feat(robot): add FrankaPandaCfg and dual-arm coordinated placement tutorial#362
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…torial Add FrankaPandaCfg for Franka Emika Panda with PandaWithHand URDF, register it in the dual-arm framework, and create a coordinated placement tutorial script demonstrating dual-arm Franka operation with PytorchSolver. - Add FrankaPandaCfg: 7-DOF arm + 2 finger joints, PytorchSolverCfg with Franka TCP (45 deg Z-rotation, 0.1034m Z-offset) - Register 'franka' in DualArmRobotCfg._BASE_ROBOT_REGISTRY - Add coordinated_placement_franka.py tutorial script - Export FrankaPandaCfg from robots __init__.py
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Pull request overview
This PR adds Franka Emika Panda support to EmbodiChain’s dual-arm robot composition framework and introduces a new dual-arm coordinated placement tutorial that mirrors the existing UR5 demo structure.
Changes:
- Added a new single-arm
FrankaPandaCfgrobot configuration using a Panda-with-hand URDF andPytorchSolverCfg. - Extended the dual-arm base robot registry to support
base_robot="franka"viaDualArmRobotCfg.from_dict(...). - Added a new tutorial script demonstrating dual-arm coordinated placement with Franka arms and bread/pan meshes, and exported
FrankaPandaCfgfrom the robots package.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| scripts/tutorials/atomic_action/coordinated_placement_franka.py | New tutorial/demo for dual-arm Franka coordinated placement planning/execution. |
| embodichain/lab/sim/robots/franka_panda.py | Introduces FrankaPandaCfg (URDF wiring, control parts, solver cfg, defaults). |
| embodichain/lab/sim/robots/dual_arm.py | Registers "franka" in _BASE_ROBOT_REGISTRY so dual-arm composition can resolve Franka. |
| embodichain/lab/sim/robots/init.py | Exports FrankaPandaCfg from the robots package. |
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| #: Registry mapping a ``base_robot`` key to ``(single-arm cfg class, init dict)``. | ||
| #: Adding a new single-arm robot here is all that is needed to make it | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaRobotCfg, {})``. | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaPandaCfg, {"robot_type": "panda"})``. | ||
| _BASE_ROBOT_REGISTRY: Dict[str, tuple] = { | ||
| "franka": (FrankaPandaCfg, {"robot_type": "panda"}), | ||
| "ur3": (URRobotCfg, {"robot_type": "ur3"}), |
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| @configclass | ||
| class FrankaPandaCfg(RobotCfg): | ||
| """Configuration for the Franka Emika Panda robot with Panda hand. | ||
|
|
||
| The PandaWithHand URDF includes both the 7-DOF arm and the parallel-jaw | ||
| gripper in a single file. The solver defaults to | ||
| :class:`~embodichain.lab.sim.solvers.PytorchSolverCfg`. | ||
|
|
||
| Example: | ||
|
|
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| cfg = FrankaPandaCfg.from_dict({"robot_type": "panda"}) | ||
| robot = sim.add_robot(cfg=cfg) | ||
| """ | ||
|
|
||
| robot_type: str = "panda" |
Co-authored-by: matafela <chenjian@dexforce.com>
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| full[:, :n_approach, arm_joint_ids] = approach_arm | ||
| full[:, :n_approach, hand_joint_ids] = hand_open | ||
| full[:, n_approach : n_approach + n_close, arm_joint_ids] = ( | ||
| grasp_arm_qpos.unsqueeze(1) | ||
| ) | ||
| full[:, n_approach : n_approach + n_close, hand_joint_ids] = hand_close_path | ||
| full[:, n_approach + n_close :, arm_joint_ids] = lift_arm | ||
| full[:, n_approach + n_close :, hand_joint_ids] = hand_close |
| # ------------------------------------------------------------------ # | ||
| sim = initialize_simulation(args) | ||
| robot = create_robot(sim) | ||
| print("**********tcp xpos:\n", robot._solvers["arm"].tcp_xpos) |
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| self.control_parts = { | ||
| "arm": [f"fr3_joint{i}" for i in range(1, 8)], | ||
| "hand": ["fr3_finger_joint1", "fr3_finger_joint2"], | ||
| } | ||
|
|
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| [1, 0, 0.0, 0.0], | ||
| [0, 1, 0.0, 0.0], | ||
| [0.0, 0.0, 1.0, 0.0], | ||
| [0.0, 0.0, 0.0, 1.0], | ||
| ], |
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| @configclass | ||
| class FrankaPandaCfg(RobotCfg): | ||
| """Configuration for the Franka Emika Panda robot with Panda hand. | ||
|
|
||
| The PandaWithHand URDF includes both the 7-DOF arm and the parallel-jaw |
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| #: Registry mapping a ``base_robot`` key to ``(single-arm cfg class, init dict)``. | ||
| #: Adding a new single-arm robot here is all that is needed to make it | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaRobotCfg, {})``. | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaPandaCfg, {"robot_type": "panda"})``. | ||
| _BASE_ROBOT_REGISTRY: Dict[str, tuple] = { | ||
| "franka": (FrankaPandaCfg, {"robot_type": "panda"}), |
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| Franka/ | ||
| Panda/ | ||
| Panda.urdf | ||
| PandaHand.urdf | ||
| PandaWithHand.urdf | ||
| FR3/ | ||
| fr3.urdf |
…-limits' into feat/franka-panda-dual-arm
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| self.control_parts = { | ||
| "arm": [f"fr3_joint{i}" for i in range(1, 8)], | ||
| "hand": ["fr3_finger_joint1", "fr3_finger_joint2"], | ||
| } | ||
|
|
||
| self.solver_cfg = { | ||
| "arm": PytorchSolverCfg( | ||
| end_link_name="fr3_hand_tcp", | ||
| root_link_name="base", | ||
| tcp=[ | ||
| [1, 0, 0.0, 0.0], | ||
| [0, 1, 0.0, 0.0], | ||
| [0.0, 0.0, 1.0, 0.0], | ||
| [0.0, 0.0, 0.0, 1.0], | ||
| ], | ||
| num_samples=30, | ||
| ), | ||
| } |
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| self.drive_pros = JointDrivePropertiesCfg( | ||
| stiffness={ | ||
| "fr3_joint[1-7]": 1e4, | ||
| "fr3_finger_joint[1-2]": 1e3, | ||
| }, | ||
| damping={ | ||
| "fr3_joint[1-7]": 1e3, | ||
| "fr3_finger_joint[1-2]": 1e2, | ||
| }, | ||
| max_effort={ | ||
| "fr3_joint[1-7]": 1e5, | ||
| "fr3_finger_joint[1-2]": 1e4, | ||
| }, | ||
| ) |
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| chain = create_pk_serial_chain( | ||
| urdf_path=self._pk_urdf_path, | ||
| device=device, | ||
| end_link_name="fr3_hand_tcp", | ||
| root_link_name="base", | ||
| ) |
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| #: Registry mapping a ``base_robot`` key to ``(single-arm cfg class, init dict)``. | ||
| #: Adding a new single-arm robot here is all that is needed to make it | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaRobotCfg, {})``. | ||
| #: dual-arm-able: e.g. ``"franka": (FrankaPandaCfg, {"robot_type": "panda"})``. | ||
| _BASE_ROBOT_REGISTRY: Dict[str, tuple] = { | ||
| "franka": (FrankaPandaCfg, {"robot_type": "panda"}), |
| # ------------------------------------------------------------------ # | ||
| sim = initialize_simulation(args) | ||
| robot = create_robot(sim) | ||
| print("**********tcp xpos:\n", robot._solvers["arm"].tcp_xpos) |
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| """Configuration for the Franka Emika Panda robot with Panda hand. | ||
|
|
||
| The PandaWithHand URDF includes both the 7-DOF arm and the parallel-jaw | ||
| gripper in a single file. The solver defaults to | ||
| :class:`~embodichain.lab.sim.solvers.PytorchSolverCfg`. |
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| Franka/ | ||
| Panda/ | ||
| Panda.urdf | ||
| PandaHand.urdf | ||
| PandaWithHand.urdf | ||
| FR3/ |
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| from embodichain.lab.sim.cfg import ( | ||
| JointDrivePropertiesCfg, | ||
| RigidBodyAttributesCfg, | ||
| RobotCfg, | ||
| URDFCfg, | ||
| ) |
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| self.control_parts = { | ||
| "arm": [f"fr3_joint{i}" for i in range(1, 8)], | ||
| "hand": ["fr3_finger_joint1", "fr3_finger_joint2"], | ||
| } | ||
|
|
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| self.solver_cfg = { | ||
| "arm": PytorchSolverCfg( | ||
| end_link_name="fr3_hand_tcp", | ||
| root_link_name="base", | ||
| tcp=[ | ||
| [1, 0, 0.0, 0.0], | ||
| [0, 1, 0.0, 0.0], | ||
| [0.0, 0.0, 1.0, 0.0], | ||
| [0.0, 0.0, 0.0, 1.0], | ||
| ], | ||
| num_samples=30, | ||
| ), | ||
| } |
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| self.drive_pros = JointDrivePropertiesCfg( | ||
| stiffness={ | ||
| "fr3_joint[1-7]": 1e4, | ||
| "fr3_finger_joint[1-2]": 1e3, | ||
| }, | ||
| damping={ | ||
| "fr3_joint[1-7]": 1e3, | ||
| "fr3_finger_joint[1-2]": 1e2, | ||
| }, | ||
| max_effort={ | ||
| "fr3_joint[1-7]": 1e5, | ||
| "fr3_finger_joint[1-2]": 1e4, | ||
| }, | ||
| ) |
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| chain = create_pk_serial_chain( | ||
| urdf_path=self._pk_urdf_path, | ||
| device=device, | ||
| end_link_name="fr3_hand_tcp", | ||
| root_link_name="base", | ||
| ) | ||
| return {"arm": chain} |
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| #: dual-arm-able: e.g. ``"franka": (FrankaPandaCfg, {"robot_type": "panda"})``. | ||
| _BASE_ROBOT_REGISTRY: Dict[str, tuple] = { | ||
| "franka": (FrankaPandaCfg, {"robot_type": "panda"}), | ||
| "ur3": (URRobotCfg, {"robot_type": "ur3"}), |
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| Franka/ | ||
| Panda/ | ||
| Panda.urdf | ||
| PandaHand.urdf | ||
| PandaWithHand.urdf | ||
| FR3/ | ||
| fr3.urdf |
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| @configclass | ||
| class FrankaPandaCfg(RobotCfg): | ||
| """Configuration for the Franka Emika Panda robot with Panda hand. | ||
|
|
||
| The PandaWithHand URDF includes both the 7-DOF arm and the parallel-jaw | ||
| gripper in a single file. The solver defaults to | ||
| :class:`~embodichain.lab.sim.solvers.PytorchSolverCfg`. | ||
|
|
||
| Example: | ||
|
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| cfg = FrankaPandaCfg.from_dict({"robot_type": "panda"}) | ||
| robot = sim.add_robot(cfg=cfg) | ||
| """ | ||
|
|
||
| robot_type: str = "panda" |
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| self.control_parts = { | ||
| "arm": [f"fr3_joint{i}" for i in range(1, 8)], | ||
| "hand": ["fr3_finger_joint1", "fr3_finger_joint2"], | ||
| } |
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| self.solver_cfg = { | ||
| "arm": PytorchSolverCfg( | ||
| end_link_name="fr3_hand_tcp", | ||
| root_link_name="base", | ||
| tcp=[ | ||
| [1, 0, 0.0, 0.0], | ||
| [0, 1, 0.0, 0.0], | ||
| [0.0, 0.0, 1.0, 0.0], | ||
| [0.0, 0.0, 0.0, 1.0], | ||
| ], | ||
| num_samples=30, | ||
| ), | ||
| } |
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| self.drive_pros = JointDrivePropertiesCfg( | ||
| stiffness={ | ||
| "fr3_joint[1-7]": 1e4, | ||
| "fr3_finger_joint[1-2]": 1e3, | ||
| }, | ||
| damping={ | ||
| "fr3_joint[1-7]": 1e3, | ||
| "fr3_finger_joint[1-2]": 1e2, | ||
| }, | ||
| max_effort={ | ||
| "fr3_joint[1-7]": 1e5, | ||
| "fr3_finger_joint[1-2]": 1e4, | ||
| }, | ||
| ) |
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| chain = create_pk_serial_chain( | ||
| urdf_path=self._pk_urdf_path, | ||
| device=device, | ||
| end_link_name="fr3_hand_tcp", | ||
| root_link_name="base", | ||
| ) |
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| from embodichain.lab.sim.cfg import ( | ||
| JointDrivePropertiesCfg, | ||
| RigidBodyAttributesCfg, | ||
| RobotCfg, | ||
| URDFCfg, | ||
| ) |
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| @configclass | ||
| class FrankaPandaCfg(RobotCfg): | ||
| """Configuration for the Franka Emika Panda robot with Panda hand. | ||
|
|
||
| The PandaWithHand URDF includes both the 7-DOF arm and the parallel-jaw | ||
| gripper in a single file. The solver defaults to | ||
| :class:`~embodichain.lab.sim.solvers.PytorchSolverCfg`. | ||
|
|
||
| Example: | ||
|
|
||
| cfg = FrankaPandaCfg.from_dict({"robot_type": "panda"}) | ||
| robot = sim.add_robot(cfg=cfg) | ||
| """ |
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| Example: | ||
|
|
||
| cfg = FrankaPandaCfg.from_dict({"robot_type": "panda"}) | ||
| robot = sim.add_robot(cfg=cfg) | ||
| """ |
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| data_descriptor = o3d.data.DataDescriptor( | ||
| os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, robot_assets, "FrankaV2.zip"), | ||
| "f0675b9da98126bc3d4e18c98ef5e06c", | ||
| os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, robot_assets, "FrankaV3.zip"), | ||
| "ec53536615ddc1c44660f2d66fdf82ae", |
skywhite1024
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that referenced
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Jul 10, 2026
…torial (#362) Co-authored-by: Chen Jian <mtfl1996@outlook.com> Co-authored-by: matafela <chenjian@dexforce.com>
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Description
This PR adds Franka Emika Panda robot support to the dual-arm framework and a coordinated placement tutorial demonstrating dual-arm Franka operation with PytorchSolver.
Changes
FrankaPandaCfg (
embodichain/lab/sim/robots/franka_panda.py): Single-arm Franka config with PandaWithHand URDF (7-DOF arm Joint1–Joint7 + 2 finger joints), using PytorchSolverCfg with Franka TCP (45° Z-rotation, 0.1034m Z-offset). Default init_qpos from Isaac Lab reference.Dual-arm registry (
embodichain/lab/sim/robots/dual_arm.py): Register"franka"in_BASE_ROBOT_REGISTRYsoDualArmRobotCfg.from_dict({"base_robot": "franka", ...})works.Coordinated placement tutorial (
scripts/tutorials/atomic_action/coordinated_placement_franka.py): Demonstrates dual-arm Franka coordinated placement with bread/pan meshes, following the same structure as the existing UR5 version.Exports (
embodichain/lab/sim/robots/__init__.py): ExportFrankaPandaCfg.Type of change
Checklist
black .command to format the code base.