Merge pull request #95 from kevinzakka:add-tidybot

PiperOrigin-RevId: 721038260
Change-Id: Ic3eadc8ecc6b022ef2672d6116c65aa17e44e61e

LICENSE

@@ -3885,6 +3885,33 @@ License for contents in the directory 'skydio_x2/'
    limitations under the License.
 
 
+================================================================================
+License for contents in the directory 'stanford_tidybot/'
+================================================================================
+
+MIT License
+
+Copyright (c) 2024 Stanford Interactive Perception and Robot Learning Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
 ================================================================================
 License for contents in the directory 'trossen_vx300s/'
 ================================================================================

README.md

@@ -219,6 +219,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
 | Google Robot | Google DeepMind | 9 | [Apache-2.0](google_robot/LICENSE) |✖️|
+| Stanford TidyBot | Hello Robot | 11 | [MIT](stanford_tidybot/LICENSE) |✖️|
 | Stretch 2 | Hello Robot | 17 | [Clear BSD](hello_robot_stretch/LICENSE) |✖️|
 | Stretch 3 | Hello Robot | 17 | [Apache-2.0](hello_robot_stretch_3/LICENSE) |✖️|
 | PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️|

stanford_tidybot/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Stanford Interactive Perception and Robot Learning Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

stanford_tidybot/README.md

@@ -0,0 +1,37 @@
+# Stanford TidyBot Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.0 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Stanford TidyBot](https://tidybot.cs.princeton.edu) developed by Jimmy Wu and collaborators from the [Interactive Perception and Robot Learning Lab](https://iprl.stanford.edu) at Stanford University.
+
+<p float="left">
+  <img src="tidybot.png" width="400">
+  <img src="tidybot_base.png" width="400">
+</p>
+
+## MJCF Model
+
+* The mobile base MJCF was created from a CAD model of the base.
+* The Kinova Gen3 MJCF is taken from Menagerie. See [kinova_gen3](../kinova_gen3/).
+* The Robotiq 2F-85 MJCF is taken from Menagerie. See [robotiq_2f85](../robotiq_2f85/).
+
+## License
+
+The TidyBot base is released under an MIT License. The Kinova Gen3 and Robotiq 2F-85 MJCFs retain
+their original licenses. For more information, see the [LICENSE](LICENSE) file.
+
+## Publications
+
+If you use this work in an academic context, please cite the following publication:
+
+```bibtex
+@article{wu2023tidybot,
+  title = {TidyBot: Personalized Robot Assistance with Large Language Models},
+  author = {Wu, Jimmy and Antonova, Rika and Kan, Adam and Lepert, Marion and Zeng, Andy and Song, Shuran and Bohg, Jeannette and Rusinkiewicz, Szymon and Funkhouser, Thomas},
+  journal = {Autonomous Robots},
+  year = {2023}
+}
+```

stanford_tidybot/base.xml

@@ -0,0 +1,50 @@
+<mujoco model="base">
+  <compiler angle="radian" meshdir="assets"/>
+
+  <option integrator="implicitfast"/>
+
+  <default>
+    <default class="visual">
+      <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+    </default>
+    <default class="collision">
+      <geom type="mesh" group="3"/>
+    </default>
+  </default>
+
+  <asset>
+    <material name="black" rgba="0.11372549 0.11372549 0.10196078 1"/>
+    <material name="gray" rgba="0.62745098 0.65098039 0.64705882 1"/>
+    <material name="dark_gray" rgba="0.35294118 0.37647059 0.37254902 1"/>
+    <mesh file="base/bumper.stl"/>
+    <mesh file="base/bottom_plate.stl"/>
+    <mesh file="base/body.stl"/>
+    <mesh file="base/top_plate.stl"/>
+    <mesh file="base/arm_plate.stl"/>
+  </asset>
+
+  <worldbody>
+    <body name="base_link">
+      <inertial pos="0 0 0.035" mass="60" diaginertia="0.001 0.001 0.001"/>
+      <joint name="joint_x" type="slide" axis="1 0 0"/>
+      <joint name="joint_y" type="slide" axis="0 1 0"/>
+      <joint name="joint_th"/>
+      <geom class="visual" mesh="bumper" material="black"/>
+      <geom class="visual" mesh="bottom_plate" material="dark_gray"/>
+      <geom class="visual" mesh="body" material="gray"/>
+      <geom class="visual" mesh="top_plate" material="dark_gray"/>
+      <geom class="visual" mesh="arm_plate" material="gray"/>
+      <geom class="collision" mesh="bumper"/>
+      <geom class="collision" mesh="bottom_plate"/>
+      <geom class="collision" mesh="body"/>
+      <geom class="collision" mesh="top_plate"/>
+      <geom class="collision" mesh="arm_plate"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position name="joint_x" joint="joint_x" kp="1000000" kv="50000"/>
+    <position name="joint_y" joint="joint_y" kp="1000000" kv="50000"/>
+    <position name="joint_th" joint="joint_th" kp="50000" kv="1000"/>
+  </actuator>
+</mujoco>

stanford_tidybot/scene.xml

@@ -0,0 +1,23 @@
+<mujoco model="tidybot scene">
+  <include file="tidybot.xml"/>
+
+  <statistic center="0 0 0.525" extent="1.1" meansize="0.05"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="140" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>

stanford_tidybot/scene_base.xml

@@ -0,0 +1,23 @@
+<mujoco model="base scene">
+  <include file="base.xml"/>
+
+  <statistic center="0 0 0.2" extent="0.8" meansize="0.05"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="140" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>