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Add gripper types to various robot descriptions #259

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merged 5 commits into from
Jan 22, 2025
Merged

Add gripper types to various robot descriptions #259

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3a8b7ad
Add gripper types to various robot descriptions
J-Schaefer Jan 17, 2025
4acf1fd
Change gripper opening distance
J-Schaefer Jan 17, 2025
5222d1a
Fix unit of value for opening_distance
J-Schaefer Jan 17, 2025
2ab4ca3
Add units to the opening distances in the robot descriptions
J-Schaefer Jan 21, 2025
e761979
Fix error in graspable reasoner
J-Schaefer Jan 21, 2025
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5 changes: 3 additions & 2 deletions src/pycram/knowledge/knowledge_sources/facts_knowledge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
from ...robot_description import RobotDescription
from ...world_reasoning import visible
from ...costmaps import OccupancyCostmap, GaussianCostmap
from ...units import meter

if TYPE_CHECKING:
from ...designators.object_designator import ObjectDesignatorDescription
Expand Down Expand Up @@ -91,9 +92,9 @@ def graspable(self, object_designator: ObjectDesignatorDescription) -> Reasoning
RobotDescription.current_robot_description.get_manipulator_chains()]

for dist in gripper_opening_dists:
if dist > obj_y:
if dist > obj_y * meter:
return ReasoningResult(True, {"grasp": Grasp.FRONT})
elif dist > obj_x:
elif dist > obj_x * meter:
return ReasoningResult(True, {"grasp": Grasp.LEFT})

return ReasoningResult(False)
Expand Down
9 changes: 6 additions & 3 deletions src/pycram/robot_descriptions/boxy_description.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
from ..ros.ros_tools import get_ros_package_path
from ..robot_description import RobotDescription, CameraDescription, KinematicChainDescription, \
EndEffectorDescription, RobotDescriptionManager
from ..datastructures.enums import Arms, Grasp, GripperState, TorsoState
from ..datastructures.enums import Arms, Grasp, GripperState, TorsoState, GripperType
from ..units import meter

filename = get_ros_package_path('pycram') + '/resources/robots/' + "boxy" + '.urdf'

Expand Down Expand Up @@ -29,7 +30,8 @@

right_gripper.add_static_joint_states(GripperState.OPEN, {"right_gripper_joint": 0.548})
right_gripper.add_static_joint_states(GripperState.CLOSE, {"right_gripper_joint": 0.0})

right_gripper.end_effector_type = GripperType.PARALLEL # current gripper in sim, change later
right_gripper.opening_distance = 0.11 * meter # 2x 55mm for WSG050
right_arm.end_effector = right_gripper

################################## Left Arm ##################################
Expand All @@ -53,7 +55,8 @@

left_gripper.add_static_joint_states(GripperState.OPEN, {"left_gripper_joint": 0.548})
left_gripper.add_static_joint_states(GripperState.CLOSE, {"left_gripper_joint": 0.0})

left_gripper.end_effector_type = GripperType.PARALLEL # current gripper in sim, change later
left_gripper.opening_distance = 0.11 * meter # 2x 55mm for WSG050
left_arm.end_effector = left_gripper

################################## Torso ##################################
Expand Down
6 changes: 4 additions & 2 deletions src/pycram/robot_descriptions/donbot_description.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
from ..ros.ros_tools import get_ros_package_path
from ..robot_description import RobotDescription, KinematicChainDescription, EndEffectorDescription, \
RobotDescriptionManager, CameraDescription
from ..datastructures.enums import Arms, Grasp, GripperState, TorsoState
from ..datastructures.enums import Arms, Grasp, GripperState, TorsoState, GripperType
from ..units import meter

filename = get_ros_package_path('pycram') + '/resources/robots/' + "iai_donbot" + '.urdf'

Expand All @@ -27,7 +28,8 @@

right_gripper.add_static_joint_states(GripperState.OPEN, {'gripper_joint': 0.0})
right_gripper.add_static_joint_states(GripperState.CLOSE, {'gripper_joint': 0.2})

right_gripper.end_effector_type = GripperType.PARALLEL
right_gripper.opening_distance = 0.11 * meter # 2x 55mm for WSG050
right_arm.end_effector = right_gripper

################################## Torso ##################################
Expand Down
6 changes: 4 additions & 2 deletions src/pycram/robot_descriptions/hsrb_description.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,8 @@

from ..robot_description import RobotDescription, KinematicChainDescription, EndEffectorDescription, \
RobotDescriptionManager, CameraDescription
from ..datastructures.enums import GripperState, Grasp, Arms, TorsoState
from ..datastructures.enums import GripperState, Grasp, Arms, TorsoState, GripperType
from ..units import meter

filename = get_ros_package_path('pycram') + '/resources/robots/' + "hsrb" + '.urdf'

Expand All @@ -29,7 +30,8 @@
left_gripper.add_static_joint_states(GripperState.CLOSE, {'hand_l_proximal_joint': 0.0,
'hand_r_proximal_joint': 0.0,
'hand_motor_joint': 0.0})

left_gripper.end_effector_type = GripperType.PARALLEL
left_gripper.opening_distance = 0.13 * meter
left_arm.end_effector = left_gripper

################################## Torso ##################################
Expand Down
5 changes: 3 additions & 2 deletions src/pycram/robot_descriptions/pr2_description.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
RobotDescriptionManager, CameraDescription
from ..datastructures.enums import Arms, Grasp, GripperState, GripperType, TorsoState
from ..ros.ros_tools import get_ros_package_path
from ..units import meter

from ..helper import get_robot_mjcf_path

Expand Down Expand Up @@ -39,7 +40,7 @@
left_gripper.add_static_joint_states(GripperState.CLOSE, {'l_gripper_l_finger_joint': 0.0,
'l_gripper_r_finger_joint': 0.0})
left_gripper.end_effector_type = GripperType.PARALLEL
left_gripper.opening_distance = 0.548
left_gripper.opening_distance = 0.086 * meter
left_arm.end_effector = left_gripper

################################## Right Arm ##################################
Expand All @@ -62,7 +63,7 @@
right_gripper.add_static_joint_states(GripperState.CLOSE, {'r_gripper_l_finger_joint': 0.0,
'r_gripper_r_finger_joint': 0.0})
right_gripper.end_effector_type = GripperType.PARALLEL
right_gripper.opening_distance = 0.548
right_gripper.opening_distance = 0.086 * meter
right_arm.end_effector = right_gripper

################################## Camera ##################################
Expand Down
6 changes: 4 additions & 2 deletions src/pycram/robot_descriptions/stretch_description.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,8 @@

from ..robot_description import RobotDescription, KinematicChainDescription, EndEffectorDescription, \
CameraDescription, RobotDescriptionManager
from ..datastructures.enums import GripperState, Arms, Grasp, TorsoState
from ..datastructures.enums import GripperState, Arms, Grasp, TorsoState, GripperType
from ..units import meter

filename = get_ros_package_path('pycram') + '/resources/robots/' + "stretch_description" + '.urdf'

Expand Down Expand Up @@ -31,7 +32,8 @@
'joint_gripper_finger_right': 0.59})
gripper_description.add_static_joint_states(GripperState.CLOSE, {'joint_gripper_finger_left': 0.0,
'joint_gripper_finger_right': 0.0})

gripper_description.end_effector_type = GripperType.PARALLEL
gripper_description.opening_distance = 0.14 * meter # assumption
arm_description.end_effector = gripper_description

################################## Neck ##################################
Expand Down
9 changes: 6 additions & 3 deletions src/pycram/robot_descriptions/tiago_description.py
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Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
from ..ros.ros_tools import get_ros_package_path

from ..datastructures.dataclasses import VirtualMobileBaseJoints
from ..datastructures.enums import GripperState, Arms, Grasp, TorsoState
from ..datastructures.enums import GripperState, Arms, Grasp, TorsoState, GripperType
from ..robot_description import RobotDescription, KinematicChainDescription, EndEffectorDescription, \
RobotDescriptionManager, CameraDescription
from ..helper import get_robot_mjcf_path
from ..units import meter

filename = get_ros_package_path('pycram') + '/resources/robots/' + "tiago_dual" + '.urdf'

Expand Down Expand Up @@ -38,7 +39,8 @@

left_gripper.add_static_joint_states(GripperState.CLOSE, {'gripper_left_left_finger_joint': 0.0,
'gripper_left_right_finger_joint': 0.0})

left_gripper.end_effector_type = GripperType.PARALLEL
left_gripper.opening_distance = 0.09 * meter # measured
left_arm.end_effector = left_gripper

################################## Right Arm ##################################
Expand All @@ -64,7 +66,8 @@

right_gripper.add_static_joint_states(GripperState.CLOSE, {'gripper_right_left_finger_joint': 0.0,
'gripper_right_right_finger_joint': 0.0})

right_gripper.end_effector_type = GripperType.PARALLEL
right_gripper.opening_distance = 0.09 * meter # measured
right_arm.end_effector = right_gripper

################################## Torso ##################################
Expand Down
6 changes: 4 additions & 2 deletions src/pycram/robot_descriptions/ur5_description.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
from ..ros.ros_tools import get_ros_package_path
from ..robot_description import RobotDescription, KinematicChainDescription, EndEffectorDescription, \
RobotDescriptionManager
from ..datastructures.enums import Arms, Grasp, GripperState
from ..datastructures.enums import Arms, Grasp, GripperState, GripperType
from ..units import meter

filename = get_ros_package_path('pycram') + '/resources/robots/' + "ur5_robotiq" + '.urdf'

Expand Down Expand Up @@ -36,7 +37,8 @@
'robotiq_85_right_inner_knuckle_joint': 1.0,
'robotiq_85_left_finger_tip_joint': 1.0,
'robotiq_85_right_finger_tip_joint': 1.0})

gripper.end_effector_type = GripperType.PARALLEL
gripper.opening_distance = 0.085 * meter
arm.end_effector = gripper

# Add to RobotDescriptionManager
Expand Down
6 changes: 4 additions & 2 deletions src/pycram/robot_descriptions/ur5e_controlled_description.py
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@
import os

from ..datastructures.enums import Arms, GripperState
from ..datastructures.enums import Arms, GripperState, GripperType
from ..helper import get_robot_mjcf_path, find_multiverse_resources_path, get_robot_urdf_path_from_multiverse
from ..robot_description import RobotDescription, KinematicChainDescription, EndEffectorDescription, \
RobotDescriptionManager
from ..object_descriptors.urdf import ObjectDescription as URDFObject
from ..ros.logging import logwarn
from ..units import meter

multiverse_resources = find_multiverse_resources_path()
ROBOT_NAME = "ur5e"
Expand Down Expand Up @@ -59,7 +60,8 @@
'left_coupler_joint': 0.00366,
'left_spring_link_joint': 0.796,
'left_follower_joint': -0.793})

gripper.end_effector_type = GripperType.PARALLEL
gripper.opening_distance = 0.085 * meter
arm.end_effector = gripper

# Add to RobotDescriptionManager
Expand Down