feat(robot): add FrankaPandaCfg and dual-arm coordinated placement tutorial#362
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feat(robot): add FrankaPandaCfg and dual-arm coordinated placement tutorial#362yuecideng wants to merge 1 commit into
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…torial Add FrankaPandaCfg for Franka Emika Panda with PandaWithHand URDF, register it in the dual-arm framework, and create a coordinated placement tutorial script demonstrating dual-arm Franka operation with PytorchSolver. - Add FrankaPandaCfg: 7-DOF arm + 2 finger joints, PytorchSolverCfg with Franka TCP (45 deg Z-rotation, 0.1034m Z-offset) - Register 'franka' in DualArmRobotCfg._BASE_ROBOT_REGISTRY - Add coordinated_placement_franka.py tutorial script - Export FrankaPandaCfg from robots __init__.py
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Pull request overview
This PR adds Franka Emika Panda support to EmbodiChain’s dual-arm robot composition framework and introduces a new dual-arm coordinated placement tutorial that mirrors the existing UR5 demo structure.
Changes:
- Added a new single-arm
FrankaPandaCfgrobot configuration using a Panda-with-hand URDF andPytorchSolverCfg. - Extended the dual-arm base robot registry to support
base_robot="franka"viaDualArmRobotCfg.from_dict(...). - Added a new tutorial script demonstrating dual-arm coordinated placement with Franka arms and bread/pan meshes, and exported
FrankaPandaCfgfrom the robots package.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| scripts/tutorials/atomic_action/coordinated_placement_franka.py | New tutorial/demo for dual-arm Franka coordinated placement planning/execution. |
| embodichain/lab/sim/robots/franka_panda.py | Introduces FrankaPandaCfg (URDF wiring, control parts, solver cfg, defaults). |
| embodichain/lab/sim/robots/dual_arm.py | Registers "franka" in _BASE_ROBOT_REGISTRY so dual-arm composition can resolve Franka. |
| embodichain/lab/sim/robots/init.py | Exports FrankaPandaCfg from the robots package. |
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| from embodichain.lab.sim.cfg import ( | ||
| JointDrivePropertiesCfg, | ||
| RigidBodyAttributesCfg, | ||
| RobotCfg, | ||
| URDFCfg, | ||
| ) |
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| #: Registry mapping a ``base_robot`` key to ``(single-arm cfg class, init dict)``. | ||
| #: Adding a new single-arm robot here is all that is needed to make it | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaRobotCfg, {})``. | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaPandaCfg, {"robot_type": "panda"})``. | ||
| _BASE_ROBOT_REGISTRY: Dict[str, tuple] = { | ||
| "franka": (FrankaPandaCfg, {"robot_type": "panda"}), | ||
| "ur3": (URRobotCfg, {"robot_type": "ur3"}), |
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| @configclass | ||
| class FrankaPandaCfg(RobotCfg): | ||
| """Configuration for the Franka Emika Panda robot with Panda hand. | ||
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| The PandaWithHand URDF includes both the 7-DOF arm and the parallel-jaw | ||
| gripper in a single file. The solver defaults to | ||
| :class:`~embodichain.lab.sim.solvers.PytorchSolverCfg`. | ||
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| Example: | ||
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| cfg = FrankaPandaCfg.from_dict({"robot_type": "panda"}) | ||
| robot = sim.add_robot(cfg=cfg) | ||
| """ | ||
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| robot_type: str = "panda" |
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Description
This PR adds Franka Emika Panda robot support to the dual-arm framework and a coordinated placement tutorial demonstrating dual-arm Franka operation with PytorchSolver.
Changes
FrankaPandaCfg (
embodichain/lab/sim/robots/franka_panda.py): Single-arm Franka config with PandaWithHand URDF (7-DOF arm Joint1–Joint7 + 2 finger joints), using PytorchSolverCfg with Franka TCP (45° Z-rotation, 0.1034m Z-offset). Default init_qpos from Isaac Lab reference.Dual-arm registry (
embodichain/lab/sim/robots/dual_arm.py): Register"franka"in_BASE_ROBOT_REGISTRYsoDualArmRobotCfg.from_dict({"base_robot": "franka", ...})works.Coordinated placement tutorial (
scripts/tutorials/atomic_action/coordinated_placement_franka.py): Demonstrates dual-arm Franka coordinated placement with bread/pan meshes, following the same structure as the existing UR5 version.Exports (
embodichain/lab/sim/robots/__init__.py): ExportFrankaPandaCfg.Type of change
Checklist
black .command to format the code base.