Improved demo code, moving some robot assets to other repos, bug fixes (

#292)

* fix mjcf loader, improved demo robot script

* new keyframe

* default controller choices

* work

* fix bug withbalance passive force only working on combined controllers, add ur10e

* better visualswork

* move old assets to their own githubs

mani_skill/agents/base_agent.py

@@ -10,6 +10,10 @@
 from gymnasium import spaces
 
 from mani_skill import format_path
+from mani_skill.agents.controllers.pd_joint_pos import (
+    PDJointPosController,
+    PDJointPosControllerConfig,
+)
 from mani_skill.sensors.base_sensor import BaseSensor, BaseSensorConfig
 from mani_skill.utils import sapien_utils
 from mani_skill.utils.structs import Actor, Array, Articulation, Pose
@@ -105,7 +109,26 @@ def _sensor_configs(self) -> List[BaseSensorConfig]:
     def _controller_configs(
         self,
     ) -> Dict[str, Union[ControllerConfig, DictControllerConfig]]:
-        raise NotImplementedError()
+
+        return dict(
+            pd_joint_pos=PDJointPosControllerConfig(
+                [x.name for x in self.robot.active_joints],
+                lower=None,
+                upper=None,
+                stiffness=100,
+                damping=10,
+                normalize_action=False,
+            ),
+            pd_joint_delta_pos=PDJointPosControllerConfig(
+                [x.name for x in self.robot.active_joints],
+                lower=-0.1,
+                upper=0.1,
+                stiffness=100,
+                damping=10,
+                normalize_action=True,
+                use_delta=True,
+            ),
+        )
 
     @property
     def device(self):
@@ -170,26 +193,22 @@ def set_control_mode(self, control_mode=None):
         # create controller on the fly here
         if control_mode not in self.controllers:
             config = self._controller_configs[self._control_mode]
+            balance_passive_force = True
             if isinstance(config, dict):
-                balance_passive_force = True
                 if "balance_passive_force" in config:
                     balance_passive_force = config.pop("balance_passive_force")
                 self.controllers[control_mode] = CombinedController(
                     config,
                     self.robot,
                     self._control_freq,
                     scene=self.scene,
-                    balance_passive_force=balance_passive_force,
                 )
             else:
                 self.controllers[control_mode] = config.controller_cls(
                     config, self.robot, self._control_freq, scene=self.scene
                 )
             self.controllers[control_mode].set_drive_property()
-            if (
-                isinstance(self.controllers[control_mode], DictController)
-                and self.controllers[control_mode].balance_passive_force
-            ):
+            if balance_passive_force:
                 # NOTE (stao): Balancing passive force is currently not supported in PhysX, so we work around by disabling gravity
                 for link in self.robot.links:
                     link.disable_gravity = True

mani_skill/agents/controllers/base_controller.py

@@ -190,14 +190,12 @@ def __init__(
         articulation: Articulation,
         control_freq: int,
         sim_freq: int = None,
-        balance_passive_force=True,
         scene: ManiSkillScene = None,
     ):
         self.scene = scene
         self.configs = configs
         self.articulation = articulation
         self._control_freq = control_freq
-        self.balance_passive_force = balance_passive_force
 
         self.controllers: Dict[str, BaseController] = dict()
         for uid, config in configs.items():

mani_skill/agents/robots/__init__.py

@@ -6,5 +6,6 @@
 from .panda import Panda, PandaRealSensed435
 from .trifingerpro import TriFingerPro
 from .unitree_h1 import UnitreeH1, UnitreeH1Simplified
+from .ur_e import UR10e
 from .xarm import XArm7Ability
 from .xmate3 import Xmate3Robotiq

mani_skill/agents/robots/_template/template_robot.py

@@ -9,41 +9,19 @@
 class TemplateRobot(BaseAgent):
     uid = "todo-give-me-a-name!"
     urdf_path = f"path/to/robot.urdf"  # You can use f"{PACKAGE_ASSET_DIR}" to reference a urdf file in the mani_skill /assets package folder
-    urdf_config = dict()
-
-    def __init__(self, *args, **kwargs):
-        # useful to store some references to robot parts (links and joints) like so below, which is copied from the Panda robot implementation
-        self.arm_joint_names = [
-            "panda_joint1",
-            "panda_joint2",
-            "panda_joint3",
-            "panda_joint4",
-            "panda_joint5",
-            "panda_joint6",
-            "panda_joint7",
-        ]
-        self.arm_stiffness = 1e3
-        self.arm_damping = 1e2
-        self.arm_force_limit = 100
-
-        self.gripper_joint_names = [
-            "panda_finger_joint1",
-            "panda_finger_joint2",
-        ]
-        self.gripper_stiffness = 1e3
-        self.gripper_damping = 1e2
-        self.gripper_force_limit = 100
 
-        self.ee_link_name = "panda_hand_tcp"
-
-        super().__init__(*args, **kwargs)
+    # you may need to use this modify the friction values of some links in order to make it possible to e.g. grasp objects or avoid sliding on the floor
+    urdf_config = dict()
 
-    @property
-    def _controller_configs(self):
-        raise NotImplementedError()
+    # you will need to implement your controllers to control the robot here. If not implemented, ManiSkill will create two default controllers.
+    # One does PD joint position control, and the other is PD joint delta position control
+    # @property
+    # def _controller_configs(self):
+    #     raise NotImplementedError()
 
     @property
     def _sensor_configs(self):
+        # Add custom cameras mounted to a link on the robot, or remove this if there aren't any you wish to simulate
         return [
             CameraConfig(
                 uid="your_custom_camera_on_this_robot",
@@ -57,6 +35,3 @@ def _sensor_configs(self):
                 entity_uid="your_mounted_camera",
             )
         ]
-
-    def _after_init(self):
-        pass

mani_skill/agents/robots/allegro_hand/allegro.py

@@ -1,11 +1,12 @@
 from copy import deepcopy
 from typing import List
 
+import numpy as np
 import sapien
 import torch
 
 from mani_skill import PACKAGE_ASSET_DIR
-from mani_skill.agents.base_agent import BaseAgent
+from mani_skill.agents.base_agent import BaseAgent, Keyframe
 from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
 from mani_skill.utils import sapien_utils
@@ -35,7 +36,31 @@ class AllegroHandRight(BaseAgent):
             ),
         },
     )
-    sensor_configs = {}
+    keyframes = dict(
+        palm_up=Keyframe(
+            qpos=np.array(
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                ]
+            ),
+            pose=sapien.Pose([0, 0, 0.5], q=[-0.707, 0, 0.707, 0]),
+        )
+    )
 
     def __init__(self, *args, **kwargs):
         self.joint_names = [

mani_skill/agents/robots/anymal/anymal_c.py

@@ -13,8 +13,8 @@
 
 @register_agent()
 class ANYmalC(BaseAgent):
-    uid = "anymal-c"
-    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/anymal-c/urdf/anymal_old.urdf"
+    uid = "anymal_c"
+    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/anymal_c/urdf/anymal_old.urdf"
     urdf_config = dict(
         _materials=dict(
             foot=dict(static_friction=2.0, dynamic_friction=2.0, restitution=0.0)

mani_skill/agents/robots/fetch/fetch.py

@@ -7,7 +7,7 @@
 import torch
 
 from mani_skill import PACKAGE_ASSET_DIR
-from mani_skill.agents.base_agent import BaseAgent
+from mani_skill.agents.base_agent import BaseAgent, Keyframe
 from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
 from mani_skill.sensors.camera import CameraConfig
@@ -39,6 +39,33 @@ class Fetch(BaseAgent):
         ),
     )
 
+    keyframes = dict(
+        rest=Keyframe(
+            pose=sapien.Pose(),
+            qpos=np.array(
+                np.array(
+                    [
+                        0,
+                        0,
+                        0,
+                        0.1,
+                        0,
+                        -0.370,
+                        0.562,
+                        -0.75,
+                        0.695,
+                        1.0,
+                        0.0,
+                        np.pi / 2,
+                        0,
+                        0.015,
+                        0.015,
+                    ]
+                )
+            ),
+        )
+    )
+
     @property
     def _sensor_configs(self):
         return [

mani_skill/agents/robots/humanoid/humanoid.py

@@ -1,5 +1,8 @@
+import numpy as np
+import sapien
+
 from mani_skill import PACKAGE_ASSET_DIR
-from mani_skill.agents.base_agent import BaseAgent
+from mani_skill.agents.base_agent import BaseAgent, Keyframe
 from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
 from mani_skill.sensors.camera import CameraConfig
@@ -12,6 +15,37 @@ class Humanoid(BaseAgent):
     urdf_config = dict()
     fix_root_link = False  # False as there is a freejoint on the root body
 
+    keyframes = dict(
+        squat=Keyframe(
+            qpos=np.array(
+                [
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.12,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    -0.25,
+                    -0.25,
+                    -0.25,
+                    -0.25,
+                    -0.5,
+                    -0.5,
+                    -1.3,
+                    -1.3,
+                    -0.8,
+                    -0.8,
+                    0.0,
+                    0.0,
+                ]
+            ),
+            pose=sapien.Pose(p=[0, 0, -0.375]),
+        )
+    )
+
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
 

mani_skill/agents/robots/panda/panda.py

@@ -7,7 +7,7 @@
 import torch
 
 from mani_skill import PACKAGE_ASSET_DIR
-from mani_skill.agents.base_agent import BaseAgent
+from mani_skill.agents.base_agent import BaseAgent, Keyframe
 from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
 from mani_skill.utils import common, sapien_utils
@@ -31,6 +31,26 @@ class Panda(BaseAgent):
             ),
         ),
     )
+
+    keyframes = dict(
+        rest=Keyframe(
+            qpos=np.array(
+                [
+                    0.0,
+                    np.pi / 8,
+                    0,
+                    -np.pi * 5 / 8,
+                    0,
+                    np.pi * 3 / 4,
+                    np.pi / 4,
+                    0.04,
+                    0.04,
+                ]
+            ),
+            pose=sapien.Pose(),
+        )
+    )
+
     arm_joint_names = [
         "panda_joint1",
         "panda_joint2",

mani_skill/agents/robots/unitree_h1/h1.py

@@ -1,7 +1,7 @@
 import numpy as np
 import sapien
 
-from mani_skill import PACKAGE_ASSET_DIR
+from mani_skill import ASSET_DIR
 from mani_skill.agents.base_agent import BaseAgent, Keyframe
 from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
@@ -11,7 +11,7 @@
 @register_agent()
 class UnitreeH1(BaseAgent):
     uid = "unitree_h1"
-    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/unitree_h1/urdf/h1.urdf"
+    urdf_path = f"{ASSET_DIR}/robots/unitree_h1/urdf/h1.urdf"
     urdf_config = dict()
     fix_root_link = False
     load_multiple_collisions = True
@@ -117,4 +117,4 @@ def is_fallen(self):
 @register_agent()
 class UnitreeH1Simplified(UnitreeH1):
     uid = "unitree_h1_simplified"
-    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/unitree_h1/urdf/h1_simplified.urdf"
+    urdf_path = f"{ASSET_DIR}/robots/unitree_h1/urdf/h1_simplified.urdf"

mani_skill/agents/robots/ur_e/__init__.py

@@ -0,0 +1 @@
+from .ur_10e import UR10e