feat: rai_sim (#415)

Signed-off-by: Kacper Dąbrowski <[email protected]>
Signed-off-by: Piotr Jaroszek <[email protected]>
Co-authored-by: Jakub Matejczyk <[email protected]>
Co-authored-by: Kacper Dąbrowski <[email protected]>
Co-authored-by: Piotr Jaroszek <[email protected]>

examples/manipulation-demo-no-binary.launch.py

@@ -0,0 +1,59 @@
+# Copyright (C) 2025 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import (
+    IncludeLaunchDescription,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+# TODO (mkotynia) think about separation of launches
+def generate_launch_description():
+    launch_moveit = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                "src/examples/rai-manipulation-demo/Project/Examples/panda_moveit_config_demo.launch.py",
+            ]
+        )
+    )
+
+    launch_robotic_manipulation = Node(
+        package="robotic_manipulation",
+        executable="robotic_manipulation",
+        # name="robotic_manipulation_node",
+        output="screen",
+        parameters=[
+            {"use_sim_time": True},
+        ],
+    )
+
+    launch_openset = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                FindPackageShare("rai_bringup"),
+                "/launch/openset.launch.py",
+            ]
+        ),
+    )
+
+    return LaunchDescription(
+        [
+            launch_openset,
+            launch_moveit,
+            launch_robotic_manipulation,
+        ]
+    )

pyproject.toml

@@ -17,6 +17,7 @@ python = "^3.10, <3.13"
 rai = {path = "src/rai_core", develop = true}
 rai_asr = {path = "src/rai_asr", develop = true}
 rai_tts = {path = "src/rai_tts", develop = true}
+rai_sim = {path = "src/rai_sim", develop = true}
 
 langchain-core = "^0.3"
 langchain = "*"

src/rai_core/rai/communication/ros2/connectors.py

@@ -69,6 +69,7 @@ def __init__(
         self._topic_api = ROS2TopicAPI(self._node)
         self._service_api = ROS2ServiceAPI(self._node)
         self._actions_api = ROS2ActionAPI(self._node)
+        self._tf_buffer = Buffer(node=self._node)
 
         self._executor = MultiThreadedExecutor()
         self._executor.add_node(self._node)
@@ -179,16 +180,15 @@ def get_transform(
         source_frame: str,
         timeout_sec: float = 5.0,
     ) -> TransformStamped:
-        tf_buffer = Buffer(node=self._node)
-        tf_listener = TransformListener(tf_buffer, self._node)
+        tf_listener = TransformListener(self._tf_buffer, self._node)
         transform_available = self.wait_for_transform(
-            tf_buffer, target_frame, source_frame, timeout_sec
+            self._tf_buffer, target_frame, source_frame, timeout_sec
         )
         if not transform_available:
             raise LookupException(
                 f"Could not find transform from {source_frame} to {target_frame} in {timeout_sec} seconds"
             )
-        transform: TransformStamped = tf_buffer.lookup_transform(
+        transform: TransformStamped = self._tf_buffer.lookup_transform(
             target_frame,
             source_frame,
             rclpy.time.Time(),

src/rai_sim/README.md

@@ -0,0 +1,17 @@
+## RAI Sim
+
+## Description
+
+The RAI Sim is a package providing interface to implement connection with a specific simulation.
+
+### Components
+
+- `SimulationConnector` - An interface for connecting with a specific simulation. It manages scene setup, spawning, despawning objects, getting current state of the scene.
+
+- `SimulationConfig` - base config class to specify the entities to be spawned. For each simulation connector there should be specified custom simulation config specifying additional parameters needed to run and connect with the simulation.
+
+- `SceneState` - stores the current info about spawned entities
+
+### Example implementation
+
+- `O3DExROS2Connector` - An implementation of SimulationConnector for working with simulation based on O3DE and ROS2.

src/rai_sim/pyproject.toml

@@ -0,0 +1,23 @@
+[tool.poetry]
+name = "rai-sim"
+version = "0.0.1"
+description = "Package to run simulations"
+authors = ["Magdalena Kotynia <[email protected]>", "Kacper Dąbrowski <[email protected]>", "Jakub Matejczyk <[email protected]>"]
+readme = "README.md"
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "Development Status :: 4 - Beta",
+    "License :: OSI Approved :: Apache Software License",
+]
+packages = [
+    { include = "rai_sim", from = "." },
+]
+
+[tool.poetry.dependencies]
+python = "^3.10, <3.13"
+PyYAML = "*"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"

src/rai_sim/rai_sim/__init__.py

@@ -0,0 +1,15 @@
+# Copyright (C) 2025 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""RAI Simulations package."""