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Franka bimanual setup #3

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Franka bimanual setup #3

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c81a9bd
adding bimanual setup
slecleach Sep 15, 2025
93ae6af
commit before switch to custom jug task
slecleach Sep 16, 2025
fb6cdce
trying homing
slecleach Sep 16, 2025
3531de0
first working version
slecleach Sep 16, 2025
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2 changes: 2 additions & 0 deletions judo/controller/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
set_default_caltech_leap_cube_overrides,
set_default_cartpole_overrides,
set_default_cylinder_push_overrides,
set_default_fr3_bimanual_pick_overrides,
set_default_fr3_pick_overrides,
set_default_leap_cube_down_overrides,
set_default_leap_cube_overrides,
Expand All @@ -21,6 +22,7 @@
set_default_caltech_leap_cube_overrides()
set_default_cartpole_overrides()
set_default_cylinder_push_overrides()
set_default_fr3_bimanual_pick_overrides()
set_default_fr3_pick_overrides()
set_default_leap_cube_overrides()
set_default_leap_cube_down_overrides()
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4 changes: 2 additions & 2 deletions judo/controller/controller.py
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Expand Up @@ -28,9 +28,9 @@
class ControllerConfig(OverridableConfig):
"""Base controller config."""

horizon: float = 1.0
horizon: float = 0.3
spline_order: Literal["zero", "linear", "cubic"] = "linear"
control_freq: float = 20.0
control_freq: float = 5.0
max_opt_iters: int = 1
max_num_traces: int = 5
action_normalizer: Literal["none", "min_max", "running"] = "none"
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14 changes: 14 additions & 0 deletions judo/controller/overrides.py
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Expand Up @@ -79,3 +79,17 @@ def set_default_fr3_pick_overrides() -> None:
"control_freq": 20.0,
},
)


def set_default_fr3_bimanual_pick_overrides() -> None:
"""Sets the default task-specific controller config overrides for the fr3 pick task."""
set_config_overrides(
"fr3_bimanual_pick",
ControllerConfig,
{
"horizon": 1.3,
"spline_order": "linear",
"max_num_traces": 3,
"control_freq": 40.0,
},
)
31 changes: 31 additions & 0 deletions judo/models/xml/fr3_bimanual_pick.xml
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@@ -0,0 +1,31 @@
<mujoco model="fr3_bimanual_pick">
<include file="fr3_components/assets.xml" />
<include file="fr3_components/params_and_default_bimanual.xml" />

<worldbody>
<body name="table" pos="0.0 0.0 0.0" quat="1 0 0 0">
<geom name="table" type="box" size="0.75 1.25 0.01" pos="0.5 0 -0.01" rgba="0.8 0.8 0.8 1" class="visual" />
<geom name="table_coll" type="plane" pos="0.5 0 0" size="40 40 40" conaffinity="1" condim="3"/>
</body>
<body name="shelf" pos="0.0 0.0 0.0" quat="1 0 0 0">
<geom name="shelf_0" type="box" size="0.3 0.35 0.05" pos="1.15 0 0.3" rgba="0.8 0.8 0.8 1" />
<geom name="shelf_1" type="box" size="0.3 0.05 0.05" pos="1.15 -0.3 0.4" rgba="0.8 0.8 0.8 1" />
<geom name="shelf_2" type="box" size="0.3 0.05 0.05" pos="1.15 0.3 0.4" rgba="0.8 0.8 0.8 1" />
<geom name="shelf_3" type="box" size="0.05 0.25 0.05" pos="1.40 0 0.4" rgba="0.8 0.8 0.8 1" />
</body>
<body name="object" pos="0.0 0.0 0.0" quat="1 0 0 0">
<inertial mass="10.0" pos="0.0 0.0 0.0" diaginertia="0.3 0.3 0.3"/>
<freejoint name="object_joint"/>
<geom name="cylinder_0" type="cylinder" size="0.175 0.075" pos="0 0 -0.125" rgba="0.68 0.85 0.9 0.9"/>
<geom name="cylinder_1" type="cylinder" size="0.15 0.05" pos="0 0 0" rgba="0.68 0.85 0.9 0.9"/>
<geom name="cylinder_2" type="cylinder" size="0.175 0.075" pos="0 0 0.125" rgba="0.68 0.85 0.9 0.9"/>
<geom name="cylinder_3" type="cylinder" size="0.03 0.03" pos="0 0 0.23" rgba="0.68 0.85 0.9 0.9"/>
</body>
<body name="fr3" pos="0.0 -0.25 0.0" quat="1 0 0 0">
<include file="fr3_components/fr3.xml" />
</body>
<body name="fr3_bis" pos="0.0 0.25 0.0" quat="1 0 0 0">
<include file="fr3_components/fr3_bis.xml" />
</body>
</worldbody>
</mujoco>
4 changes: 2 additions & 2 deletions judo/models/xml/fr3_components/fr3.xml
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Expand Up @@ -79,7 +79,7 @@
<geom name="hand_3" mesh="hand_3" material="white" class="visual"/>
<geom name="hand_4" mesh="hand_4" material="off_white" class="visual"/>
<geom name="hand_collision" mesh="hand_coll" class="collision"/>
<body name="left_finger" pos="0 0 0.0584">
<!-- <body name="left_finger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint1" class="finger"/>
<geom name="left_finger_0" mesh="finger_0" material="off_white" class="visual"/>
Expand All @@ -102,7 +102,7 @@
<geom name="right_finger_collision_3" class="fingertip_pad_collision_3"/>
<geom name="right_finger_collision_4" class="fingertip_pad_collision_4"/>
<geom name="right_finger_collision_5" class="fingertip_pad_collision_5"/>
</body>
</body> -->
</body>
</body>
</body>
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116 changes: 116 additions & 0 deletions judo/models/xml/fr3_components/fr3_bis.xml
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@@ -0,0 +1,116 @@
<mujoco model="fr3_bis">
<body name="_base" childclass="fr3">
<body name="_fr3_link0">
<geom name="_link0_0" mesh="link0_0" material="black" class="visual"/>
<geom name="_link0_1" mesh="link0_1" material="white" class="visual"/>
<geom name="_link0_2" mesh="link0_2" material="white" class="visual"/>
<geom name="_link0_3" mesh="link0_3" material="white" class="visual"/>
<geom name="_link0_4" mesh="link0_4" material="white" class="visual"/>
<geom name="_link0_5" mesh="link0_5" material="red" class="visual"/>
<geom name="_link0_6" mesh="link0_6" material="black" class="visual"/>
<geom name="_fr3_link0_collision" mesh="link0_coll" class="collision"/>
<body name="_fr3_link1" pos="0 0 0.333">
<inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.998098 -0.0605364 0.00380499 0.0110109" mass="2.92747"
diaginertia="0.0239286 0.0227246 0.00610634"/>
<joint name="_fr3_joint1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87"/>
<geom name="_fr3_link1_collision" class="collision" mesh="link1_coll"/>
<geom name="_link1" material="white" mesh="link1" class="visual"/>
<body name="_fr3_link2" quat="1 -1 0 0">
<inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.502599 0.584437 -0.465998 0.434366" mass="2.93554"
diaginertia="0.0629567 0.0411924 0.0246371"/>
<joint name="_fr3_joint2" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87"/>
<geom name="_link2" material="white" mesh="link2" class="visual"/>
<geom name="_fr3_link2_collision" class="collision" mesh="link2_coll"/>
<body name="_fr3_link3" pos="0 -0.316 0" quat="1 1 0 0">
<inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.921025 -0.244161 0.155272 0.260745" mass="2.2449"
diaginertia="0.0267409 0.0189869 0.0171587"/>
<joint name="_fr3_joint3" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87"/>
<geom name="_link3_0" mesh="link3_0" material="white" class="visual"/>
<geom name="_link3_1" mesh="link3_1" material="black" class="visual"/>
<geom name="_fr3_link3_collision" class="collision" mesh="link3_coll"/>
<body name="_fr3_link4" pos="0.0825 0 0" quat="1 1 0 0">
<inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.438018 0.803311 0.00937812 0.403414"
mass="2.6156" diaginertia="0.05139 0.0372717 0.0160047"/>
<joint name="_fr3_joint4" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87"/>
<geom name="_link4_0" mesh="link4_0" material="white" class="visual"/>
<geom name="_link4_1" mesh="link4_1" material="black" class="visual"/>
<geom name="_fr3_link4_collision" class="collision" mesh="link4_coll"/>
<body name="_fr3_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
<inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.919031 0.125604 0.0751531 -0.366003"
mass="2.32712" diaginertia="0.0579335 0.0449144 0.0130634"/>
<joint name="_fr3_joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12"
armature="0.074" frictionloss="0.763"/>
<geom name="_link5_0" mesh="link5_0" material="white" class="visual"/>
<geom name="_link5_1" mesh="link5_1" material="white" class="visual"/>
<geom name="_link5_2" mesh="link5_2" material="black" class="visual"/>
<geom name="_fr3_link5_collision" class="collision" mesh="link5_coll"/>
<body name="_fr3_link6" quat="1 1 0 0">
<inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.621301 0.552665 0.510011 0.220081"
mass="1.81704" diaginertia="0.0175039 0.0161123 0.00193529"/>
<joint name="_fr3_joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12"
armature="0.074" frictionloss="0.44"/>
<geom name="_link6_0" mesh="link6_0" material="button_green" class="visual"/>
<geom name="_link6_1" mesh="link6_1" material="white" class="visual"/>
<geom name="_link6_2" mesh="link6_2" material="white" class="visual"/>
<geom name="_link6_3" mesh="link6_3" material="gray" class="visual"/>
<geom name="_link6_4" mesh="link6_4" material="button_red" class="visual"/>
<geom name="_link6_5" mesh="link6_5" material="white" class="visual"/>
<geom name="_link6_6" mesh="link6_6" material="black" class="visual"/>
<geom name="_link6_7" mesh="link6_7" material="button_blue" class="visual"/>
<geom name="_fr3_link6_collision" class="collision" mesh="link6_coll"/>
<body name="_fr3_link7" pos="0.088 0 0" quat="1 1 0 0">
<inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.727579 0.0978688 -0.24906 0.63168"
mass="0.627143" diaginertia="0.000223836 0.000223642 5.64132e-07"/>
<joint name="_fr3_joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12"
armature="0.074" frictionloss="0.248"/>
<geom name="_link7_0" mesh="link7_0" material="black" class="visual"/>
<geom name="_link7_1" mesh="link7_1" material="white" class="visual"/>
<geom name="_link7_2" mesh="link7_2" material="white" class="visual"/>
<geom name="_link7_3" mesh="link7_3" material="black" class="visual"/>
<geom name="_fr3_link7_collision" class="collision" mesh="link7_coll"/>
<!-- <site name="_attachment_site" pos="0 0 0.107"/> -->
<body name="_hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
<site name="_grasp_site" pos="0 0 0.1034"/>

<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<geom name="_hand_0" mesh="hand_0" material="off_white" class="visual"/>
<geom name="_hand_1" mesh="hand_1" material="black" class="visual"/>
<geom name="_hand_2" mesh="hand_2" material="black" class="visual"/>
<geom name="_hand_3" mesh="hand_3" material="white" class="visual"/>
<geom name="_hand_4" mesh="hand_4" material="off_white" class="visual"/>
<geom name="_hand_collision" mesh="hand_coll" class="collision"/>
<!-- <body name="_left_finger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="_finger_joint1" class="finger"/>
<geom name="_left_finger_0" mesh="finger_0" material="off_white" class="visual"/>
<geom name="_left_finger_1" mesh="finger_1" material="black" class="visual"/>
<geom name="_left_finger_collision_0" mesh="finger_0" class="collision"/>
<geom name="_left_finger_collision_1" class="fingertip_pad_collision_1"/>
<geom name="_left_finger_collision_2" class="fingertip_pad_collision_2"/>
<geom name="_left_finger_collision_3" class="fingertip_pad_collision_3"/>
<geom name="_left_finger_collision_4" class="fingertip_pad_collision_4"/>
<geom name="_left_finger_collision_5" class="fingertip_pad_collision_5"/>
</body>
<body name="_right_finger" pos="0 0 0.0584" quat="0 0 0 1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="_finger_joint2" class="finger"/>
<geom name="_right_finger_0" mesh="finger_0" material="off_white" class="visual"/>
<geom name="_right_finger_1" mesh="finger_1" material="black" class="visual"/>
<geom name="_right_finger_collision_0" mesh="finger_0" class="collision"/>
<geom name="_right_finger_collision_1" class="fingertip_pad_collision_1"/>
<geom name="_right_finger_collision_2" class="fingertip_pad_collision_2"/>
<geom name="_right_finger_collision_3" class="fingertip_pad_collision_3"/>
<geom name="_right_finger_collision_4" class="fingertip_pad_collision_4"/>
<geom name="_right_finger_collision_5" class="fingertip_pad_collision_5"/>
</body> -->
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</mujoco>
2 changes: 1 addition & 1 deletion judo/models/xml/fr3_components/params_and_default.xml
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@@ -1,6 +1,6 @@
<mujoco model="fr3_default">
<compiler angle="radian"/>
<option integrator="implicitfast" timestep="0.004" impratio="10.0"/>
<option integrator="implicitfast" timestep="0.01" impratio="10.0"/>

<default>
<default class="fr3">
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124 changes: 124 additions & 0 deletions judo/models/xml/fr3_components/params_and_default_bimanual.xml
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<mujoco model="fr3_default">
<compiler angle="radian"/>
<option integrator="implicitfast" timestep="0.01" impratio="10.0"/>

<default>
<default class="fr3">
<!-- Overwritten in joints 5, 6, and 7. -->
<joint damping="0.21" armature="0.195" frictionloss="1.137"/>
<position inheritrange="1"/>

<!-- constraint stiffness -->
<geom solimp="0.98 0.99 0.01 0.001 1" solref="0.001 1" friction=".5"/>

<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>

<default class="visual">
<geom type="mesh" group="2" contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom type="mesh" group="3" mass="0" density="0" friction="0.5 0 0" priority="6"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
</default>
<default class="fingertip_pad_collision_5">
<geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
</default>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>

<!-- <equality>
<joint joint1="finger_joint1" joint2="finger_joint2" polycoef="0 1"/>
</equality>
<equality>
<joint joint1="_finger_joint1" joint2="_finger_joint2" polycoef="0 1"/>
</equality> -->

<actuator>
<position class="fr3" name="fr3_joint1" joint="fr3_joint1" kp="135" kv="45"/>
<position class="fr3" name="fr3_joint2" joint="fr3_joint2" kp="135" kv="45"/>
<position class="fr3" name="fr3_joint3" joint="fr3_joint3" kp="105" kv="35"/>
<position class="fr3" name="fr3_joint4" joint="fr3_joint4" kp="105" kv="35"/>
<position class="fr3" name="fr3_joint5" joint="fr3_joint5" kp="60" kv="20"/>
<position class="fr3" name="fr3_joint6" joint="fr3_joint6" kp="60" kv="20"/>
<position class="fr3" name="fr3_joint7" joint="fr3_joint7" kp="60" kv="20"/>
<!-- <position class="fr3" name="fr3_hand" joint="finger_joint1" ctrllimited="true" kp="500" kv="10" inheritrange="2.0"/> -->
</actuator>

<actuator>
<position class="fr3" name="_fr3_joint1" joint="_fr3_joint1" kp="135" kv="45"/>
<position class="fr3" name="_fr3_joint2" joint="_fr3_joint2" kp="135" kv="45"/>
<position class="fr3" name="_fr3_joint3" joint="_fr3_joint3" kp="105" kv="35"/>
<position class="fr3" name="_fr3_joint4" joint="_fr3_joint4" kp="105" kv="35"/>
<position class="fr3" name="_fr3_joint5" joint="_fr3_joint5" kp="60" kv="20"/>
<position class="fr3" name="_fr3_joint6" joint="_fr3_joint6" kp="60" kv="20"/>
<position class="fr3" name="_fr3_joint7" joint="_fr3_joint7" kp="60" kv="20"/>
<!-- <position class="fr3" name="_fr3_hand" joint="_finger_joint1" ctrllimited="true" kp="500" kv="10" inheritrange="2.0"/> -->
</actuator>

<sensor>
<!-- sensors from hand to object -->
<!-- <distance name="left_finger_obj" cutoff="1.0" body1="left_finger" body2="object"/>
<distance name="right_finger_obj" cutoff="1.0" body1="right_finger" body2="object"/> -->

<!-- sensors from hand to table -->
<!-- <distance name="left_finger_table" cutoff="1.0" body1="left_finger" body2="table"/>
<distance name="right_finger_table" cutoff="1.0" body1="right_finger" body2="table"/> -->


<!-- sensors for the arm/hand -->
<framezaxis name="ee_z" objtype="body" objname="hand"/>


<!-- sensors from hand to object -->
<!-- <distance name="_left_finger_obj" cutoff="1.0" body1="_left_finger" body2="object"/>
<distance name="_right_finger_obj" cutoff="1.0" body1="_right_finger" body2="object"/> -->

<!-- sensors from hand to table -->
<!-- <distance name="_left_finger_table" cutoff="1.0" body1="_left_finger" body2="table"/>
<distance name="_right_finger_table" cutoff="1.0" body1="_right_finger" body2="table"/> -->

<!-- sensors for the arm/hand -->
<framezaxis name="_ee_z" objtype="body" objname="_hand"/>

<!-- sensor from object to table -->
<distance name="obj_table" cutoff="1.0" body1="object" body2="table"/>

<!-- traces -->
<framepos name="trace_object" objtype="body" objname="object"/>
<framepos name="trace_grasp_site" objtype="site" objname="grasp_site"/>
<framepos name="_trace_grasp_site" objtype="site" objname="_grasp_site"/>


<!-- collision avoidance -->
<framepos name="fr3_link1_pos" objtype="body" objname="fr3_link1"/>
<framepos name="fr3_link2_pos" objtype="body" objname="fr3_link2"/>
<framepos name="fr3_link3_pos" objtype="body" objname="fr3_link3"/>
<framepos name="fr3_link4_pos" objtype="body" objname="fr3_link4"/>
<framepos name="fr3_link5_pos" objtype="body" objname="fr3_link5"/>
<framepos name="fr3_link6_pos" objtype="body" objname="fr3_link6"/>
<framepos name="fr3_link7_pos" objtype="body" objname="fr3_link7"/>

<framepos name="_fr3_link1_pos" objtype="body" objname="_fr3_link1"/>
<framepos name="_fr3_link2_pos" objtype="body" objname="_fr3_link2"/>
<framepos name="_fr3_link3_pos" objtype="body" objname="_fr3_link3"/>
<framepos name="_fr3_link4_pos" objtype="body" objname="_fr3_link4"/>
<framepos name="_fr3_link5_pos" objtype="body" objname="_fr3_link5"/>
<framepos name="_fr3_link6_pos" objtype="body" objname="_fr3_link6"/>
<framepos name="_fr3_link7_pos" objtype="body" objname="_fr3_link7"/>

</sensor>
</mujoco>
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