migrate to robot_descriptions

mujoco_robot_environments/config/robots/arm/franka_emika_panda.yaml

@@ -9,7 +9,6 @@ default_configurations:
 
 arm:
   _target_: mujoco_robot_environments.models.arms.franka_emika.FER
-  mjcf_path: "../mujoco_pkgs/mujoco_menagerie/franka_emika_panda/panda_nohand.xml"
   actuator_config: ${robots.arm.actuator_config}
   sensor_config: ${robots.arm.sensor_config}
   controller_config: ${robots.arm.controller_config}

mujoco_robot_environments/config/robots/end_effector/robotiq_2f85.yaml

@@ -5,7 +5,6 @@ defaults:
 
 end_effector:
   _target_: mujoco_robot_environments.models.end_effectors.robotiq_2f85.Robotiq2F85
-  mjcf_path: "../mujoco_pkgs/mujoco_menagerie/robotiq_2f85/2f85.xml"
   actuator_config: ${robots.end_effector.actuator_config}
   sensor_config: ${robots.end_effector.sensor_config}
   controller_config: ${robots.end_effector.controller_config}

mujoco_robot_environments/models/arms/franka_emika.py

@@ -1,15 +1,25 @@
 """Franka Emika Panda Robot Arm."""
 
+import os
 import numpy as np
 
 from dm_control import mjcf
+from robot_descriptions import panda_mj_description
 from mujoco_controllers.models.arms.robot_arm import RobotArm
 
+PANDA_MJCF_PATH = os.path.join(panda_mj_description.PACKAGE_PATH, 'panda_nohand.xml')
 
 class FER(RobotArm):
     """Franka Emika Panda Robot Arm."""
 
-    def __init__(self, mjcf_path: str, actuator_config: dict, sensor_config: dict=None, controller_config: dict=None, configuration_config: dict=None):
+    def __init__(
+        self, 
+        mjcf_path: str = PANDA_MJCF_PATH,
+        actuator_config: dict = None, 
+        sensor_config: dict = None, 
+        controller_config: dict = None, 
+        configuration_config: dict = None
+        ):
         """Initialize the robot arm."""
         self.mjcf_path = mjcf_path
         self.actuator_config = actuator_config
@@ -20,19 +30,29 @@ def __init__(self, mjcf_path: str, actuator_config: dict, sensor_config: dict=No
         super().__init__()
 
     def _build(self):
-        self._fer_root = mjcf.from_path(self.mjcf_path)
+        self._fer_root = mjcf.from_path(self.mjcf_path, escape_separators=True)
+        for keyframe in self._fer_root.find_all('key'):
+            keyframe.remove()
+
+        # assign joints
         self._joints = self._fer_root.find_all("joint")
+
         # add sensors and actuators
         self._add_actuators()
-        self._add_sensors()
         self._actuators = self._fer_root.find_all("actuator")
+        self._add_sensors()
+
         # define attachment and wrist sites
         self._attachment_site = self._fer_root.find("site", "attachment_site")
         self._wrist_site = self._attachment_site
 
     # TODO: Refactor this
     def _add_actuators(self):
         """Override the actuator model by config."""
+        # remove default actuator models from mjcf
+        for actuator in self._fer_root.find_all('actuator'):
+            actuator.remove()
+
         if self.actuator_config["type"] == "motor":
             for idx, (joint, joint_type) in enumerate(self.actuator_config["joint_actuator_mapping"].items()):
                 print("Adding actuator for joint: {}".format(joint))

mujoco_robot_environments/models/end_effectors/robotiq_2f85.py

@@ -3,14 +3,17 @@
 from typing import List, Tuple, Optional
 
 from dm_control import mjcf
+from robot_descriptions import robotiq_2f85_mj_description
 from mujoco_controllers.models.end_effectors.robot_hand import RobotHand
 import numpy as np
 
+ROBOTIQ_MJCF_PATH = robotiq_2f85_mj_description.MJCF_PATH
+
 class Robotiq2F85(RobotHand):
   """Robotiq 2-finger 85 adaptive gripper."""
 
   def __init__(self,
-          mjcf_path: str,
+          mjcf_path: str = ROBOTIQ_MJCF_PATH,
           actuator_config: dict = None, # for now we don't alter default actuator config
           sensor_config: dict = None,
           controller_config: dict = None,
@@ -41,8 +44,6 @@ def _build(self):
     self._actuators = self.robotiq_root.find_all('actuator')
     self._tool_center_point = self.robotiq_root.find('site', 'pinch')
 
-    # consider adding tcp site
-
   @property
   def joints(self):
     """List of joint elements belonging to the hand."""

mujoco_robot_environments/tasks/rearrangement.py

@@ -51,8 +51,6 @@ def __init__(
         """Initializes the simulation environment from config."""
         # ensure mjcf paths are relative to this file
         file_path = Path(__file__).parent.absolute()
-        cfg.robots.arm.arm.mjcf_path = str(file_path / cfg.robots.arm.arm.mjcf_path)
-        cfg.robots.end_effector.end_effector.mjcf_path = str(file_path / cfg.robots.end_effector.end_effector.mjcf_path)
         self._cfg = cfg
 
         # check if viewer is requested in input args, otherwise use config

pyproject.toml

@@ -57,6 +57,7 @@ dm-reverb = {version="0.13.0", markers = "sys_platform == 'linux'"}
 tensorflow-cpu = {version="^2.14.0", markers = "sys_platform == 'linux'"}
 envlogger = {extras = ["tfds"], version = "^1.2", markers = "sys_platform == 'linux'"}
 rlds = {version="^0.1.7", markers = "sys_platform == 'linux'"}
+robot-descriptions = "^1.10.0"
 
 [tool.black]
 line-length = 120