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add arx gripper #9

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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -9,7 +9,7 @@ See [compositional.py](robosuite_models/robots/compositional.py): how to compose
| Robot Model | Names |
| --- | --- |
| `RobotBaseModel` | aloha_mount, b1_base, go2_base |
| `GripperModel` | ability_hands, aloha_gripper, g1_three_finger_gripper, pr2_gripper, schunk_svh_hands, umi_gripper, yumi_gripper, z1_gripper |
| `GripperModel` | arx_gripper,ability_hands, aloha_gripper, g1_three_finger_gripper, pr2_gripper, schunk_svh_hands, umi_gripper, yumi_gripper, z1_gripper |
| `ManipulatorModel` | aloha_robot, arx5_robot, g1_robot, h1_robot, pr2_robot, vx330s_robot, yumi_robot, z1_robot |

Example code:
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60 changes: 60 additions & 0 deletions robosuite_models/assets/grippers/arx_gripper.xml
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<mujoco model="arx gripper">
<compiler angle="radian" />
<option gravity="0 0 0"/>
<option integrator="implicitfast" cone="elliptic" impratio="100"/>
<visual>
<global ellipsoidinertia="true"/>
</visual>

<asset>
<material name="gripper" rgba="0.8 0.8 0.8 1" />
<material name="finger" rgba="0.1 0.1 0.1 1" />
<mesh name="link6" file="meshes/arx_gripper/link6.STL"/>
<mesh name="link7" file="meshes/arx_gripper/link7.STL"/>
<mesh name="link8" file="meshes/arx_gripper/link8.STL"/>
<mesh name="link7_collision" file="meshes/arx_gripper/link7_collision.STL"/>
<mesh name="link8_collision" file="meshes/arx_gripper/link8_collision.STL"/>
</asset>

<default>
</default>

<worldbody>
<body name="right_gripper" pos="0 0 0" quat="1 0 0 0">
<site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
<inertial pos="0 0 0.0" quat="0.707107 0.707107 0 0" mass="0.5" diaginertia="0.1 0.08 0.06" />
<!-- This site was added for visualization. -->
<body name="eef" pos="0 0 0.0" quat="0.707 0. -0.707 0.">
<site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 0.5" type="sphere" group="1"/>
<site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
<!-- This site was added for visualization. -->
<site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
</body>
<geom pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" name="link6_collision" group="0" mesh="link6" type="mesh"/>
<geom pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" name="link6_visual" material="gripper" group="1" contype="0" conaffinity="0" mesh="link6" type="mesh"/>

<body name="rightfinger" pos="0.08657 0.024896 -0.0002436" quat="1.0 0 0 0">
<joint name="finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.002 0.044" damping="100" armature="0.1" frictionloss="1.0"/>
<geom pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" name="right_finger_visual" material="finger" group="1" contype="0" conaffinity="0" mesh="link7" type="mesh"/>
<geom pos="0.0 0.0 0.0" name="right_finger_collision" group="0" mesh="link7_collision" type="mesh"/>
</body>
<body name="leftfinger" pos="0.08657 -0.0249 -0.00024366" quat="1.0 0 0 0">
<joint name="finger_joint2" pos="0 0 0" axis="0 -1 0" type="slide" limited="true" range="0.002 0.044" damping="100" armature="0.1" frictionloss="1.0"/>
<geom pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" name="left_finger_visual" material="finger" group="1" contype="0" conaffinity="0" mesh="link8" type="mesh"/>
<geom pos="0.0 0.0 0.0" name="left_finger_collision" group="0" mesh="link8_collision" type="mesh"/>
</body>
</body>

</worldbody>

<actuator>
<position ctrllimited="true" ctrlrange="0.002 0.044" joint="finger_joint1" kp="1000" name="gripper_finger_joint1" forcelimited="true" forcerange="-20 20"/>
<position ctrllimited="true" ctrlrange="0.002 0.044" joint="finger_joint2" kp="1000" name="gripper_finger_joint2" forcelimited="true" forcerange="-20 20"/>
</actuator>
<sensor>
<force name="force_ee" site="ft_frame"/>
<torque name="torque_ee" site="ft_frame"/>
</sensor>
</mujoco>
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1 change: 1 addition & 0 deletions robosuite_models/robots/grippers/__init__.py
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Expand Up @@ -2,6 +2,7 @@
from .yumi_gripper import YumiLeftGripper, YumiRightGripper
from .umi_gripper import UMIGripper
from .aloha_gripper import AlohaGripper
from .arx_gripper import ArxGripper
from .pr2_gripper import PR2Gripper
from .ability_hands import AbilityLeftHand, AbilityRightHand
from .schunk_svh_hands import SchunkSvhLeftHand, SchunkSvhRightHand
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37 changes: 37 additions & 0 deletions robosuite_models/robots/grippers/arx_gripper.py
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import numpy as np
from robosuite.models.grippers import register_gripper
from robosuite.models.grippers.gripper_model import GripperModel

from robosuite_models import robosuite_model_path_completion


@register_gripper
class ArxGripper(GripperModel):
"""
UMIGripper for the Arx5 arm
Args:
idn (int or str): Number or some other unique identification string for this gripper instance
"""

def __init__(self, idn=0):
super().__init__(robosuite_model_path_completion("grippers/arx_gripper.xml"), idn=idn)

def format_action(self, action):
assert len(action) == self.dof
self.current_action = np.clip(self.current_action + np.array([1.0]) * self.speed * np.sign(action), -10.0, 10.0)
return self.current_action

@property
def init_qpos(self):
return np.array([-0.1, 0.1])

@property
def speed(self):
return 2

@property
def _important_geoms(self):
return {
"right_fingerpad": ["right_finger_collision", "right_finger_visual"],
"left_fingerpad": ["left_finger_visual", "left_finger_collision"],
}
2 changes: 1 addition & 1 deletion robosuite_models/robots/manipulators/arx5_robot.py
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Expand Up @@ -28,7 +28,7 @@ def default_base(self):

@property
def default_gripper(self):
return {"right": "UMIGripper"}
return {"right": "ArxGripper"} # use ArxGripper

@property
def default_controller_config(self):
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