3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
209 lines
4.6 KiB
Markdown
209 lines
4.6 KiB
Markdown
# Source: https://internrobotics.github.io/InternDataEngine-Docs/api/controllers.html
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# Controllers API Reference [](#controllers-api-reference)
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This page provides API documentation for the controller module.
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## TemplateController [](#templatecontroller)
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Base class for all robot arm controllers.
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### Constructor [](#constructor)
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python
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```
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TemplateController(cfg, task, robot_file: str, **kwargs)
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```
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**Parameters: **
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| Parameter | Type | Description |
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| `cfg ` | DictConfig | Controller configuration |
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| `task ` | BananaBaseTask | Task instance |
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| `robot_file ` | str | Path to CuRobo robot config |
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### Properties [](#properties)
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| Property | Type | Description |
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| `raw_js_names ` | List[str] | Joint names in CuRobo order |
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| `cmd_js_names ` | List[str] | Joint names in simulation order |
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| `arm_indices ` | np.ndarray | Arm joint indices |
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| `gripper_indices ` | np.ndarray | Gripper joint indices |
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| `_gripper_state ` | float | Gripper state (1.0=open, -1.0=closed) |
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### Methods [](#methods)
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#### `_configure_joint_indices(robot_file: str) `[](#configure-joint-indices-robot-file-str)
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Configure joint names and indices. **Must be implemented by subclass. **
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#### `_get_default_ignore_substring() -> List[str] `[](#get-default-ignore-substring-list-str)
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Return default collision filter substrings. **Must be implemented by subclass. **
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#### `get_gripper_action() -> np.ndarray `[](#get-gripper-action-np-ndarray)
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Map gripper state to joint targets. **Must be implemented by subclass. **
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#### `_load_world(use_default: bool = True) `[](#load-world-use-default-bool-true)
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Load world configuration for motion planning.
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**Returns: **`WorldConfig `
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#### `_get_motion_gen_collision_cache() -> dict `[](#get-motion-gen-collision-cache-dict)
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Return collision cache sizes.
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**Returns: **`{"obb": int, "mesh": int} `
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#### `_get_grasp_approach_linear_axis() -> int `[](#get-grasp-approach-linear-axis-int)
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Return grasp approach axis (0=x, 1=y, 2=z).
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**Returns: **`int `(default: 2)
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#### `_get_sort_path_weights() -> Optional[List[float]] `[](#get-sort-path-weights-optional-list-float)
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Return weights for path selection.
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**Returns: **`List[float] `or `None `
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#### `plan_to_pose(target_pose) `[](#plan-to-pose-target-pose)
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Plan motion to target pose.
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**Parameters: **
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- `target_pose `: Tuple of (position, orientation)
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**Returns: **`bool `- Success status
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#### `execute_plan() `[](#execute-plan)
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Execute the planned trajectory.
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#### `set_gripper_state(state: float) `[](#set-gripper-state-state-float)
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Set gripper state.
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**Parameters: **
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- `state `: 1.0 for open, -1.0 for closed
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#### `get_current_joint_state() -> np.ndarray `[](#get-current-joint-state-np-ndarray)
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Get current joint positions.
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**Returns: **`np.ndarray `of joint positions
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## Lift2Controller [](#lift2controller)
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Controller for ARX-Lift2 dual-arm robot.
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python
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```
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@register_controller
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class Lift2Controller(TemplateController):
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def _get_grasp_approach_linear_axis(self) -> int:
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return 0 # x-axis
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```
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**Features: **
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- Dual-arm support
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- Custom world configuration
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- X-axis grasp approach
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## SplitAlohaController [](#splitalohacontroller)
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Controller for Agilex Split Aloha dual-arm robot.
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python
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```
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@register_controller
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class SplitAlohaController(TemplateController):
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def _get_grasp_approach_linear_axis(self) -> int:
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return 2 # z-axis
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```
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**Features: **
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- Dual-arm support
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- Z-axis grasp approach
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- Optional joint control
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## Genie1Controller [](#genie1controller)
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Controller for Genie1 dual-arm robot.
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python
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```
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@register_controller
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class Genie1Controller(TemplateController):
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def _get_sort_path_weights(self) -> List[float]:
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return [1, 1, 1, 1, 3, 3, 1]
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```
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**Features: **
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- 7-DOF per arm
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- Path selection weights
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- Custom world configuration
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## FR3Controller [](#fr3controller)
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Controller for Franka FR3 single-arm robot.
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python
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```
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@register_controller
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class FR3Controller(TemplateController):
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def _get_motion_gen_collision_cache(self):
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return {"obb": 1000, "mesh": 1000}
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```
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**Features: **
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- Single-arm support
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- Panda gripper
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- Larger collision cache
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## FrankaRobotiq85Controller [](#frankarobotiq85controller)
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Controller for Franka with Robotiq 2F-85 gripper.
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python
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```
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@register_controller
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class FrankaRobotiq85Controller(TemplateController):
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def get_gripper_action(self):
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return np.clip(
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-self._gripper_state * self._gripper_joint_position,
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0.0, 5.0
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)
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```
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**Features: **
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- Single-arm support
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- Robotiq 2F-85 gripper
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- Inverted gripper mapping |