Jin/taxim cleanup

.devcontainer/devcontainer.json

@@ -0,0 +1,41 @@
+{
+    "name": "rcs",
+    "build": {
+        "dockerfile": "../Dockerfile"
+    },
+    "remoteUser": "vscode",
+    "runArgs": [
+        "--gpus",
+        "all",
+        "--name",
+        "rcs",
+        "--ipc=host",
+        "--network=host",
+        "--env=DISPLAY=${localEnv:DISPLAY}",
+        "--env=XAUTHORITY=/tmp/.Xauthority",
+        "--volume=${localEnv:HOME}/.Xauthority:/tmp/.Xauthority:ro",
+        "--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw"
+    ],
+    "shutdownAction": "stopContainer",
+    "postStartCommand": "bash -lc 'grep -qxF \"source /home/vscode/venv/bin/activate\" ~/.bashrc || echo \"source /home/vscode/venv/bin/activate\" >> ~/.bashrc'",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "terminal.integrated.defaultProfile.linux": "bash",
+                "python.defaultInterpreterPath": "/home/vscode/venv/bin/python"
+            },
+            "extensions": [
+                "charliermarsh.ruff",
+                "eamodio.gitlens",
+                "ms-python.debugpy",
+                "ms-python.python",
+                "ms-python.vscode-pylance",
+                "ms-python.vscode-python-envs",
+                "openai.chatgpt"
+            ]
+        }
+    },
+    "mounts": [
+        "source=/mnt/disk_air_fast_2/scannetpp,target=/workspaces/datasets,type=bind"
+    ],
+}

Dockerfile

@@ -0,0 +1,46 @@
+# Chose the base image from https://hub.docker.com/
+FROM nvidia/cuda:13.1.2-cudnn-devel-ubuntu24.04
+
+# Set variables
+ARG USERNAME=vscode
+ARG USER_UID=1001
+ARG USER_GID=$USER_UID
+
+# Avoid interactive dialog
+ARG DEBIAN_FRONTEND=noninteractive
+ENV TZ=Etc/UTC
+
+# Create new user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    #
+    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# ********************************************************
+# * Anything else you want to do like clean up goes here *
+# ********************************************************
+
+# For example, install python 3.12, git and curl
+RUN apt-get install -y tzdata
+RUN apt-get install -y software-properties-common
+RUN add-apt-repository ppa:deadsnakes/ppa
+RUN apt update && apt install -y python3.11 python3.11-venv python3.11-dev curl liblz4-dev git libgl1-mesa-dev cmake build-essential 
+RUN apt install -y ffmpeg ca-certificates cmake curl git libgl1 libglib2.0-0 libglfw3-dev libpoco-dev ninja-build liburdfdom-dev
+
+# [Optional] Set the default user. Omit if you want to keep the default as root.
+USER $USERNAME
+WORKDIR /workspaces
+
+# Install python dependencies and renderpy
+COPY . /workspaces
+RUN python3.11 -m venv /home/$USERNAME/venv
+RUN /home/$USERNAME/venv/bin/pip install --upgrade pip
+RUN /home/$USERNAME/venv/bin/pip install --upgrade setuptools wheel ninja setuptools>=45 scikit-build-core>=0.3.3 mujoco>=3.3.5 pin==3.7.0 pybind11 cmake
+RUN /home/$USERNAME/venv/bin/pip install --no-build-isolation --no-cache-dir -ve .
+RUN /home/$USERNAME/venv/bin/pip install --no-build-isolation --no-cache-dir -e extensions/rcs_sb3
+RUN /home/$USERNAME/venv/bin/pip install --no-build-isolation --no-cache-dir -e extensions/rcs_taxim
+RUN cd norm2tex && /home/$USERNAME/venv/bin/pip install --no-build-isolation --no-cache-dir -e .

extensions/rcs_taxim/README.md

@@ -0,0 +1,11 @@
+# RCS Taxim Extension
+
+This extension provides integration with the [Taxim](https://github.com/Robo-Touch/Taxim) tactile sensor simulator.
+
+It ports the tactile pick-up example onto the current RCS scene/config stack by swapping in a TAXIM-equipped Franka hand while reusing the current FR3 pick setup.
+
+## Installation
+
+```shell
+pip install -ve extensions/rcs_taxim
+```

examples/fr3/grasp_digit_demo.py → extensions/rcs_taxim/examples/grasp_digit_demo.py

@@ -7,70 +7,75 @@
 from rcs._core.common import Pose
 from rcs._core.sim import SimRobot
 from rcs.envs.base import GripperWrapper
-from rcs_tacto.creators import FR3TactoSimplePickUpSimEnvCreator
-from tqdm import tqdm
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.INFO)
 
 
+def _progress(iterable):
+    try:
+        from tqdm import tqdm
+    except ImportError:
+        return iterable
+    return tqdm(iterable)
+
+
 class PickUpDemo:
     def __init__(self, env: gym.Env):
         self.env = env
-        self._robot = cast(SimRobot, self.env.get_wrapper_attr("robot"))
+        self._robot = cast(SimRobot, self.env.get_wrapper_attr("robot")["robot"])
         self.home_pose = self._robot.get_cartesian_position()
 
     def _action(self, pose: Pose, gripper: list[float]) -> dict[str, Any]:
-        return {"xyzrpy": pose.xyzrpy(), "gripper": gripper}
+        return {"robot": {"xyzrpy": pose.xyzrpy(), "gripper": gripper}}
 
-    def get_object_pose(self, geom_name) -> Pose:
+    def get_object_pose(self, geom_name: str) -> Pose:
         model = self.env.get_wrapper_attr("sim").model
         data = self.env.get_wrapper_attr("sim").data
 
         geom_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, geom_name)
         obj_pose_world_coordinates = Pose(
             translation=data.geom_xpos[geom_id], rotation=data.geom_xmat[geom_id].reshape(3, 3)
-        )
+        ) * Pose(rpy_vector=np.array([0, 0, -np.pi / 4]), translation=np.array([0.0, 0.0, 0.0]))
         return self._robot.to_pose_in_robot_coordinates(obj_pose_world_coordinates)
 
     def generate_waypoints(self, start_pose: Pose, end_pose: Pose, num_waypoints: int) -> list[Pose]:
-        waypoints = []
-        for i in range(num_waypoints + 1):
-            t = i / (num_waypoints)
-            waypoints.append(start_pose.interpolate(end_pose, t))
-        return waypoints
+        return [start_pose.interpolate(end_pose, i / num_waypoints) for i in range(num_waypoints + 1)]
 
-    def step(self, action: dict) -> dict:
+    def step(self, action: dict[str, Any]) -> dict[str, Any]:
         return self.env.step(action)[0]
 
-    def plan_linear_motion(self, geom_name: str, delta_up: float, num_waypoints: int = 200) -> list[Pose]:
+    def plan_linear_motion(self, geom_name: str, delta_up: float, num_waypoints: int = 20) -> list[Pose]:
         end_eff_pose = self._robot.get_cartesian_position()
         goal_pose = self.get_object_pose(geom_name=geom_name)
-        goal_pose *= Pose(translation=np.array([0, 0, delta_up]), quaternion=np.array([1, 0, 0, 0]))  # type: ignore
+        goal_pose *= Pose(translation=np.array([0, 0, delta_up]), quaternion=np.array([1, 0, 0, 0]))
         return self.generate_waypoints(end_eff_pose, goal_pose, num_waypoints=num_waypoints)
 
-    def execute_motion(self, waypoints: list[Pose], gripper: list[float] = GripperWrapper.BINARY_GRIPPER_OPEN) -> dict:
-        for i in range(len(waypoints)):
-            obs = self.step(self._action(waypoints[i], gripper))
+    def execute_motion(
+        self, waypoints: list[Pose], gripper: list[float] = GripperWrapper.BINARY_GRIPPER_OPEN
+    ) -> dict[str, Any]:
+        obs: dict[str, Any] = {}
+        for waypoint in waypoints:
+            obs = self.step(self._action(waypoint, gripper))
         return obs
 
     def approach(self, geom_name: str):
-        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.2, num_waypoints=5)
+        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.2, num_waypoints=60)
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_OPEN)
 
     def grasp(self, geom_name: str):
-
-        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=-0.01, num_waypoints=15)
+        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.09, num_waypoints=60)
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_OPEN)
 
-        self.step(self._action(Pose(), GripperWrapper.BINARY_GRIPPER_CLOSED))
+        for _ in range(4):
+            self.step(self._action(self._robot.get_cartesian_position(), GripperWrapper.BINARY_GRIPPER_CLOSED))
 
-        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.2, num_waypoints=15)
+        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.2, num_waypoints=60)
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_CLOSED)
 
     def move_home(self):
         end_eff_pose = self._robot.get_cartesian_position()
-        waypoints = self.generate_waypoints(end_eff_pose, self.home_pose, num_waypoints=10)
+        waypoints = self.generate_waypoints(end_eff_pose, self.home_pose, num_waypoints=60)
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_CLOSED)
 
     def pickup(self, geom_name: str):
@@ -80,17 +85,19 @@ def pickup(self, geom_name: str):
 
 
 def main():
-    env_fact = FR3TactoSimplePickUpSimEnvCreator()
-    env = env_fact(
-        render_mode="human",
-        delta_actions=False,
-    )
-
-    for _ in tqdm(range(100)):
-        # reset the environment
+    try:
+        from rcs_taxim.creators import FR3TaximSimplePickUpSimEnvCreator
+    except ImportError as exc:
+        msg = "This example requires the rcs_taxim extension, install it with `pip install -e extensions/rcs_taxim`."
+        raise ImportError(msg) from exc
+
+    env_fact = FR3TaximSimplePickUpSimEnvCreator()
+    env = env_fact(render_mode="human", delta_actions=False)
+
+    for _ in _progress(range(100)):
         env.reset()
         controller = PickUpDemo(env)
-        controller.pickup("yellow_box_geom")
+        controller.pickup("_box_geom")
     env.close()
 
 

extensions/rcs_taxim/pyproject.toml

@@ -0,0 +1,27 @@
+[build-system]
+requires = ["setuptools"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rcs_taxim"
+version = "0.7.2"
+description = "RCS integration of mujoco-taxim"
+dependencies = [
+  "rcs>=0.7.2",
+  "omegaconf",
+  "mujoco-taxim@git+https://github.com/utn-air/mujoco-taxim.git@norm2tex",
+]
+readme = "README.md"
+maintainers = [
+  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Seongjin Bien", email = "seongjin.bien@utn.de" },
+]
+authors = [{ name = "Seongjin Bien", email = "seongjin.bien@utn.de" }]
+requires-python = ">=3.10"
+
+[tool.black]
+line-length = 120
+target-version = ["py310"]
+
+[tool.isort]
+profile = "black"

extensions/rcs_taxim/src/rcs_taxim/__init__.py

@@ -0,0 +1 @@
+__version__ = "0.7.2"