FR3 Interface

.github/workflows/code_checks.yml

@@ -12,25 +12,25 @@ permissions:
 
 jobs:
   code-checks:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
 
     steps:
       - uses: actions/checkout@v4
-      - name: Set up Python 3.12
+      - name: Set up Python 3.13
         uses: actions/setup-python@v5
         with:
-          python-version: '3.12.4'
-      - uses: prefix-dev/setup-pixi@v0.8.1
+          python-version: '3.13'
+      - uses: prefix-dev/setup-pixi@v0.8.8
         with:
-          pixi-version: v0.26.1
+          pixi-version: v0.48.1
           cache: true
       - uses: actions/cache@v4
         with:
           path: ${{ env.pythonLocation }}
           key: ${{ env.pythonLocation }}-${{ hashFiles('pixi.toml') }}
       - name: Set Up Development Environment
         run: |
-          source setup.sh --recommended --leap
+          source setup.sh --obk-aliases --leap
           docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml up -d
       - name: Build Obelisk ROS2 messages
         run: |

.github/workflows/docs.yml

@@ -6,7 +6,7 @@ on:
 
 jobs:
   pages:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}
@@ -26,5 +26,5 @@ jobs:
     - id: deployment
       uses: sphinx-notes/pages@v3
       with:
-        python_version: 3.11
+        python_version: 3.13
         documentation_path: ./docs/source

.pre-commit-config.yaml

@@ -2,20 +2,20 @@ default_language_version:
     python: python3
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
     -   id: trailing-whitespace
     -   id: end-of-file-fixer
 -   repo: https://github.com/charliermarsh/ruff-pre-commit
-    rev: v0.4.9
+    rev: v0.11.13
     hooks:
     -   id: ruff
         types_or: [ python, pyi, jupyter ]
         args: [ --fix ]
     -   id: ruff-format
         types_or: [ python, pyi, jupyter ]
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.5
+    rev: v20.1.5
     hooks:
         - id: clang-format
           args: ['--style=file']

README.md

@@ -3,13 +3,47 @@ This repository hosts generic interfaces for controlling robots with ROS2.
 
 [Docs](https://caltech-amber.github.io/obelisk/)
 
-## Setup
+# Quickstart
+
+This section contains Quickstart information for members of the AMBER Lab.
+
+## FR3
+Initial setup in the repo root. For AMBER lab members, get the FR3 credentials from Albert or Gary.
+```bash
+source setup.sh \
+    --cyclone-perf \
+    --obk-aliases \
+    --pixi \
+    --fr3 \
+    --config-groups \
+    --fr3-username=<YOUR_FR3_USERNAME> \
+    --fr3-password=<YOUR_FR3_PASSWORD>
+```
+
+Enter Docker container + setup in the container:
+```bash
+cd docker
+docker compose -f docker-compose.yml run --build obelisk
+```
+
+Inside the Docker container:
+```
+# build and enter the pixi shell
+pixi shell -e dev
+
+# activate obelisk, clean, and rebuild
+obk
+obk-clean
+obk-build
+```
+
+# Setup
 Obelisk should be used as a dependency for external robot control code that is written in other downstream projects. There are a few options:
 1. Use Obelisk in Docker (this is mainly for developing in Obelisk).
 2. Use Obelisk on your local filesystem.
 3. Use Obelisk in a project that uses `pixi`.
 
-### Initial Setup
+## Initial Setup
 Initial setup proceeds by running the `setup.sh` script in the repository root. This script has the ability to make changes to your local dependencies - all such changes are opt-in. **It is very important that you run `setup.sh` using the `source` command, and not `bash`, because there are environment variables that will be sourced!**
 
 This script has the ability to do 4 things:
@@ -23,13 +57,12 @@ The options are as follows:
 source setup.sh [OPTIONS]
 
 Options:
-  --recommended                Apply recommended system-level changes
-                               (cyclone performance optimizations, pixi, obelisk aliases)
-
   --basic                      Enables basic dependencies necessary for Obelisk locally
   --cyclone-perf               Enables cyclone performance optimizations
   --leap                       Enables LEAP hand dependencies
   --zed                        Enables ZED SDK
+  --unitree                    Enables Unitree dependencies
+  --fr3                        Enables FR3 dependencies
 
   --docker-install             Install Docker and nvidia-container-toolkit
   --install-sys-deps-docker    Installs system dependencies in Docker
@@ -78,7 +111,7 @@ If you're installing `docker` for the first time using this script, you also nee
 newgrp docker
 ```
 
-### Building Obelisk ROS Packages
+## Building Obelisk ROS Packages
 Next, since Obelisk acts as a dependency for a downstream ROS2 project, you have to build it. You can either build it on your local filesystem or in a virtual environment that we manage using `pixi`.
 
 * If you are building it on your local filesystem, you need some minimal set of local dependencies. These should have been installed in the previous step.
@@ -102,7 +135,7 @@ Next, since Obelisk acts as a dependency for a downstream ROS2 project, you have
     obk-build
     ```
 
-### Using Obelisk
+## Using Obelisk
 Once Obelisk has been built, you can use it. If you have set up Obelisk using the `--obk-aliases` flag, we provide a very useful command:
 ```
 obk
@@ -115,5 +148,5 @@ obk-clean
 ```
 This will delete cached build files associated with Obelisk. If you have tried building the Obelisk source code multiple times or from different environments/local filesystems, it may be corrupted, and cleaning the installation can help fix issues.
 
-## Building Docs
+# Building Docs
 In the repository root, to build the docs locally, run `sphinx-build -M html docs/source/ docs/build/`.

docker/Dockerfile

@@ -1,7 +1,7 @@
 # syntax=docker/dockerfile:1
 
 # base image
-FROM ubuntu:22.04 as base
+FROM ubuntu:24.04 as base
 SHELL ["/bin/bash", "-c"]
 
 # build args
@@ -14,6 +14,7 @@ ARG OBELISK_DOCKER_BASIC=false
 ARG OBELISK_DOCKER_CYCLONE_PERF=false
 ARG OBELISK_DOCKER_LEAP=false
 ARG OBELISK_DOCKER_ZED=false
+ARG OBELISK_DOCKER_FR3=false
 ARG OBELISK_DOCKER_PIXI=false
 
 ARG OBELISK_DOCKER_GROUP_LEAP=false
@@ -29,10 +30,12 @@ ENV OBELISK_DOCKER_BASIC=$OBELISK_DOCKER_BASIC
 ENV OBELISK_DOCKER_CYCLONE_PERF=$OBELISK_DOCKER_CYCLONE_PERF
 ENV OBELISK_DOCKER_LEAP=$OBELISK_DOCKER_LEAP
 ENV OBELISK_DOCKER_ZED=$OBELISK_DOCKER_ZED
+ENV OBELISK_DOCKER_FR3=$OBELISK_DOCKER_FR3
 ENV OBELISK_DOCKER_PIXI=$OBELISK_DOCKER_PIXI
 
 ENV OBELISK_DOCKER_GROUP_LEAP=$OBELISK_DOCKER_GROUP_LEAP
 ENV OBELISK_DOCKER_GROUP_ZED=$OBELISK_DOCKER_GROUP_ZED
+ENV OBELISK_DOCKER_GROUP_FR3=$OBELISK_DOCKER_FR3
 
 ENV XDG_RUNTIME_DIR=/run/user/${UID}
 
@@ -53,11 +56,20 @@ RUN apt-get update && apt-get install -y \
     locale-gen en_US.UTF-8
 
 # create non-root user with sudo privileges
-RUN groupadd --gid $GID $USER && \
-    useradd --uid $UID --gid $GID -m $USER -d /home/${USER} --shell /usr/bin/bash && \
-    echo "${USER}:password" | chpasswd && \
-    usermod -aG sudo ${USER} && \
-    echo "%${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+# if the UID/GID in the container conflict with the host, then change the user/group to that of the host
+RUN if id -u ${UID} &>/dev/null; then \
+        existing_user=$(getent passwd ${UID} | cut -d: -f1); \
+        usermod -l ${USER} ${existing_user} && \
+        usermod -d /home/${USER} -m ${USER}; \
+        existing_group=$(getent group ${GID} | cut -d: -f1); \
+        if [ "${existing_group}" != "${USER}" ]; then \
+            groupmod -n ${USER} ${existing_group}; \
+        fi; \
+    else \
+        groupadd --gid ${GID} ${USER}; \
+        useradd --uid ${UID} --gid ${GID} -m ${USER} -d /home/${USER} --shell /usr/bin/bash; \
+    fi && \
+    echo "${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
 
 # conditionally install dependencies based on build args
 # source base ROS if basic deps are installed and you are not using pixi
@@ -68,6 +80,7 @@ RUN FLAGS=""; \
     [ "$OBELISK_DOCKER_BASIC" = "true" ] && [ "$OBELISK_DOCKER_PIXI" = "false" ] && FLAGS="$FLAGS --source-ros"; \
     [ "$OBELISK_DOCKER_LEAP" = "true" ] && FLAGS="$FLAGS --leap"; \
     [ "$OBELISK_DOCKER_ZED" = "true" ] && FLAGS="$FLAGS --zed"; \
+    [ "$OBELISK_DOCKER_FR3" = "true" ] && FLAGS="$FLAGS --fr3"; \
     [ "$OBELISK_DOCKER_UNITREE" = "true" ] && FLAGS="$FLAGS --unitree"; \
     bash /tmp/install_sys_deps.sh $FLAGS && \
     sudo rm /tmp/install_sys_deps.sh
@@ -77,6 +90,7 @@ COPY config_groups.sh /tmp/config_groups.sh
 RUN FLAGS=""; \
     [ "$OBELISK_DOCKER_GROUP_LEAP" = "true" ] && FLAGS="$FLAGS --leap"; \
     [ "$OBELISK_DOCKER_GROUP_ZED" = "true" ] && FLAGS="$FLAGS --zed"; \
+    [ "$OBELISK_DOCKER_GROUP_FR3" = "true" ] && FLAGS="$FLAGS --fr3"; \
     bash /tmp/config_groups.sh $FLAGS && \
     sudo rm /tmp/config_groups.sh
 

docker/config_groups.sh

@@ -3,6 +3,7 @@
 # --- script flags --- #
 leap=false
 zed=false
+fr3=false
 
 for arg in "$@"; do
     case $arg in
@@ -15,6 +16,10 @@ for arg in "$@"; do
             zed=true
             shift  # Enables ZED SDK
             ;;
+        --fr3)
+            fr3=true
+            shift  # Enables FR3 dependencies
+            ;;
 
         # help
         --help)
@@ -23,6 +28,7 @@ for arg in "$@"; do
 Options:
   --leap    Adds user to the dialout group
   --zed     Adds user to the video group
+  --fr3     Adds user to the realtime group
   --help    Display this help message and exit
 "
             shift
@@ -43,3 +49,8 @@ fi
 if [ "$zed" = true ]; then
     sudo usermod -a -G video $USER
 fi
+
+if [ "$fr3" = true ]; then
+    sudo addgroup realtime
+    sudo usermod -a -G realtime $USER
+fi

docker/docker-compose-ci.yml

@@ -10,6 +10,7 @@ services:
         OBELISK_ROOT: $OBELISK_ROOT
         OBELISK_DOCKER_PIXI: true
       dockerfile: Dockerfile
+      network: host
     network_mode: host
     ipc: host
     environment:

docker/docker-compose-no-gpu.yml

@@ -11,9 +11,12 @@ services:
         OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
         OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
         OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+        OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
         OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
         OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
+        OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
       dockerfile: Dockerfile
+      network: host
     network_mode: host
     ipc: host
     environment:
@@ -25,13 +28,22 @@ services:
       OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
       OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
       OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+      OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
       OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
+      OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
+      FR3_USERNAME: $OBELISK_DOCKER_FR3_USERNAME
+      FR3_PASSWORD: $OBELISK_DOCKER_FR3_PASSWORD
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined
     cap_add:
+      - SYS_NICE
       - NET_ADMIN
+    ulimits:
+      rtprio: 99
+      rttime: -1
+      memlock: 8428281856
     volumes:
       - $OBELISK_ROOT:$OBELISK_ROOT
       - /tmp/.X11-unix:/tmp/.X11-unix

docker/docker-compose.yml

@@ -12,10 +12,13 @@ services:
         OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
         OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
         OBELISK_DOCKER_ZED: $OBELISK_DOCKER_ZED
+        OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
         OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
         OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
         OBELISK_DOCKER_GROUP_ZED: $OBELISK_DOCKER_GROUP_ZED
+        OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
       dockerfile: Dockerfile
+      network: host
     network_mode: host
     ipc: host
     environment:
@@ -29,14 +32,23 @@ services:
       OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
       OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
       OBELISK_DOCKER_ZED: $OBELISK_DOCKER_ZED
+      OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
       OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
       OBELISK_DOCKER_GROUP_ZED: $OBELISK_DOCKER_GROUP_ZED
+      OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
+      FR3_USERNAME: $OBELISK_DOCKER_FR3_USERNAME
+      FR3_PASSWORD: $OBELISK_DOCKER_FR3_PASSWORD
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined
     cap_add:
+      - SYS_NICE
       - NET_ADMIN
+    ulimits:
+      rtprio: 99
+      rttime: -1
+      memlock: 8428281856
     volumes:
       - $OBELISK_ROOT:$OBELISK_ROOT
       - /tmp/.X11-unix:/tmp/.X11-unix

docs/source/development.md

@@ -47,7 +47,7 @@ docker compose -f docker/docker-compose-no-gpu.yml run --build obelisk
 
 Either way, your repository root will be mounted into the container at the exact same file location, your username, user ID, and group ID will be shared with the container, and you can freely run `sudo` without supplying a password for any command.
 
-<!-- 
+<!--
 Once ready for development, you should start the `pixi` shell, which is like activating a `conda` environment (but `pixi` environments are project/directory-specific, not shell-wide). To do this, run in the repo root:
 ```
 # if your machine has a gpu

docs/source/getting_started.md

@@ -83,9 +83,6 @@ is critical as this runs the Obelisk setup script within the docker container. I
 The flag options are:
 ```
 Options:
-  --recommended                Apply recommended system-level changes
-                               (cyclone performance optimizations, pixi, obelisk aliases)
-
   --basic                      Enables basic dependencies necessary for Obelisk locally
   --cyclone-perf               Enables cyclone performance optimizations
   --leap                       Enables LEAP hand dependencies
@@ -131,4 +128,4 @@ obk-launch config_file_path=dummy_cpp.yaml device_name=onboard
 ```
 At this point you should see a Mujoco simulation running.
 
-`obk-launch` is an important alias that calls the obelisk launch file. Assuming your code conforms to Obelisk standards (discussing in a later section), an `obk-launch` command should be all you need to bring the full stack, including simulation/hardware.
+`obk-launch` is an important alias that calls the obelisk launch file. Assuming your code conforms to Obelisk standards (discussing in a later section), an `obk-launch` command should be all you need to bring the full stack, including simulation/hardware.

obelisk/cpp/obelisk_cpp/CMakeLists.txt

@@ -24,7 +24,7 @@ find_package(visualization_msgs REQUIRED)
 
 # ------- Mujoco ------- #
 include(FetchContent)
-set(MUJOCO_VERSION "3.1.6" CACHE STRING "mujoco version")
+set(MUJOCO_VERSION "3.3.2" CACHE STRING "mujoco version")
 set(COMP_ARCH "x86_64" CACHE STRING "computer architecture")
 
 FetchContent_Declare(