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yuecideng merged 2 commits into from
Jul 2, 2026
Merged

Use URRobotCfg in demo UR robots #348

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b50a3ac
enhance(sim): use URRobotCfg in demo UR robots
yuecideng Jul 2, 2026
8442cf0
wip
yuecideng Jul 2, 2026
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80 changes: 41 additions & 39 deletions examples/sim/demo/pick_up_cloth.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,20 +31,17 @@
from embodichain.lab.sim.objects import Robot, SoftObject
from embodichain.lab.sim.utility.action_utils import interpolate_with_distance
from embodichain.lab.sim.shapes import MeshCfg
from embodichain.lab.sim.solvers import PytorchSolverCfg
from embodichain.data import get_data_path
from embodichain.utils import logger
from embodichain.lab.sim.cfg import (
RenderCfg,
JointDrivePropertiesCfg,
RobotCfg,
RigidObjectCfg,
RigidBodyAttributesCfg,
LightCfg,
ClothObjectCfg,
ClothPhysicalAttributesCfg,
URDFCfg,
)
from embodichain.lab.sim.robots import URRobotCfg
import os
from embodichain.lab.sim.shapes import MeshCfg, CubeCfg
import tempfile
Expand All @@ -61,42 +58,47 @@ def create_robot(sim: SimulationManager, position=[0.0, 0.0, 0.0]):
Returns:
Robot: The configured robot instance added to the simulation.
"""
# Retrieve URDF paths for the robot arm and hand
ur10_urdf_path = get_data_path("UniversalRobots/UR10/UR10.urdf")
gripper_urdf_path = get_data_path("DH_PGC_140_50_M/DH_PGC_140_50_M.urdf")
# Configure the robot with its components and control properties
cfg = RobotCfg(
uid="UR10",
urdf_cfg=URDFCfg(
components=[
{"component_type": "arm", "urdf_path": ur10_urdf_path},
{"component_type": "hand", "urdf_path": gripper_urdf_path},
]
),
drive_pros=JointDrivePropertiesCfg(
stiffness={"JOINT[0-9]": 1e4, "FINGER[1-2]": 1e2},
damping={"JOINT[0-9]": 1e3, "FINGER[1-2]": 1e1},
max_effort={"JOINT[0-9]": 1e5, "FINGER[1-2]": 1e3},
drive_type="force",
),
control_parts={
"arm": ["JOINT[0-9]"],
"hand": ["FINGER[1-2]"],
},
solver_cfg={
"arm": PytorchSolverCfg(
end_link_name="ee_link",
root_link_name="base_link",
tcp=[
[0.0, 1.0, 0.0, 0.0],
[-1.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.12],
[0.0, 0.0, 0.0, 1.0],
],
)
},
init_qpos=[0.0, -np.pi / 2, -np.pi / 2, np.pi / 2, -np.pi / 2, 0.0, 0.0, 0.0],
init_pos=position,
cfg = URRobotCfg.from_dict(
{
"robot_type": "ur10",
"uid": "UR10",
"urdf_cfg": {
"components": [
{"component_type": "hand", "urdf_path": gripper_urdf_path},
]
},
"drive_pros": {
"stiffness": {"FINGER[1-2]": 1e2},
"damping": {"FINGER[1-2]": 1e1},
"max_effort": {"FINGER[1-2]": 1e3},
"drive_type": "force",
},
"control_parts": {
"hand": ["FINGER[1-2]"],
},
"solver_cfg": {
"arm": {
"tcp": [
[0.0, 1.0, 0.0, 0.0],
[-1.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.12],
[0.0, 0.0, 0.0, 1.0],
]
}
},
"init_qpos": [
0.0,
-np.pi / 2,
-np.pi / 2,
np.pi / 2,
-np.pi / 2,
0.0,
0.0,
0.0,
],
"init_pos": position,
}
)
return sim.add_robot(cfg=cfg)

Expand Down
45 changes: 15 additions & 30 deletions examples/sim/demo/press_softbody.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,20 +30,18 @@
from embodichain.lab.sim.objects import Robot, SoftObject
from embodichain.lab.sim.utility.action_utils import interpolate_with_distance
from embodichain.lab.sim.shapes import MeshCfg
from embodichain.lab.sim.solvers import PytorchSolverCfg
from embodichain.data import get_data_path
from embodichain.utils import logger
from embodichain.lab.sim.cfg import (
RenderCfg,
RobotCfg,
LightCfg,
SoftObjectCfg,
SoftbodyVoxelAttributesCfg,
SoftbodyPhysicalAttributesCfg,
URDFCfg,
)
from embodichain.lab.gym.utils.gym_utils import add_env_launcher_args_to_parser
from embodichain.lab.sim.shapes import MeshCfg
from embodichain.lab.sim.robots import URRobotCfg


def parse_arguments():
Expand Down Expand Up @@ -92,33 +90,20 @@ def create_robot(sim: SimulationManager):
Returns:
Robot: The configured robot instance added to the simulation.
"""
# Retrieve URDF paths for the robot arm and hand
ur10_urdf_path = get_data_path("UniversalRobots/UR10/UR10.urdf")

# Configure the robot with its components and control properties
cfg = RobotCfg(
uid="UR10",
urdf_cfg=URDFCfg(
components=[{"component_type": "arm", "urdf_path": ur10_urdf_path}]
),
control_parts={
"arm": ["Joint[0-9]"],
},
solver_cfg={
"arm": PytorchSolverCfg(
end_link_name="ee_link",
root_link_name="base_link",
tcp=np.eye(4),
)
},
init_qpos=[
0.0,
-np.pi / 2,
-np.pi / 2,
np.pi / 2,
-np.pi / 2,
0.0,
],
cfg = URRobotCfg.from_dict(
{
"robot_type": "ur10",
"uid": "UR10",
"solver_cfg": {"arm": {"tcp": np.eye(4)}},
"init_qpos": [
0.0,
-np.pi / 2,
-np.pi / 2,
np.pi / 2,
-np.pi / 2,
0.0,
],
}
)
return sim.add_robot(cfg=cfg)

Expand Down
110 changes: 50 additions & 60 deletions examples/sim/demo/scoop_ice.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,22 +30,20 @@
from embodichain.lab.sim.objects import Robot, RigidObject, RigidObjectGroup
from embodichain.lab.sim.cfg import (
RenderCfg,
JointDrivePropertiesCfg,
RobotCfg,
URDFCfg,
RigidObjectCfg,
RigidBodyAttributesCfg,
ArticulationCfg,
RigidObjectGroupCfg,
JointDrivePropertiesCfg,
LightCfg,
)
from embodichain.lab.sim.material import VisualMaterialCfg
from embodichain.lab.sim.utility.action_utils import interpolate_with_distance
from embodichain.lab.sim.shapes import MeshCfg, CubeCfg
from embodichain.lab.sim.solvers import PytorchSolverCfg
from embodichain.data import get_data_path
from embodichain.utils import logger
from embodichain.lab.gym.utils.gym_utils import add_env_launcher_args_to_parser
from embodichain.lab.sim.robots import URRobotCfg


def initialize_simulation(args):
Expand Down Expand Up @@ -112,8 +110,6 @@ def create_robot(sim):
Returns:
Robot: The configured robot instance added to the simulation.
"""
# Retrieve URDF paths for the robot arm and hand
ur10_urdf_path = get_data_path("UniversalRobots/UR10/UR10.urdf")
hand_urdf_path = get_data_path(
"BrainCoHandRevo1/BrainCoLeftHand/BrainCoLeftHand.urdf"
)
Expand All @@ -122,61 +118,55 @@ def create_robot(sim):
hand_attach_xpos = np.eye(4)
hand_attach_xpos[:3, :3] = R.from_rotvec([90, 0, 0], degrees=True).as_matrix()

# Configure the robot with its components and control properties
cfg = RobotCfg(
uid="ur10_with_brainco",
urdf_cfg=URDFCfg(
components=[
{"component_type": "arm", "urdf_path": ur10_urdf_path},
{
"component_type": "hand",
"urdf_path": hand_urdf_path,
"transform": hand_attach_xpos,
},
]
),
control_parts={
"arm": ["JOINT[0-9]"],
"hand": [
"LEFT_HAND_THUMB1",
"LEFT_HAND_THUMB2",
"LEFT_HAND_INDEX",
"LEFT_HAND_MIDDLE",
"LEFT_HAND_RING",
"LEFT_HAND_PINKY",
cfg = URRobotCfg.from_dict(
{
"robot_type": "ur10",
"uid": "ur10_with_brainco",
"urdf_cfg": {
"components": [
{
"component_type": "hand",
"urdf_path": hand_urdf_path,
"transform": hand_attach_xpos,
},
]
},
"control_parts": {
"hand": [
"LEFT_HAND_THUMB1",
"LEFT_HAND_THUMB2",
"LEFT_HAND_INDEX",
"LEFT_HAND_MIDDLE",
"LEFT_HAND_RING",
"LEFT_HAND_PINKY",
],
},
"drive_pros": {
"stiffness": {"LEFT_[A-Z|_]+[0-9]?": 1e2},
"damping": {"LEFT_[A-Z|_]+[0-9]?": 1e1},
"max_effort": {"LEFT_[A-Z|_]+[0-9]?": 1e3},
"drive_type": "force",
},
"solver_cfg": {"arm": {"tcp": np.eye(4)}},
"init_qpos": [
0.0,
-np.pi / 2,
-np.pi / 2,
2.5,
-np.pi / 2,
0.0,
0.0,
0.0,
0.0,
0.0,
1.5,
-0.00016,
-0.00010,
-0.00013,
-0.00009,
0.0,
],
},
drive_pros=JointDrivePropertiesCfg(
stiffness={"JOINT[0-9]": 1e4, "LEFT_[A-Z|_]+[0-9]?": 1e2},
damping={"JOINT[0-9]": 1e3, "LEFT_[A-Z|_]+[0-9]?": 1e1},
max_effort={"JOINT[0-9]": 1e5, "LEFT_[A-Z|_]+[0-9]?": 1e3},
drive_type="force",
),
solver_cfg={
"arm": PytorchSolverCfg(
end_link_name="ee_link",
root_link_name="base_link",
tcp=np.eye(4),
)
},
init_qpos=[
0.0,
-np.pi / 2,
-np.pi / 2,
2.5,
-np.pi / 2,
0.0,
0.0,
0.0,
0.0,
0.0,
1.5,
-0.00016,
-0.00010,
-0.00013,
-0.00009,
0.0,
],
}
)

return sim.add_robot(cfg=cfg)
Expand Down
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