Source code for dm_robotics.panda.parameters

"""Contains dataclasses holding parameter configurations."""
from __future__ import annotations

import dataclasses
from typing import Optional, Sequence

from dm_control import mjcf
from dm_robotics.moma import effector, sensor
from dm_robotics.moma.models.end_effectors.robot_hands import robot_hand

from . import arm_constants




@dataclasses.dataclass
class GripperParams:
  """Parameters describing a custom gripper."""
  model: robot_hand.RobotHand
  effector: effector.Effector
  sensors: Optional[Sequence[sensor.Sensor]] = None





@dataclasses.dataclass
class CollisionBehavior:
  """Parameters to define the collision behavior of the real robot."""
  lower_torque_thresholds: list[float] = dataclasses.field(
      default_factory=lambda: [50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0])
  upper_torque_thresholds: list[float] = dataclasses.field(
      default_factory=lambda: [50.0, 50.0, 50.0, 50.0, 50.0, 50.0, 50.0])
  lower_force_thresholds: list[float] = dataclasses.field(
      default_factory=lambda: [50.0, 50.0, 50.0, 50.0, 50.0, 50.0])
  upper_force_thresholds: list[float] = dataclasses.field(
      default_factory=lambda: [50.0, 50.0, 50.0, 50.0, 50.0, 50.0])





@dataclasses.dataclass
class RobotParams:
  """Parameters used for building the Panda robot model.

  Args:
    name: Name of the robot, used as prefix in MoMa and namespace in `MJCF`.
    pose: 6 DOF pose (position, euler angles) of the Panda's base.
    joint_values: Initial joint values of the arm.
    attachment_frame: The frame the robot will be attached to.
      If `None` the `Arena`'s default attachment frame is used.
    control_frame: MoMa `Effector`s and `Sensor`s will use this frame
      as a reference where applicable or use world frame if `None`.
    actuation: Actuation mode.
    cartesian: Use `Effector` with cartesian commands.
    has_hand: Set to true to use the Panda Hand.
    robot_ip: Robot IP or hostname. If `None` hardware in the loop is not used.
    joint_stiffness: Joint stiffness of the robot used in actuation.
    joint_damping: Joint damping of the robot used in actuation.
    collision_behavior: configures the collision behavior of the real robot.
    enforce_realtime: enforce realtime priority of real robot control threat
  """
  name: str = 'panda'
  pose: Optional[Sequence[float]] = None
  joint_positions: Sequence[float] = (0, -0.785, 0, -2.356, 0, 1.571, 0.785)
  attach_site: Optional[mjcf.Element] = None
  control_frame: Optional[mjcf.Element] = None
  actuation: arm_constants.Actuation = arm_constants.Actuation.CARTESIAN_VELOCITY
  has_hand: bool = True
  gripper: Optional[GripperParams] = None
  robot_ip: Optional[str] = None
  joint_stiffness: Sequence[float] = (600, 600, 600, 600, 250, 150, 50)
  joint_damping: Sequence[float] = (50, 50, 50, 20, 20, 20, 10)
  collision_behavior: CollisionBehavior = dataclasses.field(
      default_factory=lambda: CollisionBehavior())
  enforce_realtime: bool = False