Extends haptic scene and set defaults

JeanElsner · JeanElsner · commit e03a8aae0e56 · 2025-06-23T16:13:00.000+02:00
diff --git a/examples/assets/haptics.xml b/examples/assets/haptics.xml
@@ -4,13 +4,11 @@
     <texture name='groundplane' type='2d' builtin='checker' rgb1='.2 .3 .4' rgb2='.1 .2 .3' width='300' height='300' mark='edge' markrgb='.8 .8 .8'/>
     <material name='groundplane' texture='groundplane' texrepeat='5 5' texuniform='true' reflectance='.2'/>
   </asset>
-
-  <!-- Always initialize the free camera to point at the origin. -->
-  <statistic center='0 0 0'/>
   <default>
     <geom solimp="0.9 0.95 0.001 0.5 2" solref="0.005 1" condim="6" />
   </default>
   <worldbody>
+    <camera name="default_view" mode="targetbody" target="panda/panda_gripper/panda_rightfinger" pos="1.244 -0.603 1.202"/>
     <geom name='ground' type='plane' size='2 2 2' material='groundplane'
         friction='0.4'/>
     <light directional='true' diffuse='.7 .7 .7' pos='1 .1 2' dir='0 -.1 -2' specular='.3 .3 .3' castshadow='true'/>
@@ -21,16 +19,32 @@
     </body>
     <body pos="0.45 0 0.4" >
       <geom type="box" size=".025 .025 .025"  rgba="1 0 0 1" />
-      <joint type="slide" axis="0 1 0" range="-0.075 0.075" />
-      <joint type="slide" axis="1 0 0" range="-0.125 0.025" />
+      <joint type="slide" damping="50" axis="0 1 0" range="-0.075 0.075" />
+      <joint type="slide" damping="50" axis="1 0 0" range="-0.125 0.025" />
     </body>
-    <body pos="0.4 0.4 0.355">
-      <geom type="box" size="0.1 0.1 0.005" rgba="1 1 0 1"/>
+    <body pos="0.4 0.25 0.355">
+      <geom type="box" size="0.1 0.1 0.005" rgba="0 0 1 1"/>
     </body>
-    <body pos="0.4 0.4 0.4">
-      <geom type="sphere" size="0.04" rgba="1 1 0 1" />
+    <body pos="0.4 0.25 0.4">
+      <geom type="sphere" size="0.04" rgba="0 0 1 1" />
       <joint type="slide" axis="0 1 0" range="-0.1 0.1" />
       <joint type="slide" axis="1 0 0" range="-0.1 0.1" />
     </body>
+
+    <body pos="0.5 -0.2 0.355">
+      <geom type="box" size="0.05 0.05 0.005" rgba="0 1 0 1"/>
+      <geom type="cylinder" pos="0 0 0.02" size="0.03 0.02" rgba="0.5 1 0.5 0.3" contype="0" conaffinity="0" group="1"/>
+    </body>
+    <body pos="0.5 -0.2 0.4">
+      <geom type="cylinder" size="0.028 0.02" rgba="0 1 0 1" />
+      <joint type="slide" axis="0 0 1" range="-0.02 0" damping="10.0" stiffness="100"/>
+    </body>
+
+    <body pos="0.3 -0.2 0.4">
+        <geom type="capsule" fromto="-0.08 0 0 0.08 0 0" size="0.015" rgba="0 0.5 0 1"/>
+        <geom type="cylinder" size="0.02 0.03" rgba="0 1 0 1"/>
+        <joint type="hinge" axis="0 0 1" damping="10" armature="0.01"/>
+    </body>
+
   </worldbody>
 </mujoco>
diff --git a/examples/haptics.py b/examples/haptics.py
@@ -9,6 +9,7 @@
 import numpy as np
 from dm_control import composer, mjcf
 from dm_env import specs
+from dm_control.viewer import user_input, application
 
 from dm_robotics.panda import arm_constants, environment
 from dm_robotics.panda import parameters as params
@@ -28,6 +29,31 @@ def step(self, timestep: dm_env.TimeStep) -> np.ndarray:
     return action
 
 
+class Obs(utils.ObservationPlot):
+  """Selects torque observation to render by default."""
+  def _init_buffer(self):
+    super()._init_buffer()
+    self._obs_idx = self._obs_keys.index('panda_torque')
+    self.reset_data()
+    self.update_title()
+
+
+class App(utils.ApplicationWithPlot):
+  """Sets default window size, camera and observation plot."""
+  def __init__(self):
+    super().__init__('Haptic Demo', 1920, 1080)
+
+  def _perform_deferred_reload(self, params):
+    application.Application._perform_deferred_reload(self, params)
+    cmp = Obs(self._runtime)
+    self._renderer.components += cmp
+    self._renderer.components += utils.ActionPlot(self._runtime)
+    self._renderer.components += utils.RewardPlot(self._runtime)
+    self._input_map.bind(cmp.next_obs, user_input.KEY_F4)
+    self._input_map.bind(cmp.prev_obs, user_input.KEY_F3)
+    self._viewer._camera_select.select_next()
+
+
 if __name__ == '__main__':
   # We initialize the default configuration for logging
   # and argument parsing. These steps are optional.
@@ -54,5 +80,5 @@ def step(self, timestep: dm_env.TimeStep) -> np.ndarray:
     # Initialize the agent.
     agent = Agent(env.action_spec())
     # Visualize the simulation to confirm physical interaction.
-    app = utils.ApplicationWithPlot()
+    app = App()
     app.launch(env, policy=agent.step)
diff --git a/pyproject.toml b/pyproject.toml
@@ -19,12 +19,12 @@ authors = [
     { name = "Jean Elsner", email = "jean.elsner@tum.de" },
 ]
 dependencies = [
-  "dm-robotics-moma>=0.6.0",
-  "dm-robotics-controllers>=0.6.0",
-  "dm-robotics-agentflow>=0.6.0",
-  "dm-robotics-manipulation>=0.6.0",
-  "dm-robotics-geometry>=0.6.0",
-  "dm-robotics-transformations>=0.6.0",
+  "dm-robotics-moma>=0.9.0",
+  "dm-robotics-controllers>=0.9.0",
+  "dm-robotics-agentflow>=0.9.0",
+  "dm-robotics-manipulation>=0.9.0",
+  "dm-robotics-geometry>=0.9.0",
+  "dm-robotics-transformations>=0.9.0",
   "dm_env",
   "panda-python>=0.7.4",
 ]
