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dora/examples/mujoco-sim/target_pose_control/control_advanced.yml

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  1. nodes:

  2.   - id: mujoco_sim

  3.     build: pip install -e ../../../node-hub/dora-mujoco

  4.     path: dora-mujoco

  5.     inputs:

  6.       tick: dora/timer/millis/2

  7.       control_input: controller/joint_commands

  8.     outputs:

  9.       - joint_positions

  10.       - joint_velocities

  11.       - actuator_controls

  12.       - sensor_data

  13.     env:

  14.       MODEL_NAME: "panda_mj_description"

  15. 

  16.   - id: controller

  17.     path: nodes/controller_differential_ik.py

  18.     inputs:

  19.       joint_positions: mujoco_sim/joint_positions

  20.       joint_velocities: mujoco_sim/joint_velocities

  21.       target_pose: pose_publisher/target_pose

  22.       fk_result: pytorch_kinematics/fk_request

  23.       jacobian_result: pytorch_kinematics/jacobian_request

  24.     outputs:

  25.       - joint_commands

  26.       - fk_request

  27.       - jacobian_request

  28. 

  29.   - id: pytorch_kinematics

  30.     build: pip install -e ../../../node-hub/dora-pytorch-kinematics

  31.     path: dora-pytorch-kinematics

  32.     inputs:

  33.       fk_request: controller/fk_request

  34.       jacobian_request: controller/jacobian_request

  35.     outputs:

  36.       - fk_request

  37.       - jacobian_request

  38.     env:

  39.       MODEL_NAME: "panda_description"

  40.       END_EFFECTOR_LINK: "panda_hand"

  41.       TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion

  42. 

  43.   - id: pose_publisher

  44.     path: nodes/pose_publisher.py

  45.     inputs:

  46.       tick: dora/timer/millis/5000

  47.     outputs:

  48.       - target_pose