = 0 + self._max_force = 255 + + def connect(self, hostname: str, port: int, socket_timeout: float = 2.0) -> None: + """Connects to a gripper at the given address. + :param hostname: Hostname or ip. + :param port: Port. + :param socket_timeout: Timeout for blocking socket operations. + """ + self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.socket.settimeout(socket_timeout) + self.socket.connect((hostname, port)) + + def disconnect(self) -> None: + """Closes the connection with the gripper.""" + if self.socket is not None: + self.socket.close() + self.socket = None + + def _set_vars(self, var_dict: OrderedDict[str, Union[int, float]]): + """Sends the appropriate command via socket to set the value of n variables, and waits for its 'ack' response. + :param var_dict: Dictionary of variables to set (variable_name, value). + :return: True on successful reception of ack, false if no ack was received, indicating the set may not + have been effective. + """ + # construct unique command + cmd = "SET" + for variable, value in var_dict.items(): + cmd += f" {variable} {value}" + cmd += "\n" # new line is required for the command to finish + # atomic commands send/rcv + with self.command_lock: + if self.socket is None: + print("Error: Socket is not connected.") + return False + self.socket.sendall(cmd.encode(self.ENCODING)) + data = self.socket.recv(1024) + return self._is_ack(data) + + def _set_var(self, variable: str, value: Union[int, float]): + """Sends the appropriate command via socket to set the value of a variable, and waits for its 'ack' response. + :param variable: Variable to set. + :param value: Value to set for the variable. + :return: True on successful reception of ack, false if no ack was received, indicating the set may not + have been effective. + """ + return self._set_vars(OrderedDict([(variable, value)])) + + def _get_var(self, variable: str): + """Sends the appropriate command to retrieve the value of a variable from the gripper, blocking until the + response is received or the socket times out. + :param variable: Name of the variable to retrieve. + :return: Value of the variable as integer. + """ + # atomic commands send/rcv + with self.command_lock: + if self.socket is None: + print("Error: Socket is not connected.") + return False + cmd = f"GET {variable}\n" + self.socket.sendall(cmd.encode(self.ENCODING)) + data = self.socket.recv(1024) + + # expect data of the form 'VAR x', where VAR is an echo of the variable name, and X the value + # note some special variables (like FLT) may send 2 bytes, instead of an integer. We assume integer here + var_name, value_str = data.decode(self.ENCODING).split() + if var_name != variable: + msg = f"Unexpected response {data} ({data.decode(self.ENCODING)}): does not match '{variable}'" + raise ValueError(msg) + return int(value_str) + + @staticmethod + def _is_ack(data: str): + return data == b"ack" + + def _reset(self): + """ + Reset the gripper. + """ + self._set_var(self.ACT, 0) + self._set_var(self.ATR, 0) + while self._get_var(self.ACT) != 0 or self._get_var(self.STA) != 0: + self._set_var(self.ACT, 0) + self._set_var(self.ATR, 0) + time.sleep(0.5) + + def activate(self, auto_calibrate: bool = True): + """Resets the activation flag in the gripper, and sets it back to one, clearing previous fault flags. + :param auto_calibrate: Whether to calibrate the minimum and maximum positions based on actual motion. + """ + if not self.is_active(): + self._reset() + while self._get_var(self.ACT) != 0 or self._get_var(self.STA) != 0: + time.sleep(0.01) + + self._set_var(self.ACT, 1) + time.sleep(1.0) + while self._get_var(self.ACT) != 1 or self._get_var(self.STA) != 3: + time.sleep(0.01) + + # auto-calibrate position range if desired + if auto_calibrate: + self.auto_calibrate() + + def is_active(self): + """Returns whether the gripper is active.""" + status = self._get_var(self.STA) + return RobotiqGripper.GripperStatus(status) == RobotiqGripper.GripperStatus.ACTIVE + + def get_min_position(self) -> int: + """Returns the minimum position the gripper can reach (open position).""" + return self._min_position + + def get_max_position(self) -> int: + """Returns the maximum position the gripper can reach (closed position).""" + return self._max_position + + def get_open_position(self) -> int: + """Returns what is considered the open position for gripper (minimum position value).""" + return self.get_min_position() + + def get_closed_position(self) -> int: + """Returns what is considered the closed position for gripper (maximum position value).""" + return self.get_max_position() + + def is_open(self): + """Returns whether the current position is considered as being fully open.""" + return self.get_current_position() <= self.get_open_position() + + def is_closed(self): + """Returns whether the current position is considered as being fully closed.""" + return self.get_current_position() >= self.get_closed_position() + + def get_current_position(self) -> int: + """Returns the current position as returned by the physical hardware.""" + return self._get_var(self.POS) + + def auto_calibrate(self, log: bool = True) -> None: + """Attempts to calibrate the open and closed positions, by slowly closing and opening the gripper. + :param log: Whether to print the results to log. + """ + # first try to open in case we are holding an object + (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1) + if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST: + msg = f"Calibration failed opening to start: {status}" + raise RuntimeError(msg) + + # try to close as far as possible, and record the number + (position, status) = self.move_and_wait_for_pos(self.get_closed_position(), 64, 1) + if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST: + msg = f"Calibration failed because of an object: {status}" + raise RuntimeError(msg) + assert position <= self._max_position + self._max_position = position + + # try to open as far as possible, and record the number + (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1) + if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST: + msg = f"Calibration failed because of an object: {status}" + raise RuntimeError(msg) + assert position >= self._min_position + self._min_position = position + + if log: + print(f"Gripper auto-calibrated to [{self.get_min_position()}, {self.get_max_position()}]") + + def move(self, position: int, speed: int, force: int) -> Tuple[bool, int]: + """Sends commands to start moving towards the given position, with the specified speed and force. + :param position: Position to move to [min_position, max_position] + :param speed: Speed to move at [min_speed, max_speed] + :param force: Force to use [min_force, max_force] + :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with + the actual position that was requested, after being adjusted to the min/max calibrated range. + """ + + def clip_val(min_val, val, max_val): + return max(min_val, min(val, max_val)) + + clip_pos = clip_val(self._min_position, position, self._max_position) + clip_spe = clip_val(self._min_speed, speed, self._max_speed) + clip_for = clip_val(self._min_force, force, self._max_force) + + # moves to the given position with the given speed and force + var_dict = OrderedDict([(self.POS, clip_pos), (self.SPE, clip_spe), (self.FOR, clip_for), (self.GTO, 1)]) + return self._set_vars(var_dict), clip_pos + + def move_and_wait_for_pos(self, position: int, speed: int, force: int) -> Tuple[int, ObjectStatus]: + """Sends commands to start moving towards the given position, with the specified speed and force, and + then waits for the move to complete. + :param position: Position to move to [min_position, max_position] + :param speed: Speed to move at [min_speed, max_speed] + :param force: Force to use [min_force, max_force] + :return: A tuple with an integer representing the last position returned by the gripper after it notified + that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note + that it is possible that the position was not reached, if an object was detected during motion. + """ + set_ok, cmd_pos = self.move(position, speed, force) + if not set_ok: + msg = "Failed to set variables for move." + raise RuntimeError(msg) + + # wait until the gripper acknowledges that it will try to go to the requested position + while self._get_var(self.PRE) != cmd_pos: + time.sleep(0.001) + + # wait until not moving + cur_obj = self._get_var(self.OBJ) + while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING: + cur_obj = self._get_var(self.OBJ) + + # report the actual position and the object status + final_pos = self._get_var(self.POS) + final_obj = cur_obj + return final_pos, RobotiqGripper.ObjectStatus(final_obj) diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/scripts/test_gripper.py b/extensions/rcs_ur5e/src/rcs_ur5e/scripts/test_gripper.py new file mode 100644 index 00000000..c40195b2 --- /dev/null +++ b/extensions/rcs_ur5e/src/rcs_ur5e/scripts/test_gripper.py @@ -0,0 +1,20 @@ +"""Test script for the RobotiQ gripper.""" + +from rcs_ur5e.hw import RobotiQGripper + +ROBOT_IP = "192.168.25.201" + +gripper = RobotiQGripper(ROBOT_IP) +gripper.open() +print(f"Gripper width: {gripper.get_normalized_width()}") + +print("Grasping...") +gripper.grasp() +input("Press Enter to continue...") +print("Opening...") +gripper.open() +input("Press Enter to continue...") +print("Shutting...") +gripper.shut() +input("Press Enter to continue...") +print(f"Gripper width: {gripper.get_normalized_width()}") diff --git a/extensions/rcs_ur5e/src/rcs_ur5e/scripts/test_robot.py b/extensions/rcs_ur5e/src/rcs_ur5e/scripts/test_robot.py new file mode 100644 index 00000000..7cd0fd3d --- /dev/null +++ b/extensions/rcs_ur5e/src/rcs_ur5e/scripts/test_robot.py @@ -0,0 +1,30 @@ +"""Script for testing UR5e robot connection and basic movements.""" + +import time + +from rcs_ur5e.hw import UR5e, UR5eConfig + +import rcs + +robot_config = UR5eConfig() +ROBOT_IP = "192.168.25.201" +ik = rcs.common.Pin( + robot_config.kinematic_model_path, + robot_config.attachment_site, + urdf=robot_config.kinematic_model_path.endswith(".urdf"), +) +robot = UR5e(ROBOT_IP, ik) +print(f"Robot joint positions: {robot.get_joint_position()}") +print(f"Robot cartesian position: {robot.get_cartesian_position()}") +print(f"Robot Config: {robot.get_config()}") + +input("Press Enter to continue and move to home position...") +robot.move_home() +input("Press Enter to continue...") +target_q = robot.get_joint_position() +target_q[0] += 0.05 # Move slightly +print(f"Setting joint position to {target_q}") +for _ in range(100): + target_q[0] += 0.005 # Move slightly + robot.set_joint_position(target_q) + time.sleep(0.05) diff --git a/include/rcs/Pose.h b/include/rcs/Pose.h index 28fcb74e..e2697fb3 100644 --- a/include/rcs/Pose.h +++ b/include/rcs/Pose.h @@ -64,6 +64,42 @@ struct RPY { } }; +struct RotVec { + Eigen::AngleAxisd angle_axis; + + RotVec(const Eigen::Vector3d &vec) + : angle_axis(vec.norm(), vec.normalized()) {} + + std::string str() const { + double x = this->as_vector()[0]; + double y = this->as_vector()[1]; + double z = this->as_vector()[2]; + return "RotVec(" + std::to_string(x) + ", " + std::to_string(y) + ", " + + std::to_string(z) + ")"; + } + + Eigen::Matrix3d rotation_matrix() const { + return angle_axis.toRotationMatrix(); + } + + Eigen::Quaterniond as_quaternion() const { + return Eigen::Quaterniond(angle_axis); + } + + Eigen::Vector4d as_quaternion_vector() const { + return as_quaternion().coeffs(); + } + + Eigen::Vector3d as_vector() const { + Eigen::Vector3d rotation = angle_axis.angle() * angle_axis.axis(); + return rotation; + } + + bool is_close(const RotVec &other, double eps = 1e-8) const { + return (this->as_vector() - other.as_vector()).lpNorm<1>() < eps; + } +}; + /** * Immutable abstraction class with python bindings for affine 3D transformation * to access them confidently from python @@ -275,6 +311,12 @@ class Pose { */ Vector6d xyzrpy() const; + /** + * @brief Returns the rotation vector representation of the Pose + * For python bindings. + */ + Vector6d rotvec() const; + /** * @brief Converts a Pose to a String * For python bindings. diff --git a/include/rcs/Robot.h b/include/rcs/Robot.h index f67a9339..bda901e7 100644 --- a/include/rcs/Robot.h +++ b/include/rcs/Robot.h @@ -60,8 +60,8 @@ static const std::unordered_map robots_meta_config = {UR5e, RobotMetaConfig{ // q_home (6‐vector): - (VectorXd(6) << -0.4488354, -2.02711196, 1.64630026, -1.18999615, - -1.57079762, -2.01963249) + (VectorXd(6) << 0.0, -2.02711196, 1.64630026, -1.18999615, + -1.57079762, 0.0) .finished(), // dof: 6, diff --git a/pyproject.toml b/pyproject.toml index b317ef2b..84acbd70 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -170,4 +170,5 @@ version_files = [ "extensions/rcs_realsense/pyproject.toml:version", "extensions/rcs_so101/pyproject.toml:version", "extensions/rcs_xarm7/pyproject.toml:version", + "extensions/rcs_ur5e/pyproject.toml:version", ] diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py index a633c082..fdfee7bb 100644 --- a/python/rcs/__init__.py +++ b/python/rcs/__init__.py @@ -78,6 +78,13 @@ def get_scene_urdf(scene_name: str) -> str | None: urdf=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "so101_empty_world", "robot.urdf"), robot_type=common.RobotType.SO101, ), + "ur5e_empty_world": Scene( + mjb=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "scene.mjb"), + mjcf_scene=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "scene.xml"), + mjcf_robot=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "robot.xml"), + urdf=os.path.join(site.getsitepackages()[0], "rcs", "scenes", "ur5e_empty_world", "robot.urdf"), + robot_type=common.RobotType.UR5e, + ), } # make submodules available diff --git a/python/rcs/_core/common.pyi b/python/rcs/_core/common.pyi index 53ee3cd5..9ac1f819 100644 --- a/python/rcs/_core/common.pyi +++ b/python/rcs/_core/common.pyi @@ -38,6 +38,7 @@ __all__: list[str] = [ "RobotPlatform", "RobotState", "RobotType", + "RotVec", "SIMULATION", "SO101", "TRIPOD_GRASP", @@ -188,6 +189,7 @@ class Pose: def rotation_m(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]: ... def rotation_q(self) -> numpy.ndarray[tuple[typing.Literal[4]], numpy.dtype[numpy.float64]]: ... def rotation_rpy(self) -> RPY: ... + def rotvec(self) -> numpy.ndarray[tuple[typing.Literal[6]], numpy.dtype[numpy.float64]]: ... def total_angle(self) -> float: ... def translation(self) -> numpy.ndarray[tuple[typing.Literal[3]], numpy.dtype[numpy.float64]]: ... def xyzrpy(self) -> numpy.ndarray[tuple[typing.Literal[6]], numpy.dtype[numpy.float64]]: ... @@ -313,6 +315,16 @@ class RobotType: @property def value(self) -> int: ... +class RotVec: + def __init__(self, vec: numpy.ndarray[tuple[typing.Literal[3]], numpy.dtype[numpy.float64]]) -> None: ... + def __str__(self) -> str: ... + def as_quaternion_vector(self) -> numpy.ndarray[tuple[typing.Literal[4]], numpy.dtype[numpy.float64]]: ... + def as_vector(self) -> numpy.ndarray[tuple[typing.Literal[3]], numpy.dtype[numpy.float64]]: ... + def is_close(self, other: RotVec, eps: float = 1e-08) -> bool: ... + def rotation_matrix( + self, + ) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]: ... + class Pin(Kinematics): def __init__(self, path: str, frame_id: str = "fr3_link8", urdf: bool = True) -> None: ... diff --git a/src/pybind/rcs.cpp b/src/pybind/rcs.cpp index 4c2f5c78..be86cd68 100644 --- a/src/pybind/rcs.cpp +++ b/src/pybind/rcs.cpp @@ -244,6 +244,15 @@ PYBIND11_MODULE(_core, m) { t[2].cast()); })); + py::class_(common, "RotVec") + .def(py::init(), py::arg("vec")) + .def("rotation_matrix", &rcs::common::RotVec::rotation_matrix) + .def("as_vector", &rcs::common::RotVec::as_vector) + .def("as_quaternion_vector", &rcs::common::RotVec::as_quaternion_vector) + .def("is_close", &rcs::common::RotVec::is_close, py::arg("other"), + py::arg("eps") = 1e-8) + .def("__str__", &rcs::common::RotVec::str); + py::class_(common, "Pose") .def(py::init<>()) .def(py::init(), py::arg("pose_matrix")) @@ -266,6 +275,7 @@ PYBIND11_MODULE(_core, m) { .def("pose_matrix", &rcs::common::Pose::pose_matrix) .def("rotation_rpy", &rcs::common::Pose::rotation_rpy) .def("xyzrpy", &rcs::common::Pose::xyzrpy) + .def("rotvec", &rcs::common::Pose::rotvec) .def("interpolate", &rcs::common::Pose::interpolate, py::arg("dest_pose"), py::arg("progress")) .def("inverse", &rcs::common::Pose::inverse) diff --git a/src/rcs/Pose.cpp b/src/rcs/Pose.cpp index 76ed371a..ceb57d82 100644 --- a/src/rcs/Pose.cpp +++ b/src/rcs/Pose.cpp @@ -159,6 +159,14 @@ Vector6d Pose::xyzrpy() const { return xyzrpy; } +Vector6d Pose::rotvec() const { + Eigen::AngleAxisd angle_axis(this->m_rotation); + Vector6d pose_rotvec; + pose_rotvec.head(3) = this->translation(); + pose_rotvec.tail(3) = angle_axis.axis() * angle_axis.angle(); + return pose_rotvec; +} + std::string Pose::str() const { std::stringstream ss; diff --git a/src/sim/SimRobot.cpp b/src/sim/SimRobot.cpp index a9f6eccb..6be224ea 100644 --- a/src/sim/SimRobot.cpp +++ b/src/sim/SimRobot.cpp @@ -206,6 +206,9 @@ void SimRobot::m_reset() { } void SimRobot::set_joints_hard(const common::VectorXd& q) { + // TODO does not work for some reason + this->state.target_angles = q; + this->state.previous_angles = this->get_joint_position(); for (size_t i = 0; i < std::size(this->ids.joints); ++i) { size_t jnt_id = this->ids.joints[i]; size_t jnt_qposadr = this->sim->m->jnt_qposadr[jnt_id];