Adds a franka kitchen example (#426)

See https://github.shared-services.aws.tri.global/robotics/anzu/issues/13763

book/robot/BUILD.bazel

@@ -24,6 +24,15 @@ rt_ipynb_test(
     ],
 )
 
+rt_ipynb_test(
+    name = "gymnasium_robotics",
+    srcs = ["gymnasium_robotics.ipynb"],
+    deps = [
+      "//manipulation",
+      "//manipulation:make_drake_compatible_model",
+    ],
+)
+
 rt_ipynb_test(
     name = "simulation",
     srcs = ["simulation.ipynb"],

book/robot/gymnasium_robotics.ipynb

@@ -0,0 +1,134 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "id": "05124c35",
+   "metadata": {
+    "colab_type": "text",
+    "id": "EgiF12Hf1Dhs"
+   },
+   "source": [
+    "This notebook provides examples to go along with the [textbook](http://manipulation.csail.mit.edu/robot.html).  I recommend having both windows open, side-by-side!"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "id": "99268d0c",
+   "metadata": {
+    "colab": {},
+    "colab_type": "code",
+    "id": "eeMrMI0-1Dhu",
+    "lines_to_end_of_cell_marker": 2
+   },
+   "outputs": [],
+   "source": [
+    "import numpy as np\n",
+    "from pydrake.all import PackageMap, Parser, RobotDiagramBuilder, Simulator, StartMeshcat\n",
+    "\n",
+    "from manipulation import running_as_notebook\n",
+    "from manipulation.make_drake_compatible_model import MakeDrakeCompatibleModel\n",
+    "from manipulation.utils import ApplyDefaultVisualization"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "7dec0a5e",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Start the visualizer.\n",
+    "meshcat = StartMeshcat()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "11c62164",
+   "metadata": {},
+   "source": [
+    "## Gymnasium Robotics\n",
+    "\n",
+    "Includes the following environments:\n",
+    "- Franka kitchen\n",
+    "- ..."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "cfaf4640",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# TODO(russt): Use ModelVisualizer pending resolution of Drake#22444.\n",
+    "if running_as_notebook:  # I don't want to download the repo in CI.\n",
+    "    meshcat.Delete()\n",
+    "    builder = RobotDiagramBuilder()\n",
+    "    plant = builder.plant()\n",
+    "    parser = Parser(plant)\n",
+    "    package_map = parser.package_map()\n",
+    "    package_map.AddRemote(\n",
+    "        package_name=\"gymnasium_robotics\",\n",
+    "        params=PackageMap.RemoteParams(\n",
+    "            urls=[\n",
+    "                f\"https://github.com/Farama-Foundation/Gymnasium-Robotics/archive/refs/tags/v1.3.1.tar.gz\"\n",
+    "            ],\n",
+    "            sha256=(\"d274b3ee1d34337aa35d4686447fda6a6d20dfcb4d375eab91b4e49b1108afde\"),\n",
+    "            strip_prefix=\"Gymnasium-Robotics-1.3.1/gymnasium_robotics/envs/assets/\",\n",
+    "        ),\n",
+    "    )\n",
+    "    original_file = package_map.ResolveUrl(\n",
+    "        \"package://gymnasium_robotics/kitchen_franka/kitchen_assets/kitchen_env_model.xml\"\n",
+    "    )\n",
+    "    drake_compatible_file = original_file.replace(\".xml\", \".drake.xml\")\n",
+    "    MakeDrakeCompatibleModel(original_file, drake_compatible_file)\n",
+    "    model_instances = parser.AddModels(drake_compatible_file)\n",
+    "    plant.Finalize()\n",
+    "    ApplyDefaultVisualization(builder.builder(), meshcat=meshcat)\n",
+    "    diagram = builder.Build()\n",
+    "    simulator = Simulator(diagram)\n",
+    "\n",
+    "    # Workaround for drake#22444: set the desired state to zero.\n",
+    "    for model_instance in model_instances:\n",
+    "        desired_state_port = plant.get_desired_state_input_port(model_instance)\n",
+    "        if desired_state_port.size() > 0:\n",
+    "            desired_state_port.FixValue(\n",
+    "                plant.GetMyContextFromRoot(simulator.get_context()),\n",
+    "                np.zeros(desired_state_port.size()),\n",
+    "            )\n",
+    "\n",
+    "    diagram.ForcedPublish(simulator.get_context())"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "4565ef03",
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3 (ipykernel)",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}

manipulation/make_drake_compatible_model.py

@@ -292,6 +292,14 @@ def _convert_mjcf(input_filename: str, output_filename: str, overwrite: bool) ->
             texturedir = compiler_element.attrib["texturedir"]
             del compiler_element.attrib["texturedir"]
 
+    # Truncate all rgba attributes to [0, 1]. See Drake#22445.
+    elements_with_rgba = root.findall(".//*[@rgba]")
+    for element in elements_with_rgba:
+        rgba = element.attrib["rgba"]
+        rgba = [float(value) for value in rgba.split()]
+        rgba = [min(max(value, 0), 1) for value in rgba]
+        element.attrib["rgba"] = " ".join([str(value) for value in rgba])
+
     defaults = {}
 
     # Process all default elements recursively