ft[robotmodels]: Modifies examples and tests to work with robot models.

examples/.gitignore

@@ -1 +1,2 @@
 __pycache__
+panda

examples/dual_arm.py

@@ -5,7 +5,7 @@
 
 def run_dual_arm(n_steps=5000, render=False, goal=True, obstacles=True):
     robots = [
-        GenericUrdfReacher(urdf="dual_arm.urdf", mode="vel"),
+        GenericUrdfReacher(urdf="dualArm.urdf", mode="vel"),
     ]
     env = gym.make(
         "urdf-env-v0",

examples/mobile_reacher.py

@@ -5,7 +5,7 @@
 
 def run_mobile_reacher(n_steps=1000, render=False, goal=True, obstacles=True):
     robots = [
-        GenericUrdfReacher(urdf="mobilePandaWithGripper.urdf", mode="vel"),
+        GenericUrdfReacher(urdf="mobilePanda_with_gripper.urdf", mode="vel"),
     ]
     env = gym.make(
         "urdf-env-v0",

examples/panda_mujoco.py

@@ -1,6 +1,9 @@
-import numpy as np
+import os
 import sys
+import shutil
+import numpy as np
 import gymnasium as gym
+from robotmodels.utils.robotmodel import RobotModel, LocalRobotModel
 from urdfenvs.generic_mujoco.generic_mujoco_env import GenericMujocoEnv
 from urdfenvs.generic_mujoco.generic_mujoco_robot import GenericMujocoRobot
 from urdfenvs.robots.generic_urdf import GenericUrdfReacher
@@ -10,10 +13,16 @@
 
 def run_panda(n_steps: int = 1000, render: bool = True, physics_engine: str = "bullet"):
     obstacles = [sphereObst1, sphereObst2, cylinder_obstacle] + wall_obstacles
+    shutil.rmtree('panda')
+    robot_model_original = RobotModel('panda', 'panda_scene')
+    robot_model_original.copy_model(os.path.join(os.getcwd(), 'panda'))
+    robot_model = LocalRobotModel('panda', 'panda_scene')
+
+    xml_file = robot_model.get_xml_path()
     if physics_engine == "mujoco":
 
         robots  = [
-            GenericMujocoRobot(xml_file="panda_scene.xml", mode="vel"),
+            GenericMujocoRobot(xml_file=xml_file, mode="vel"),
         ]
         env = GenericMujocoEnv(robots, obstacles, render=render)
     if physics_engine == "bullet":

examples/panda_reacher.py

@@ -1,13 +1,16 @@
 import gymnasium as gym
 import numpy as np
+from robotmodels.utils.robotmodel import RobotModel
 from urdfenvs.robots.generic_urdf import GenericUrdfReacher
 from urdfenvs.scene_examples.goal import dynamicGoal
 from urdfenvs.scene_examples.obstacles import dynamicSphereObst2
 from urdfenvs.urdf_common.urdf_env import UrdfEnv
 
 def run_panda(n_steps=1000, render=False, goal=True, obstacles=True):
+    robot_model = RobotModel('panda', model_name='panda_with_gripper')
+    urdf_file = robot_model.get_urdf_path()
     robots = [
-        GenericUrdfReacher(urdf="panda_with_gripper.urdf", mode="vel"),
+        GenericUrdfReacher(urdf=urdf_file, mode="vel"),
     ]
     env: UrdfEnv = gym.make(
         "urdf-env-v0",
@@ -19,7 +22,7 @@ def run_panda(n_steps=1000, render=False, goal=True, obstacles=True):
     env.add_obstacle(dynamicSphereObst2)
     env.set_spaces()
     action = np.ones(env.n()) * 0.1
-    ob = env.reset()
+    ob = env.reset(pos=robot_model.home_cfg())
     env.add_collision_link(
             robot_index=0,
             link_index=5,

examples/tiago.py

@@ -20,7 +20,7 @@ def run_tiago(n_steps=1000, render=False, goal=True, obstacles=True):
 
     robots = [
         GenericDiffDriveRobot(
-            urdf="tiago_dual.urdf",
+            urdf="tiago.urdf",
             mode="vel",
             actuated_wheels=["wheel_right_joint", "wheel_left_joint"],
             castor_wheels=[

tests/test_acc_envs.py

@@ -28,7 +28,7 @@ def nLinkRobotEnv():
 
 @pytest.fixture
 def dualArmEnv():
-    robot = GenericUrdfReacher(urdf="dual_arm.urdf", mode="acc")
+    robot = GenericUrdfReacher(urdf="dualArm.urdf", mode="acc")
     init_pos = np.zeros(robot.n())
     init_vel = np.zeros(robot.n())
     return (robot, init_pos, init_vel)
@@ -72,7 +72,7 @@ def tiagoReacherEnv():
     init_pos[3] = 0.1
     init_vel = np.zeros(23)
     robot = GenericDiffDriveRobot(
-        urdf="tiago_dual.urdf",
+        urdf="tiago.urdf",
         mode="acc",
         actuated_wheels=["wheel_right_joint", "wheel_left_joint"],
         castor_wheels=[

tests/test_vel_envs.py

@@ -65,7 +65,7 @@ def tiagoReacherEnv():
     init_pos[3] = 0.1
     init_vel = np.zeros(23)
     robot = GenericDiffDriveRobot(
-        urdf="tiago_dual.urdf",
+        urdf="tiago.urdf",
         mode="vel",
         actuated_wheels=["wheel_right_joint", "wheel_left_joint"],
         castor_wheels=[
@@ -112,7 +112,7 @@ def priusEnv():
 @pytest.fixture
 def dualArmEnv():
     from urdfenvs.robots.generic_urdf import GenericUrdfReacher
-    robot = GenericUrdfReacher(urdf="dual_arm.urdf", mode="vel")
+    robot = GenericUrdfReacher(urdf="dualArm.urdf", mode="vel")
     init_pos = np.zeros(robot.n())
     init_vel = np.zeros(robot.n())
     return (robot, init_pos, init_vel)