Added XArm7

robosuite/controllers/composite/composite_controller.py

@@ -200,7 +200,7 @@ def create_action_vector(self, action_dict):
         A helper function that creates the action vector given a dictionary
         """
         full_action_vector = np.zeros(self.action_limits[0].shape)
-        for (part_name, action_vector) in action_dict.items():
+        for part_name, action_vector in action_dict.items():
             if part_name not in self._action_split_indexes:
                 ROBOSUITE_DEFAULT_LOGGER.debug(f"{part_name} is not specified in the action space")
                 continue
@@ -349,7 +349,7 @@ def action_limits(self):
 
     def create_action_vector(self, action_dict: Dict[str, np.ndarray]) -> np.ndarray:
         full_action_vector = np.zeros(self.action_limits[0].shape)
-        for (part_name, action_vector) in action_dict.items():
+        for part_name, action_vector in action_dict.items():
             if part_name not in self._whole_body_controller_action_split_indexes:
                 ROBOSUITE_DEFAULT_LOGGER.debug(f"{part_name} is not specified in the action space")
                 continue

robosuite/controllers/parts/controller_factory.py

@@ -1,6 +1,7 @@
 """
 Set of functions that streamline controller initialization process
 """
+
 import json
 import os
 from copy import deepcopy

robosuite/demos/demo_gripper_selection.py

@@ -2,6 +2,7 @@
 This script shows you how to select gripper for an environment.
 This is controlled by gripper_type keyword argument.
 """
+
 import time
 
 import numpy as np

robosuite/demos/demo_segmentation.py

@@ -1,6 +1,7 @@
 """
 Play random actions in an environment and render a video that demonstrates segmentation.
 """
+
 import argparse
 import colorsys
 import json

robosuite/demos/demo_usd_export.py

@@ -1,4 +1,4 @@
-""" Exports a USD file corresponding to the collected trajectory.
+"""Exports a USD file corresponding to the collected trajectory.
 
 The USD (Universal Scene Description) file format allows users to save
 trajectories such that they can be rendered in external renderers such
@@ -8,8 +8,9 @@
 
 ***IMPORTANT***: If you are using mujoco version 3.1.1, please make sure
 that you also have numpy < 2 installed in your environment. Failure to do
-so may result in incorrect renderings. 
+so may result in incorrect renderings.
 """
+
 import argparse
 
 import mujoco

robosuite/devices/device.py

@@ -166,7 +166,7 @@ def input2action(self, mirror_actions=False) -> Optional[Dict]:
         ac_dict[f"{active_arm}_gripper"] = np.array([grasp] * gripper_dof)
 
         # clip actions between -1 and 1
-        for (k, v) in ac_dict.items():
+        for k, v in ac_dict.items():
             if "abs" not in k:
                 ac_dict[k] = np.clip(v, -1, 1)
 

robosuite/environments/robot_env.py

@@ -345,7 +345,7 @@ def _setup_observables(self):
             # Create sensor information
             sensors = []
             names = []
-            for (cam_name, cam_w, cam_h, cam_d, cam_segs) in zip(
+            for cam_name, cam_w, cam_h, cam_d, cam_segs in zip(
                 self.camera_names,
                 self.camera_widths,
                 self.camera_heights,

robosuite/models/assets/grippers/xarm7_gripper.xml

@@ -0,0 +1,138 @@
+<mujoco model="xarm7 hand">
+  <compiler angle="radian" autolimits="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <asset>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="black" rgba="0.149 0.149 0.149 1"/>
+
+    <mesh name="base_link" file="meshes/xarm7_gripper/base_link.stl"/>
+    <mesh name="left_outer_knuckle" file="meshes/xarm7_gripper/left_outer_knuckle.stl"/>
+    <mesh name="left_finger" file="meshes/xarm7_gripper/left_finger.stl"/>
+    <mesh name="left_inner_knuckle" file="meshes/xarm7_gripper/left_inner_knuckle.stl"/>
+    <mesh name="right_outer_knuckle" file="meshes/xarm7_gripper/right_outer_knuckle.stl"/>
+    <mesh name="right_finger" file="meshes/xarm7_gripper/right_finger.stl"/>
+    <mesh name="right_inner_knuckle" file="meshes/xarm7_gripper/right_inner_knuckle.stl"/>
+  </asset>
+
+  <default>
+    <default class="xarm7_hand" group="1">
+	<geom type="mesh" material="black" group="1"/>
+	<joint range="0 0.85" axis="1 0 0" armature="0.1" frictionloss="1"/>
+	<site size="0.001" rgba="1 0 0 1" group="4"/>
+	<general biastype="affine" forcerange="-50 50" ctrlrange="0 255" gainprm="0.333" biasprm="0 -100 -10"/>
+    </default>
+    <default class="spring_link">
+	<joint stiffness="0.05" springref="2.62" damping="0.00125"/>
+    </default>
+    <default class="driver">
+	<joint armature="0.005" damping="0.1" solreflimit="0.005 1"/>
+    </default>
+    <default class="follower">
+	<joint solreflimit="0.005 1"/>
+    </default>
+    <default class="visual">
+	<geom type="mesh" contype="0" conaffinity="0" group="1"/>
+    </default>
+    <default class="collision">
+	<geom type="mesh" group="0"/>
+    </default>
+    <default class="pad_box1">
+	<geom type="box" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.015 0.002 0.0095" rgba="0.0 0.1 0.7 1"/>
+    </default>
+    <default class="pad_box2">
+	<geom type="box" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.015 0.002 0.0095" rgba="0.0 0.5 0.5 1"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="xarm_gripper_base_link">
+      <inertial pos="-0.00065489 -0.0018497 0.048028" quat="0.997403 -0.0717512 -0.0061836 0.000477479" mass="0.54156"
+        diaginertia="0.000471093 0.000332307 0.000254799"/>
+      <geom class="xarm7_hand" mesh="base_link" material="white"/>
+      <body name="left_outer_knuckle" pos="0 0.035 0.059098">
+        <inertial pos="0 0.021559 0.015181" quat="0.47789 0.87842 0 0" mass="0.033618"
+          diaginertia="1.9111e-05 1.79089e-05 1.90167e-06"/>
+        <joint name="left_driver_joint" axis="1 0 0" frictionloss="1" class="driver"/>
+        <geom class="xarm7_hand" material="black" mesh="left_outer_knuckle"/>
+        <body name="left_finger" pos="0 0.035465 0.042039">
+          <inertial pos="0 -0.016413 0.029258" quat="0.697634 0.115353 -0.115353 0.697634" mass="0.048304"
+            diaginertia="1.88037e-05 1.7493e-05 3.56792e-06"/>
+          <joint name="left_finger_joint" axis="-1 0 0" armature="0.1" frictionloss="1" class="follower"/>
+          <geom class="visual" material="black" mesh="left_finger"/>
+          <geom class="pad_box1" name="left_finger_pad_1" pos="0 -0.024003 0.032"/>
+          <geom class="pad_box2" name="left_finger_pad_2" pos="0 -0.024003 0.050"/>
+        </body>
+      </body>
+      <body name="left_inner_knuckle" pos="0 0.02 0.074098">
+        <inertial pos="1.86601e-06 0.0220468 0.0261335" quat="0.664139 -0.242732 0.242713 0.664146" mass="0.0230126"
+          diaginertia="8.34216e-06 6.0949e-06 2.75601e-06"/>
+        <joint name="left_inner_knuckle_joint" axis="1 0 0" armature="0.1" frictionloss="1" class="spring_link"/>
+        <geom class="xarm7_hand" material="black" mesh="left_inner_knuckle"/>
+      </body>
+      <body name="right_outer_knuckle" pos="0 -0.035 0.059098">
+        <inertial pos="0 -0.021559 0.015181" quat="0.87842 0.47789 0 0" mass="0.033618"
+          diaginertia="1.9111e-05 1.79089e-05 1.90167e-06"/>
+        <joint name="right_driver_joint" axis="-1 0 0" frictionloss="1" class="driver"/>
+        <geom class="xarm7_hand" material="black" mesh="right_outer_knuckle"/>
+        <body name="right_finger" pos="0 -0.035465 0.042039">
+          <inertial pos="0 0.016413 0.029258" quat="0.697634 -0.115356 0.115356 0.697634" mass="0.048304"
+            diaginertia="1.88038e-05 1.7493e-05 3.56779e-06"/>
+          <joint name="right_finger_joint" axis="1 0 0" armature="0.1" frictionloss="1" class="follower"/>
+          <geom class="visual" material="black" mesh="right_finger"/>
+          <geom class="pad_box1" name="right_finger_pad_1" pos="0 0.024003 0.032"/>
+          <geom class="pad_box2" name="right_finger_pad_2" pos="0 0.024003 0.050"/>
+          <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+        </body>
+      </body>
+      <body name="right_inner_knuckle" pos="0 -0.02 0.074098">
+        <inertial pos="1.866e-06 -0.022047 0.026133" quat="0.66415 0.242702 -0.242721 0.664144" mass="0.023013"
+          diaginertia="8.34209e-06 6.0949e-06 2.75601e-06"/>
+        <joint name="right_inner_knuckle_joint" axis="-1 0 0" armature="0.1" frictionloss="1" class="spring_link"/>
+        <geom class="xarm7_hand" material="black" mesh="right_inner_knuckle"/>
+      </body>
+      <body name="eef" pos="0 0 0.097" quat="1 0 0 0">
+	<site name="grip_site" pos="0 0 0.05" size="0.01 0.01 0.01" rgba="1 0 0 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>
+    </body>
+  </worldbody>
+
+  <sensor>
+    <force name="force_ee" site="ft_frame"/>
+    <torque name="torque_ee" site="ft_frame"/>
+  </sensor>
+
+  <contact>
+    <exclude body1="right_inner_knuckle" body2="right_outer_knuckle"/>
+    <exclude body1="right_inner_knuckle" body2="right_finger"/>
+    <exclude body1="left_inner_knuckle" body2="left_outer_knuckle"/>
+    <exclude body1="left_inner_knuckle" body2="left_finger"/>
+    <exclude body1="left_inner_knuckle" body2="xarm_gripper_base_link"/>
+    <exclude body1="right_inner_knuckle" body2="xarm_gripper_base_link"/>
+    <exclude body1="left_outer_knuckle" body2="xarm_gripper_base_link"/>
+    <exclude body1="right_outer_knuckle" body2="xarm_gripper_base_link"/>
+  </contact>
+
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5"/>
+      <joint joint="left_driver_joint" coef="0.5"/>
+    </fixed>
+  </tendon>
+
+  <equality>
+    <connect anchor="0 0.015 0.015" body1="right_finger" body2="right_inner_knuckle" solref="0.005 1"/>
+    <connect anchor="0 -0.015 0.015" body1="left_finger" body2="left_inner_knuckle" solref="0.005 1"/>
+    <joint joint1="left_driver_joint" joint2="right_driver_joint" polycoef="0 1 0 0 0" solref="0.005 1"/>
+  </equality>
+
+  <actuator>
+    <general class="xarm7_hand" name="fingers_actuator" tendon="split"/>
+  </actuator>
+</mujoco>

robosuite/models/assets/robots/xarm7/robot.xml

@@ -0,0 +1,102 @@
+<mujoco model="xarm7">
+  <compiler angle="radian" autolimits="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <asset>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="gray" rgba="0.753 0.753 0.753 1"/>
+    <material name="black" rgba="0.149 0.149 0.149 1"/>
+
+    <mesh name="link_base" file="meshes/link_base.stl"/>
+    <mesh name="link1" file="meshes/link1.stl"/>
+    <mesh name="link2" file="meshes/link2.stl"/>
+    <mesh name="link3" file="meshes/link3.stl"/>
+    <mesh name="link4" file="meshes/link4.stl"/>
+    <mesh name="link5" file="meshes/link5.stl"/>
+    <mesh name="link6" file="meshes/link6.stl"/>
+    <mesh name="link7" file="meshes/link7.stl"/>
+    <mesh name="end_tool" file="meshes/end_tool.stl"/>
+  </asset>
+  <worldbody>
+    <body name="base" pos="0 0 0">
+      <!-- robot view -->
+      <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
+      <!-- <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/> -->
+      <!-- mount attached here -->
+
+      <inertial pos="-0.021131 -0.0016302 0.056488" quat="0.696843 0.20176 0.10388 0.680376" mass="0.88556"
+        diaginertia="0.00382023 0.00335282 0.00167725"/>
+      <geom mesh="link_base" type="mesh" material="white" group="1"/>
+      <body name="link1" pos="0 0 0.267">
+	<site name="right_center" pos="0 0 0" size="0.01" rgba="1 0.3 0.3 1" group="2"/>
+        <inertial pos="-0.0002 0.02905 -0.01233" quat="0.978953 -0.202769 -0.00441617 -0.0227264" mass="2.382"
+          diaginertia="0.00569127 0.00533384 0.00293865"/>
+        <joint name="joint1" axis="0 0 1" range="-6.28319 6.28319" frictionloss="1" damping="0.1"/>
+        <geom mesh="link1" type="mesh" material="white" group="1"/>
+        <body name="link2" quat="1 -1 0 0">
+          <inertial pos="0.00022 -0.12856 0.01735" quat="0.50198 0.86483 -0.00778841 0.00483285" mass="1.869"
+            diaginertia="0.00959898 0.00937717 0.00201315"/>
+          <joint name="joint2" axis="0 0 1" frictionloss="1" range="-2.059 2.0944" damping="0.1"/>
+          <geom mesh="link2" type="mesh" material="white" group="1"/>
+          <body name="link3" pos="0 -0.293 0" quat="1 1 0 0">
+            <inertial pos="0.0466 -0.02463 -0.00768" quat="0.913819 0.289775 0.281481 -0.0416455" mass="1.6383"
+              diaginertia="0.00351721 0.00294089 0.00195868"/>
+            <joint name="joint3" axis="0 0 1" range="-6.28319 6.28319" frictionloss="1" damping="0.1"/>
+            <geom mesh="link3" type="mesh" material="white" group="1"/>
+            <body name="link4" pos="0.0525 0 0" quat="1 1 0 0">
+              <inertial pos="0.07047 -0.11575 0.012" quat="0.422108 0.852026 -0.126025 0.282832" mass="1.7269"
+                diaginertia="0.00657137 0.00647948 0.00186763"/>
+              <joint name="joint4" axis="0 0 1" frictionloss="1" range="-0.19198 3.927" damping="0.1"/>
+              <geom mesh="link4" type="mesh" material="white" group="1"/>
+              <body name="link5" pos="0.0775 -0.3425 0" quat="1 1 0 0">
+                <inertial pos="-0.00032 0.01604 -0.026" quat="0.999311 -0.0304457 0.000577067 0.0212082" mass="1.3203"
+                  diaginertia="0.00534729 0.00499076 0.0013489"/>
+                <joint name="joint5" axis="0 0 1" range="-6.28319 6.28319" frictionloss="1" damping="0.1"/>
+                <geom mesh="link5" type="mesh" material="white" group="1"/>
+                <body name="link6" quat="1 1 0 0">
+                  <inertial pos="0.06469 0.03278 0.02141" quat="-0.217672 0.772419 0.16258 0.574069" mass="1.325"
+                    diaginertia="0.00245421 0.00221646 0.00107273"/>
+                  <joint name="joint6" axis="0 0 1" frictionloss="1" range="-1.69297 3.14159" damping="0.01"/>
+                  <geom mesh="link6" type="mesh" material="white" group="1"/>
+                  <body name="link7" pos="0.076 0.097 0" quat="1 -1 0 0">
+                    <inertial pos="0 -0.00677 -0.01098" quat="0.487612 0.512088 -0.512088 0.487612" mass="0.17"
+                      diaginertia="0.000132176 9.3e-05 5.85236e-05"/>
+                    <joint name="joint7" axis="0 0 1" range="-6.28319 6.28319" frictionloss="1" damping="0.01"/>
+                    <!-- <geom material="gray" mesh="end_tool"/> -->
+
+		    <body name="right_hand" pos="0.0 0.0 -0.027" quat="0 0 0 1">
+			<!-- This sites were added for visualization. They are all standardized between models-->
+			<!-- Position mimics the gripper attachment point (right_hand) -->
+			<!--  Y-axis should be perpendicular to grasping motion, and Z-axis should point out of the robot eef -->
+
+			<!--  Values here must be tuned manually -->
+			<site name="ee" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 1" type="sphere" group="1"/>
+			<site name="ee_x" pos="0 0 0" size="0.005 .1"  quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" type="cylinder" />
+			<site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" type="cylinder" />
+			<site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" type="cylinder" />
+			<!-- This camera points out from the eef. -->
+			<camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
+			<!-- to add gripper -->
+		    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Physical limits of the actuator. -->
+    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint1" name="torq_j1"/>
+    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint2" name="torq_j2"/>
+    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint3" name="torq_j3"/>
+    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint4" name="torq_j4"/>
+    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint5" name="torq_j5"/>
+    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint6" name="torq_j6"/>
+    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint7" name="torq_j7"/>
+  </actuator>
+</mujoco>

robosuite/models/bases/floating_legged_base.py

@@ -1,6 +1,7 @@
 """
 Rethink's Generic Mount (Officially used on Sawyer).
 """
+
 import numpy as np
 
 from robosuite.models.bases.mobile_base_model import MobileBaseModel

robosuite/models/bases/leg_base_model.py

@@ -1,6 +1,7 @@
 """
 Defines the base class of all mobile bases
 """
+
 from xml.etree import ElementTree as ET
 
 import numpy as np

robosuite/models/bases/no_actuation_base.py

@@ -1,6 +1,7 @@
 """
 Rethink's Generic Mount (Officially used on Sawyer).
 """
+
 import numpy as np
 
 from robosuite.models.bases.mobile_base_model import MobileBaseModel

robosuite/models/bases/null_mobile_base.py

@@ -1,6 +1,7 @@
 """
 Rethink's Generic Mount (Officially used on Sawyer).
 """
+
 import numpy as np
 
 from robosuite.models.bases.mobile_base_model import MobileBaseModel

robosuite/models/bases/null_mount.py

@@ -1,6 +1,7 @@
 """
 Rethink's Generic Mount (Officially used on Sawyer).
 """
+
 import numpy as np
 
 from robosuite.models.bases.mount_model import MountModel

robosuite/models/bases/omron_mobile_base.py

@@ -1,6 +1,7 @@
 """
 Omron LD-60 Mobile Base.
 """
+
 import numpy as np
 
 from robosuite.models.bases.mobile_base_model import MobileBaseModel

robosuite/models/bases/rethink_minimal_mount.py

@@ -1,6 +1,7 @@
 """
 Rethink's Alternative Mount (Officially used on Baxter).
 """
+
 import numpy as np
 
 from robosuite.models.bases.mount_model import MountModel

robosuite/models/bases/rethink_mount.py

@@ -1,6 +1,7 @@
 """
 Rethink's Generic Mount (Officially used on Sawyer).
 """
+
 import numpy as np
 
 from robosuite.models.bases.mount_model import MountModel

robosuite/models/bases/robot_base_model.py

@@ -1,6 +1,7 @@
 """
 Defines the base class of all mounts
 """
+
 from typing import Dict, List
 
 import numpy as np