Adds asset configs for Kinova and Rethink Robotics arms (#485)

# Description

This MR adds the following new asset configs:

* `KINOVA_JACO2_N6S300_CFG`: Kinova Jaco2 (6-Dof) arm with three-finger
gripper
* `KINOVA_JACO2_N7S300_CFG`: Kinova Jaco2 (7-Dof) arm with three-finger
gripper
* `KINOVA_GEN3_N7_CFG`: Kinova Gen3 (7-Dof) arm with no gripper
* `SAWYER_CFG`: Sawyer arm with no gripper

## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

![arm_ok](https://github.com/isaac-orbit/orbit/assets/12863862/18c98444-ce00-4324-a131-0cde9cd3afe0)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.orbit_assets/config/extension.toml

 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "0.1.1"
+version = "0.1.2"
 
 # Description
 title =  "ORBIT Assets"

source/extensions/omni.isaac.orbit_assets/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.1.2 (2024-04-03)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added configurations for different arms from Kinova Robotics and Rethink Robotics.
+
+
 0.1.1 (2024-03-11)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/__init__.py

@@ -35,7 +35,9 @@ from .allegro import *
 from .anymal import *
 from .cartpole import *
 from .franka import *
+from .kinova import *
 from .ridgeback_franka import *
+from .sawyer import *
 from .shadow_hand import *
 from .unitree import *
 from .universal_robots import *

source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/kinova.py

+# Copyright (c) 2022-2024, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+"""Configuration for the Kinova Robotics arms.
+
+The following configuration parameters are available:
+
+* :obj:`KINOVA_JACO2_N7S300_CFG`: The Kinova JACO2 (7-Dof) arm with a 3-finger gripper.
+* :obj:`KINOVA_JACO2_N6S300_CFG`: The Kinova JACO2 (6-Dof) arm with a 3-finger gripper.
+* :obj:`KINOVA_GEN3_N7_CFG`: The Kinova Gen3 (7-Dof) arm with no gripper.
+
+Reference: https://github.com/Kinovarobotics/kinova-ros
+"""
+
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.actuators import ImplicitActuatorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
+from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
+
+##
+# Configuration
+##
+
+
+KINOVA_JACO2_N7S300_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Kinova/Jaco2/J2N7S300/j2n7s300_instanceable.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+        ),
+        activate_contact_sensors=False,
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "j2n7s300_joint_1": 0.0,
+            "j2n7s300_joint_2": 2.76,
+            "j2n7s300_joint_3": 0.0,
+            "j2n7s300_joint_4": 2.0,
+            "j2n7s300_joint_5": 2.0,
+            "j2n7s300_joint_6": 0.0,
+            "j2n7s300_joint_7": 0.0,
+            "j2n7s300_joint_finger_[1-3]": 0.2,  # close: 1.2, open: 0.2
+            "j2n7s300_joint_finger_tip_[1-3]": 0.2,  # close: 1.2, open: 0.2
+        },
+    ),
+    actuators={
+        "arm": ImplicitActuatorCfg(
+            joint_names_expr=[".*_joint_[1-7]"],
+            velocity_limit=100.0,
+            effort_limit={
+                ".*_joint_[1-2]": 80.0,
+                ".*_joint_[3-4]": 40.0,
+                ".*_joint_[5-7]": 20.0,
+            },
+            stiffness={
+                ".*_joint_[1-4]": 40.0,
+                ".*_joint_[5-7]": 15.0,
+            },
+            damping={
+                ".*_joint_[1-4]": 1.0,
+                ".*_joint_[5-7]": 0.5,
+            },
+        ),
+        "gripper": ImplicitActuatorCfg(
+            joint_names_expr=[".*_finger_[1-3]", ".*_finger_tip_[1-3]"],
+            velocity_limit=100.0,
+            effort_limit=2.0,
+            stiffness=1.2,
+            damping=0.01,
+        ),
+    },
+)
+"""Configuration of Kinova JACO2 (7-Dof) arm with 3-finger gripper."""
+
+
+KINOVA_JACO2_N6S300_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Kinova/Jaco2/J2N6S300/j2n6s300_instanceable.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+        ),
+        activate_contact_sensors=False,
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "j2n6s300_joint_1": 0.0,
+            "j2n6s300_joint_2": 2.76,
+            "j2n6s300_joint_3": 2.76,
+            "j2n6s300_joint_4": 2.5,
+            "j2n6s300_joint_5": 2.0,
+            "j2n6s300_joint_6": 0.0,
+            "j2n6s300_joint_finger_[1-3]": 0.2,  # close: 1.2, open: 0.2
+            "j2n6s300_joint_finger_tip_[1-3]": 0.2,  # close: 1.2, open: 0.2
+        },
+    ),
+    actuators={
+        "arm": ImplicitActuatorCfg(
+            joint_names_expr=[".*_joint_[1-6]"],
+            velocity_limit=100.0,
+            effort_limit={
+                ".*_joint_[1-2]": 80.0,
+                ".*_joint_3": 40.0,
+                ".*_joint_[4-6]": 20.0,
+            },
+            stiffness={
+                ".*_joint_[1-3]": 40.0,
+                ".*_joint_[4-6]": 15.0,
+            },
+            damping={
+                ".*_joint_[1-3]": 1.0,
+                ".*_joint_[4-6]": 0.5,
+            },
+        ),
+        "gripper": ImplicitActuatorCfg(
+            joint_names_expr=[".*_finger_[1-3]", ".*_finger_tip_[1-3]"],
+            velocity_limit=100.0,
+            effort_limit=2.0,
+            stiffness=1.2,
+            damping=0.01,
+        ),
+    },
+)
+"""Configuration of Kinova JACO2 (6-Dof) arm with 3-finger gripper."""
+
+
+KINOVA_GEN3_N7_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Kinova/Gen3/gen3n7_instanceable.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+        ),
+        activate_contact_sensors=False,
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "joint_1": 0.0,
+            "joint_2": 0.65,
+            "joint_3": 0.0,
+            "joint_4": 1.89,
+            "joint_5": 0.0,
+            "joint_6": 0.6,
+            "joint_7": -1.57,
+        },
+    ),
+    actuators={
+        "arm": ImplicitActuatorCfg(
+            joint_names_expr=["joint_[1-7]"],
+            velocity_limit=100.0,
+            effort_limit={
+                "joint_[1-4]": 39.0,
+                "joint_[5-7]": 9.0,
+            },
+            stiffness={
+                "joint_[1-4]": 40.0,
+                "joint_[5-7]": 15.0,
+            },
+            damping={
+                "joint_[1-4]": 1.0,
+                "joint_[5-7]": 0.5,
+            },
+        ),
+    },
+)
+"""Configuration of Kinova Gen3 (7-Dof) arm with no gripper."""

source/extensions/omni.isaac.orbit_assets/omni/isaac/orbit_assets/sawyer.py

+# Copyright (c) 2022-2024, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+"""Configuration for the Rethink Robotics arms.
+
+The following configuration parameters are available:
+
+* :obj:`SAWYER_CFG`: The Sawyer arm without any tool attached.
+
+Reference: https://github.com/RethinkRobotics/sawyer_robot
+"""
+
+import omni.isaac.orbit.sim as sim_utils
+from omni.isaac.orbit.actuators import ImplicitActuatorCfg
+from omni.isaac.orbit.assets.articulation import ArticulationCfg
+from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
+
+##
+# Configuration
+##
+
+
+SAWYER_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/RethinkRobotics/sawyer_instanceable.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+        ),
+        activate_contact_sensors=False,
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "head_pan": 0.0,
+            "right_j0": 0.0,
+            "right_j1": -0.785,
+            "right_j2": 0.0,
+            "right_j3": 1.05,
+            "right_j4": 0.0,
+            "right_j5": 1.3,
+            "right_j6": 0.0,
+        },
+    ),
+    actuators={
+        "head": ImplicitActuatorCfg(
+            joint_names_expr=["head_pan"],
+            velocity_limit=100.0,
+            effort_limit=8.0,
+            stiffness=800.0,
+            damping=40.0,
+        ),
+        "arm": ImplicitActuatorCfg(
+            joint_names_expr=["right_j[0-6]"],
+            velocity_limit=100.0,
+            effort_limit={
+                "right_j[0-1]": 80.0,
+                "right_j[2-3]": 40.0,
+                "right_j[4-6]": 9.0,
+            },
+            stiffness=100.0,
+            damping=4.0,
+        ),
+    },
+)
+"""Configuration of Rethink Robotics Sawyer arm."""

source/standalone/demos/arms.py

@@ -33,6 +33,9 @@ args_cli = parser.parse_args()
 app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
+"""Rest everything follows."""
+
+import numpy as np
 import torch
 
 import omni.isaac.core.utils.prims as prim_utils
@@ -44,7 +47,32 @@ from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
 ##
 # Pre-defined configs
 ##
-from omni.isaac.orbit_assets import FRANKA_PANDA_CFG, UR10_CFG  # isort:skip
+# isort: off
+from omni.isaac.orbit_assets import (
+    FRANKA_PANDA_CFG,
+    UR10_CFG,
+    KINOVA_JACO2_N7S300_CFG,
+    KINOVA_JACO2_N6S300_CFG,
+    KINOVA_GEN3_N7_CFG,
+    SAWYER_CFG,
+)
+
+# isort: on
+
+
+def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
+    """Defines the origins of the the scene."""
+    # create tensor based on number of environments
+    env_origins = torch.zeros(num_origins, 3)
+    # create a grid of origins
+    num_rows = np.floor(np.sqrt(num_origins))
+    num_cols = np.ceil(num_origins / num_rows)
+    xx, yy = torch.meshgrid(torch.arange(num_rows), torch.arange(num_cols), indexing="xy")
+    env_origins[:, 0] = spacing * xx.flatten()[:num_origins] - spacing * (num_rows - 1) / 2
+    env_origins[:, 1] = spacing * yy.flatten()[:num_origins] - spacing * (num_cols - 1) / 2
+    env_origins[:, 2] = 0.0
+    # return the origins
+    return env_origins.tolist()
 
 
 def design_scene() -> tuple[dict, list[list[float]]]:
@@ -58,7 +86,7 @@ def design_scene() -> tuple[dict, list[list[float]]]:
 
     # Create separate groups called "Origin1", "Origin2", "Origin3"
     # Each group will have a mount and a robot on top of it
-    origins = [[0.0, -1.0, 0.0], [0.0, 1.0, 0.0]]
+    origins = define_origins(num_origins=6, spacing=2.0)
 
     # Origin 1 with Franka Panda
     prim_utils.create_prim("/World/Origin1", "Xform", translation=origins[0])
@@ -68,7 +96,7 @@ def design_scene() -> tuple[dict, list[list[float]]]:
     # -- Robot
     franka_arm_cfg = FRANKA_PANDA_CFG.replace(prim_path="/World/Origin1/Robot")
     franka_arm_cfg.init_state.pos = (0.0, 0.0, 1.05)
-    robot_franka = Articulation(cfg=franka_arm_cfg)
+    franka_panda = Articulation(cfg=franka_arm_cfg)
 
     # Origin 2 with UR10
     prim_utils.create_prim("/World/Origin2", "Xform", translation=origins[1])
@@ -80,10 +108,59 @@ def design_scene() -> tuple[dict, list[list[float]]]:
     # -- Robot
     ur10_cfg = UR10_CFG.replace(prim_path="/World/Origin2/Robot")
     ur10_cfg.init_state.pos = (0.0, 0.0, 1.03)
-    robot_ur10 = Articulation(cfg=ur10_cfg)
+    ur10 = Articulation(cfg=ur10_cfg)
+
+    # Origin 3 with Kinova JACO2 (7-Dof) arm
+    prim_utils.create_prim("/World/Origin3", "Xform", translation=origins[2])
+    # -- Table
+    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/ThorlabsTable/table_instanceable.usd")
+    cfg.func("/World/Origin3/Table", cfg, translation=(0.0, 0.0, 0.8))
+    # -- Robot
+    kinova_arm_cfg = KINOVA_JACO2_N7S300_CFG.replace(prim_path="/World/Origin3/Robot")
+    kinova_arm_cfg.init_state.pos = (0.0, 0.0, 0.8)
+    kinova_j2n7s300 = Articulation(cfg=kinova_arm_cfg)
+
+    # Origin 4 with Kinova JACO2 (6-Dof) arm
+    prim_utils.create_prim("/World/Origin4", "Xform", translation=origins[3])
+    # -- Table
+    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/ThorlabsTable/table_instanceable.usd")
+    cfg.func("/World/Origin4/Table", cfg, translation=(0.0, 0.0, 0.8))
+    # -- Robot
+    kinova_arm_cfg = KINOVA_JACO2_N6S300_CFG.replace(prim_path="/World/Origin4/Robot")
+    kinova_arm_cfg.init_state.pos = (0.0, 0.0, 0.8)
+    kinova_j2n6s300 = Articulation(cfg=kinova_arm_cfg)
+
+    # Origin 5 with Sawyer
+    prim_utils.create_prim("/World/Origin5", "Xform", translation=origins[4])
+    # -- Table
+    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd")
+    cfg.func("/World/Origin5/Table", cfg, translation=(0.55, 0.0, 1.05))
+    # -- Robot
+    kinova_arm_cfg = KINOVA_GEN3_N7_CFG.replace(prim_path="/World/Origin5/Robot")
+    kinova_arm_cfg.init_state.pos = (0.0, 0.0, 1.05)
+    kinova_gen3n7 = Articulation(cfg=kinova_arm_cfg)
+
+    # Origin 6 with Kinova Gen3 (7-Dof) arm
+    prim_utils.create_prim("/World/Origin6", "Xform", translation=origins[5])
+    # -- Table
+    cfg = sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/Stand/stand_instanceable.usd", scale=(2.0, 2.0, 2.0)
+    )
+    cfg.func("/World/Origin6/Table", cfg, translation=(0.0, 0.0, 1.03))
+    # -- Robot
+    sawyer_arm_cfg = SAWYER_CFG.replace(prim_path="/World/Origin6/Robot")
+    sawyer_arm_cfg.init_state.pos = (0.0, 0.0, 1.03)
+    sawyer = Articulation(cfg=sawyer_arm_cfg)
 
     # return the scene information
-    scene_entities = {"robot_franka": robot_franka, "robot_ur10": robot_ur10}
+    scene_entities = {
+        "franka_panda": franka_panda,
+        "ur10": ur10,
+        "kinova_j2n7s300": kinova_j2n7s300,
+        "kinova_j2n6s300": kinova_j2n6s300,
+        "kinova_gen3n7": kinova_gen3n7,
+        "sawyer": sawyer,
+    }
     return scene_entities, origins