trossen_arm_sim 0.2.0__tar.gz

trossen_arm_sim-0.2.0/LICENSE

@@ -0,0 +1,201 @@
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trossen_arm_sim-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: trossen_arm_sim
+Version: 0.2.0
+Summary: Simulated Trossen WidowX AI arm controller: a network drop-in replacement for real hardware, running in MuJoCo
+License: Apache-2.0
+Project-URL: Repository, https://github.com/depetrol/trossen_arm_sim
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: mujoco>=3.0
+Requires-Dist: numpy
+Requires-Dist: trossen_arm==1.10.*
+Requires-Dist: websockets>=13
+Dynamic: license-file
+
+# trossen_arm_sim
+
+Runs `trossen_arm` in simulation. The server speaks the wire protocol of the WidowX AI (wxai_v0) arm controller (firmware v1.10), so the unmodified `trossen_arm` driver connects to it as if it were real hardware — the arm runs in MuJoCo instead.
+
+## Install
+
+```bash
+pip install .
+```
+
+Clients need `trossen_arm==1.10.*` (the driver rejects other firmware versions).
+
+## Usage
+
+```bash
+trossen-arm-sim                        # default scene: arm on a ground plane
+trossen-arm-sim scene.xml              # custom scene
+mjpython -m trossen_arm_sim --viewer   # MuJoCo viewer (macOS needs mjpython)
+```
+
+Point any `trossen_arm` client at `127.0.0.1` instead of the robot's IP:
+
+```python
+driver.configure(
+    trossen_arm.Model.wxai_v0,
+    trossen_arm.StandardEndEffector.wxai_v0_follower,
+    "127.0.0.1",
+    False,
+)
+```
+
+A custom scene is MJCF that includes the arm via the `WIDOWX_XML` placeholder, replaced with the installed arm model path at load time (`TROSSEN_ARM_ASSET_DIR` likewise for the packaged asset directory):
+
+```xml
+<mujoco>
+  <include file="WIDOWX_XML"/>
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" rgba="0.5 0.5 0.5 1"/>
+  </worldbody>
+</mujoco>
+```
+
+## Example
+
+Numpad scene plus a client that presses its keys and prints every collision the simulator reports (see [Collision stream](#collision-stream) below):
+
+```bash
+trossen-arm-sim examples/scene_numpad.xml     # terminal 1
+python examples/press_button.py 1 2 3 enter   # terminal 2
+```
+
+## Collision stream
+
+The simulator streams contacts between geoms over a WebSocket, so a client can tell when the arm touches something, what it touched, and how hard.
+
+### Connecting
+
+Connect to `ws://<host>:50002` (`--ws-port` changes the port). The server sends JSON text messages and ignores anything the client sends. Any WebSocket library works; with `websockets`:
+
+```python
+import json
+from websockets.sync.client import connect
+
+with connect("ws://127.0.0.1:50002") as ws:
+    for message in ws:
+        event = json.loads(message)
+        print(event["type"], event.get("geom1"), event.get("geom2"))
+```
+
+### Messages
+
+| `type` | When | Content |
+|---|---|---|
+| `snapshot` | Once, right after connecting | `time` and `contacts`, the list of contact pairs active at that moment (each with the fields below except `type`, `time`, `duration`, `peak_force`) |
+| `begin` | A pair of geoms starts touching | The contact fields; `duration` is 0 and `peak_force` equals `force` |
+| `end` | The pair has not touched for 20 ms | The contact as last seen; `duration` and `peak_force` cover the whole contact |
+
+```json
+{"type": "snapshot", "time": 3.2, "contacts": []}
+{"type": "begin", "time": 10.736, "geom1": "carriage_right", "body1": "carriage_right", "geom2": "key_5", "body2": "numpad", "force": 0.78, "pos": [0.39, 0.296, 0.026], "duration": 0.0, "peak_force": 0.78}
+{"type": "end", "time": 11.404, "geom1": "carriage_right", "body1": "carriage_right", "geom2": "key_5", "body2": "numpad", "force": 0.0, "pos": [0.39, 0.296, 0.026], "duration": 0.65, "peak_force": 0.78}
+{"type": "begin", "time": 15.1, "geom1": "link_6", "body1": "link_6", "geom2": "floor", "body2": "world", "force": 80.2, "pos": [0.378, -0.038, 0.0], "duration": 0.0, "peak_force": 80.2}
+```
+
+| Field | Unit | Meaning |
+|---|---|---|
+| `time` | s | Simulation time of the message |
+| `geom1`, `geom2` | | The two touching geoms (see naming below) |
+| `body1`, `body2` | | The bodies those geoms belong to; `world` for the floor |
+| `force` | N | Total normal force between the pair at the time of the message |
+| `peak_force` | N | Largest `force` seen since the pair started touching |
+| `pos` | m | Mean position of the contact points, world frame |
+| `duration` | s | How long the pair has been touching |
+
+### Naming
+
+A contact pair is identified by two geom labels. A named geom is labelled with its name. An unnamed geom is labelled with its body's name, so all the unnamed collision geoms of one body aggregate into one pair. An unnamed body is labelled `body<id>`, and a deformable flex with its name. Name the geoms you want to tell apart, as `scene_numpad.xml` does with `key_*`.
+
+When the arm is involved, it is always side 1: `geom1`/`body1` is one of `base_link`, `link_1` to `link_6`, `carriage_left` or `carriage_right` (the gripper fingers). Contacts between two arm parts, and between scene objects that do not involve the arm, are streamed as well, in MuJoCo's order.
+
+### Filtering on the client
+
+Everything MuJoCo resolves is streamed, including the two gripper fingers touching each other whenever the gripper closes and objects resting on the floor. The client decides what matters:
+
+- **By name**: `geom1` starting with `carriage_` and `geom2` starting with `key_` is a key press; `geom2 == "floor"` is a crash; a key touched by `link_2` is a crash too, so check both sides.
+- **By force**: a press and a smash on the same key differ only in `force` and `peak_force`. Pressing a numpad key reads about 1 N; a finger driven into the floor reads hundreds of N.
+
+`examples/watch_collisions.py` does exactly this: it prints the stream on a background thread, labelling each event PRESS or CRASH (`--all` prints every pair unfiltered), while the prompt drives the arm through the `trossen_arm` driver. `wave` swings the arm clear of everything and prints nothing; `crash` drives the gripper into the floor and prints CRASH events with the impact force; `quit` returns home.
+
+```bash
+python examples/watch_collisions.py
+```
+
+## Publish
+
+Bump `version` in `pyproject.toml`, then:
+
+```bash
+pip install build twine
+python -m build
+twine upload dist/*
+```
+
+## Attributions
+
+The arm model and meshes in `trossen_arm_sim/assets/` are from [trossen_arm_mujoco](https://github.com/TrossenRobotics/trossen_arm_mujoco), Copyright (c) 2025 Trossen Robotics, licensed under BSD-3-Clause.

trossen_arm_sim-0.2.0/README.md

@@ -0,0 +1,127 @@
+# trossen_arm_sim
+
+Runs `trossen_arm` in simulation. The server speaks the wire protocol of the WidowX AI (wxai_v0) arm controller (firmware v1.10), so the unmodified `trossen_arm` driver connects to it as if it were real hardware — the arm runs in MuJoCo instead.
+
+## Install
+
+```bash
+pip install .
+```
+
+Clients need `trossen_arm==1.10.*` (the driver rejects other firmware versions).
+
+## Usage
+
+```bash
+trossen-arm-sim                        # default scene: arm on a ground plane
+trossen-arm-sim scene.xml              # custom scene
+mjpython -m trossen_arm_sim --viewer   # MuJoCo viewer (macOS needs mjpython)
+```
+
+Point any `trossen_arm` client at `127.0.0.1` instead of the robot's IP:
+
+```python
+driver.configure(
+    trossen_arm.Model.wxai_v0,
+    trossen_arm.StandardEndEffector.wxai_v0_follower,
+    "127.0.0.1",
+    False,
+)
+```
+
+A custom scene is MJCF that includes the arm via the `WIDOWX_XML` placeholder, replaced with the installed arm model path at load time (`TROSSEN_ARM_ASSET_DIR` likewise for the packaged asset directory):
+
+```xml
+<mujoco>
+  <include file="WIDOWX_XML"/>
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" rgba="0.5 0.5 0.5 1"/>
+  </worldbody>
+</mujoco>
+```
+
+## Example
+
+Numpad scene plus a client that presses its keys and prints every collision the simulator reports (see [Collision stream](#collision-stream) below):
+
+```bash
+trossen-arm-sim examples/scene_numpad.xml     # terminal 1
+python examples/press_button.py 1 2 3 enter   # terminal 2
+```
+
+## Collision stream
+
+The simulator streams contacts between geoms over a WebSocket, so a client can tell when the arm touches something, what it touched, and how hard.
+
+### Connecting
+
+Connect to `ws://<host>:50002` (`--ws-port` changes the port). The server sends JSON text messages and ignores anything the client sends. Any WebSocket library works; with `websockets`:
+
+```python
+import json
+from websockets.sync.client import connect
+
+with connect("ws://127.0.0.1:50002") as ws:
+    for message in ws:
+        event = json.loads(message)
+        print(event["type"], event.get("geom1"), event.get("geom2"))
+```
+
+### Messages
+
+| `type` | When | Content |
+|---|---|---|
+| `snapshot` | Once, right after connecting | `time` and `contacts`, the list of contact pairs active at that moment (each with the fields below except `type`, `time`, `duration`, `peak_force`) |
+| `begin` | A pair of geoms starts touching | The contact fields; `duration` is 0 and `peak_force` equals `force` |
+| `end` | The pair has not touched for 20 ms | The contact as last seen; `duration` and `peak_force` cover the whole contact |
+
+```json
+{"type": "snapshot", "time": 3.2, "contacts": []}
+{"type": "begin", "time": 10.736, "geom1": "carriage_right", "body1": "carriage_right", "geom2": "key_5", "body2": "numpad", "force": 0.78, "pos": [0.39, 0.296, 0.026], "duration": 0.0, "peak_force": 0.78}
+{"type": "end", "time": 11.404, "geom1": "carriage_right", "body1": "carriage_right", "geom2": "key_5", "body2": "numpad", "force": 0.0, "pos": [0.39, 0.296, 0.026], "duration": 0.65, "peak_force": 0.78}
+{"type": "begin", "time": 15.1, "geom1": "link_6", "body1": "link_6", "geom2": "floor", "body2": "world", "force": 80.2, "pos": [0.378, -0.038, 0.0], "duration": 0.0, "peak_force": 80.2}
+```
+
+| Field | Unit | Meaning |
+|---|---|---|
+| `time` | s | Simulation time of the message |
+| `geom1`, `geom2` | | The two touching geoms (see naming below) |
+| `body1`, `body2` | | The bodies those geoms belong to; `world` for the floor |
+| `force` | N | Total normal force between the pair at the time of the message |
+| `peak_force` | N | Largest `force` seen since the pair started touching |
+| `pos` | m | Mean position of the contact points, world frame |
+| `duration` | s | How long the pair has been touching |
+
+### Naming
+
+A contact pair is identified by two geom labels. A named geom is labelled with its name. An unnamed geom is labelled with its body's name, so all the unnamed collision geoms of one body aggregate into one pair. An unnamed body is labelled `body<id>`, and a deformable flex with its name. Name the geoms you want to tell apart, as `scene_numpad.xml` does with `key_*`.
+
+When the arm is involved, it is always side 1: `geom1`/`body1` is one of `base_link`, `link_1` to `link_6`, `carriage_left` or `carriage_right` (the gripper fingers). Contacts between two arm parts, and between scene objects that do not involve the arm, are streamed as well, in MuJoCo's order.
+
+### Filtering on the client
+
+Everything MuJoCo resolves is streamed, including the two gripper fingers touching each other whenever the gripper closes and objects resting on the floor. The client decides what matters:
+
+- **By name**: `geom1` starting with `carriage_` and `geom2` starting with `key_` is a key press; `geom2 == "floor"` is a crash; a key touched by `link_2` is a crash too, so check both sides.
+- **By force**: a press and a smash on the same key differ only in `force` and `peak_force`. Pressing a numpad key reads about 1 N; a finger driven into the floor reads hundreds of N.
+
+`examples/watch_collisions.py` does exactly this: it prints the stream on a background thread, labelling each event PRESS or CRASH (`--all` prints every pair unfiltered), while the prompt drives the arm through the `trossen_arm` driver. `wave` swings the arm clear of everything and prints nothing; `crash` drives the gripper into the floor and prints CRASH events with the impact force; `quit` returns home.
+
+```bash
+python examples/watch_collisions.py
+```
+
+## Publish
+
+Bump `version` in `pyproject.toml`, then:
+
+```bash
+pip install build twine
+python -m build
+twine upload dist/*
+```
+
+## Attributions
+
+The arm model and meshes in `trossen_arm_sim/assets/` are from [trossen_arm_mujoco](https://github.com/TrossenRobotics/trossen_arm_mujoco), Copyright (c) 2025 Trossen Robotics, licensed under BSD-3-Clause.

trossen_arm_sim-0.2.0/pyproject.toml

@@ -0,0 +1,29 @@
+[build-system]
+requires = ["setuptools>=61"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "trossen_arm_sim"
+version = "0.2.0"
+description = "Simulated Trossen WidowX AI arm controller: a network drop-in replacement for real hardware, running in MuJoCo"
+readme = "README.md"
+license = { text = "Apache-2.0" }
+requires-python = ">=3.10"
+dependencies = [
+    "mujoco>=3.0",
+    "numpy",
+    "trossen_arm==1.10.*",
+    "websockets>=13",
+]
+
+[project.urls]
+Repository = "https://github.com/depetrol/trossen_arm_sim"
+
+[project.scripts]
+trossen-arm-sim = "trossen_arm_sim.__main__:main"
+
+[tool.setuptools.packages.find]
+include = ["trossen_arm_sim*"]
+
+[tool.setuptools.package-data]
+trossen_arm_sim = ["assets/*"]

trossen_arm_sim-0.2.0/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

trossen_arm_sim-0.2.0/trossen_arm_sim/__init__.py

@@ -0,0 +1,11 @@
+"""Simulated Trossen arm controller: the trossen_arm driver connects to this
+server exactly as it would to real hardware, and the arm runs in MuJoCo."""
+
+from .collision import CollisionEvent, CollisionMonitor, Contact
+from .collision_server import CollisionWebSocketServer
+from .server import TrossenArmSimServer
+from .sim import ARM_MODEL_PATH, DEFAULT_SCENE, WidowXSim, load_scene
+
+__all__ = ["ARM_MODEL_PATH", "DEFAULT_SCENE", "CollisionEvent",
+           "CollisionMonitor", "CollisionWebSocketServer", "Contact",
+           "TrossenArmSimServer", "WidowXSim", "load_scene"]

trossen_arm_sim-0.2.0/trossen_arm_sim/__main__.py

@@ -0,0 +1,70 @@
+"""Run the simulated Trossen arm controller.
+
+Usage:
+    python -m trossen_arm_sim [SCENE] [--viewer] [--verbose] [--ws-port PORT]
+
+SCENE is a MuJoCo MJCF file that includes the packaged arm model via
+`<include file="WIDOWX_XML"/>`; the WIDOWX_XML and TROSSEN_ARM_ASSET_DIR
+placeholders are replaced with the installed asset paths at load time. It
+defaults to a built-in empty scene with just the arm on a ground plane.
+With --viewer, a MuJoCo viewer window shows the scene (on macOS this
+requires running under mjpython).
+
+Contacts in the scene are streamed as JSON over a WebSocket on --ws-port;
+see collision_server.py for the messages.
+"""
+
+import argparse
+import logging
+import time
+
+from .collision import CollisionMonitor
+from .collision_server import WS_PORT, CollisionWebSocketServer
+from .server import TrossenArmSimServer
+from .sim import DEFAULT_SCENE, WidowXSim
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("scene", nargs="?", default=DEFAULT_SCENE,
+                        help="MuJoCo scene XML including the arm model "
+                             "(default: built-in empty scene)")
+    parser.add_argument("--host", default="0.0.0.0", help="bind address")
+    parser.add_argument("--viewer", action="store_true",
+                        help="show the MuJoCo viewer (macOS: run with mjpython)")
+    parser.add_argument("--verbose", action="store_true",
+                        help="log every protocol request")
+    parser.add_argument("--ws-port", type=int, default=WS_PORT,
+                        help="WebSocket port for the collision stream")
+    args = parser.parse_args()
+
+    logging.basicConfig(
+        level=logging.DEBUG if args.verbose else logging.INFO,
+        format="%(asctime)s %(name)s %(levelname)s: %(message)s",
+    )
+
+    sim = WidowXSim(args.scene)
+    monitor = CollisionMonitor(sim)
+    sim.start()
+    server = TrossenArmSimServer(sim, host=args.host)
+    server.start()
+    collision_server = CollisionWebSocketServer(monitor, host=args.host,
+                                                port=args.ws_port)
+    collision_server.start()
+
+    try:
+        if args.viewer:
+            sim.sync_viewer_loop()
+        else:
+            while True:
+                time.sleep(1)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        collision_server.stop()
+        server.stop()
+        sim.stop()
+
+
+if __name__ == "__main__":
+    main()

trossen_arm_sim-0.2.0/trossen_arm_sim/assets/scene_empty.xml

@@ -0,0 +1,21 @@
+<mujoco model="wxai empty scene">
+  <include file="wxai_follower.xml"/>
+
+  <statistic center="0.2 0 0.2" extent="0.6"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <global azimuth="160" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <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" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>