From 3f1e3bec8213df92936506b4b527bbd130e9a49b Mon Sep 17 00:00:00 2001 From: Ali K Date: Tue, 31 Dec 2024 15:14:04 -0800 Subject: [PATCH 01/20] add zbot2 files --- sim/resources/zbot2/joints.py | 207 +++++++ sim/resources/zbot2/meshes/FINGER_1.stl | Bin 0 -> 217984 bytes sim/resources/zbot2/meshes/FINGER_1_1.stl | Bin 0 -> 217684 bytes .../zbot2/meshes/FK-AP-019-25T_11_16.stl | Bin 0 -> 1379084 bytes .../zbot2/meshes/FK-AP-019-25T_11_5.stl | Bin 0 -> 1379484 bytes sim/resources/zbot2/meshes/FOOT.stl | Bin 0 -> 120684 bytes sim/resources/zbot2/meshes/FOOT_1.stl | Bin 0 -> 120784 bytes sim/resources/zbot2/meshes/L-ARM_1.stl | Bin 0 -> 1433884 bytes sim/resources/zbot2/meshes/R-ARM-1.stl | Bin 0 -> 1437484 bytes .../SJ-WK00-0021TOPCABINETCASE_104_7.stl | Bin 0 -> 505184 bytes .../meshes/SJ-WK00-0023BOTTOMCASE_12_12.stl | Bin 0 -> 607384 bytes .../meshes/SJ-WK00-0023BOTTOMCASE_12_13.stl | Bin 0 -> 973184 bytes .../meshes/SJ-WK00-0023BOTTOMCASE_12_8.stl | Bin 0 -> 606784 bytes sim/resources/zbot2/meshes/U-HIP.stl | Bin 0 -> 71084 bytes sim/resources/zbot2/meshes/U-HIP_1.stl | Bin 0 -> 71384 bytes .../meshes/WJ-DP00-0002-FK-AP-020_7_10.stl | Bin 0 -> 505984 bytes .../meshes/WJ-DP00-0002-FK-AP-020_7_8.stl | Bin 0 -> 970284 bytes .../zbot2/meshes/Z-BOT2-MASTER-SHOULDER2.stl | Bin 0 -> 55784 bytes .../meshes/Z-BOT2-MASTER-SHOULDER2_1.stl | Bin 0 -> 55784 bytes .../meshes/Z-BOT2_MASTER-BODY-SKELETON.stl | Bin 0 -> 2580984 bytes sim/resources/zbot2/robot.urdf | 559 ++++++++++++++++++ sim/resources/zbot2/robot.xml | 244 ++++++++ sim/resources/zbot2/robot_fixed.urdf | 558 +++++++++++++++++ 23 files changed, 1568 insertions(+) create mode 100644 sim/resources/zbot2/joints.py create mode 100644 sim/resources/zbot2/meshes/FINGER_1.stl create mode 100644 sim/resources/zbot2/meshes/FINGER_1_1.stl create mode 100644 sim/resources/zbot2/meshes/FK-AP-019-25T_11_16.stl create mode 100644 sim/resources/zbot2/meshes/FK-AP-019-25T_11_5.stl create mode 100644 sim/resources/zbot2/meshes/FOOT.stl create mode 100644 sim/resources/zbot2/meshes/FOOT_1.stl create mode 100644 sim/resources/zbot2/meshes/L-ARM_1.stl create mode 100644 sim/resources/zbot2/meshes/R-ARM-1.stl create mode 100644 sim/resources/zbot2/meshes/SJ-WK00-0021TOPCABINETCASE_104_7.stl create mode 100644 sim/resources/zbot2/meshes/SJ-WK00-0023BOTTOMCASE_12_12.stl create mode 100644 sim/resources/zbot2/meshes/SJ-WK00-0023BOTTOMCASE_12_13.stl create mode 100644 sim/resources/zbot2/meshes/SJ-WK00-0023BOTTOMCASE_12_8.stl create mode 100644 sim/resources/zbot2/meshes/U-HIP.stl create mode 100644 sim/resources/zbot2/meshes/U-HIP_1.stl create mode 100644 sim/resources/zbot2/meshes/WJ-DP00-0002-FK-AP-020_7_10.stl create mode 100644 sim/resources/zbot2/meshes/WJ-DP00-0002-FK-AP-020_7_8.stl create mode 100644 sim/resources/zbot2/meshes/Z-BOT2-MASTER-SHOULDER2.stl create mode 100644 sim/resources/zbot2/meshes/Z-BOT2-MASTER-SHOULDER2_1.stl create mode 100644 sim/resources/zbot2/meshes/Z-BOT2_MASTER-BODY-SKELETON.stl create mode 100644 sim/resources/zbot2/robot.urdf create mode 100644 sim/resources/zbot2/robot.xml create mode 100644 sim/resources/zbot2/robot_fixed.urdf diff --git a/sim/resources/zbot2/joints.py b/sim/resources/zbot2/joints.py new file mode 100644 index 00000000..9e2ba3a1 --- /dev/null +++ b/sim/resources/zbot2/joints.py @@ -0,0 +1,207 @@ +"""joints.py + +Provides a Pythonic interface for referencing joint names from the given MuJoCo XML. +Organizes them by sub-assembly (arms, legs) and defines convenient methods for +defaults, limits, etc. +""" + +import textwrap +from abc import ABC +from typing import Dict, List, Tuple, Union + + +class Node(ABC): + @classmethod + def children(cls) -> List["Union[Node, str]"]: + # Returns Node or string attributes (for recursion) + return [ + attr + for attr in (getattr(cls, attr_name) for attr_name in dir(cls) if not attr_name.startswith("__")) + if isinstance(attr, (Node, str)) + ] + + @classmethod + def joints(cls) -> List[str]: + # Returns only the attributes that are strings (i.e., joint names). + return [ + attr + for attr in (getattr(cls, attr_name) for attr_name in dir(cls) if not attr_name.startswith("__")) + if isinstance(attr, str) + ] + + @classmethod + def joints_motors(cls) -> List[Tuple[str, str]]: + # Returns pairs of (attribute_name, joint_string) + joint_names: List[Tuple[str, str]] = [] + for attr_name in dir(cls): + if not attr_name.startswith("__"): + attr = getattr(cls, attr_name) + if isinstance(attr, str): + joint_names.append((attr_name, attr)) + return joint_names + + @classmethod + def all_joints(cls) -> List[str]: + # Recursively collect all string joint names + leaves = cls.joints() + for child in cls.children(): + if isinstance(child, Node): + leaves.extend(child.all_joints()) + return leaves + + def __str__(self) -> str: + # Pretty-print the hierarchy + parts = [str(child) for child in self.children() if isinstance(child, Node)] + parts_str = textwrap.indent("\n" + "\n".join(parts), " ") if parts else "" + return f"[{self.__class__.__name__}]{parts_str}" + + +# ----- Define the sub-assemblies --------------------------------------------------- +class RightArm(Node): + shoulder_yaw = "right_shoulder_yaw" + shoulder_pitch = "right_shoulder_pitch" + elbow_yaw = "right_elbow_yaw" + gripper = "right_gripper" + + +class LeftArm(Node): + shoulder_yaw = "left_shoulder_yaw" + shoulder_pitch = "left_shoulder_pitch" + elbow_yaw = "left_elbow_yaw" + gripper = "left_gripper" + + +class Arms(Node): + right = RightArm() + left = LeftArm() + + +class RightLeg(Node): + hip_roll = "right_hip_roll" + hip_yaw = "right_hip_yaw" + hip_pitch = "right_hip_pitch" + knee_pitch = "right_knee_pitch" + ankle_pitch = "right_ankle_pitch" + + +class LeftLeg(Node): + hip_roll = "left_hip_roll" + hip_yaw = "left_hip_yaw" + hip_pitch = "left_hip_pitch" + knee_pitch = "left_knee_pitch" + ankle_pitch = "left_ankle_pitch" + + +class Legs(Node): + right = RightLeg() + left = LeftLeg() + + +# ----- Top-level Robot ------------------------------------------------------------ +class Robot(Node): + height = 0.34 + rotation = [0, 0, 0, 1.0] + + arms = Arms() + legs = Legs() + + @classmethod + def default_standing(cls) -> Dict[str, float]: + """Example angles for a nominal 'standing' pose. Adjust as needed.""" + return { + # Right Arm + cls.arms.right.shoulder_yaw: 0.0, + cls.arms.right.shoulder_pitch: 0.0, + cls.arms.right.elbow_yaw: 0.0, + cls.arms.right.gripper: 0.0, + # Left Arm + cls.arms.left.shoulder_yaw: 0.0, + cls.arms.left.shoulder_pitch: 0.0, + cls.arms.left.elbow_yaw: 0.0, + cls.arms.left.gripper: 0.0, + # Right Leg + cls.legs.right.hip_roll: 0.0, + cls.legs.right.hip_yaw: 0.0, + cls.legs.right.hip_pitch: -0.2, + cls.legs.right.knee_pitch: 0.4, + cls.legs.right.ankle_pitch: -0.2, + # Left Leg + cls.legs.left.hip_roll: 0.0, + cls.legs.left.hip_yaw: 0.0, + cls.legs.left.hip_pitch: -0.2, + cls.legs.left.knee_pitch: 0.4, + cls.legs.left.ankle_pitch: -0.2, + } + + @classmethod + def default_limits(cls) -> Dict[str, Dict[str, float]]: + """Minimal example of per-joint limits. + You can refine these to match your MJCF's 'range' tags or real specs.""" + return { + # Right side + cls.arms.right.shoulder_yaw: {"lower": -1.22173, "upper": 0.349066}, + cls.arms.right.shoulder_pitch: {"lower": -3.14159, "upper": 3.14159}, + cls.arms.right.elbow_yaw: {"lower": -1.5708, "upper": 2.0944}, + cls.arms.right.gripper: {"lower": -0.349066, "upper": 0.872665}, + cls.legs.right.hip_roll: {"lower": -1.0472, "upper": 1.0472}, + cls.legs.right.hip_yaw: {"lower": -0.174533, "upper": 1.91986}, + cls.legs.right.hip_pitch: {"lower": -1.74533, "upper": 1.8326}, + cls.legs.right.knee_pitch: {"lower": -0.174533, "upper": 2.96706}, + cls.legs.right.ankle_pitch: {"lower": -1.5708, "upper": 1.5708}, + # Left side + cls.arms.left.shoulder_yaw: {"lower": -0.349066, "upper": 1.22173}, + cls.arms.left.shoulder_pitch: {"lower": -3.14159, "upper": 3.14159}, + cls.arms.left.elbow_yaw: {"lower": -2.0944, "upper": 1.5708}, + cls.arms.left.gripper: {"lower": -0.872665, "upper": 0.349066}, + cls.legs.left.hip_roll: {"lower": -1.0472, "upper": 1.0472}, + cls.legs.left.hip_yaw: {"lower": -1.91986, "upper": 0.174533}, + cls.legs.left.hip_pitch: {"lower": -1.8326, "upper": 1.74533}, + cls.legs.left.knee_pitch: {"lower": -0.174533, "upper": 2.96706}, + cls.legs.left.ankle_pitch: {"lower": -1.5708, "upper": 1.5708}, + } + + @classmethod + def stiffness(cls) -> Dict[str, float]: + """Example of a uniform stiffness for all joints.""" + # Adjust per your controller’s needs + return {joint: 20.0 for joint in cls.all_joints()} + + @classmethod + def damping(cls) -> Dict[str, float]: + """Example of a uniform damping for all joints.""" + return {joint: 0.5 for joint in cls.all_joints()} + + @classmethod + def effort(cls) -> Dict[str, float]: + """Max torque/effort per joint. The MuJoCo 'range' was -80 to 80 in the actuator, + so we might store 80 here (or a smaller number if you want a realistic limit).""" + return {joint: 80.0 for joint in cls.all_joints()} + + @classmethod + def velocity(cls) -> Dict[str, float]: + """Max velocity (rad/s) for each joint, arbitrary example.""" + return {joint: 10.0 for joint in cls.all_joints()} + + @classmethod + def friction(cls) -> Dict[str, float]: + """Example friction dictionary for certain joints.""" + # Usually you'd have more specific friction values or a model. + return { + cls.legs.left.ankle_pitch: 0.01, + cls.legs.right.ankle_pitch: 0.01, + # etc... + } + + +def print_joints() -> None: + # Gather all joints and check for duplicates + joints_list = Robot.all_joints() + assert len(joints_list) == len(set(joints_list)), "Duplicate joint names found!" + + # Print out the structure for debugging + print(Robot()) + print("\nAll Joints:", joints_list) + + +if __name__ == "__main__": + print_joints() diff --git 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