diff --git a/README.md b/README.md index 2e2f0fe76..b3cdc036b 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.** ![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 6ae98e2bd..25900b81b 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 diff --git a/assets/grippers/flexiv_grav/assets/base.stl b/assets/grippers/flexiv_grav/assets/base.stl new file mode 100644 index 000000000..e94004b8b 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 000000000..9f49772d0 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 000000000..ce08fc111 Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/finger_mount.stl differ diff --git a/assets/grippers/flexiv_grav/assets/finger_tip_collision.stl b/assets/grippers/flexiv_grav/assets/finger_tip_collision.stl new file mode 100644 index 000000000..8c3ab33ce Binary files /dev/null and b/assets/grippers/flexiv_grav/assets/finger_tip_collision.stl differ diff --git a/assets/grippers/flexiv_grav/assets/finger_tip_holder.obj b/assets/grippers/flexiv_grav/assets/finger_tip_holder.obj new file mode 100644 index 000000000..972e35bb9 --- /dev/null +++ b/assets/grippers/flexiv_grav/assets/finger_tip_holder.obj @@ -0,0 +1,982 @@ +# finger_tip_holder: groups mesh3 of finger_tip.obj +g finger_tip_holder +v -3 4 4.60086061902756 +v -3.00000000000001 4.99999999999999 4 +v -2.56698729810779 4.74999999999999 4 +v -3 4 4.60086061902756 +v -2.13397459621558 4.5 4 +v -2.13397459621558 4 4 +v -3 4 4.60086061902756 +v -2.13397459621558 3.50000000000001 4 +v -2.56698729810779 3.25000000000001 4 +v -3 4 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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 000000000..899a84e84 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 000000000..30e015dcb 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 000000000..04443fb72 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 000000000..e518ec80b --- /dev/null +++ b/assets/grippers/flexiv_grav/convert_from_urdf.py @@ -0,0 +1,572 @@ +#!/usr/bin/env python3 +# /// script +# requires-python = ">=3.10" +# dependencies = ["mujoco>=3.3", "xacro", "trimesh", "networkx", "scipy"] +# /// +"""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. ``finger_tip.obj`` holds the + rubber pad and the aluminum holder as separate OBJ groups, of which MuJoCo only + loads the first, so it is split into one single-group file per part. +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, + link masses and inertias derived from the mesh volumes at the density of + their material (the URDF only specifies the total mass), 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 trimesh +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 only specifies the total mass (1.186 kg on the base link, 1e-4 kg on the moving links, which +# is too light for a stable simulation). Flexiv's datasheet lists 0.9 kg for the Grav; the URDF value is +# kept since Flexiv's own software uses it as tool mass. The moving links get the mass of their visual +# meshes at the density of their material, the base the remainder. +TOTAL_MASS = 1.186 +ALUMINUM = 2700.0 # kg/m^3 +RUBBER = 1100.0 # kg/m^3 +# Visual meshes per URDF link (left side, the right side is identical) with their material density. +LINK_MESHES = { + "outer_bar": [("outer_bar.stl", ALUMINUM)], + "inner_bar": [("inner_bar.stl", ALUMINUM)], + "finger_mount": [("finger_mount.stl", ALUMINUM)], + "finger_tip": [("finger_tip_holder.obj", ALUMINUM), ("finger_tip_pad.obj", RUBBER)], +} +# The base visual mesh is not watertight, its inertia is taken from the convex collision hull instead. +BASE_HULL = "base_collision.stl" +# The URDF rotates every mesh by 90 degrees about z into the link frame (rpy="0 0 pi/2"). +MESH_TO_LINK = np.array([[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]) + +# ``finger_tip.obj`` groups: mesh1 and mesh2 are the rubber pad and its end cap, mesh3 the aluminum +# holder. MuJoCo only loads the first group of an OBJ file, so each part becomes its own file. +FINGER_TIP_OBJ = "finger_tip.obj" +FINGER_TIP_PARTS = {"finger_tip_pad": ["mesh1", "mesh2"], "finger_tip_holder": ["mesh3"]} +FINGER_TIP_MATERIALS = {"finger_tip_pad": "black", "finger_tip_holder": "aluminum"} + +# The upstream ``finger_mount.stl`` is exported rotated by 1.858 degrees about the outer bar pivot +# (the x axis of the finger mount link) relative to the URDF joint frames: its top face is slanted, +# the inner bar pin misses the pivot hole and the finger tip holder cuts into its outer face. The +# URDF kinematics are consistent (the pads meet when closed), so only the visual geom is rotated +# back; the mount has no collision geom and the finger tip frame stays as in the URDF. +FINGER_MOUNT_VISUAL_TILT = np.deg2rad(-1.858) + +# 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 + if path.name == FINGER_TIP_OBJ: + split_obj(src / rel, assets, FINGER_TIP_PARTS) + continue + name = path.name if path.parts[2] == "visual" else f"{path.stem}_collision{path.suffix}" + shutil.copyfile(src / rel, assets / name) + + +def split_obj(obj: pathlib.Path, assets: pathlib.Path, parts: dict[str, list[str]]) -> None: + """Writes one single-group OBJ per part, each holding the groups listed for it. + + Vertex lines are copied verbatim and re-indexed, normals and texture coordinates are dropped + (MuJoCo recomputes the normals). + """ + vertices: list[str] = [] + faces: dict[str, list[list[int]]] = {} + group = None + for line in obj.read_text().splitlines(): + if line.startswith("v "): + vertices.append(line) + elif line.startswith("g "): + group = line[2:].strip() + faces[group] = [] + elif line.startswith("f "): + assert group is not None, "face before the first group" + faces[group].append([int(corner.split("/")[0]) for corner in line[2:].split()]) + assert {g for groups in parts.values() for g in groups} == set(faces), f"groups in {obj.name}: {sorted(faces)}" + + for name, groups in parts.items(): + part_faces = [face for g in groups for face in faces[g]] + used = sorted({index for face in part_faces for index in face}) + remap = {old: new for new, old in enumerate(used, start=1)} + lines = [f"# {name}: groups {' '.join(groups)} of {obj.name}", f"g {name}"] + lines += [vertices[index - 1] for index in used] + lines += ["f " + " ".join(str(remap[index]) for index in face) for face in part_faces] + (assets / f"{name}.obj").write_text("\n".join(lines) + "\n") + + +def mesh_mass_properties(path: pathlib.Path, density: float) -> tuple[float, np.ndarray, np.ndarray]: + """Mass, center of mass and inertia tensor (about the link origin, in the link frame) of a mesh + filled uniformly with the given density.""" + mesh = trimesh.load(path, force="mesh") # merges the duplicate STL vertices so parts connect + mesh.apply_scale(0.001) # upstream meshes are in millimeters + transform = np.eye(4) + transform[:3, :3] = MESH_TO_LINK + mesh.apply_transform(transform) + mesh.fix_normals() + mass = 0.0 + first_moment = np.zeros(3) + inertia = np.zeros((3, 3)) + # Non-watertight meshes are handled part by part: the volume of a closed part has a consistent + # sign after fix_normals, so summing the absolute volumes of all parts is robust to parts that + # are oriented inwards. + for part in mesh.split(only_watertight=False): + if abs(part.volume) < 1e-12: + continue # open surface patches without volume + part_mass = density * abs(part.volume) + offset = part.center_mass + mass += part_mass + first_moment += part_mass * offset + inertia += density * np.sign(part.volume) * part.moment_inertia + part_mass * ( + offset @ offset * np.eye(3) - np.outer(offset, offset) + ) + return mass, first_moment / mass, inertia + + +def link_inertials(assets: pathlib.Path) -> dict[str, tuple[float, np.ndarray, np.ndarray]]: + """Mass, center of mass and inertia tensor per body, derived from the meshes.""" + inertials: dict[str, tuple[float, np.ndarray, np.ndarray]] = {} + for link, meshes in LINK_MESHES.items(): + mass = 0.0 + first_moment = np.zeros(3) + inertia = np.zeros((3, 3)) + for file, density in meshes: + m, com, i = mesh_mass_properties(assets / file, density) + mass += m + first_moment += m * com + inertia += i + inertials[link] = (mass, first_moment / mass, inertia) + + # The base gets what is left of the total mass, distributed uniformly over its collision hull. + moving_mass = 2 * sum(mass for mass, _, _ in inertials.values()) + base_mass = TOTAL_MASS - moving_mass + hull_mass, hull_com, hull_inertia = mesh_mass_properties(assets / BASE_HULL, 1.0) + inertials["base"] = (base_mass, hull_com, hull_inertia * base_mass / hull_mass) + + for link in list(LINK_MESHES): + for side in ["left", "right"]: + inertials[f"{side}_{link}"] = inertials[link] + del inertials[link] + # MuJoCo wants the inertia about the center of mass. + return { + name: (mass, com, inertia - mass * (com @ com * np.eye(3) - np.outer(com, com))) + for name, (mass, com, inertia) in inertials.items() + } + + +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")) + + # The tags become the equality constraints of JOINT_COUPLINGS (newer MuJoCo versions + # would otherwise import them as unnamed equalities with default solver parameters). + for joint in joints.values(): + for mimic in joint.findall("mimic"): + joint.remove(mimic) + + 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]], assets: pathlib.Path) -> 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)) + spec.add_material(name="aluminum", rgba=(0.75, 0.76, 0.78, 1), specular=0.8, shininess=0.6) + + # 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) + + # The URDF references the multi-group finger_tip.obj, which is split into one mesh per part. + tip_stem = pathlib.Path(FINGER_TIP_OBJ).stem + pad_name, holder_name = FINGER_TIP_PARTS + for mesh in spec.meshes: + mesh.file = pathlib.Path(mesh.file).name + if mesh.name == tip_stem: + mesh.name = pad_name + mesh.file = f"{pad_name}.obj" + mesh.classname = grav + mesh.scale = mesh_scale + mesh.refquat = mesh_refquat + spec.add_mesh(default=grav, name=holder_name, file=f"{holder_name}.obj", scale=mesh_scale, refquat=mesh_refquat) + + base = spec.body("grav_base_link") + base.name = "base" + base.childclass = ROOT_CLASS + + inertials = link_inertials(assets) + for body in spec.bodies: + if body.name not in inertials: + continue + mass, com, inertia = inertials[body.name] + principal, axes = np.linalg.eigh(inertia) + if np.linalg.det(axes) < 0: + axes[:, 0] *= -1 # eigh may return a reflection, MuJoCo wants a rotation + iquat = np.zeros(4) + mujoco.mju_mat2Quat(iquat, axes.flatten()) + body.explicitinertial = True + body.mass = round(mass, 5) + body.ipos = np.round(com, 5) + body.iquat = np.round(iquat, 6) + body.fullinertia = [float("nan")] * 6 # NaN marks unset, the URDF importer filled it + body.inertia = [float(f"{value:.4g}") for value in principal] + + 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 + + mount_half_angle = FINGER_MOUNT_VISUAL_TILT / 2 + mount_quat = (np.cos(mount_half_angle), np.sin(mount_half_angle), 0, 0) + 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" + if geom.meshname == "finger_mount": + geom.quat = mount_quat + elif geom.meshname == tip_stem: + geom.meshname = pad_name + geom.material = FINGER_TIP_MATERIALS[pad_name] + else: + geom.density = main.geom.density + + for side in ["left", "right"]: + tip = spec.body(f"{side}_finger_tip") + holder = tip.add_geom(default=visual, meshname=holder_name, material=FINGER_TIP_MATERIALS[holder_name]) + holder.type = mujoco.mjtGeom.mjGEOM_MESH + 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, assets) + 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 000000000..acfc7669c --- /dev/null +++ b/assets/grippers/flexiv_grav/flexiv_grav.xml @@ -0,0 +1,166 @@ + + + + diff --git a/assets/objects/rizon_d405_wrist_mount/README.md b/assets/objects/rizon_d405_wrist_mount/README.md new file mode 100644 index 000000000..7d15d17d7 --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/README.md @@ -0,0 +1,92 @@ +# Rizon 4s D405 wrist mount + +3D-printable mount for an Intel RealSense D405 on a Flexiv Rizon 4s. A curved rail is screwed to +the accessory pocket on the front of the wrist link (link7), 78 mm above the tool flange, runs +down the link past the flange and the Grav skirt and carries the camera on an inclined shelf (two side webs and a +centre web) on the front of the gripper (the side facing away from the robot base in the rcs home pose), tilted +20° towards the finger tips. The gripper stays bolted directly to the flange, so gripper and TCP +offsets are unchanged. The camera sits below the shoulder of the Grav housing, so no reach is +added along the gripper axis. + +Files: + +- `rizon_d405_wrist_mount.scad` – parametric OpenSCAD source (all dimensions in mm) +- `build_meshes.py` – regenerates the STLs with OpenSCAD (`uv run --with networkx --with lxml python build_meshes.py`) +- `assets/rizon_d405_wrist_mount.stl` – printable part, also the MuJoCo visual mesh +- `assets/rizon_d405_wrist_mount_collision.stl` – convex lower bracket used as the MuJoCo collision mesh +- `rizon_d405_wrist_mount.xml` – MJCF, registered as `OBJECT_PATHS["rizon_d405_wrist_mount"]` + +## Mounting interface + +The wrist link has three identical accessory pockets 78 mm above the flange face: on the front, +on the back and on one side (positions from the Menagerie link7 mesh, dimensions measured on the +robot). Each is a flat milled into the cylinder, 37.5 mm wide (chord), 22 mm tall and 3.5 mm +deep at the centre, with two M5 threads 18 mm apart, 5 mm deep and perpendicular to the flat, +and an 8 mm alignment hole, 4 mm deep, in the middle; two deep curved pockets flank it. The rail +carries a 35 x 21.4 mm block on its inside that fills the pocket and rests on the flat (1.25 mm +clearance to the pocket sides, 0.3 mm top and bottom, 0.2 mm stand-off that the screws close), +and a Ø7.7 mm pin, 3.7 mm long with a chamfered tip and a 45° V underneath for printing, that +drops 3.5 mm into the alignment hole. The rail itself is 46 mm wide with flat side faces (planes +at y = ±23, not radial cuts), its inner surface follows the slight taper of the link (Ø98.0 +near the flange, Ø99.2 at the pocket) with a 0.3 mm gap; over the pocket it spans the rims of +the curved side pockets, which are recessed, so nothing touches there. + +## Frames + +Everything is defined in the Rizon attachment-site (flange) frame: z points out of the flange +towards the fingers, the Grav fingers open along y, the camera sits on the -x side, the wrist +link occupies z < 0. In rcs the mount is placed with `DEFAULT_TRANSFORMS["RIZON_D405_WRIST_MOUNT"]` +(identity) and the D405 body with `RIZON_D405_WRIST_CAMERA`: front glass centre at +(-65, 0, 52) mm, optical axis 20° off the flange z axis towards the fingers, image up pointing +away from the gripper so that the fingers show at the bottom of the image, and the stereo +baseline along flange y. The D405 housing (see `assets/cameras/d405/d405.xml`) has its two M4 +threads on the back along the baseline and the USB-C port on the side face at the end of the +baseline, so the plug points sideways along the gripper and needs no extra room. + +## Hardware + +- 2x M5x12 countersunk hex socket screws (DIN 7991, length includes the head), perpendicular to + the flat, 18 mm apart. The rail is 10.6 mm thick at the screws (7.5 mm rail + 3.5 mm block + minus the gaps), so the head seats are spot-faced 2.6 mm deep (Ø10.6) above the 90° + countersinks: the screws then engage 4.0 mm of the 5 mm deep threads and stop 1 mm short of the + bottom. M5x16 would bottom out, M5x8 does not reach. `screw_len` and `engagement` in the + `.scad` set the spot-face depth. +- 2x M4x12 countersunk hex socket screws (DIN 7991) for the camera, driven from below the shelf + into the two M4 threads on the back of the D405 (20 mm apart along the baseline, 5.5 mm deep). + The shelf is 7.5 mm thick with 90° countersinks, so the screws engage 4.5 mm and stop 1 mm + short of the bottom; M4x8 would only engage 0.5 mm, M4x16 bottoms out. The middle between the + two side webs is open for the screwdriver. +- Any USB-C cable; the port faces sideways (along the finger opening direction). + +## Printing + +Slice `assets/rizon_d405_wrist_mount.stl`; `build_meshes.py` also writes a copy rotated onto its +side as STL and 3MF to `print/` (not tracked), or rotate it in the slicer. Bambu printers only +print sliced files, so slice in Bambu Studio and use *Export plate sliced file* (`.gcode.3mf`) for +the USB stick. + +Orientation: print it lying on one of its two flat side faces, not +on the curved rail. The rail is cut by the same two planes as the webs and the shelf, so the +part rests on a full 46 x 133 mm face and needs no support: both curved faces of the rail, the +flat block, the camera contact face and all holes print as walls, the pin has a 45° V on its +underside, and the layers run along the rail, i.e. along the bending load of the camera. The +only horizontal undersides are the centre web and the upper side web over the two 16 mm gaps +between the webs; they are anchored on three sides (rail, shelf, sloped web face) and print as +short bridges, so supports can stay off. + +Putting the concave face on the bed would need support on the mating surface and its scars +would eat the 0.3 mm gap; the convex face down would need support everywhere. + +Settings for PLA: 0.2 mm layers, 4 walls, 4 top/bottom layers, 25–40 % gyroid or grid infill +(the part is mostly walls anyway, infill matters little), no brim needed. The part is about +50 cm³, roughly 60 g in PLA. PETG is the better choice if the arm gets warm or the mount stays +on for long; use the same settings. + +## Design references + +The wrist link envelope (tapered 98–99.2 mm cylinder, accessory pockets 78 mm above the flange) +and the Grav envelope (86.6 mm skirt, 84 mm body) were measured from the meshes in +`assets/robots/rizon4s` and `assets/grippers/flexiv_grav`; the D405 dimensions +(42 x 42 x 23 mm, two M4 threads on the back 20 mm apart along the baseline, USB-C on the side, +1/4-20 on the bottom) from the Intel D400 series datasheet and the D405 mesh in +`assets/cameras/d405`. diff --git a/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount.stl b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount.stl new file mode 100644 index 000000000..a120d4220 Binary files /dev/null and b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount.stl differ diff --git a/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount_collision.stl b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount_collision.stl new file mode 100644 index 000000000..5104bdc8a Binary files /dev/null and b/assets/objects/rizon_d405_wrist_mount/assets/rizon_d405_wrist_mount_collision.stl differ diff --git a/assets/objects/rizon_d405_wrist_mount/build_meshes.py b/assets/objects/rizon_d405_wrist_mount/build_meshes.py new file mode 100644 index 000000000..c5e5a1ce2 --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/build_meshes.py @@ -0,0 +1,59 @@ +"""Builds the STL meshes of the Rizon D405 wrist mount from the OpenSCAD source. + +Requires the `openscad` binary (tested with 2021.01). The visual mesh is the printable part, +the collision mesh is the convex lower bracket without the rail: the rail hugs the wrist link, so +its convex hull would cut into the link. + +Also writes print-ready copies to `print/`: the part rotated onto its side web (the recommended +print orientation, see README) as STL and, if `networkx` and `lxml` are available for trimesh, as 3MF for +Bambu Studio / OrcaSlicer. +""" + +import subprocess +from pathlib import Path + +import numpy as np +import trimesh + +HERE = Path(__file__).parent +SCAD = HERE / "rizon_d405_wrist_mount.scad" +ASSETS = HERE / "assets" +PRINT = HERE / "print" + +MESHES = { + "rizon_d405_wrist_mount.stl": "visual", + "rizon_d405_wrist_mount_collision.stl": "collision", +} + + +def main(): + ASSETS.mkdir(exist_ok=True) + for filename, part in MESHES.items(): + out = ASSETS / filename + subprocess.run( + ["openscad", "-o", str(out), "--export-format", "binstl", "-D", f'part="{part}"', str(SCAD)], + check=True, + ) + print(f"wrote {out}") + export_print_files() + + +def export_print_files(): + PRINT.mkdir(exist_ok=True) + mesh = trimesh.load(ASSETS / "rizon_d405_wrist_mount.stl", force="mesh") + # lie on the side web: flange-frame y becomes the print z axis + mesh.apply_transform(trimesh.transformations.rotation_matrix(np.deg2rad(90), [1, 0, 0])) + mesh.apply_translation(-mesh.bounds[0]) + out = PRINT / "rizon_d405_wrist_mount_print_oriented.stl" + mesh.export(out) + print(f"wrote {out}") + try: + out = PRINT / "rizon_d405_wrist_mount.3mf" + mesh.export(out) + print(f"wrote {out}") + except ImportError as e: + print(f"skipped 3mf export ({e}); run with `uv run --with networkx --with lxml python build_meshes.py`") + + +if __name__ == "__main__": + main() diff --git a/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.scad b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.scad new file mode 100644 index 000000000..8409976ea --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.scad @@ -0,0 +1,232 @@ +// Wrist mount for an Intel RealSense D405 on a Flexiv Rizon 4s, screwed to the accessory pocket +// on the front of the wrist link (link7). The gripper stays bolted directly to the flange, so no +// gripper or TCP offset changes. +// +// The Rizon wrist link is a slightly tapered ~98 mm cylinder. 78 mm above the tool flange it has +// three accessory pockets (front, back and one side): a flat milled into the cylinder, 37.5 mm +// wide, 22 mm tall and 3.5 mm deep at the centre, with two M5 threads 18 mm apart (5 mm deep, +// perpendicular to the flat) and an 8 mm alignment hole, 4 mm deep, in the middle, flanked by +// two deep curved pockets. A curved rail sits along the front of the link between the curved +// pockets; a flat block on its inside fills the pocket and rests on the flat, a pin locates in +// the alignment hole and two countersunk M5x12 screws hold it. The rail runs down past the +// flange and the Grav skirt and carries the camera on an inclined shelf, tilted towards the +// finger tips, connected to the rail by two side webs and a centre web. +// +// Everything is expressed in the Rizon attachment-site (flange) frame in millimetres: z points +// out of the flange towards the fingers, the Grav fingers open along y, and the camera sits on +// the -x side, which faces away from the robot base in the rcs home pose. The wrist link +// occupies z < 0. +// +// Build with `python build_meshes.py` (runs OpenSCAD for the visual and collision STLs). +// Wrist link and Grav envelopes were measured from the meshes in assets/robots/rizon4s and +// assets/grippers/flexiv_grav, the D405 from assets/cameras/d405 and the Intel datasheet. + +part = "visual"; // "visual": full part, "collision": convex lower bracket for MuJoCo +$fn = 96; + +// ---- Wrist link (link7) --------------------------------------------------------------- +link_r_low = 49.0; // link radius near the flange (z > -40) +link_r_high = 49.6; // link radius at the top end of the rail (z = rail_z0) +pocket_z = -77.8; // accessory pocket centre, 77.8 mm above the flange face +pocket_depth = 3.5; // the flat is this deep below the cylinder at its centre +pocket_w = 37.5; // chord width of the flat +pocket_h = 22; // height of the flat along the link +flat_r = link_r_high - pocket_depth; // distance of the flat from the link axis +flat_gap = 0.2; // block face stands off the flat by this much before the screws pull it in +block_side_clearance = 1.25; +block_z_clearance = 0.3; +hole_spacing = 18; // the two M5 threads, perpendicular to the flat, 5 mm deep +screw_d = 5.5; // M5 clearance +csk_d = 10.6; // 90 deg countersink for DIN 7991 M5 heads (dk = 10) plus clearance +screw_len = 12; // M5x12 DIN 7991 (length includes the head) +engagement = 4; // thread engagement to aim for; the head seat is spot-faced to get it +pin_d = 8 - 0.3; // alignment pin, 8 mm hole with radial clearance +pin_h = 4 - 0.5 + flat_gap; // protrusion from the block face: 4 mm hole depth, 0.5 mm clearance +pin_chamfer = 0.5; +pin_v_bottom = true; // 45 deg V on the -y side of the pin so that it prints without support + // when the part lies on its -y side face (see README / print/) + +// ---- Rail ------------------------------------------------------------------------------- +rail_gap = 0.3; +rail_t = 7.5; +rail_w = 46; // same width as the shelf; the side faces are flat (planes y = +-23) so the + // whole part has two flat faces and prints lying on one of them without support +rail_z0 = -92; // top end, 14 mm above the pocket +rail_z1 = 14; // bottom end, next to the Grav body just above the camera shelf +web_t = 4; // two side webs support the camera shelf +web_center_t = 6; // centre web between the two camera screws (which sit at y = +-10) +hull_z0 = -4; // webs and collision hull start where the link has narrowed to the flange neck + +// ---- Camera: Intel RealSense D405, 42 x 42 x 23 mm ------------------------------------ +cam_w = 42; +cam_h = 42; +cam_d = 23; +cam_tol = 0.15; +cam_alpha = 20; // tilt of the optical axis towards the fingers [deg] +cam_o = [-65, 0, 52]; // front glass centre in the flange frame [mm] +shelf_t = 7.5; // M4x12 DIN 7991 through it: 4.5 mm engagement in the 5.5 mm threads +shelf_margin = 2; // shelf and rim overhang around the camera footprint +rim_h = 3; +m4_hole_d = 4.5; // two M4 threads on the camera back, 20 mm apart along the baseline, 5.5 mm deep +m4_spacing = 20; +m4_csk_d = 8.6; // 90 deg countersink for DIN 7991 M4 heads (dk = 8) plus clearance + +// Camera frame in the flange frame (the body frame of assets/cameras/d405): x is the optical axis, +// y the housing top (image up), z the stereo baseline. Image up points away from the gripper so +// that the fingers show at the bottom of the image; the baseline, the two M4 threads on the back +// and the USB-C port (on the -z face) run along flange y, so the plug points sideways, clear of +// the gripper. +ca = cam_alpha; +cam_x = [sin(ca), 0, cos(ca)]; +cam_y = [-cos(ca), 0, sin(ca)]; +cam_z = [0, -1, 0]; +cam_mat = [ + [cam_x[0], cam_y[0], cam_z[0], cam_o[0]], + [cam_x[1], cam_y[1], cam_z[1], cam_o[1]], + [cam_x[2], cam_y[2], cam_z[2], cam_o[2]], + [0, 0, 0, 1], +]; + +module cam_frame() { + multmatrix(cam_mat) children(); +} + +// Inner radius of the rail: follows the taper of the link with a constant gap. +function rail_r_in(z) = rail_gap + link_r_low + (link_r_high - link_r_low) * (z - rail_z1) / (rail_z0 - rail_z1); + +// Conical shell hugging the front of the link, cut to rail_w by two planes parallel to the +// x-z plane (not radially), so that its side faces are coplanar with the webs and the shelf. +module rail() { + intersection() { + rotate([0, 0, 180 - 60]) + rotate_extrude(angle = 120) + polygon([ + [rail_r_in(rail_z1), rail_z1], + [rail_r_in(rail_z1) + rail_t, rail_z1], + [rail_r_in(rail_z0) + rail_t, rail_z0], + [rail_r_in(rail_z0), rail_z0], + ]); + translate([-200, -rail_w / 2, -200]) cube([400, rail_w, 400]); + } +} + +// Flat block on the inside of the rail that fills the pocket and rests on its flat. +module pocket_block() { + r_in = rail_r_in(pocket_z); + translate([-(r_in + 1), -(pocket_w / 2 - block_side_clearance), pocket_z - (pocket_h / 2 - block_z_clearance)]) + cube([r_in + 1 - (flat_r + flat_gap), pocket_w - 2 * block_side_clearance, pocket_h - 2 * block_z_clearance]); +} + +// Cylindrical pin, perpendicular to the flat, that locates the rail in the alignment hole. With +// pin_v_bottom the lower quarter (towards -y, the bed side of the print orientation) is replaced +// by two 45 deg faces meeting at the bottom of the circle, so the horizontal pin prints without +// support and still touches the hole at the top, the sides and the bottom apex. +module alignment_pin() { + x0 = flat_r + flat_gap; // block face + intersection() { + translate([-(x0 + 1), 0, pocket_z]) rotate([0, 90, 0]) { + cylinder(d = pin_d, h = 1 + pin_h - pin_chamfer); + translate([0, 0, 1 + pin_h - pin_chamfer]) cylinder(d1 = pin_d, d2 = pin_d - 2 * pin_chamfer, h = pin_chamfer); + } + if (pin_v_bottom) + translate([-(x0 + 2), -pin_d / 2, pocket_z]) rotate([-45, 0, 0]) cube([pin_h + 4, pin_d, pin_d]); + else + translate([-(x0 + 2), -pin_d, pocket_z - pin_d]) cube([pin_h + 4, 2 * pin_d, 2 * pin_d]); + } +} + +// Screw holes perpendicular to the flat. The head seat is spot-faced down to seat_x so that the +// screw engages `engagement` mm of thread: the thread starts at the flat (flat_r), the rail's +// outer surface at the screws is further out than screw_len - engagement. +module rail_screw_holes() { + seat_x = flat_r + screw_len - engagement; + csk_h = (csk_d - screw_d) / 2; + for (s = [-1, 1]) + translate([0, s * hole_spacing / 2, pocket_z]) { + translate([-(flat_r - 2), 0, 0]) rotate([0, -90, 0]) cylinder(d = screw_d, h = 30); + translate([-seat_x, 0, 0]) rotate([0, 90, 0]) cylinder(d1 = csk_d, d2 = screw_d, h = csk_h); + translate([-seat_x, 0, 0]) rotate([0, -90, 0]) cylinder(d = csk_d, h = 30); + } +} + +// Lower part of the rail that the webs and the collision hull attach to. Above hull_z0 the link +// is still at full radius, and a convex hull of the curved rail would cut into it. +module rail_lower() { + intersection() { + rail(); + translate([-200, -200, hull_z0]) cube([400, 400, rail_z1 - hull_z0 + 1]); + } +} + +// Slab behind the camera back face, top lowered by `sink` (used for the collision mesh so +// that it does not touch the camera collision mesh). +module shelf(sink = 0) { + translate([-cam_d - shelf_t, -(cam_w / 2 + shelf_margin), -(cam_h / 2 + shelf_margin)]) + cube([shelf_t - sink, cam_w + 2 * shelf_margin, cam_h + 2 * shelf_margin]); +} + +// Rim around the camera back on three sides, open on the connector (-z) side. +module rim() { + difference() { + translate([-cam_d, -(cam_w / 2 + shelf_margin), -(cam_h / 2 + shelf_margin)]) + cube([rim_h, cam_w + 2 * shelf_margin, cam_h + 2 * shelf_margin]); + translate([-cam_d - 1, -(cam_w / 2 + cam_tol), -(cam_h / 2 + shelf_margin + 1)]) + cube([rim_h + 2, cam_w + 2 * cam_tol, cam_h + shelf_margin + 1 + cam_tol]); + } +} + +// Camera screws from below the shelf: M4 through holes with 90 deg countersinks flush with the +// shelf underside, on the baseline (z) axis 20 mm apart. +module m4_holes() { + csk_h = (m4_csk_d - m4_hole_d) / 2; + for (s = [-1, 1]) + translate([-cam_d - shelf_t, 0, s * m4_spacing / 2]) rotate([0, 90, 0]) { + translate([0, 0, -1]) cylinder(d = m4_hole_d, h = shelf_t + 2); + translate([0, 0, -1]) cylinder(d1 = m4_csk_d + 2, d2 = m4_csk_d, h = 1); + cylinder(d1 = m4_csk_d, d2 = m4_hole_d, h = csk_h); + } +} + +// y_clip narrows the rail part of the hull; the collision mesh uses it so that the chord between +// the rail's inner corners stays clear of the Grav's (coarse) collision hull. +module bracket_hull(sink = 0, y_clip = rail_w / 2) { + hull() { + intersection() { + rail_lower(); + translate([-200, -y_clip, -200]) cube([400, 2 * y_clip, 400]); + } + cam_frame() shelf(sink); + } +} + +module webs() { + web_y = (cam_w / 2 + shelf_margin) - web_t; + intersection() { + bracket_hull(); + union() { + for (s = [-1, 1]) + translate([-200, s * (web_y + web_t / 2) - web_t / 2, -100]) cube([400, web_t, 300]); + translate([-200, -web_center_t / 2, -100]) cube([400, web_center_t, 300]); + } + } +} + +module visual() { + difference() { + union() { + rail(); + pocket_block(); + alignment_pin(); + webs(); + cam_frame() { + shelf(); + rim(); + } + } + rail_screw_holes(); + cam_frame() m4_holes(); + } +} + +if (part == "collision") bracket_hull(1, rail_w / 2 - 3); +else visual(); diff --git a/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml new file mode 100644 index 000000000..3a32c653e --- /dev/null +++ b/assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml @@ -0,0 +1,38 @@ + + + + diff --git a/assets/robots/rizon4s/assets/link0/link0.obj b/assets/robots/rizon4s/assets/link0/link0.obj new file mode 100644 index 000000000..b34159cf7 --- /dev/null +++ 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a/assets/robots/rizon4s/rizon4s.xml b/assets/robots/rizon4s/rizon4s.xml new file mode 100644 index 000000000..1522ffae0 --- /dev/null +++ b/assets/robots/rizon4s/rizon4s.xml @@ -0,0 +1,139 @@ + + + + diff --git a/docs/apps/index.md b/docs/apps/index.md index a1cb72bc1..44ca70ad2 100644 --- a/docs/apps/index.md +++ b/docs/apps/index.md @@ -4,13 +4,14 @@ RCS ships with ready-to-use applications for common operator workflows such as r ## Teleoperation -Use the Meta Quest 3 teleoperation examples when you want to collect demonstrations or directly control a robot from an operator interface. RCS provides examples for Franka and I2RT YAM arms. +Use the Meta Quest 3 teleoperation examples when you want to collect demonstrations or directly control a robot from an operator interface. RCS provides examples for Franka, I2RT YAM and Flexiv Rizon 4s arms. - Example guide: [examples/teleop/README.md](../../examples/teleop/README.md) - Franka example: [examples/teleop/franka.py](../../examples/teleop/franka.py) - YAM example: [examples/teleop/yam.py](../../examples/teleop/yam.py) +- Rizon 4s example: [examples/teleop/rizon.py](../../examples/teleop/rizon.py) -The Franka example supports Meta Quest 3 and GELLO-based setups. The YAM example supports dual-arm Meta Quest 3 teleoperation in simulation or on hardware; install the [YAM extension](../extensions/rcs_yam.md) before using real YAM hardware. +The Franka example supports Meta Quest 3 and GELLO-based setups. The YAM example supports dual-arm Meta Quest 3 teleoperation in simulation or on hardware; install the [YAM extension](../extensions/rcs_yam.md) before using real YAM hardware. The Rizon 4s example teleoperates a dual-arm Rizon 4s setup with Grav grippers via Meta Quest 3, in simulation (`rcs/rizon4s_duo`) or on hardware; install the [Flexiv extension](../extensions/rcs_flexiv.md) before using real Rizon hardware. ## Inference diff --git a/docs/extensions/index.md b/docs/extensions/index.md index a576bdada..74935733c 100644 --- a/docs/extensions/index.md +++ b/docs/extensions/index.md @@ -11,6 +11,7 @@ rcs_xarm7 rcs_ur5e rcs_so101 rcs_yam +rcs_flexiv rcs_realsense rcs_usb_cam rcs_tacto diff --git a/docs/extensions/overview.md b/docs/extensions/overview.md index 5b286ecf9..b318a25a5 100644 --- a/docs/extensions/overview.md +++ b/docs/extensions/overview.md @@ -40,6 +40,7 @@ RCS comes with several supported extensions: - **rcs_ur5e**: Support for the UR5e robot. - **rcs_so101**: Support for the SO101 robot. - **rcs_yam**: Support for the I2RT YAM arm. +- **rcs_flexiv**: Support for Flexiv arms (Rizon 4s) and the Flexiv Grav gripper. - **rcs_realsense**: Support for Intel RealSense cameras. - **rcs_usb_cam**: Support for generic USB webcams. - **rcs_tacto**: Integration with the Tacto tactile sensor simulator. diff --git a/docs/extensions/rcs_flexiv.md b/docs/extensions/rcs_flexiv.md new file mode 100644 index 000000000..853debe73 --- /dev/null +++ b/docs/extensions/rcs_flexiv.md @@ -0,0 +1,74 @@ +# RCS Flexiv Extension + +This extension provides support for Flexiv arms such as the Rizon 4s and the Flexiv Grav gripper +in RCS, built on the Python bindings of the [Flexiv RDK](https://github.com/flexivrobotics/flexiv_rdk). + +## Installation + +```shell +pip install rcs-flexiv +``` + +For local development: + +```shell +pip install -ve . --no-build-isolation +pip install -ve extensions/rcs_flexiv +``` + +Complete the [first time setup](https://www.flexiv.com/software/rdk/manual/index.html#first-time-setup) +of the RDK once, release the E-stop and switch the robot into auto mode in Flexiv Elements before +connecting. The extension pins `flexivrdk` 1.9.2, the RDK line for the Rizon series matching robot +software v3.11.1; install the `flexivrdk` version matching your robot software if it differs. Serial +numbers are passed as `Rizon4s-063650`. + +## Usage + +```python +from rcs.envs.base import ControlMode +from rcs_flexiv.configs import DefaultRizon4SHardwareEnv + +env_creator = DefaultRizon4SHardwareEnv() +env_creator.robot_sn = "Rizon4s-063650" +env_creator.tool_name = "Flexiv-GN01" # tool created for the gripper in Flexiv Elements + +cfg = env_creator.config() +cfg.control_mode = ControlMode.CARTESIAN_TQuat +cfg.robot_cfg.async_control = False + +env = env_creator.create_env(cfg) +obs, info = env.reset() +``` + +## Control modes and stiffness + +`FlexivConfig.control_mode` selects the RDK controller: `JOINT_POSITION`, `JOINT_IMPEDANCE` +(default) or `CARTESIAN_IMPEDANCE`. The impedance modes expose the controller gains as absolute +stiffness values (`joint_stiffness` in Nm/rad, `cartesian_stiffness` in N/m and Nm/rad, both within +`[0, nominal]`) and damping ratios within `[0.3, 0.8]`. `None` uses the robot's nominal values, and +`Flexiv.set_joint_impedance` / `Flexiv.set_cartesian_impedance` change them at runtime. + +In the joint modes RCS's Cartesian control goes through its own IK like in simulation; in +`CARTESIAN_IMPEDANCE` the robot's Cartesian controller tracks the pose directly. + +## Sync and async control + +All RDK modes used here are non-real-time modes with an internal motion generator, so the robot +re-plans online whenever a new target arrives. With `async_control=True` the RCS setters return +immediately, with `async_control=False` they poll until the target is reached within tolerance or a +timeout hits. The same flag exists on `FlexivGripperConfig`. `move_home` always blocks. + +## Notes + +- The gripper is a device of the robot connection and is created from the `Flexiv` instance. Its + device name is found in Flexiv Elements -> Settings -> Device, `Flexiv-GN01` for the Grav. +- The active tool in Flexiv Elements determines the gravity compensation, pass the gripper's tool + as `tool_name`. +- The simulated counterpart is registered as `rcs/rizon4s` in core RCS and uses the same kinematics + and gripper. `DefaultRizon4SDualMultiHardwareEnv` and `rcs/rizon4s_duo` provide a dual-arm setup + with the bases 0.3 m apart and tilted 45 degrees outward, see `examples/teleop/rizon.py`. + +See `extensions/rcs_flexiv/README.md` for the full extension documentation and +`extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py` for a bring-up script. For a maintained +example, see `examples/rizon4s/rizon4s_env_cartesian_control.py`, which moves the TCP forward and +backward in synchronous Cartesian mode in simulation or on hardware. diff --git a/docs/user_guide/conventions.md b/docs/user_guide/conventions.md index 86fcf4e0b..81e67ad6f 100644 --- a/docs/user_guide/conventions.md +++ b/docs/user_guide/conventions.md @@ -61,7 +61,7 @@ Each robot config defines an `attachment_site`. 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 000000000..da0427656 --- /dev/null +++ b/examples/rizon4s/rizon4s_env_cartesian_control.py @@ -0,0 +1,140 @@ +import logging +from time import sleep + +import gymnasium as gym +import numpy as np +from rcs._core.common import RobotPlatform +from rcs._core.sim import SimConfig +from rcs.camera.sim import SimCameraSet +from rcs.envs.base import ( + CameraSetWrapper, + 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 synchronous mode. +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 Flexiv Grav gripper. Every step goes through inverse +kinematics, so the printed TCP positions tracking the commanded ones show that IK works. + +To control a real Rizon 4s, install the rcs_flexiv extension (`pip install -ve extensions/rcs_flexiv`), +set ROBOT_SN and the gripper's tool name and set ROBOT_INSTANCE to RobotPlatform.HARDWARE. The robot +has to be in auto mode with the E-stop released, see the extension README. +""" + +ROBOT_INSTANCE = RobotPlatform.SIMULATION # Change to RobotPlatform.HARDWARE for the real arm +ROBOT_SN = "Rizon4s-063650" +GRIPPER_TOOL_NAME = None # tool created for the Grav in Flexiv Elements, None keeps the active tool +GRIPPER_MANUAL_INIT = True # the 48 V Grav does not initialize on power-on, the fingers move to both stops + +STEP_SIZE = 0.01 # meters per step +STEPS_PER_LEG = 10 # steps forward before reversing +CYCLES = 100 + + +def main(): + if ROBOT_INSTANCE == RobotPlatform.HARDWARE: + from rcs_flexiv.configs import DefaultRizon4SHardwareEnv + from rcs_flexiv.hw import FlexivControlMode + + env_creator = DefaultRizon4SHardwareEnv() + env_creator.robot_sn = ROBOT_SN + env_creator.tool_name = GRIPPER_TOOL_NAME + env_creator.gripper_manual_init = GRIPPER_MANUAL_INIT + hw_cfg = env_creator.config() + hw_cfg.robot_cfg.control_mode = FlexivControlMode.CARTESIAN_IMPEDANCE + hw_cfg.control_mode = ControlMode.CARTESIAN_TQuat + # Synchronous mode: every command returns once the arm has reached its target. + hw_cfg.robot_cfg.async_control = False + hw_cfg.max_relative_movement = (0.05, np.deg2rad(5)) + hw_cfg.relative_to = RelativeTo.LAST_STEP + hw_cfg.frequency = 25 # limit the rate at which we send commands to the robot + env_hw = env_creator.create_env(hw_cfg) + input("the arm is going to move, press enter whenever you are ready") + run(env_hw) + return + + 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] + camera_cfgs = sim_cfg_data.camera_cfgs + # 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) + + if camera_cfgs is not None: + camera_set = SimCameraSet(simulation, camera_cfgs, physical_units=True, render_on_demand=True) + env_rel = CameraSetWrapper(env_rel, camera_set, include_depth=True) # type: ignore[arg-type] + + 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() + run(env_rel) + + +def run(env_rel: gym.Env) -> None: + # 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/examples/teleop/README.md b/examples/teleop/README.md index d45624fc1..931fda2f9 100644 --- a/examples/teleop/README.md +++ b/examples/teleop/README.md @@ -57,6 +57,13 @@ The arm follows the right controller, so keep `ROBOT_NAME = "right"` unless you 2. go to [`yam.py`](yam.py), set `ROBOT_INSTANCE = RobotPlatform.HARDWARE` and set `CAN_CHANNEL` to your interface, or keep `RobotPlatform.SIMULATION` to try it in sim first 3. to record RealSense cameras, install the [RealSense extension](https://robotcontrolstack.org/extensions/rcs_realsense) and put your camera serial numbers (`rs-enumerate-devices -s`) into `CAMERA_DICT`, or set it to `None` to run without cameras +## Teleoperation of a Rizon 4s duo with Meta Quest 3 +[`rizon.py`](rizon.py) teleoperates two [Flexiv Rizon 4s](https://robotcontrolstack.org/extensions/rcs_flexiv) with Grav grippers. +The arms stand 30 cm apart in y and are each tilted by 45 degrees about x away from the other arm (right +45, left -45 degrees); actions are expressed in the shared frame between the two bases (x front, y left, z up), so align the quest coordinate axis to that frame. +1. install the [Flexiv extension](https://robotcontrolstack.org/extensions/rcs_flexiv), put both robots into auto mode and release the E-stops +2. go to [`rizon.py`](rizon.py), set `ROBOT_INSTANCE = RobotPlatform.HARDWARE`, the serial numbers in `ROBOT_SN` and the tool name of the gripper, or keep `RobotPlatform.SIMULATION` to try it in sim first (`rcs/rizon4s_duo`) +3. if your arms are mounted differently, adapt `ROBOT_TO_SHARED_BASE_FRAME` in the script + ## Teleoperation with Franka GELLO Duo Teleoperate your Franka Duo using the [Franka GELLO Duo](https://franka.de/de-de/product-prototypes). Install dependencies via diff --git a/examples/teleop/rizon.py b/examples/teleop/rizon.py new file mode 100644 index 000000000..b0a0eecd5 --- /dev/null +++ b/examples/teleop/rizon.py @@ -0,0 +1,124 @@ +import logging + +import numpy as np +from rcs._core.common import RobotPlatform +from rcs._core.sim import SimConfig +from rcs.envs.configs import EmptyWorldRizon4SDuo +from rcs.envs.storage_wrapper import StorageWrapper +from rcs.operator.interface import TeleopLoop +from rcs.operator.quest import QuestConfig, QuestOperator +from simpub.sim.mj_publisher import MujocoPublisher + +import rcs + +logger = logging.getLogger(__name__) + +""" +Teleoperation of two Flexiv Rizon 4s arms with the Meta Quest 3. See README.md for the setup of the +quest and the IRIS app; each arm follows its controller while the trigger is held, and the hand +trigger drives the Grav gripper. + +The arms stand 30 cm apart in y and are each tilted by 45 degrees about x away from the other arm +(right arm +45 degrees, left arm -45 degrees, like the FR3 duo). +Actions and observations are expressed in the shared base frame between the two bases, which is the +frame the quest axis has to be aligned to (x front, y left, z up). The matching simulation is +registered as `rcs/rizon4s_duo`. + +To teleoperate real hardware, install the rcs_flexiv extension (`pip install -ve extensions/rcs_flexiv`), +put both robots into auto mode with released E-stops and set ROBOT_INSTANCE to RobotPlatform.HARDWARE. +""" + +ROBOT_INSTANCE = RobotPlatform.SIMULATION +ROBOT_SN = { + "right": "Rizon4s-063650", +} +GRIPPER_DEVICE_NAME = "Flexiv-GN01" +GRIPPER_TOOL_NAME = None # tool created for the Grav in Flexiv Elements, None keeps the active tool + +ROBOT_TO_SHARED_BASE_FRAME = { + "left": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_LEFT_ROBOT"], + "right": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_RIGHT_ROBOT"], +} + +MQ3_ADDR = "10.42.0.1" +RECORD_FPS = 30 + +DATASET_PATH = "rizon_teleop" +INSTRUCTION = "pick up cube" + +config = QuestConfig( + mq3_addr=MQ3_ADDR, + simulation=ROBOT_INSTANCE == RobotPlatform.SIMULATION, + switched_left_right=False, + display_cameras=False, + read_frequency=90, +) + + +def get_env(): + if ROBOT_INSTANCE == RobotPlatform.HARDWARE: + from rcs_flexiv.configs import DefaultRizon4SDualMultiHardwareEnv + from rcs_flexiv.hw import FlexivControlMode + + env_creator = DefaultRizon4SDualMultiHardwareEnv() + env_creator.left_sn = ROBOT_SN.get("left", env_creator.left_sn) + env_creator.right_sn = ROBOT_SN.get("right", env_creator.right_sn) + env_creator.gripper_device_name = GRIPPER_DEVICE_NAME + env_creator.tool_name = GRIPPER_TOOL_NAME + # The dual config already enables async_control, so the setters do not wait for the arms. + hw_cfg = env_creator.config() + # Drop the arms that are not connected. + hw_cfg.robot_cfgs = {name: cfg for name, cfg in hw_cfg.robot_cfgs.items() if name in ROBOT_SN} + assert hw_cfg.gripper_cfgs is not None + hw_cfg.gripper_cfgs = {name: cfg for name, cfg in hw_cfg.gripper_cfgs.items() if name in ROBOT_SN} + for robot_cfg in hw_cfg.robot_cfgs.values(): + # The robot's own Cartesian impedance controller tracks the streamed poses, no rcs IK involved. Its + # motion generator limits how fast it follows the controller, raise them if the arm feels laggy. + robot_cfg.control_mode = FlexivControlMode.CARTESIAN_IMPEDANCE + robot_cfg.max_linear_velocity = 1.0 + robot_cfg.max_angular_velocity = 2.0 + robot_cfg.max_linear_acceleration = 4.0 + robot_cfg.max_angular_acceleration = 8.0 + # Reference posture for the null-space control, otherwise the posture at mode entry is used. + robot_cfg.null_space_posture = robot_cfg.q_home + hw_cfg.control_mode = config.operator_class.control_mode[0] + hw_cfg.relative_to = config.operator_class.control_mode[1] + hw_cfg.max_relative_movement = (0.5, np.deg2rad(90)) + hw_cfg.robot_to_shared_base_frame = {name: ROBOT_TO_SHARED_BASE_FRAME[name] for name in ROBOT_SN} + hw_cfg.wrapper_cfg.binary_gripper = False + hw_cfg.frequency = RECORD_FPS + env_rel = env_creator.create_env(hw_cfg) + operator = QuestOperator(config) + else: + scene = EmptyWorldRizon4SDuo() + sim_cfg_data = scene.config() + sim_cfg_data.sim_cfg = SimConfig( + async_control=True, realtime=True, frequency=RECORD_FPS, max_convergence_steps=500 + ) + sim_cfg_data.control_mode = config.operator_class.control_mode[0] + sim_cfg_data.relative_to = config.operator_class.control_mode[1] + sim_cfg_data.max_relative_movement = (0.5, np.deg2rad(90)) + sim_cfg_data.robot_to_shared_base_frame = ROBOT_TO_SHARED_BASE_FRAME + sim_cfg_data.wrapper_cfg.binary_gripper = False + env_rel = scene.create_env(sim_cfg_data) + + sim = env_rel.get_wrapper_attr("sim") + MujocoPublisher(sim.model, sim.data, MQ3_ADDR, visible_geoms_groups=list(range(1, 3))) + operator = QuestOperator(config, sim) + + env_rel = StorageWrapper( + env_rel, DATASET_PATH, INSTRUCTION, batch_size=32, max_rows_per_group=100, max_rows_per_file=1000 + ) + return env_rel, operator + + +def main(): + env_rel, operator = get_env() + env_rel.reset() + tele = TeleopLoop(env_rel, operator, env_frequency=RECORD_FPS, robot_platform=ROBOT_INSTANCE) + with env_rel, tele: # type: ignore + tele.environment_step_loop() + + +if __name__ == "__main__": + main() diff --git a/extensions/rcs_flexiv/README.md b/extensions/rcs_flexiv/README.md new file mode 100644 index 000000000..c7882cec0 --- /dev/null +++ b/extensions/rcs_flexiv/README.md @@ -0,0 +1,184 @@ +# RCS Flexiv Extension + +Support for Flexiv arms (Rizon 4s and other models supported by the RDK) and the Flexiv Grav +gripper in RCS, built on the Python bindings of the [Flexiv RDK](https://github.com/flexivrobotics/flexiv_rdk). + +This extension depends on [`rcs-core`](https://pypi.org/project/rcs-core/). +Documentation: + +## Installation + +Install from PyPI: + +```shell +pip install rcs-flexiv +``` + +Install from a local checkout, using the local RCS checkout instead of the published `rcs-core`: + +```shell +pip install -ve . --no-build-isolation +pip install -ve extensions/rcs_flexiv +``` + +The `flexivrdk` package is pulled from PyPI and pinned to 1.9.2, which ships prebuilt wheels for +Linux, macOS and Windows and Python 3.10, 3.12 and 3.14. + +The RDK version has to match the robot software version shown in Flexiv Elements, otherwise the +connection is refused as incompatible. RDK 1.9.x is the release line for the Rizon series, RDK 2.x +only supports the Enlight series and has a different API. If your robot runs another software +version, install the matching `flexivrdk` after this extension: + +| robot software | `flexivrdk` | +| -------------- | ------------ | +| v3.11.2 | 1.9.3 | +| v3.11.1 | 1.9.1, 1.9.2 | +| v3.11 | 1.9.0 | +| v3.10 | 1.8.x | + +## Robot setup + +Go through the [first time setup](https://www.flexiv.com/software/rdk/manual/index.html#first-time-setup) +of the RDK manual once: the workstation needs a network connection to the robot controller and the +robot needs an RDK license. Before running RCS: + +- Release the E-stop and put the robot into auto mode in Flexiv Elements. +- The serial number is passed as model name without spaces, a dash and the number, e.g. + `Rizon4s-063650`. +- Create a tool for the mounted gripper in Flexiv Elements -> Settings -> Tool and pass its name as + `tool_name`, so that gravity compensation accounts for the gripper. The Grav ships with a tool + definition, check the tool list in Elements for its name. +- The gripper device name is listed in Flexiv Elements -> Settings -> Device, `Flexiv-GN01` for the + Grav. +- Mounting angles and custom world frames configured in Flexiv Elements only affect the robot's own + gravity compensation and the frame of the poses the RDK reports. RCS computes poses from the + measured joints with its own model, so everything is in the base frame like in simulation. The + transform between the two frames is estimated at connect (`Flexiv.world_from_base`) and used + when commanding the robot's Cartesian controller. + +## Control modes + +`FlexivConfig.control_mode` selects which RDK controller tracks the targets RCS sends. All of them +are non-real-time modes in which the robot's internal motion generator smoothens the discrete +targets, so RCS never has to stream at 1 kHz. + +| `FlexivControlMode` | RDK mode | Tunable gains | +| ---------------------- | --------------------------- | ----------------------------------------- | +| `JOINT_POSITION` | `NRT_JOINT_POSITION` | none, stiff position tracking | +| `JOINT_IMPEDANCE` | `NRT_JOINT_IMPEDANCE` | `joint_stiffness`, `joint_damping_ratio` | +| `CARTESIAN_IMPEDANCE` | `NRT_CARTESIAN_MOTION_FORCE`| `cartesian_stiffness`, `cartesian_damping_ratio`, `max_contact_wrench`, `null_space_posture` | + +In the joint modes, RCS's Cartesian control modes go through the Pinocchio IK of the RCS robot +model, exactly like in simulation. In `CARTESIAN_IMPEDANCE` the target pose is handed to the +robot's own Cartesian controller instead; RCS converts its TCP (`tcp_offset`) to the TCP of the +active tool for that. Joint targets and `move_home` temporarily switch to joint impedance in that +mode, mode switches stop the arm. + +Stiffness values are absolute: `joint_stiffness` in Nm/rad within `[0, nominal]`, +`cartesian_stiffness` in N/m and Nm/rad within `[0, nominal]`. `None` means nominal, `0` makes an +axis free-floating. Damping ratios are within `[0.3, 0.8]`, `None` means the RDK default of 0.7. The +nominal values of the connected robot are available as `Flexiv.nominal_joint_stiffness` and +`Flexiv.nominal_cartesian_stiffness`, and the gains can be changed at runtime: + +```python +robot.set_joint_impedance(0.5 * robot.nominal_joint_stiffness) # softer +robot.set_joint_impedance(None) # back to nominal +``` + +## Sync and async control + +The RDK setters are non-blocking, they return once the target was delivered and the robot re-plans +its trajectory online. `FlexivConfig.async_control` and `FlexivGripperConfig.async_control` select +what the RCS setters do on top of that: + +- `async_control=True`: `set_joint_position`, `set_cartesian_position` and the gripper setters return + right away. Use this to stream targets, e.g. for teleoperation or policies running at a fixed rate. +- `async_control=False`: they poll the measured state every 5 ms until the target is within + `joint_tolerance` or `cartesian_tolerance` (`width_tolerance` for the gripper) and return on + `command_timeout` at the latest. In the impedance modes a target behind an obstacle is never + reached, which is what the timeout is for. The gripper additionally returns once the fingers + stopped on an object. + +`move_home` always blocks and uses the reduced `move_home_velocity`. Velocity and acceleration +limits of the internal trajectory generator are configured through `max_joint_velocity`, +`max_joint_acceleration` and the Cartesian counterparts. + +## Usage + +```python +from rcs.envs.base import ControlMode +from rcs_flexiv.configs import DefaultRizon4SHardwareEnv + +env_creator = DefaultRizon4SHardwareEnv() +env_creator.robot_sn = "Rizon4s-063650" +env_creator.tool_name = "Flexiv-GN01" + +cfg = env_creator.config() +cfg.control_mode = ControlMode.CARTESIAN_TQuat +cfg.robot_cfg.async_control = False + +env = env_creator.create_env(cfg) +obs, info = env.reset() +``` + +Without the env wrappers: + +```python +import rcs +from rcs import common +from rcs_flexiv.hw import Flexiv, FlexivConfig, FlexivControlMode, FlexivGripper, FlexivGripperConfig + +cfg = FlexivConfig(robot_sn="Rizon4s-063650", control_mode=FlexivControlMode.JOINT_IMPEDANCE, dof=7, ...) +ik = common.Pin(cfg.kinematic_model_path, cfg.attachment_site) +robot = Flexiv(cfg, ik) +gripper = FlexivGripper(FlexivGripperConfig(device_name="Flexiv-GN01"), robot) + +robot.move_home() +gripper.grasp() +robot.close() +``` + +The gripper is a device of the same robot connection, so `FlexivGripper` is created from the +`Flexiv` instance and `create_env` does the same. `Flexiv.get_state()` returns the external TCP +wrench and joint torque estimates of the RDK next to the fault and mode flags. + +See `src/rcs_flexiv/scripts/test_robot.py` for a bring-up script covering both control modes, a +stiffness change and the gripper, and +[examples/rizon4s/rizon4s_env_cartesian_control.py](../../examples/rizon4s/rizon4s_env_cartesian_control.py) +for a maintained Cartesian control example that runs in simulation and on hardware. + +## Dual arm setups + +`DefaultRizon4SDualMultiHardwareEnv` combines two arms with `MultiRobotWrapper`, one env per robot +connection, for the duo arrangement of `rcs/rizon4s_duo`: bases 0.3 m apart in y, each tilted 45 +degrees about x away from the other arm. Actions and observations are expressed in the shared base +frame between the two bases, `robot_to_shared_base_frame` holds the pose of each base in that frame +and can be replaced for other mounts. See +[examples/teleop/rizon.py](../../examples/teleop/rizon.py) for teleoperation of the duo with a Meta +Quest. + +```python +from rcs_flexiv.configs import DefaultRizon4SDualMultiHardwareEnv + +creator = DefaultRizon4SDualMultiHardwareEnv() +creator.left_sn, creator.right_sn = "Rizon4s-063650", "Rizon4s-654321" +env = creator.create_env(creator.config()) +``` + +## Safety notes + +- `Flexiv` clears minor faults and servos on during construction, and `RobotWrapper.reset` retries + homing after `automatic_error_recovery`. Keep a hand on the E-stop when bringing the robot up. +- The default `q_home` of the Rizon 4s in RCS points the flange straight down about 0.57 m in front + of the base. Verify it fits the setup before the first `reset`. +- Lowering the stiffness makes the arm sag under payload and follow targets less accurately. + Changing the damping ratio away from the default can cause instabilities, as the RDK documents. +- The Grav GN-01 with 48 V supply does not initialize on power-on and ignores commands until it has + been initialized. `FlexivGripperConfig(manual_init=True)`, the default of the env creators, triggers + the initialization on startup, during which the fingers move to both stops. + +## Simulation + +The matching simulated env is registered as `rcs/rizon4s` in core RCS with the Grav GN-01 as +gripper. The kinematics of `assets/robots/rizon4s/rizon4s.xml` match Flexiv's URDF, so joint and +Cartesian targets carry over between simulation and hardware. diff --git a/extensions/rcs_flexiv/pyproject.toml b/extensions/rcs_flexiv/pyproject.toml new file mode 100644 index 000000000..ba0c7c427 --- /dev/null +++ b/extensions/rcs_flexiv/pyproject.toml @@ -0,0 +1,31 @@ +[build-system] +requires = ["setuptools"] +build-backend = "setuptools.build_meta" + +[project] +name = "rcs_flexiv" +version = "0.7.3" +description = "RCS Flexiv module" +dependencies = [ + "rcs-core>=0.7.3", + # The RDK version must match the robot software: 1.9.2 is for Rizon robots on software v3.11.1. + # RDK 2.x only supports the Enlight series and has a different API. + "flexivrdk==1.9.2", + "numpy", +] +readme = "README.md" +license = "AGPL-3.0-or-later" +maintainers = [ + { name = "Tobias Juelg", email = "tobias.juelg@utn.de" }, +] +authors = [ + { name = "Tobias Juelg", email = "tobias.juelg@utn.de" }, +] +requires-python = ">=3.11" + +[tool.black] +line-length = 120 +target-version = ["py310"] + +[tool.isort] +profile = "black" diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/__init__.py b/extensions/rcs_flexiv/src/rcs_flexiv/__init__.py new file mode 100644 index 000000000..b4c971c28 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/__init__.py @@ -0,0 +1,10 @@ +from rcs_flexiv import configs, creators, hw + +__version__ = "0.7.3" + +__all__ = [ + "configs", + "creators", + "hw", + "__version__", +] diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/configs.py b/extensions/rcs_flexiv/src/rcs_flexiv/configs.py new file mode 100644 index 000000000..fef3d68e7 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/configs.py @@ -0,0 +1,99 @@ +from rcs._core.common import RobotType +from rcs.envs.base import ControlMode, RelativeTo +from rcs_flexiv.creators import ( + FlexivHardwareEnvCreatorConfig, + FlexivMultiHardwareEnvCreatorConfig, + RCSFlexivConfigEnvCreator, + RCSFlexivMultiConfigEnvCreator, +) +from rcs_flexiv.hw import FlexivConfig, FlexivControlMode, FlexivGripperConfig + +import rcs + + +class DefaultRizon4SHardwareEnv(RCSFlexivConfigEnvCreator): + """Rizon 4s with a Grav GN-01 gripper, Cartesian control through RCS's IK and joint impedance on the robot.""" + + robot_sn = "Rizon4s-063650" + gripper_device_name = "Flexiv-GN01" + """Gripper device name from Flexiv Elements -> Settings -> Device.""" + gripper_manual_init = True + """Trigger the gripper's initialization on startup. Needed for grippers that do not initialize on power-on + like the 48 V Grav, harmless otherwise. The fingers move to both stops during initialization.""" + tool_name: str | None = None + """Tool to activate from Flexiv Elements -> Settings -> Tool, e.g. the one created for the Grav. None keeps the + active tool. The active tool matters for gravity compensation, so it should match the mounted gripper.""" + + def config(self) -> FlexivHardwareEnvCreatorConfig: + robot_type = RobotType("Rizon4S") + gripper_type = rcs.common.GripperType("FlexivGrav") + robot_cfg = FlexivConfig( + robot_sn=self.robot_sn, + control_mode=FlexivControlMode.JOINT_IMPEDANCE, + async_control=False, + tool_name=self.tool_name, + robot_type=robot_type, + kinematic_model_path=rcs.ROBOTS[robot_type].mjcf_model_path, + attachment_site=rcs.ROBOTS[robot_type].attachment_site, + dof=rcs.ROBOTS[robot_type].dof, + joint_limits=rcs.ROBOTS[robot_type].joint_limits, + q_home=rcs.ROBOTS[robot_type].q_home, + tcp_offset=rcs.GRIPPER_TCP_OFFSETS[gripper_type], + ) + + gripper_cfg = FlexivGripperConfig( + device_name=self.gripper_device_name, + manual_init=self.gripper_manual_init, + async_control=False, + gripper_type=gripper_type, + ) + + return FlexivHardwareEnvCreatorConfig( + control_mode=ControlMode.CARTESIAN_TQuat, + robot_cfg=robot_cfg, + gripper_cfg=gripper_cfg, + max_relative_movement=0.2, + relative_to=RelativeTo.LAST_STEP, + ) + + +class DefaultRizon4SDualMultiHardwareEnv(RCSFlexivMultiConfigEnvCreator): + """Two Rizon 4s in the duo arrangement of `rcs/rizon4s_duo`: bases 0.3 m apart in y, each tilted 45 degrees + about x away from the other arm (right +45, left -45 degrees). Both arms run in async mode, as needed for + teleoperation.""" + + left_sn = "Rizon4s-063650" + right_sn = "Rizon4s-654321" + gripper_device_name = "Flexiv-GN01" + gripper_manual_init = True + tool_name: str | None = None + + def config(self) -> FlexivMultiHardwareEnvCreatorConfig: + base = DefaultRizon4SHardwareEnv() + base.gripper_device_name = self.gripper_device_name + base.gripper_manual_init = self.gripper_manual_init + base.tool_name = self.tool_name + + robot_cfgs = {} + gripper_cfgs: dict[str, FlexivGripperConfig | None] = {} + for name, sn in (("left", self.left_sn), ("right", self.right_sn)): + base.robot_sn = sn + cfg = base.config() + cfg.robot_cfg.async_control = True + cfg.robot_cfg.q_home = rcs.HOME_POSITIONS[f"RIZON4S_DUO_{name.upper()}"] + assert cfg.gripper_cfg is not None + cfg.gripper_cfg.async_control = True + robot_cfgs[name] = cfg.robot_cfg + gripper_cfgs[name] = cfg.gripper_cfg + + return FlexivMultiHardwareEnvCreatorConfig( + control_mode=ControlMode.CARTESIAN_TQuat, + robot_cfgs=robot_cfgs, + gripper_cfgs=gripper_cfgs, + max_relative_movement=0.2, + relative_to=RelativeTo.LAST_STEP, + robot_to_shared_base_frame={ + "left": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_LEFT_ROBOT"], + "right": rcs.DEFAULT_TRANSFORMS["RIZON4S_DUO_RIGHT_ROBOT"], + }, + ) diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/creators.py b/extensions/rcs_flexiv/src/rcs_flexiv/creators.py new file mode 100644 index 000000000..ddaa86dd4 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/creators.py @@ -0,0 +1,161 @@ +import logging +import typing +from dataclasses import dataclass, field + +import gymnasium as gym +from rcs._core.common import BaseCameraConfig +from rcs.camera.hw import DummyCalibrationStrategy, HardwareCamera, HardwareCameraSet +from rcs.envs.base import ( + CameraSetWrapper, + ControlMode, + CoverWrapper, + GripperWrapper, + HardwareEnv, + MultiRobotWrapper, + RelativeActionSpace, + RelativeTo, + RobotWrapper, +) +from rcs.envs.scenes import RCSEnvCreator, WrapperConfig +from rcs_flexiv.hw import Flexiv, FlexivConfig, FlexivGripper, FlexivGripperConfig + +import rcs + +logger = logging.getLogger(__name__) +logger.setLevel(logging.INFO) + + +@dataclass(kw_only=True) +class HardwareCameraCreatorConfig: + camera_type_id: str + camera_cfgs: dict[str, BaseCameraConfig] + kwargs: dict[str, typing.Any] = field(default_factory=dict) + + +def _create_realsense_camera(cfg: HardwareCameraCreatorConfig) -> HardwareCamera: + try: + from rcs.camera.hw import CalibrationStrategy + from rcs_realsense.camera import RealSenseCameraSet + except ImportError as e: + msg = "RealSense camera support requires the `rcs_realsense` extension to be installed." + raise ImportError(msg) from e + + calibration_strategy = { + name: typing.cast(CalibrationStrategy, DummyCalibrationStrategy()) for name in cfg.camera_cfgs + } + return typing.cast( + HardwareCamera, + RealSenseCameraSet(cameras=cfg.camera_cfgs, calibration_strategy=calibration_strategy, **cfg.kwargs), + ) + + +HARDWARE_CAMERA_CREATORS: dict[str, typing.Callable[[HardwareCameraCreatorConfig], HardwareCamera]] = { + "realsense": _create_realsense_camera, +} + + +def _create_hardware_camera_set( + camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None, +) -> HardwareCameraSet | None: + if camera_cfgs is None: + return None + cameras: list[HardwareCamera] = [] + for cfg in camera_cfgs.values(): + if cfg.camera_type_id not in HARDWARE_CAMERA_CREATORS: + msg = f"Unknown hardware camera type id: {cfg.camera_type_id}" + raise ValueError(msg) + cameras.append(HARDWARE_CAMERA_CREATORS[cfg.camera_type_id](cfg)) + return HardwareCameraSet(cameras) if cameras else None + + +@dataclass(kw_only=True) +class FlexivHardwareEnvCreatorConfig: + robot_cfg: FlexivConfig + control_mode: ControlMode + gripper_cfg: FlexivGripperConfig | None = None + camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None = None + max_relative_movement: float | tuple[float, float] | None = None + relative_to: RelativeTo = RelativeTo.LAST_STEP + frequency: float | None = None + """Control frequency in Hz, rate limits env.step(). None disables rate limiting.""" + wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig) + + +class RCSFlexivConfigEnvCreator(RCSEnvCreator[FlexivHardwareEnvCreatorConfig]): + def create_env(self, cfg: FlexivHardwareEnvCreatorConfig) -> gym.Env: + ik = rcs.common.Pin( + cfg.robot_cfg.kinematic_model_path, + cfg.robot_cfg.attachment_site, + urdf=cfg.robot_cfg.kinematic_model_path.endswith(".urdf"), + ) + robot = Flexiv(cfg.robot_cfg, ik) + env: gym.Env = HardwareEnv(frequency=cfg.frequency) + env = RobotWrapper(env, robot, cfg.control_mode, home_on_reset=cfg.wrapper_cfg.home_on_reset) + + if cfg.gripper_cfg is not None: + # The gripper is a device of the same robot connection, so it shares the robot handle. + gripper = FlexivGripper(cfg.gripper_cfg, robot) + env = GripperWrapper(env, gripper, binary=cfg.wrapper_cfg.binary_gripper) + + camera_set = _create_hardware_camera_set(cfg.camera_cfgs) + if camera_set is not None: + camera_set.start() + camera_set.wait_for_frames() + logger.info("CameraSet started") + env = CameraSetWrapper(env, camera_set, cfg.wrapper_cfg.include_depth) + + if cfg.relative_to != RelativeTo.NONE: + env = RelativeActionSpace(env, max_mov=cfg.max_relative_movement, relative_to=cfg.relative_to) + return CoverWrapper(env) + + def config(self) -> FlexivHardwareEnvCreatorConfig: + msg = "Implement config() in a subclass or pass `cfg=` explicitly." + raise NotImplementedError(msg) + + +@dataclass(kw_only=True) +class FlexivMultiHardwareEnvCreatorConfig: + robot_cfgs: dict[str, FlexivConfig] + control_mode: ControlMode + gripper_cfgs: dict[str, FlexivGripperConfig | None] | None = None + camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None = None + max_relative_movement: float | tuple[float, float] | None = None + relative_to: RelativeTo = RelativeTo.LAST_STEP + robot_to_shared_base_frame: dict[str, rcs.common.Pose] | None = None + """Pose of each robot's base in the shared base frame, in which actions and observations are expressed.""" + frequency: float | None = None + """Control frequency in Hz, rate limits env.step(). None disables rate limiting.""" + wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig) + + +class RCSFlexivMultiConfigEnvCreator(RCSEnvCreator[FlexivMultiHardwareEnvCreatorConfig]): + def create_env(self, cfg: FlexivMultiHardwareEnvCreatorConfig) -> gym.Env: + envs: dict[str, gym.Env] = {} + for robot_name, robot_cfg in cfg.robot_cfgs.items(): + envs[robot_name] = RCSFlexivConfigEnvCreator().create_env( + FlexivHardwareEnvCreatorConfig( + robot_cfg=robot_cfg, + control_mode=cfg.control_mode, + gripper_cfg=cfg.gripper_cfgs[robot_name] if cfg.gripper_cfgs is not None else None, + # The cameras observe the whole scene, so they are attached once around the + # combined env instead of per arm. + camera_cfgs=None, + max_relative_movement=cfg.max_relative_movement, + relative_to=cfg.relative_to, + frequency=cfg.frequency, + wrapper_cfg=cfg.wrapper_cfg, + ) + ) + + env: gym.Env = MultiRobotWrapper(envs, cfg.robot_to_shared_base_frame) + camera_set = _create_hardware_camera_set(cfg.camera_cfgs) + if camera_set is not None: + camera_set.start() + camera_set.wait_for_frames() + logger.info("CameraSet started") + env = CameraSetWrapper(env, camera_set, cfg.wrapper_cfg.include_depth) + return CoverWrapper(env) + + def config(self) -> FlexivMultiHardwareEnvCreatorConfig: + msg = "Implement config() in a subclass or pass `cfg=` explicitly." + raise NotImplementedError(msg) diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/hw.py b/extensions/rcs_flexiv/src/rcs_flexiv/hw.py new file mode 100644 index 000000000..34dfb5152 --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/hw.py @@ -0,0 +1,674 @@ +"""Hardware abstraction layer for Flexiv robots and grippers, built on the Flexiv RDK 1.9 Python bindings. + +RDK 1.9.x is the release line for the Rizon series (robot software v3.9 to v3.11), RDK 2.x only supports the +Enlight series and has a different, joint-group based API. + +The arm is driven through the RDK's non-real-time (NRT) control modes, in which the robot's internal +motion generator smoothens the discrete targets RCS sends. Sending a new target while the previous +motion is ongoing re-plans online, which is what makes the async control mode work. The controller +gains of the underlying impedance controllers are exposed through `FlexivConfig`. + +The gripper (e.g. the Grav GN-01) is controlled through the RDK gripper device interface of the same +robot connection, so `FlexivGripper` is created from a `Flexiv` instance. +""" + +import enum +import logging +import time +import typing + +import numpy as np +from rcs.common_typing import GripperConfigKwargs, RobotConfigKwargs + +from rcs import common + +logger = logging.getLogger(__name__) + + +class FlexivControlMode(enum.Enum): + """Which RDK controller tracks the targets RCS sends.""" + + JOINT_POSITION = "joint_position" + """NRT_JOINT_POSITION: stiff joint position control, no gains to tune.""" + JOINT_IMPEDANCE = "joint_impedance" + """NRT_JOINT_IMPEDANCE: joint impedance control, stiffness and damping ratio per joint are configurable.""" + CARTESIAN_IMPEDANCE = "cartesian_impedance" + """NRT_CARTESIAN_MOTION_FORCE: Cartesian impedance control with the robot's own IK, stiffness and damping + ratio per Cartesian axis are configurable. Joint targets temporarily switch to a joint mode.""" + + +class FlexivConfig(common.RobotConfig): + """Configuration of a single Flexiv arm.""" + + def __init__( + self, + robot_sn: str, + control_mode: FlexivControlMode = FlexivControlMode.JOINT_IMPEDANCE, + async_control: bool = True, + tool_name: str | None = None, + joint_stiffness: np.ndarray | None = None, + joint_damping_ratio: np.ndarray | None = None, + cartesian_stiffness: np.ndarray | None = None, + cartesian_damping_ratio: np.ndarray | None = None, + max_contact_wrench: np.ndarray | None = None, + null_space_posture: np.ndarray | None = None, + max_joint_velocity: float = 1.0, + max_joint_acceleration: float = 2.0, + move_home_velocity: float = 0.5, + max_linear_velocity: float = 0.5, + max_angular_velocity: float = 1.0, + max_linear_acceleration: float = 2.0, + max_angular_acceleration: float = 5.0, + joint_tolerance: float = 0.01, + cartesian_tolerance: tuple[float, float] = (0.002, 0.02), + command_timeout: float = 5.0, + startup_timeout: float = 30.0, + verbose: bool = False, + **kwargs: typing.Unpack[RobotConfigKwargs], + ): + """ + Args: + robot_sn: Serial number of the robot, e.g. "Rizon4s-123456". Same format as accepted by `flexivrdk.Robot`. + control_mode: RDK controller used to track targets, see `FlexivControlMode`. + async_control: If True, the setters return once the target was handed to the robot. If False, they poll + the measured state until the target is reached within tolerance or `command_timeout` hits. + tool_name: Name of the tool (Flexiv Elements -> Settings -> Tool) to activate on the robot. The active + tool determines the gravity compensation and the TCP the robot's Cartesian controller uses. None keeps + the currently active tool. + joint_stiffness: K_q in Nm/rad for the joint impedance mode, one value per joint in + [0, nominal]. None uses the robot's nominal stiffness, 0 makes a joint free-floating. + joint_damping_ratio: Z_q for the joint impedance mode, one value per joint in [0.3, 0.8]. None uses the + RDK default of 0.7. + cartesian_stiffness: K_x in N/m and Nm/rad for the Cartesian impedance mode, + [k_x, k_y, k_z, k_Rx, k_Ry, k_Rz] in [0, nominal]. None uses the robot's nominal stiffness. + cartesian_damping_ratio: Z_x for the Cartesian impedance mode, six values in [0.3, 0.8]. None uses the RDK + default of 0.7. + max_contact_wrench: Maximum contact force and moment [f_x, f_y, f_z, m_x, m_y, m_z] the Cartesian + impedance mode regulates its output to. None disables the regulation. + null_space_posture: Reference joint positions for the null-space posture control of the Cartesian + impedance mode. None keeps the RDK default, the joint positions when the mode was entered. + max_joint_velocity: Joint velocity limit in rad/s of the internal trajectory generator for joint targets. + max_joint_acceleration: Joint acceleration limit in rad/s^2 for joint targets. + move_home_velocity: Joint velocity limit in rad/s used for `move_home`. + max_linear_velocity: TCP velocity limit in m/s for Cartesian targets in the Cartesian impedance mode. + max_angular_velocity: TCP angular velocity limit in rad/s for Cartesian targets. + max_linear_acceleration: TCP acceleration limit in m/s^2 for Cartesian targets. + max_angular_acceleration: TCP angular acceleration limit in rad/s^2 for Cartesian targets. + joint_tolerance: Joint error in rad below which a synchronous joint command counts as reached. + cartesian_tolerance: Translation error in m and rotation error in rad below which a synchronous Cartesian + command counts as reached. + command_timeout: Seconds after which a synchronous command returns even if the target was not reached, + e.g. because the arm is blocked by a contact. + startup_timeout: Seconds to wait for the robot to become operational after servo on. + verbose: Enable the info and warning prints of the RDK. + """ + super().__init__(**kwargs) + self.robot_platform = common.RobotPlatform.HARDWARE + self.robot_sn = robot_sn + self.control_mode = control_mode + self.async_control = async_control + self.tool_name = tool_name + self.joint_stiffness = joint_stiffness + self.joint_damping_ratio = joint_damping_ratio + self.cartesian_stiffness = cartesian_stiffness + self.cartesian_damping_ratio = cartesian_damping_ratio + self.max_contact_wrench = max_contact_wrench + self.null_space_posture = null_space_posture + self.max_joint_velocity = max_joint_velocity + self.max_joint_acceleration = max_joint_acceleration + self.move_home_velocity = move_home_velocity + self.max_linear_velocity = max_linear_velocity + self.max_angular_velocity = max_angular_velocity + self.max_linear_acceleration = max_linear_acceleration + self.max_angular_acceleration = max_angular_acceleration + self.joint_tolerance = joint_tolerance + self.cartesian_tolerance = cartesian_tolerance + self.command_timeout = command_timeout + self.startup_timeout = startup_timeout + self.verbose = verbose + + +class FlexivRobotState(common.RobotState): + """Snapshot of the RDK robot states that are useful on top of the RCS observations.""" + + def __init__(self, states: typing.Any, mode: str, operational: bool, fault: bool) -> None: + super().__init__() + self.q = np.asarray(states.q, dtype=np.float64) + self.dq = np.asarray(states.dq, dtype=np.float64) + self.tau = np.asarray(states.tau, dtype=np.float64) + self.tau_ext = np.asarray(states.tau_ext, dtype=np.float64) + self.tcp_wrench = np.asarray(states.ext_wrench_in_world, dtype=np.float64) + """External wrench at the TCP in the RDK's world frame [f_x, f_y, f_z, m_x, m_y, m_z].""" + self.flange_pose = np.asarray(states.flange_pose, dtype=np.float64) + """[x, y, z, q_w, q_x, q_y, q_z] in the RDK's world frame, as reported by the RDK.""" + self.mode = mode + self.operational = operational + self.fault = fault + + +def _pose_from_rdk(pose7: typing.Sequence[float]) -> common.Pose: + """RDK poses are [x, y, z, q_w, q_x, q_y, q_z], RCS quaternions are [x, y, z, w].""" + p = np.asarray(pose7, dtype=np.float64) + return common.Pose(translation=p[:3], quaternion=np.array([p[4], p[5], p[6], p[3]])) + + +def _pose_to_rdk(pose: common.Pose) -> list[float]: + return [*pose.translation().tolist(), *pose.rotation_q_wxyz().tolist()] + + +class Flexiv(common.Robot): + """RCS robot backed by `flexivrdk.Robot`.""" + + POLL_INTERVAL = 0.005 + + def __init__(self, cfg: FlexivConfig, ik: common.Kinematics): + super().__init__() + import flexivrdk + + self._rdk = flexivrdk + self._closed = True + self.ik = ik + self._config = cfg + self._dof = int(cfg.dof) + self._rdk_modes = { + FlexivControlMode.JOINT_POSITION: flexivrdk.Mode.NRT_JOINT_POSITION, + FlexivControlMode.JOINT_IMPEDANCE: flexivrdk.Mode.NRT_JOINT_IMPEDANCE, + FlexivControlMode.CARTESIAN_IMPEDANCE: flexivrdk.Mode.NRT_CARTESIAN_MOTION_FORCE, + } + + self._robot = flexivrdk.Robot(cfg.robot_sn, [], cfg.verbose) + self._closed = False + self._make_operational() + self._info = self._robot.info() + if int(self._info.DoF) != self._dof: + msg = f"The robot has {self._info.DoF} joints, but the config expects dof={self._dof}." + raise ValueError(msg) + + self._tool = flexivrdk.Tool(self._robot) + if cfg.tool_name is not None: + self._tool.Switch(cfg.tool_name) + self._tool_tcp = self._read_tool_tcp() + self._world_from_base = self._estimate_world_from_base() + + self._ensure_mode(cfg.control_mode) + logger.info( + "Connected to %s (%s, robot software %s) with tool %s in %s.", + self._info.serial_num, + self._info.model_name, + self._info.software_ver, + self._tool.name(), + cfg.control_mode.value, + ) + + @property + def world_from_base(self) -> common.Pose: + """Pose of the robot base in the RDK's world frame, estimated at connect. + + The RDK reports and accepts Cartesian poses in the robot's world frame, which differs from the base frame + when a mounting angle or a custom world frame was configured in Flexiv Elements. RCS works in the base + frame like in simulation and uses this transform to talk to the RDK's Cartesian controller. + """ + return self._world_from_base + + def __del__(self): + self.close() + + # ------------------------------------------------------------------ RDK access for the gripper + + @property + def rdk_robot(self) -> typing.Any: + """The underlying `flexivrdk.Robot`, shared with the gripper interface.""" + return self._robot + + # ------------------------------------------------------------------ common.Robot interface + + def close(self) -> None: + if self._closed: + return + self._closed = True + try: + # Stop() halts any ongoing motion and puts the robot into IDLE. + self._robot.Stop() + except Exception as e: + logger.warning("Stopping the robot on close failed: %s", e) + + def get_config(self) -> FlexivConfig: + return self._config + + def set_config(self, robot_cfg: FlexivConfig) -> None: + """Replaces the config and re-applies the impedance settings if the robot is in the affected mode.""" + self._config = robot_cfg + if robot_cfg.tool_name is not None and robot_cfg.tool_name != self._tool.name(): + self._tool.Switch(robot_cfg.tool_name) + self._tool_tcp = self._read_tool_tcp() + self._ensure_mode(robot_cfg.control_mode) + + def get_state(self) -> FlexivRobotState: + return FlexivRobotState(self._states(), self._robot.mode().name, self._robot.operational(), self._robot.fault()) + + def get_ik(self) -> common.Kinematics | None: + return self.ik + + def reset(self) -> None: + pass + + def automatic_error_recovery(self) -> None: + """Called by `RobotWrapper.reset` when homing raises: clears faults, enables the robot and restores the mode.""" + self._make_operational() + self._ensure_mode(self._config.control_mode) + + def get_joint_position(self) -> np.ndarray[tuple[typing.Any], np.dtype[np.float64]]: + return np.asarray(self._states().q, dtype=np.float64) + + def get_cartesian_flange_position(self) -> common.Pose: + # Computed from the measured joints with the RCS model, so that the pose is in the base frame regardless + # of the world frame configured on the robot, and matches what the simulation reports. + return self.ik.forward(self.get_joint_position(), common.Pose()) + + def get_cartesian_position(self) -> common.Pose: + return self.get_cartesian_flange_position() * self._config.tcp_offset + + def set_joint_position(self, q: np.ndarray[tuple[typing.Any], np.dtype[np.float64]]) -> None: + q = np.asarray(q, dtype=np.float64) + if q.shape != (self._dof,): + msg = f"Expected {self._dof} joint positions, got shape {q.shape}." + raise ValueError(msg) + self._send_joint_target(q, self._config.max_joint_velocity) + if not self._config.async_control: + self._wait_for_joints(q, self._config.command_timeout) + + def set_cartesian_position(self, pose: common.Pose) -> None: + if self._config.control_mode != FlexivControlMode.CARTESIAN_IMPEDANCE: + q = self.ik.inverse(pose, self.get_joint_position(), self._config.tcp_offset) + if q is None: + logger.warning("IK failed for %s", pose) + return + self.set_joint_position(np.asarray(q, dtype=np.float64)) + return + + self._ensure_mode(FlexivControlMode.CARTESIAN_IMPEDANCE) + # The RDK tracks the pose of the active tool's TCP in its world frame, RCS commands the pose of its own + # TCP offset in the base frame. + rdk_target = self._world_from_base * pose * self._config.tcp_offset.inverse() * self._tool_tcp + self._robot.SendCartesianMotionForce( + _pose_to_rdk(rdk_target), + [0.0] * 6, + [0.0] * 6, + self._config.max_linear_velocity, + self._config.max_angular_velocity, + self._config.max_linear_acceleration, + self._config.max_angular_acceleration, + ) + if not self._config.async_control: + self._wait_for_pose(pose, self._config.command_timeout) + + def move_home(self) -> None: + """Moves to `q_home` with the reduced `move_home_velocity`, or runs the RDK Home primitive if unset. + + Always blocks until the home pose is reached, also in async mode. + """ + if self._config.q_home is None: + logger.info("No q_home configured, running the RDK Home primitive.") + self._run_home_primitive() + return + home = np.asarray(self._config.q_home, dtype=np.float64) + low, high = self._config.joint_limits + if np.any((home < low) | (home > high)): + msg = f"Home position {home} is out of joint limits." + raise ValueError(msg) + logger.info("Moving to home position: %s", home) + distance = float(np.max(np.abs(home - self.get_joint_position()))) + self._send_joint_target(home, self._config.move_home_velocity) + # Generous timeout: the trajectory generator also has to accelerate and decelerate. + self._wait_for_joints(home, distance / self._config.move_home_velocity + self._config.command_timeout) + + # ------------------------------------------------------------------ impedance settings + + @property + def nominal_joint_stiffness(self) -> np.ndarray: + """Nominal (maximum) joint stiffness K_q of the robot in Nm/rad.""" + return np.asarray(self._info.K_q_nom, dtype=np.float64) + + @property + def nominal_cartesian_stiffness(self) -> np.ndarray: + """Nominal (maximum) Cartesian stiffness K_x of the robot in N/m and Nm/rad.""" + return np.asarray(self._info.K_x_nom, dtype=np.float64) + + def set_joint_impedance(self, stiffness: np.ndarray | None, damping_ratio: np.ndarray | None = None) -> None: + """Updates K_q and Z_q of the joint impedance controller, applied immediately if that mode is active. + + None restores the nominal stiffness or the default damping ratio. + """ + self._config.joint_stiffness = None if stiffness is None else np.asarray(stiffness, dtype=np.float64) + self._config.joint_damping_ratio = ( + None if damping_ratio is None else np.asarray(damping_ratio, dtype=np.float64) + ) + if self._robot.mode() == self._rdk_modes[FlexivControlMode.JOINT_IMPEDANCE]: + self._apply_joint_impedance() + + def set_cartesian_impedance(self, stiffness: np.ndarray | None, damping_ratio: np.ndarray | None = None) -> None: + """Updates K_x and Z_x of the Cartesian impedance controller, applied immediately if that mode is active. + + None restores the nominal stiffness or the default damping ratio. + """ + self._config.cartesian_stiffness = None if stiffness is None else np.asarray(stiffness, dtype=np.float64) + self._config.cartesian_damping_ratio = ( + None if damping_ratio is None else np.asarray(damping_ratio, dtype=np.float64) + ) + if self._robot.mode() == self._rdk_modes[FlexivControlMode.CARTESIAN_IMPEDANCE]: + self._apply_cartesian_impedance() + + # ------------------------------------------------------------------ internals + + def _states(self) -> typing.Any: + return self._robot.states() + + def _run_home_primitive(self) -> None: + """Runs the Home primitive of the robot and restores the configured control mode afterwards.""" + self._robot.SwitchMode(self._rdk.Mode.NRT_PRIMITIVE_EXECUTION) + self._robot.ExecutePrimitive("Home", {}) + deadline = time.time() + self._config.command_timeout + 30.0 + while not self._robot.primitive_states().get("reachedTarget", 0): + if self._robot.fault(): + msg = "Robot fault while homing." + raise RuntimeError(msg) + if time.time() > deadline: + msg = "The Home primitive did not reach its target in time." + raise RuntimeError(msg) + time.sleep(0.1) + self._ensure_mode(self._config.control_mode) + + def _make_operational(self) -> None: + if self._robot.fault(): + logger.warning("Robot is in fault state, trying to clear it.") + if not self._robot.ClearFault(): + msg = "Could not clear the robot fault, check Flexiv Elements." + raise RuntimeError(msg) + if not self._robot.operational(): + if not self._robot.estop_released(): + msg = "The emergency stop is pressed, release it and try again." + raise RuntimeError(msg) + self._robot.Enable() + deadline = time.time() + self._config.startup_timeout + while not self._robot.operational(): + if time.time() > deadline: + status = self._robot.operational_status().name + msg = f"Robot did not become operational within {self._config.startup_timeout} s, status: {status}." + raise RuntimeError(msg) + time.sleep(0.5) + logger.info("Robot is operational.") + + def _estimate_world_from_base(self) -> common.Pose: + """Compares the RDK's flange pose with the model's FK at the same joints to find the world frame.""" + states = self._states() + flange_in_world = _pose_from_rdk(states.flange_pose) + flange_in_base = self.ik.forward(np.asarray(states.q, dtype=np.float64), common.Pose()) + world_from_base = flange_in_world * flange_in_base.inverse() + angle = np.rad2deg(world_from_base.total_angle()) + offset = np.linalg.norm(world_from_base.translation()) + if angle > 0.5 or offset > 0.005: + logger.info( + "The robot's world frame is rotated by %.1f deg and offset by %.3f m from its base frame, e.g. due to " + "a configured mounting angle. RCS keeps working in the base frame.", + angle, + offset, + ) + elif angle > 0.1 or offset > 0.001: + logger.warning( + "The RDK flange pose and the RCS model disagree by %.2f deg / %.4f m, check the robot model.", + angle, + offset, + ) + return world_from_base + + def _read_tool_tcp(self) -> common.Pose: + """Pose of the active tool's TCP in the flange frame, identity if it cannot be read.""" + try: + return _pose_from_rdk(self._tool.params().tcp_location) + except Exception as e: + logger.warning("Could not read the active tool parameters, assuming the TCP is at the flange: %s", e) + return common.Pose() + + def _ensure_mode(self, mode: FlexivControlMode) -> None: + """Switches the robot into the RDK mode of `mode` if needed and applies the matching settings.""" + rdk_mode = self._rdk_modes[mode] + if self._robot.mode() != rdk_mode: + # SwitchMode stops any ongoing motion and blocks until the transition is done. + self._robot.SwitchMode(rdk_mode) + if mode == FlexivControlMode.JOINT_IMPEDANCE: + self._apply_joint_impedance() + elif mode == FlexivControlMode.CARTESIAN_IMPEDANCE: + self._apply_cartesian_impedance() + + def _joint_mode(self) -> FlexivControlMode: + """The mode used for joint targets: the configured one, or joint impedance when Cartesian is configured.""" + if self._config.control_mode == FlexivControlMode.CARTESIAN_IMPEDANCE: + return FlexivControlMode.JOINT_IMPEDANCE + return self._config.control_mode + + def _apply_joint_impedance(self) -> None: + cfg = self._config + k_q = self.nominal_joint_stiffness if cfg.joint_stiffness is None else np.asarray(cfg.joint_stiffness) + z_q = [] if cfg.joint_damping_ratio is None else np.asarray(cfg.joint_damping_ratio).tolist() + self._robot.SetJointImpedance(k_q.tolist(), z_q) + + def _apply_cartesian_impedance(self) -> None: + cfg = self._config + k_x = ( + self.nominal_cartesian_stiffness if cfg.cartesian_stiffness is None else np.asarray(cfg.cartesian_stiffness) + ) + if cfg.cartesian_damping_ratio is None: + self._robot.SetCartesianImpedance(k_x.tolist()) + else: + self._robot.SetCartesianImpedance(k_x.tolist(), np.asarray(cfg.cartesian_damping_ratio).tolist()) + max_wrench = ( + [float("inf")] * 6 if cfg.max_contact_wrench is None else np.asarray(cfg.max_contact_wrench).tolist() + ) + self._robot.SetMaxContactWrench(max_wrench) + if cfg.null_space_posture is not None: + self._robot.SetNullSpacePosture(np.asarray(cfg.null_space_posture).tolist()) + + def _send_joint_target(self, q: np.ndarray, max_velocity: float) -> None: + self._ensure_mode(self._joint_mode()) + self._robot.SendJointPosition( + q.tolist(), + [0.0] * self._dof, + [float(max_velocity)] * self._dof, + [float(self._config.max_joint_acceleration)] * self._dof, + ) + + def _wait_for_joints(self, q: np.ndarray, timeout: float) -> None: + deadline = time.time() + timeout + while time.time() < deadline: + if self._robot.fault(): + msg = "Robot fault while waiting for a joint target." + raise RuntimeError(msg) + if np.max(np.abs(self.get_joint_position() - q)) < self._config.joint_tolerance: + return + time.sleep(self.POLL_INTERVAL) + logger.warning("Joint target not reached within %.1f s.", timeout) + + def _wait_for_pose(self, pose: common.Pose, timeout: float) -> None: + eps_t, eps_r = self._config.cartesian_tolerance + deadline = time.time() + timeout + while time.time() < deadline: + if self._robot.fault(): + msg = "Robot fault while waiting for a Cartesian target." + raise RuntimeError(msg) + if self.get_cartesian_position().is_close(pose, eps_r=eps_r, eps_t=eps_t): + return + time.sleep(self.POLL_INTERVAL) + logger.warning("Cartesian target not reached within %.1f s.", timeout) + + +class FlexivGripperConfig(common.GripperConfig): + """Configuration of a gripper controlled through the RDK gripper device interface.""" + + def __init__( + self, + device_name: str = "Flexiv-GN01", + async_control: bool = True, + manual_init: bool = False, + init_timeout: float = 15.0, + velocity: float | None = None, + force_limit: float | None = None, + grasp_force: float | None = None, + force_control_grasp: bool = False, + width_tolerance: float = 0.002, + command_timeout: float = 3.0, + **kwargs: typing.Unpack[GripperConfigKwargs], + ) -> None: + """ + Args: + device_name: Name of the gripper device in Flexiv Elements -> Settings -> Device. + async_control: If True, commands return once they were handed to the robot. If False, they poll the + gripper state until the target width is reached, the fingers stopped on an object or + `command_timeout` hits. + manual_init: Trigger the gripper's initialization sequence on startup. Needed for grippers that do not + initialize themselves on power-on, such as the 48 V Grav. + init_timeout: Seconds to wait for the initialization sequence to finish. + velocity: Finger velocity in m/s within the gripper's limits. None uses the maximum. + force_limit: Maximum contact force in N for width commands. None uses half of the gripper's maximum. + grasp_force: Force in N used by `grasp`. None uses `force_limit`. + force_control_grasp: If True, `grasp` uses the RDK's direct force control (the fingers close until + `grasp_force` is reached). If False, `grasp` is a width command to the closed position with + `grasp_force` as force limit, which works on every gripper. + width_tolerance: Width error in m below which a synchronous command counts as reached. + command_timeout: Seconds after which a synchronous command returns even if the width was not reached. + """ + super().__init__(**kwargs) + self.gripper_type = common.GripperType("FlexivGrav") + self.device_name = device_name + self.async_control = async_control + self.manual_init = manual_init + self.init_timeout = init_timeout + self.velocity = velocity + self.force_limit = force_limit + self.grasp_force = grasp_force + self.force_control_grasp = force_control_grasp + self.width_tolerance = width_tolerance + self.command_timeout = command_timeout + + +class FlexivGripperState(common.GripperState): + def __init__(self, states: typing.Any) -> None: + super().__init__() + self.width = float(states.width) + """Finger opening in m.""" + self.force = float(states.force) + """Finger force in N, positive when opening, negative when closing, 0 without force sensing.""" + self.is_moving = bool(states.is_moving) + + +class FlexivGripper(common.Gripper): + """RCS gripper controlled through the RDK gripper interface of a `Flexiv` robot.""" + + POLL_INTERVAL = 0.01 + + def __init__(self, cfg: FlexivGripperConfig, robot: Flexiv): + super().__init__() + import flexivrdk + + self._cfg = cfg + self._robot = robot + self._gripper = flexivrdk.Gripper(robot.rdk_robot) + self._gripper.Enable(cfg.device_name) + if cfg.manual_init: + self._initialize() + params = self._gripper.params() + self._min_width = float(params.min_width) + self._max_width = float(params.max_width) + self._velocity = float(np.clip(cfg.velocity or params.max_vel, params.min_vel, params.max_vel)) + force_limit = cfg.force_limit if cfg.force_limit is not None else 0.5 * params.max_force + self._force_limit = float(np.clip(force_limit, params.min_force, params.max_force)) + grasp_force = cfg.grasp_force if cfg.grasp_force is not None else self._force_limit + self._grasp_force = float(np.clip(grasp_force, params.min_force, params.max_force)) + self._closing = False + logger.info( + "Gripper %s enabled: width %.3f..%.3f m, velocity %.3f m/s, force limit %.1f N.", + params.name, + self._min_width, + self._max_width, + self._velocity, + self._force_limit, + ) + + def get_config(self) -> FlexivGripperConfig: + return self._cfg + + def get_state(self) -> FlexivGripperState: + return FlexivGripperState(self._states()) + + def get_normalized_width(self) -> float: + width = (self._states().width - self._min_width) / (self._max_width - self._min_width) + return float(np.clip(width, 0.0, 1.0)) + + def set_normalized_width(self, width: float, force: float = 0) -> None: + if not (0 <= width <= 1): + msg = f"Width must be between 0 and 1, got {width}." + raise ValueError(msg) + target = self._min_width + width * (self._max_width - self._min_width) + self._closing = target < self._states().width + self._gripper.Move(target, self._velocity, force if force > 0 else self._force_limit) + if not self._cfg.async_control: + self._wait_for_width(target) + + def grasp(self) -> None: + if self._cfg.force_control_grasp: + self._closing = True + self._gripper.Grasp(self._grasp_force) + if not self._cfg.async_control: + self._wait_for_width(self._min_width) + return + self.set_normalized_width(0.0, force=self._grasp_force) + + def open(self) -> None: + self.set_normalized_width(1.0) + + def shut(self) -> None: + self.set_normalized_width(0.0) + + def reset(self) -> None: + self.open() + + def is_grasped(self) -> bool: + """True if the fingers stopped on something after a closing command, i.e. before reaching the closed width.""" + states = self._states() + return self._closing and not states.is_moving and states.width > self._min_width + self._cfg.width_tolerance + + def close(self) -> None: + """Stops the fingers, the robot connection belongs to the robot and is closed there.""" + try: + self._gripper.Stop() + except Exception as e: + logger.warning("Stopping the gripper on close failed: %s", e) + + # ------------------------------------------------------------------ internals + + def _states(self) -> typing.Any: + return self._gripper.states() + + def _initialize(self) -> None: + logger.info("Initializing gripper %s, the fingers will move.", self._cfg.device_name) + self._gripper.Init() + # Init returns once the request is delivered, the sequence itself takes a few seconds. + deadline = time.time() + self._cfg.init_timeout + time.sleep(1.0) + while time.time() < deadline and self._states().is_moving: + time.sleep(self.POLL_INTERVAL) + if self._states().is_moving: + logger.warning("Gripper initialization did not finish within %.1f s.", self._cfg.init_timeout) + + def _wait_for_width(self, target: float) -> None: + deadline = time.time() + self._cfg.command_timeout + was_moving = False + while time.time() < deadline: + states = self._states() + if abs(states.width - target) < self._cfg.width_tolerance: + return + if was_moving and not states.is_moving: + # The fingers stopped before reaching the target, e.g. on an object. + return + was_moving = was_moving or states.is_moving + time.sleep(self.POLL_INTERVAL) + logger.warning("Gripper width %.3f m not reached within %.1f s.", target, self._cfg.command_timeout) diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/scripts/__init__.py b/extensions/rcs_flexiv/src/rcs_flexiv/scripts/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py b/extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py new file mode 100644 index 000000000..0d64f38fb --- /dev/null +++ b/extensions/rcs_flexiv/src/rcs_flexiv/scripts/test_robot.py @@ -0,0 +1,117 @@ +"""Script for testing a Flexiv arm connection, sync and async control, stiffness changes and the gripper. + +Usage: python -m rcs_flexiv.scripts.test_robot [] + +Keep the workspace clear, the arm and the gripper move. The robot has to be in auto mode with the +E-stop released, see the extension README. +""" + +import sys +import time + +import numpy as np +from rcs_flexiv.hw import ( + Flexiv, + FlexivConfig, + FlexivControlMode, + FlexivGripper, + FlexivGripperConfig, +) + +import rcs +from rcs import common + + +def main() -> None: + if len(sys.argv) < 2: + print(__doc__) + sys.exit(1) + robot_sn = sys.argv[1] + gripper_device = sys.argv[2] if len(sys.argv) > 2 else None + + robot_type = common.RobotType("Rizon4S") + gripper_type = common.GripperType("FlexivGrav") + robot_config = FlexivConfig( + robot_sn=robot_sn, + control_mode=FlexivControlMode.JOINT_IMPEDANCE, + async_control=False, + robot_type=robot_type, + kinematic_model_path=rcs.ROBOTS[robot_type].mjcf_model_path, + attachment_site=rcs.ROBOTS[robot_type].attachment_site, + dof=rcs.ROBOTS[robot_type].dof, + joint_limits=rcs.ROBOTS[robot_type].joint_limits, + q_home=rcs.ROBOTS[robot_type].q_home, + tcp_offset=rcs.GRIPPER_TCP_OFFSETS[gripper_type], + ) + ik = rcs.common.Pin(robot_config.kinematic_model_path, robot_config.attachment_site) + robot = Flexiv(robot_config, ik) + + print(f"Joint positions: {robot.get_joint_position()}") + print(f"Flange pose in the base frame: {robot.get_cartesian_flange_position()}") + print(f"Robot world frame relative to the base frame: {robot.world_from_base}") + print(f"Nominal joint stiffness: {robot.nominal_joint_stiffness}") + print(f"Nominal cartesian stiffness: {robot.nominal_cartesian_stiffness}") + + input("Press Enter to move to the home position...") + robot.move_home() + + input("Press Enter for a small synchronous joint move...") + target_q = robot.get_joint_position() + target_q[0] += 0.2 + start = time.time() + robot.set_joint_position(target_q) + print(f"sync command returned after {time.time() - start:.3f} s at {robot.get_joint_position()}") + + input("Press Enter for the same move asynchronously...") + cfg = robot.get_config() + cfg.async_control = True + robot.set_config(cfg) + target_q[0] -= 0.2 + start = time.time() + robot.set_joint_position(target_q) + print(f"async command returned after {time.time() - start:.3f} s at {robot.get_joint_position()}") + time.sleep(1.5) + print(f"1.5 seconds later: {robot.get_joint_position()}") + + input("Press Enter to halve the joint stiffness (push the arm to feel it), Enter again to restore...") + robot.set_joint_impedance(0.5 * robot.nominal_joint_stiffness) + input() + robot.set_joint_impedance(None) + + input("Press Enter for a small synchronous cartesian move (3 cm down) via the rcs IK...") + cfg.async_control = False + robot.set_config(cfg) + pose = robot.get_cartesian_position() + robot.set_cartesian_position( + common.Pose(translation=pose.translation() + np.array([0.0, 0.0, -0.03]), quaternion=pose.rotation_q()) + ) + print(f"cartesian position now: {robot.get_cartesian_position()}") + + input("Press Enter for the same move back up with the robot's cartesian impedance controller...") + cfg.control_mode = FlexivControlMode.CARTESIAN_IMPEDANCE + robot.set_config(cfg) + robot.set_cartesian_position(pose) + print(f"cartesian position now: {robot.get_cartesian_position()}") + cfg.control_mode = FlexivControlMode.JOINT_IMPEDANCE + robot.set_config(cfg) + + if gripper_device is not None: + answer = input( + "Trigger the gripper initialization (needed for the 48 V Grav, fingers move to both stops)? [y/N] " + ) + manual_init = answer.strip().lower() in ("y", "yes") + input("Press Enter to cycle the gripper...") + gripper = FlexivGripper( + FlexivGripperConfig(device_name=gripper_device, manual_init=manual_init, async_control=False), robot + ) + for width in (0.0, 1.0): + gripper.set_normalized_width(width) + print(f"commanded {width:.1f}, measured {gripper.get_normalized_width():.3f}") + gripper.close() + + robot.close() + print("done") + + +if __name__ == "__main__": + main() diff --git a/pyproject.toml b/pyproject.toml index af4ae2d6e..64c74280c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -229,6 +229,10 @@ version_files = [ "extensions/rcs_yam/src/rcs_yam/__init__.py:__version__", "extensions/rcs_yam/pyproject.toml:\"rcs-core>=(.*)\"", + "extensions/rcs_flexiv/pyproject.toml:version", + "extensions/rcs_flexiv/src/rcs_flexiv/__init__.py:__version__", + "extensions/rcs_flexiv/pyproject.toml:\"rcs-core>=(.*)\"", + "extensions/rcs_tacto/pyproject.toml:version", "extensions/rcs_tacto/src/rcs_tacto/__init__.py:__version__", "extensions/rcs_tacto/pyproject.toml:\"rcs-core>=(.*)\"", diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py index f7948cfb2..778210847 100644 --- a/python/rcs/__init__.py +++ b/python/rcs/__init__.py @@ -228,12 +228,26 @@ 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] = { @@ -242,6 +256,9 @@ 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] = { @@ -251,6 +268,9 @@ 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]) ), + common.GripperType("FlexivGrav"): common.Pose( + translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 1.0, 0.0]) + ), } SCENE_PATHS: dict[str, str] = {"empty_world": "assets/scenes/empty_world/scene.xml"} @@ -264,6 +284,7 @@ class RobotMetaConfig: "yam_d405_wrist_mount": "assets/objects/yam_d405_wrist_mount/yam_d405_wrist_mount.xml", "camera_desk_mount": "assets/objects/camera_desk_mount/camera_desk_mount.xml", "table": "assets/objects/table/table.xml", + "rizon_d405_wrist_mount": "assets/objects/rizon_d405_wrist_mount/rizon_d405_wrist_mount.xml", "green_cuboid": "assets/objects/green_cuboid/green_cuboid.xml", "green_cube": "assets/objects/green_cube/green_cube.xml", "red_cube": "assets/objects/red_cube/red_cube.xml", @@ -296,6 +317,16 @@ class RobotMetaConfig: "FR3_DUOMOUNT_RIGHT_ROBOT": common.Pose( translation=np.array([0.0, -0.05018, 0.0]), quaternion=np.array([0.436978, 0.0225312, 0.243326, 0.865641]) ), + # Rizon 4s duo: bases 0.3 m apart in y, each tilted 45 degrees about x away from the other arm (the right arm + # by +45 degrees, the left one by -45 degrees, like the FR3 duo), and the shared frame lifted above the floor so + # that the tilted bases clear the ground plane. + "RIZON4S_DUO_LEFT_ROBOT": common.Pose( + translation=np.array([0.0, 0.15, 0.0]), rpy_vector=np.array([np.deg2rad(-45), 0.0, 0.0]) + ), + "RIZON4S_DUO_RIGHT_ROBOT": common.Pose( + translation=np.array([0.0, -0.15, 0.0]), rpy_vector=np.array([np.deg2rad(45), 0.0, 0.0]) + ), + "RIZON4S_DUO_HEIGHT_OFFSET": common.Pose(translation=np.array([0.0, 0.0, 0.3])), "FR3_DUOMOUNT_ZEDMINI_CAMERA": common.Pose( translation=np.array([0.0113, -0.0245, 0.695]), rpy_vector=np.array([0.0, np.pi * 41 / 180, 0.0]), @@ -321,6 +352,15 @@ class RobotMetaConfig: "YAM_D405_WRIST_CAMERA": common.Pose( translation=np.array([-0.07043, -0.009, 0.07701]), rpy_vector=np.deg2rad([90.0, -65.0, 0.0]) ), + # Rizon 4s D405 wrist camera (assets/objects/rizon_d405_wrist_mount): a rail screwed to the accessory pocket on + # the front of the wrist link carries the camera on the -x side of the gripper (facing away from the robot in the + # home pose), optical axis tilted 20 deg towards the fingers, image up pointing away from the gripper so that the + # fingers show at the bottom of the image, stereo baseline (and USB port) along flange y. Both poses are in the + # flange (attachment-site) frame; gripper and TCP are unaffected. + "RIZON_D405_WRIST_MOUNT": common.Pose(), + "RIZON_D405_WRIST_CAMERA": common.Pose( + translation=np.array([-0.065, 0.0, 0.052]), rpy_vector=np.array([np.pi / 2, -np.pi * 70 / 180, 0.0]) + ), } HOME_POSITIONS = { @@ -332,6 +372,9 @@ class RobotMetaConfig: "FR3_DROID": np.array([0.0, -np.pi / 4, 0.0, -3 * np.pi / 4, 0.0, np.pi / 2, 0.0]), # folded rest pose, grasp point 0.25m in front of and 0.15m above the yam base, gripper pitched 20deg down "YAM_DUO": np.array([0.0, 0.3349, 0.2267, -0.2408, 0.0, 0.0]), + # IK solutions for the Rizon 4s duo with the TCP at [0.40, +-0.20, 0.10] in the shared base frame, pointing down + "RIZON4S_DUO_LEFT": np.array([-0.355, -0.444, 0.072, 2.063, 0.834, 0.485, -0.862]), + "RIZON4S_DUO_RIGHT": np.array([0.476, -0.44, 0.168, 2.35, -0.785, 0.498, 1.29]), } # Append RCS package prefix to all asset paths diff --git a/python/rcs/envs/configs.py b/python/rcs/envs/configs.py index cb8244b78..d9e79f752 100644 --- a/python/rcs/envs/configs.py +++ b/python/rcs/envs/configs.py @@ -625,6 +625,71 @@ 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.gripper_offsets = {lead_robot_name: GRIPPER_MOUNT_OFFSETS[GripperType("FlexivGrav")]} + # D405 wrist camera on a rail screwed to the accessory pocket of the wrist link, see assets/objects/rizon_d405_wrist_mount + cfg.robot_frame_objects = { + lead_robot_name: { + "d405_mount": ( + OBJECT_PATHS["rizon_d405_wrist_mount"], + DEFAULT_TRANSFORMS["RIZON_D405_WRIST_MOUNT"], + ) + }, + } + cfg.camera_cfgs = { + "wrist": SimCameraConfig( + identifier="wrist", + type=CameraType.fixed, + resolution_width=1280, + resolution_height=720, + frame_rate=30, + ), + } + cfg.camera_adds = { + "wrist": CameraAdderConfig( + xml_path=CAMERA_PATHS["d405"], + offset=DEFAULT_TRANSFORMS["RIZON_D405_WRIST_CAMERA"], + robot_name=lead_robot_name, + ), + } + + return cfg + + class EmptyWorldYamDuo(SimEnvCreator): """Bimanual yam setup as used by MolmoAct2: two yams on a 2060 aluminium extrusion that is clamped to a table, a d405 on each wrist and a d435 head camera on an extendable desk mount behind the arms.""" @@ -708,6 +773,79 @@ def config(self) -> SimEnvCreatorConfig: ) +class EmptyWorldRizon4SDuo(SimEnvCreator): + """Two Flexiv Rizon 4s with Grav grippers, 0.3 m apart in y and each tilted 45 degrees about x away from the other + (right arm +45 degrees, left arm -45 degrees). + + The shared base frame sits between the two bases, actions and observations are expressed in it. + """ + + def config(self) -> SimEnvCreatorConfig: + single = EmptyWorldRizon4S() + single_cfg = single.config() + base_robot_cfg = single_cfg.robot_cfgs[single.lead_robot_name(single_cfg)] + assert single_cfg.gripper_cfgs is not None + base_gripper_cfg = single_cfg.gripper_cfgs[single.lead_robot_name(single_cfg)] + + robot_cfgs: dict[str, SimRobotConfig] = {} + gripper_cfgs: dict[str, SimGripperConfig] = {} + for name in ("left", "right"): + robot_cfg = copy.deepcopy(base_robot_cfg) + robot_cfg.q_home = rcs.HOME_POSITIONS[f"RIZON4S_DUO_{name.upper()}"] + robot_cfgs[name] = robot_cfg + gripper_cfgs[name] = copy.deepcopy(base_gripper_cfg) + + grav_offset = GRIPPER_MOUNT_OFFSETS[GripperType("FlexivGrav")] + # D405 wrist camera on its mount on each arm, see EmptyWorldRizon4S + robot_frame_objects = { + name: { + f"{name}_d405_mount": ( + OBJECT_PATHS["rizon_d405_wrist_mount"], + DEFAULT_TRANSFORMS["RIZON_D405_WRIST_MOUNT"], + ) + } + for name in ("left", "right") + } + camera_cfgs = { + f"{name}_wrist": SimCameraConfig( + identifier=f"{name}_wrist", + type=CameraType.fixed, + resolution_width=1280, + resolution_height=720, + frame_rate=30, + ) + for name in ("left", "right") + } + camera_adds = { + f"{name}_wrist": CameraAdderConfig( + xml_path=CAMERA_PATHS["d405"], + offset=DEFAULT_TRANSFORMS["RIZON_D405_WRIST_CAMERA"], + robot_name=name, + ) + for name in ("left", "right") + } + return SimEnvCreatorConfig( + robot_cfgs=robot_cfgs, + gripper_cfgs=gripper_cfgs, + gripper_offsets={"left": grav_offset, "right": grav_offset}, + sim_cfg=SimConfig(async_control=False, realtime=True, frequency=1, max_convergence_steps=500), + control_mode=ControlMode.CARTESIAN_TQuat, + scene=SCENE_PATHS["empty_world"], + robot_frame_objects=robot_frame_objects, + camera_cfgs=camera_cfgs, + camera_adds=camera_adds, + relative_to=RelativeTo.LAST_STEP, + robot_to_shared_base_frame={ + "left": DEFAULT_TRANSFORMS["RIZON4S_DUO_LEFT_ROBOT"], + "right": DEFAULT_TRANSFORMS["RIZON4S_DUO_RIGHT_ROBOT"], + }, + shared_base_frame_to_root_frame=DEFAULT_TRANSFORMS["RIZON4S_DUO_HEIGHT_OFFSET"], + wrapper_cfg=WrapperConfig(binary_gripper=False, home_on_reset=True), + # the tilted arms sag under gravity with the mjcf's position gains, like the FR3 duo they are compensated + add_gravcomp=True, + ) + + gym.register(id="rcs/fr3", entry_point=EmptyWorldFR3()) gym.register(id="rcs/duo", entry_point=EmptyWorldFR3Duo()) gym.register(id="rcs/droid", entry_point=EmptyWorldDroid()) @@ -715,7 +853,9 @@ 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()) gym.register(id="rcs/yam_duo", entry_point=EmptyWorldYamDuo()) +gym.register(id="rcs/rizon4s_duo", entry_point=EmptyWorldRizon4SDuo()) if __name__ == "__main__": diff --git a/python/tests/test_kinematics.py b/python/tests/test_kinematics.py index a0662ff23..0367bcf46 100644 --- a/python/tests/test_kinematics.py +++ b/python/tests/test_kinematics.py @@ -13,6 +13,7 @@ common.RobotType("UR5e"), common.RobotType("SO101"), common.RobotType("Yam"), + common.RobotType("Rizon4S"), ] # Robots with a genuine redundant DOF (7-DoF arms), where null-space biasing has room to act.