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Explicitly thank @Zi-ang-Cao in changelog. #27

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Sep 8, 2024
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Explicitly thank @Zi-ang-Cao in changelog. #27

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Explicitly thank @Zi-ang-Cao in changelog.
kevinzakka Sep 8, 2024
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Disable formatting in qpos.
kevinzakka Sep 8, 2024
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kevinzakka Sep 8, 2024
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12 changes: 4 additions & 8 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -7,14 +7,10 @@ All notable changes to this project will be documented in this file.
### Added

- Examples:
- Mobile Kinova loaded from a module-oriented MJCF description: [mobile_kinova.py](examples/mobile_kinova.py)
- remove the nested class naming convention in the [tidybot.xml](tidybot.xml) file, allowing for seamless swapping of end-effectors.
- Mobile Kinova with LEAP hand: [mobile_kinova_leap.py](examples/mobile_kinova_leap.py)
- The example scripts also include updated recommendations for controlling the mobile base, aiming to minimize unnecessary rotation.

### Added

- Examples:
- Mobile Kinova loaded from a module-oriented MJCF description: [mobile_kinova.py](examples/mobile_kinova.py) (thanks @Zi-ang-Cao)
- Removes the nested class naming convention in [tidybot.xml](tidybot.xml), allowing for seamless swapping of end-effectors.
- Mobile Kinova with LEAP hand: [mobile_kinova_leap.py](examples/mobile_kinova_leap.py) (thanks @Zi-ang-Cao)
- The example scripts also includes updated recommendations for controlling the mobile base, aiming to minimize unnecessary rotation.
- UFactory xArm7 with LEAP hand: [xarm_leap.py](examples/arm_hand_xarm_leap.py)

## [0.0.3] - 2024-08-10
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18 changes: 8 additions & 10 deletions examples/mobile_kinova_leap.py
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Expand Up @@ -16,17 +16,19 @@

fingers = ["tip_1", "tip_2", "tip_3", "th_tip"]

# fmt: off
HOME_QPOS = [
# Mobile Base.
0, 0, 0,
# Kinova
# Kinova.
0, 0.26179939, 3.14159265, -2.26892803, 0, 0.95993109, 1.57079633,
# Leap hand.
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
]
# fmt: on


def construct_model():
Expand Down Expand Up @@ -86,9 +88,9 @@ def __call__(self, key: int) -> None:

# When move the base, mainly focus on the motion on xy plane, minimize the rotation.
posture_cost = np.zeros((model.nv,))
posture_cost[2] = 1e-3 # Mobile Base
# posture_cost[-16:] = 5e-2 # Leap Hand
posture_cost[-16:] = 1e-3 # Leap Hand
posture_cost[2] = 1e-3 # Mobile Base.
# posture_cost[-16:] = 5e-2 # Leap Hand.
posture_cost[-16:] = 1e-3 # Leap Hand.

posture_task = mink.PostureTask(model, cost=posture_cost)

Expand All @@ -97,7 +99,6 @@ def __call__(self, key: int) -> None:
immobile_base_cost[2] = 1e-3
damping_task = mink.DampingTask(model, immobile_base_cost)


finger_tasks = []
for finger in fingers:
task = mink.RelativeFrameTask(
Expand Down Expand Up @@ -152,9 +153,7 @@ def __call__(self, key: int) -> None:
model, data, f"{finger}_target", f"leap_right/{finger}", "site"
)

T_eef_prev = configuration.get_transform_frame_to_world(
"pinch_site", "site"
)
T_eef_prev = configuration.get_transform_frame_to_world("pinch_site", "site")

rate = RateLimiter(frequency=50.0)
dt = rate.period
Expand All @@ -170,7 +169,6 @@ def __call__(self, key: int) -> None:
f"{finger}_target", "body", "leap_right/palm_lower", "body"
)
task.set_target(T_pm)


for finger in fingers:
T_eef = configuration.get_transform_frame_to_world("pinch_site", "site")
Expand Down Expand Up @@ -208,7 +206,7 @@ def __call__(self, key: int) -> None:
mujoco.mj_step(model, data)
else:
mujoco.mj_forward(model, data)

T_eef_prev = T_eef.copy()

# Visualize at fixed FPS.
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4 changes: 3 additions & 1 deletion examples/stanford_tidybot/README.md
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@@ -1,8 +1,10 @@
# Tidybot and Mobile Kinova Description (MJCF)

## Overview

This package introduces a mobile manipulator developed by the [Interactive Perception and Robot Learning Lab](https://iprl.stanford.edu). The robot features a Kinova Gen 3 arm mounted on a holonomic base, which has been used in the well-known [Tidybot](https://tidybot.cs.princeton.edu) project for room tidying tasks. To expand the robot's functionality, the default 2F85 Robotiq gripper can be replaced with more dexterous hands, such as the [Leap Hand](https://leaphand.com/). The package provides a modular MJCF description of the mobile Kinova robot, enabling seamless swapping of end-effectors. Please note the nested class naming convention in the [tidybot.xml](tidybot.xml) file. For compatibility, this convention has been removed in the [mobile_kinova.xml](mobile_kinova.xml) file.

## Exaples
## Examples

In the example script [mobile_tidybot.py](../mobile_tidybot.py), the robot equipped with the 2F85 Robotiq gripper is loaded from [tidybot.xml](tidybot.xml).
In the example scripts [mobile_kinova.py](../mobile_kinova.py) and [mobile_kinova_leap.py](../mobile_kinova_leap.py), the mobile Kinova robot is loaded from [mobile_kinova.xml](mobile_kinova.xml). Both scripts also include updated recommendations for controlling the mobile base, aiming to minimize unnecessary rotation.
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