Merge pull request #47 from huggingface/user/aliberts/2024_03_22_fix_simxarm
Port simxarm, upgrade gym to gymnasium
This commit is contained in:
Simon Alibert
GitHub
commit
203bcd7ca5
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@ -1 +1,2 @@
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*.memmap filter=lfs diff=lfs merge=lfs -text
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*.memmap filter=lfs diff=lfs merge=lfs -text
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*.stl filter=lfs diff=lfs merge=lfs -text
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@ -338,73 +338,6 @@ files = [
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[[package]]
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name = "cython"
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version = "3.0.9"
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description = "The Cython compiler for writing C extensions in the Python language."
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||||||
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||||||
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{file = "Cython-3.0.9-cp39-cp39-win_amd64.whl", hash = "sha256:530c01c4aebba709c0ec9c7ecefe07177d0b9fd7ffee29450a118d92192ccbdf"},
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{file = "Cython-3.0.9.tar.gz", hash = "sha256:a2d354f059d1f055d34cfaa62c5b68bc78ac2ceab6407148d47fb508cf3ba4f3"},
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]
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[[package]]
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[[package]]
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name = "debugpy"
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name = "debugpy"
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version = "1.8.1"
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version = "1.8.1"
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[[package]]
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name = "dm-control"
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name = "dm-control"
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version = "1.0.16"
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version = "1.0.14"
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description = "Continuous control environments and MuJoCo Python bindings."
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description = "Continuous control environments and MuJoCo Python bindings."
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optional = false
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optional = false
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python-versions = ">=3.8"
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python-versions = ">=3.8"
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files = [
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files = [
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{file = "dm_control-1.0.16-py3-none-any.whl", hash = "sha256:341f582e26d88556ac0dd1963e11c25f93ef6649b07c75d04570a7de3edebd1b"},
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{file = "dm_control-1.0.14.tar.gz", hash = "sha256:def1ece747b6f175c581150826b50f1a6134086dab34f8f3fd2d088ea035cf3d"},
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]
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]
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[package.dependencies]
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[package.dependencies]
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glfw = "*"
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glfw = "*"
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labmaze = "*"
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labmaze = "*"
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lxml = "*"
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lxml = "*"
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mujoco = ">=3.1.1"
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mujoco = ">=2.3.7"
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numpy = ">=1.9.0"
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numpy = ">=1.9.0"
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protobuf = ">=3.19.4"
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protobuf = ">=3.19.4"
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pyopengl = ">=3.1.4"
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pyopengl = ">=3.1.4"
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{file = "einops-0.7.0.tar.gz", hash = "sha256:b2b04ad6081a3b227080c9bf5e3ace7160357ff03043cd66cc5b2319eb7031d1"},
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{file = "einops-0.7.0.tar.gz", hash = "sha256:b2b04ad6081a3b227080c9bf5e3ace7160357ff03043cd66cc5b2319eb7031d1"},
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]
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]
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[[package]]
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name = "etils"
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version = "1.7.0"
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description = "Collection of common python utils"
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optional = false
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python-versions = ">=3.10"
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files = [
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{file = "etils-1.7.0-py3-none-any.whl", hash = "sha256:61af8f7c242171de15e22e5da02d527cb9e677d11f8bcafe18fcc3548eee3e60"},
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]
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[package.dependencies]
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fsspec = {version = "*", optional = true, markers = "extra == \"epath\""}
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importlib_resources = {version = "*", optional = true, markers = "extra == \"epath\""}
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typing_extensions = {version = "*", optional = true, markers = "extra == \"epy\""}
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zipp = {version = "*", optional = true, markers = "extra == \"epath\""}
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[package.extras]
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all = ["etils[array-types]", "etils[eapp]", "etils[ecolab]", "etils[edc]", "etils[enp]", "etils[epath-gcs]", "etils[epath-s3]", "etils[epath]", "etils[epy]", "etils[etqdm]", "etils[etree-dm]", "etils[etree-jax]", "etils[etree-tf]", "etils[etree]"]
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array-types = ["etils[enp]"]
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dev = ["chex", "dataclass_array", "optree", "pyink", "pylint (>=2.6.0)", "pytest", "pytest-subtests", "pytest-xdist", "torch"]
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docs = ["etils[all,dev]", "sphinx-apitree[ext]"]
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eapp = ["absl-py", "etils[epy]", "simple_parsing"]
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ecolab = ["etils[enp]", "etils[epy]", "etils[etree]", "jupyter", "mediapy", "numpy", "packaging", "protobuf"]
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edc = ["etils[epy]"]
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enp = ["etils[epy]", "numpy"]
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|
||||||
epath = ["etils[epy]", "fsspec", "importlib_resources", "typing_extensions", "zipp"]
|
|
||||||
epath-gcs = ["etils[epath]", "gcsfs"]
|
|
||||||
epath-s3 = ["etils[epath]", "s3fs"]
|
|
||||||
epy = ["typing_extensions"]
|
|
||||||
etqdm = ["absl-py", "etils[epy]", "tqdm"]
|
|
||||||
etree = ["etils[array-types]", "etils[enp]", "etils[epy]", "etils[etqdm]"]
|
|
||||||
etree-dm = ["dm-tree", "etils[etree]"]
|
|
||||||
etree-jax = ["etils[etree]", "jax[cpu]"]
|
|
||||||
etree-tf = ["etils[etree]", "tensorflow"]
|
|
||||||
lazy-imports = ["etils[ecolab]"]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "exceptiongroup"
|
name = "exceptiongroup"
|
||||||
version = "1.2.0"
|
version = "1.2.0"
|
||||||
|
|
@ -686,6 +582,17 @@ files = [
|
||||||
[package.extras]
|
[package.extras]
|
||||||
test = ["pytest (>=6)"]
|
test = ["pytest (>=6)"]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "farama-notifications"
|
||||||
|
version = "0.0.4"
|
||||||
|
description = "Notifications for all Farama Foundation maintained libraries."
|
||||||
|
optional = false
|
||||||
|
python-versions = "*"
|
||||||
|
files = [
|
||||||
|
{file = "Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18"},
|
||||||
|
{file = "Farama_Notifications-0.0.4-py3-none-any.whl", hash = "sha256:14de931035a41961f7c056361dc7f980762a143d05791ef5794a751a2caf05ae"},
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "fasteners"
|
name = "fasteners"
|
||||||
version = "0.19"
|
version = "0.19"
|
||||||
|
|
@ -887,43 +794,58 @@ files = [
|
||||||
protobuf = ["grpcio-tools (>=1.62.1)"]
|
protobuf = ["grpcio-tools (>=1.62.1)"]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "gym"
|
name = "gymnasium"
|
||||||
version = "0.26.2"
|
version = "0.29.1"
|
||||||
description = "Gym: A universal API for reinforcement learning environments"
|
description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
|
||||||
optional = false
|
optional = false
|
||||||
python-versions = ">=3.6"
|
python-versions = ">=3.8"
|
||||||
files = [
|
files = [
|
||||||
{file = "gym-0.26.2.tar.gz", hash = "sha256:e0d882f4b54f0c65f203104c24ab8a38b039f1289986803c7d02cdbe214fbcc4"},
|
{file = "gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e"},
|
||||||
|
{file = "gymnasium-0.29.1.tar.gz", hash = "sha256:1a532752efcb7590478b1cc7aa04f608eb7a2fdad5570cd217b66b6a35274bb1"},
|
||||||
]
|
]
|
||||||
|
|
||||||
[package.dependencies]
|
[package.dependencies]
|
||||||
cloudpickle = ">=1.2.0"
|
cloudpickle = ">=1.2.0"
|
||||||
gym_notices = ">=0.0.4"
|
farama-notifications = ">=0.0.1"
|
||||||
numpy = ">=1.18.0"
|
numpy = ">=1.21.0"
|
||||||
|
typing-extensions = ">=4.3.0"
|
||||||
|
|
||||||
[package.extras]
|
[package.extras]
|
||||||
accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
|
accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
|
||||||
all = ["ale-py (>=0.8.0,<0.9.0)", "box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (==4.*)"]
|
all = ["box2d-py (==2.3.5)", "cython (<3)", "imageio (>=2.14.1)", "jax (>=0.4.0)", "jaxlib (>=0.4.0)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (>=2.3.3)", "mujoco-py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (>=2.1.3)", "shimmy[atari] (>=0.1.0,<1.0)", "swig (==4.*)", "torch (>=1.0.0)"]
|
||||||
atari = ["ale-py (>=0.8.0,<0.9.0)"]
|
atari = ["shimmy[atari] (>=0.1.0,<1.0)"]
|
||||||
box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.0)", "swig (==4.*)"]
|
box2d = ["box2d-py (==2.3.5)", "pygame (>=2.1.3)", "swig (==4.*)"]
|
||||||
classic-control = ["pygame (==2.1.0)"]
|
classic-control = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
|
||||||
mujoco = ["imageio (>=2.14.1)", "mujoco (==2.2)"]
|
jax = ["jax (>=0.4.0)", "jaxlib (>=0.4.0)"]
|
||||||
mujoco-py = ["mujoco_py (>=2.1,<2.2)"]
|
mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.3)"]
|
||||||
other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)"]
|
mujoco-py = ["cython (<3)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"]
|
||||||
testing = ["box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (==4.*)"]
|
other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)", "torch (>=1.0.0)"]
|
||||||
toy-text = ["pygame (==2.1.0)"]
|
testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
|
||||||
|
toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "gym-notices"
|
name = "gymnasium-robotics"
|
||||||
version = "0.0.8"
|
version = "1.2.4"
|
||||||
description = "Notices for gym"
|
description = "Robotics environments for the Gymnasium repo."
|
||||||
optional = false
|
optional = false
|
||||||
python-versions = "*"
|
python-versions = ">=3.8"
|
||||||
files = [
|
files = [
|
||||||
{file = "gym-notices-0.0.8.tar.gz", hash = "sha256:ad25e200487cafa369728625fe064e88ada1346618526102659b4640f2b4b911"},
|
{file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"},
|
||||||
{file = "gym_notices-0.0.8-py3-none-any.whl", hash = "sha256:e5f82e00823a166747b4c2a07de63b6560b1acb880638547e0cabf825a01e463"},
|
{file = "gymnasium_robotics-1.2.4-py3-none-any.whl", hash = "sha256:c2cb23e087ca0280ae6802837eb7b3a6d14e5bd24c00803ab09f015fcff3eef5"},
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[package.dependencies]
|
||||||
|
gymnasium = ">=0.26"
|
||||||
|
imageio = "*"
|
||||||
|
Jinja2 = ">=3.0.3"
|
||||||
|
mujoco = ">=2.3.3,<3.0"
|
||||||
|
numpy = ">=1.21.0"
|
||||||
|
PettingZoo = ">=1.23.0"
|
||||||
|
|
||||||
|
[package.extras]
|
||||||
|
mujoco-py = ["cython (<3)", "mujoco-py (>=2.1,<2.2)"]
|
||||||
|
testing = ["Jinja2 (>=3.0.3)", "PettingZoo (>=1.23.0)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "pytest (==7.0.1)"]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "h5py"
|
name = "h5py"
|
||||||
version = "3.10.0"
|
version = "3.10.0"
|
||||||
|
|
@ -1105,21 +1027,6 @@ docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.link
|
||||||
perf = ["ipython"]
|
perf = ["ipython"]
|
||||||
testing = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
|
testing = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "importlib-resources"
|
|
||||||
version = "6.3.2"
|
|
||||||
description = "Read resources from Python packages"
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.8"
|
|
||||||
files = [
|
|
||||||
{file = "importlib_resources-6.3.2-py3-none-any.whl", hash = "sha256:f41f4098b16cd140a97d256137cfd943d958219007990b2afb00439fc623f580"},
|
|
||||||
{file = "importlib_resources-6.3.2.tar.gz", hash = "sha256:963eb79649252b0160c1afcfe5a1d3fe3ad66edd0a8b114beacffb70c0674223"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.extras]
|
|
||||||
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
|
|
||||||
testing = ["jaraco.collections", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)", "zipp (>=3.17)"]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "iniconfig"
|
name = "iniconfig"
|
||||||
version = "2.0.0"
|
version = "2.0.0"
|
||||||
|
|
@ -1457,65 +1364,44 @@ tests = ["pytest (>=4.6)"]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "mujoco"
|
name = "mujoco"
|
||||||
version = "3.1.3"
|
version = "2.3.7"
|
||||||
description = "MuJoCo Physics Simulator"
|
description = "MuJoCo Physics Simulator"
|
||||||
optional = false
|
optional = false
|
||||||
python-versions = ">=3.8"
|
python-versions = ">=3.8"
|
||||||
files = [
|
files = [
|
||||||
{file = "mujoco-3.1.3-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:1a07e33443ca88c77128336e550502c58721e37b3830af29f0118311c17d826e"},
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{file = "mujoco-2.3.7-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:e8714a5ff6a1561b364b7b4648d4c0c8d13e751874cf7401c309b9d23fa9598b"},
|
||||||
{file = "mujoco-3.1.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:da442c45fa08cf7f307a6f2484ff382b90714b9f52aaceffd5fcb8536dbdc11c"},
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{file = "mujoco-2.3.7-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a934315f858a4e0c4b90a682fde519471cfdd7baa64435179da8cd20d4ae3f99"},
|
||||||
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|
||||||
{file = "mujoco-3.1.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9cc267cf0de8de3c8b317f7c12b2d7a484a7f462263f8ce4c8ae18e9d6817897"},
|
{file = "mujoco-2.3.7-cp38-cp38-win_amd64.whl", hash = "sha256:720bc228a2023b3b0ed6af78f5b0f8ea36867be321d473321555c57dbf6e4e5b"},
|
||||||
{file = "mujoco-3.1.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d67a2aae8d5d58f7ac41d0bcffcd745955415887843bc34da8e3d794b46afbae"},
|
{file = "mujoco-2.3.7-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:855e79686366442aa410246043b44f7d842d3900d68fe7e37feb42147db9d707"},
|
||||||
{file = "mujoco-3.1.3-cp38-cp38-win_amd64.whl", hash = "sha256:8ddb9a07d5ad59c67f2d7e79568cba27ad68cf2284a68370f2054dce2e6e4128"},
|
{file = "mujoco-2.3.7-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:98947f4a742d34d36f3c3f83e9167025bb0414bbaa4bd859b0673bdab9959963"},
|
||||||
{file = "mujoco-3.1.3-cp39-cp39-macosx_10_16_x86_64.whl", hash = "sha256:acdc761e8fa7d4bfb9f262b8886dbb3dd41a957c3ef7ec126aae3342f68b1293"},
|
{file = "mujoco-2.3.7-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:d42818f2ee5d1632dbce31d136ed5ff868db54b04e4e9aca0c5a3ac329f8a90f"},
|
||||||
{file = "mujoco-3.1.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:49bad0da02ebf67ab37a6f6fe435dfc6339f0b46b51b452ee79aaffa5b73659b"},
|
{file = "mujoco-2.3.7-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9237e1ba14bced9449c31199e6d5be49547f3a4c99bc83b196af7ca45fd73b83"},
|
||||||
{file = "mujoco-3.1.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:daa6a3ca50a3769ebfd59274651d2edc76b177cd950560022120fb77cd51f607"},
|
{file = "mujoco-2.3.7-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:39b728ea638245b150e2650c5433e6952e0ed3798c63e47e264574270caea2a3"},
|
||||||
{file = "mujoco-3.1.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:80f3e99d1f2bb02bf7903ba4fef9c31e05fba439b7292ed751390ec78e1eb890"},
|
{file = "mujoco-2.3.7-cp39-cp39-win_amd64.whl", hash = "sha256:9c721a5042b99d948d5f0296a534bcce3f142c777c4d7642f503a539513f3912"},
|
||||||
{file = "mujoco-3.1.3-cp39-cp39-win_amd64.whl", hash = "sha256:2d2fe38b1a7f64e708e8b9a96cf7677027b33fb6e059184163976c6c03fef4cc"},
|
{file = "mujoco-2.3.7.tar.gz", hash = "sha256:422041f1ce37c6d151fbced1048df626837e94fe3cd9f813585907046336a7d0"},
|
||||||
{file = "mujoco-3.1.3.tar.gz", hash = "sha256:f700d074031060b46111ddb60432d00425f821eeeaf0ccc76ed95d47861bd4de"},
|
|
||||||
]
|
]
|
||||||
|
|
||||||
[package.dependencies]
|
[package.dependencies]
|
||||||
absl-py = "*"
|
absl-py = "*"
|
||||||
etils = {version = "*", extras = ["epath"]}
|
|
||||||
glfw = "*"
|
glfw = "*"
|
||||||
numpy = "*"
|
numpy = "*"
|
||||||
pyopengl = "*"
|
pyopengl = "*"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "mujoco-py"
|
|
||||||
version = "2.1.2.14"
|
|
||||||
description = ""
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.6"
|
|
||||||
files = [
|
|
||||||
{file = "mujoco-py-2.1.2.14.tar.gz", hash = "sha256:eb5b14485acf80a3cf8c15f4b080c6a28a9f79e68869aa696d16cbd51ea7706f"},
|
|
||||||
{file = "mujoco_py-2.1.2.14-py3-none-any.whl", hash = "sha256:37c0b41bc0153a8a0eb3663103a67c60f65467753f74e4ff6e68b879f3e3a71f"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.dependencies]
|
|
||||||
cffi = ">=1.10"
|
|
||||||
Cython = ">=0.27.2"
|
|
||||||
fasteners = ">=0.15,<1.0"
|
|
||||||
glfw = ">=1.4.0"
|
|
||||||
imageio = ">=2.1.2"
|
|
||||||
numpy = ">=1.11"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "networkx"
|
name = "networkx"
|
||||||
version = "3.2.1"
|
version = "3.2.1"
|
||||||
|
|
@ -1790,6 +1676,31 @@ sql-other = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "adbc-d
|
||||||
test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
|
test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
|
||||||
xml = ["lxml (>=4.9.2)"]
|
xml = ["lxml (>=4.9.2)"]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "pettingzoo"
|
||||||
|
version = "1.24.3"
|
||||||
|
description = "Gymnasium for multi-agent reinforcement learning."
|
||||||
|
optional = false
|
||||||
|
python-versions = ">=3.8"
|
||||||
|
files = [
|
||||||
|
{file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"},
|
||||||
|
{file = "pettingzoo-1.24.3.tar.gz", hash = "sha256:91f9094f18e06fb74b98f4099cd22e8ae4396125e51719d50b30c9f1c7ab07e6"},
|
||||||
|
]
|
||||||
|
|
||||||
|
[package.dependencies]
|
||||||
|
gymnasium = ">=0.28.0"
|
||||||
|
numpy = ">=1.21.0"
|
||||||
|
|
||||||
|
[package.extras]
|
||||||
|
all = ["box2d-py (==2.3.5)", "chess (==1.9.4)", "multi-agent-ale-py (==0.1.11)", "pillow (>=8.0.1)", "pygame (==2.3.0)", "pymunk (==6.2.0)", "rlcard (==1.0.5)", "scipy (>=1.4.1)", "shimmy[openspiel] (>=1.2.0)"]
|
||||||
|
atari = ["multi-agent-ale-py (==0.1.11)", "pygame (==2.3.0)"]
|
||||||
|
butterfly = ["pygame (==2.3.0)", "pymunk (==6.2.0)"]
|
||||||
|
classic = ["chess (==1.9.4)", "pygame (==2.3.0)", "rlcard (==1.0.5)", "shimmy[openspiel] (>=1.2.0)"]
|
||||||
|
mpe = ["pygame (==2.3.0)"]
|
||||||
|
other = ["pillow (>=8.0.1)"]
|
||||||
|
sisl = ["box2d-py (==2.3.5)", "pygame (==2.3.0)", "pymunk (==6.2.0)", "scipy (>=1.4.1)"]
|
||||||
|
testing = ["AutoROM", "pre-commit", "pynput", "pytest", "pytest-cov", "pytest-markdown-docs", "pytest-xdist"]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "pillow"
|
name = "pillow"
|
||||||
version = "10.2.0"
|
version = "10.2.0"
|
||||||
|
|
@ -3305,4 +3216,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
|
||||||
[metadata]
|
[metadata]
|
||||||
lock-version = "2.0"
|
lock-version = "2.0"
|
||||||
python-versions = "^3.10"
|
python-versions = "^3.10"
|
||||||
content-hash = "cbd9aedcb3a24417b85124fb94db706dd6ca0a90dfb610b0aebdcd3aa2a0333c"
|
content-hash = "93c406139c456780b3d309d7ed3d68ea60cc0e8893c1ee717692984e573d3404"
|
||||||
|
|
|
||||||
|
|
@ -21,7 +21,6 @@ packages = [{include = "lerobot"}]
|
||||||
|
|
||||||
[tool.poetry.dependencies]
|
[tool.poetry.dependencies]
|
||||||
python = "^3.10"
|
python = "^3.10"
|
||||||
cython = "^3.0.8"
|
|
||||||
termcolor = "^2.4.0"
|
termcolor = "^2.4.0"
|
||||||
omegaconf = "^2.3.0"
|
omegaconf = "^2.3.0"
|
||||||
dm-env = "^1.6"
|
dm-env = "^1.6"
|
||||||
|
|
@ -42,17 +41,17 @@ mpmath = "^1.3.0"
|
||||||
torch = {version = "^2.2.1", source = "torch-cpu"}
|
torch = {version = "^2.2.1", source = "torch-cpu"}
|
||||||
tensordict = {git = "https://github.com/pytorch/tensordict"}
|
tensordict = {git = "https://github.com/pytorch/tensordict"}
|
||||||
torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
|
torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
|
||||||
mujoco = "^3.1.2"
|
mujoco = "^2.3.7"
|
||||||
mujoco-py = "^2.1.2.14"
|
|
||||||
gym = "^0.26.2"
|
|
||||||
opencv-python = "^4.9.0.80"
|
opencv-python = "^4.9.0.80"
|
||||||
diffusers = "^0.26.3"
|
diffusers = "^0.26.3"
|
||||||
torchvision = {version = "^0.17.1", source = "torch-cpu"}
|
torchvision = {version = "^0.17.1", source = "torch-cpu"}
|
||||||
h5py = "^3.10.0"
|
h5py = "^3.10.0"
|
||||||
dm = "^1.3"
|
dm = "^1.3"
|
||||||
dm-control = "^1.0.16"
|
dm-control = "1.0.14"
|
||||||
robomimic = "0.2.0"
|
robomimic = "0.2.0"
|
||||||
huggingface-hub = "^0.21.4"
|
huggingface-hub = "^0.21.4"
|
||||||
|
gymnasium-robotics = "^1.2.4"
|
||||||
|
gymnasium = "^0.29.1"
|
||||||
|
|
||||||
|
|
||||||
[tool.poetry.group.dev.dependencies]
|
[tool.poetry.group.dev.dependencies]
|
||||||
|
|
|
||||||
|
|
@ -16,12 +16,8 @@ jobs:
|
||||||
${{ github.event_name == 'push' }}
|
${{ github.event_name == 'push' }}
|
||||||
runs-on: ubuntu-latest
|
runs-on: ubuntu-latest
|
||||||
env:
|
env:
|
||||||
POETRY_VERSION: 1.8.1
|
POETRY_VERSION: 1.8.2
|
||||||
DATA_DIR: tests/data
|
DATA_DIR: tests/data
|
||||||
TMPDIR: ~/tmp
|
|
||||||
TEMP: ~/tmp
|
|
||||||
TMP: ~/tmp
|
|
||||||
PYOPENGL_PLATFORM: egl
|
|
||||||
MUJOCO_GL: egl
|
MUJOCO_GL: egl
|
||||||
LEROBOT_TESTS_DEVICE: cpu
|
LEROBOT_TESTS_DEVICE: cpu
|
||||||
steps:
|
steps:
|
||||||
|
|
@ -86,6 +82,10 @@ jobs:
|
||||||
|
|
||||||
- name: Install dependencies
|
- name: Install dependencies
|
||||||
if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
|
if: steps.restore-dependencies-cache.outputs.cache-hit != 'true'
|
||||||
|
env:
|
||||||
|
TMPDIR: ~/tmp
|
||||||
|
TEMP: ~/tmp
|
||||||
|
TMP: ~/tmp
|
||||||
run: |
|
run: |
|
||||||
mkdir ~/tmp
|
mkdir ~/tmp
|
||||||
poetry install --no-interaction --no-root
|
poetry install --no-interaction --no-root
|
||||||
|
|
|
||||||
|
|
@ -14,11 +14,11 @@ repos:
|
||||||
- id: end-of-file-fixer
|
- id: end-of-file-fixer
|
||||||
- id: trailing-whitespace
|
- id: trailing-whitespace
|
||||||
- repo: https://github.com/asottile/pyupgrade
|
- repo: https://github.com/asottile/pyupgrade
|
||||||
rev: v3.15.1
|
rev: v3.15.2
|
||||||
hooks:
|
hooks:
|
||||||
- id: pyupgrade
|
- id: pyupgrade
|
||||||
- repo: https://github.com/astral-sh/ruff-pre-commit
|
- repo: https://github.com/astral-sh/ruff-pre-commit
|
||||||
rev: v0.2.2
|
rev: v0.3.4
|
||||||
hooks:
|
hooks:
|
||||||
- id: ruff
|
- id: ruff
|
||||||
args: [--fix]
|
args: [--fix]
|
||||||
|
|
|
||||||
25
LICENSE
25
LICENSE
|
|
@ -253,6 +253,31 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||||
SOFTWARE.
|
SOFTWARE.
|
||||||
|
|
||||||
|
|
||||||
|
## Some of lerobot's code is derived from simxarm, which is subject to the following copyright notice:
|
||||||
|
|
||||||
|
MIT License
|
||||||
|
|
||||||
|
Copyright (c) 2023 Nicklas Hansen & Yanjie Ze
|
||||||
|
|
||||||
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||||
|
of this software and associated documentation files (the "Software"), to deal
|
||||||
|
in the Software without restriction, including without limitation the rights
|
||||||
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||||
|
copies of the Software, and to permit persons to whom the Software is
|
||||||
|
furnished to do so, subject to the following conditions:
|
||||||
|
|
||||||
|
The above copyright notice and this permission notice shall be included in all
|
||||||
|
copies or substantial portions of the Software.
|
||||||
|
|
||||||
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||||
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||||
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||||
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||||
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||||
|
SOFTWARE.
|
||||||
|
|
||||||
|
|
||||||
## Some of lerobot's code is derived from ALOHA, which is subject to the following copyright notice:
|
## Some of lerobot's code is derived from ALOHA, which is subject to the following copyright notice:
|
||||||
|
|
||||||
MIT License
|
MIT License
|
||||||
|
|
|
||||||
|
|
@ -40,7 +40,7 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
|
||||||
def __init__(
|
def __init__(
|
||||||
self,
|
self,
|
||||||
dataset_id: str,
|
dataset_id: str,
|
||||||
version: str | None = None,
|
version: str | None = "v1.1",
|
||||||
batch_size: int = None,
|
batch_size: int = None,
|
||||||
*,
|
*,
|
||||||
shuffle: bool = True,
|
shuffle: bool = True,
|
||||||
|
|
@ -67,11 +67,11 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
|
||||||
)
|
)
|
||||||
|
|
||||||
def _download_and_preproc_obsolete(self):
|
def _download_and_preproc_obsolete(self):
|
||||||
assert self.root is not None
|
# assert self.root is not None
|
||||||
# TODO(rcadene): finish download
|
# TODO(rcadene): finish download
|
||||||
download()
|
# download()
|
||||||
|
|
||||||
dataset_path = self.root / f"{self.dataset_id}_raw" / "buffer.pkl"
|
dataset_path = self.root / f"{self.dataset_id}" / "buffer.pkl"
|
||||||
print(f"Using offline dataset '{dataset_path}'")
|
print(f"Using offline dataset '{dataset_path}'")
|
||||||
with open(dataset_path, "rb") as f:
|
with open(dataset_path, "rb") as f:
|
||||||
dataset_dict = pickle.load(f)
|
dataset_dict = pickle.load(f)
|
||||||
|
|
@ -105,15 +105,19 @@ class SimxarmExperienceReplay(AbstractExperienceReplay):
|
||||||
"frame_id": torch.arange(0, num_frames, 1),
|
"frame_id": torch.arange(0, num_frames, 1),
|
||||||
("next", "observation", "image"): next_image,
|
("next", "observation", "image"): next_image,
|
||||||
("next", "observation", "state"): next_state,
|
("next", "observation", "state"): next_state,
|
||||||
("next", "observation", "reward"): next_reward,
|
("next", "reward"): next_reward,
|
||||||
("next", "observation", "done"): next_done,
|
("next", "done"): next_done,
|
||||||
},
|
},
|
||||||
batch_size=num_frames,
|
batch_size=num_frames,
|
||||||
)
|
)
|
||||||
|
|
||||||
if episode_id == 0:
|
if episode_id == 0:
|
||||||
# hack to initialize tensordict data structure to store episodes
|
# hack to initialize tensordict data structure to store episodes
|
||||||
td_data = episode[0].expand(total_frames).memmap_like(self.root / f"{self.dataset_id}")
|
td_data = (
|
||||||
|
episode[0]
|
||||||
|
.expand(total_frames)
|
||||||
|
.memmap_like(self.root / f"{self.dataset_id}" / "replay_buffer")
|
||||||
|
)
|
||||||
|
|
||||||
td_data[idx0:idx1] = episode
|
td_data[idx0:idx1] = episode
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -4,7 +4,7 @@ from typing import Optional
|
||||||
from tensordict import TensorDict
|
from tensordict import TensorDict
|
||||||
from torchrl.envs import EnvBase
|
from torchrl.envs import EnvBase
|
||||||
|
|
||||||
from lerobot.common.utils import set_seed
|
from lerobot.common.utils import set_global_seed
|
||||||
|
|
||||||
|
|
||||||
class AbstractEnv(EnvBase):
|
class AbstractEnv(EnvBase):
|
||||||
|
|
@ -67,4 +67,4 @@ class AbstractEnv(EnvBase):
|
||||||
raise NotImplementedError("Abstract method")
|
raise NotImplementedError("Abstract method")
|
||||||
|
|
||||||
def _set_seed(self, seed: Optional[int]):
|
def _set_seed(self, seed: Optional[int]):
|
||||||
set_seed(seed)
|
set_global_seed(seed)
|
||||||
|
|
|
||||||
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|
|
@ -29,9 +29,9 @@ from lerobot.common.envs.aloha.tasks.sim_end_effector import (
|
||||||
TransferCubeEndEffectorTask,
|
TransferCubeEndEffectorTask,
|
||||||
)
|
)
|
||||||
from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
|
from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
|
||||||
from lerobot.common.utils import set_seed
|
from lerobot.common.utils import set_global_seed
|
||||||
|
|
||||||
_has_gym = importlib.util.find_spec("gym") is not None
|
_has_gym = importlib.util.find_spec("gymnasium") is not None
|
||||||
|
|
||||||
|
|
||||||
class AlohaEnv(AbstractEnv):
|
class AlohaEnv(AbstractEnv):
|
||||||
|
|
@ -63,7 +63,7 @@ class AlohaEnv(AbstractEnv):
|
||||||
|
|
||||||
def _make_env(self):
|
def _make_env(self):
|
||||||
if not _has_gym:
|
if not _has_gym:
|
||||||
raise ImportError("Cannot import gym.")
|
raise ImportError("Cannot import gymnasium.")
|
||||||
|
|
||||||
if not self.from_pixels:
|
if not self.from_pixels:
|
||||||
raise NotImplementedError()
|
raise NotImplementedError()
|
||||||
|
|
@ -290,7 +290,7 @@ class AlohaEnv(AbstractEnv):
|
||||||
)
|
)
|
||||||
|
|
||||||
def _set_seed(self, seed: Optional[int]):
|
def _set_seed(self, seed: Optional[int]):
|
||||||
set_seed(seed)
|
set_global_seed(seed)
|
||||||
# TODO(rcadene): seed the env
|
# TODO(rcadene): seed the env
|
||||||
# self._env.seed(seed)
|
# self._env.seed(seed)
|
||||||
logging.warning("Aloha env is not seeded")
|
logging.warning("Aloha env is not seeded")
|
||||||
|
|
|
||||||
|
|
@ -17,7 +17,7 @@ def make_env(cfg, transform=None):
|
||||||
}
|
}
|
||||||
|
|
||||||
if cfg.env.name == "simxarm":
|
if cfg.env.name == "simxarm":
|
||||||
from lerobot.common.envs.simxarm import SimxarmEnv
|
from lerobot.common.envs.simxarm.env import SimxarmEnv
|
||||||
|
|
||||||
kwargs["task"] = cfg.env.task
|
kwargs["task"] = cfg.env.task
|
||||||
clsfunc = SimxarmEnv
|
clsfunc = SimxarmEnv
|
||||||
|
|
|
||||||
|
|
@ -16,9 +16,9 @@ from torchrl.data.tensor_specs import (
|
||||||
from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
|
from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
|
||||||
|
|
||||||
from lerobot.common.envs.abstract import AbstractEnv
|
from lerobot.common.envs.abstract import AbstractEnv
|
||||||
from lerobot.common.utils import set_seed
|
from lerobot.common.utils import set_global_seed
|
||||||
|
|
||||||
_has_gym = importlib.util.find_spec("gym") is not None
|
_has_gym = importlib.util.find_spec("gymnasium") is not None
|
||||||
|
|
||||||
|
|
||||||
class PushtEnv(AbstractEnv):
|
class PushtEnv(AbstractEnv):
|
||||||
|
|
@ -50,7 +50,7 @@ class PushtEnv(AbstractEnv):
|
||||||
|
|
||||||
def _make_env(self):
|
def _make_env(self):
|
||||||
if not _has_gym:
|
if not _has_gym:
|
||||||
raise ImportError("Cannot import gym.")
|
raise ImportError("Cannot import gymnasium.")
|
||||||
|
|
||||||
# TODO(rcadene) (PushTEnv is similar to PushTImageEnv, but without the image rendering, it's faster to iterate on)
|
# TODO(rcadene) (PushTEnv is similar to PushTImageEnv, but without the image rendering, it's faster to iterate on)
|
||||||
# from lerobot.common.envs.pusht.pusht_env import PushTEnv
|
# from lerobot.common.envs.pusht.pusht_env import PushTEnv
|
||||||
|
|
@ -238,6 +238,6 @@ class PushtEnv(AbstractEnv):
|
||||||
|
|
||||||
def _set_seed(self, seed: Optional[int]):
|
def _set_seed(self, seed: Optional[int]):
|
||||||
# Set global seed.
|
# Set global seed.
|
||||||
set_seed(seed)
|
set_global_seed(seed)
|
||||||
# Set PushTImageEnv seed as it relies on it's own internal _seed attribute.
|
# Set PushTImageEnv seed as it relies on it's own internal _seed attribute.
|
||||||
self._env.seed(seed)
|
self._env.seed(seed)
|
||||||
|
|
|
||||||
|
|
@ -1,14 +1,14 @@
|
||||||
import collections
|
import collections
|
||||||
|
|
||||||
import cv2
|
import cv2
|
||||||
import gym
|
import gymnasium as gym
|
||||||
import numpy as np
|
import numpy as np
|
||||||
import pygame
|
import pygame
|
||||||
import pymunk
|
import pymunk
|
||||||
import pymunk.pygame_util
|
import pymunk.pygame_util
|
||||||
import shapely.geometry as sg
|
import shapely.geometry as sg
|
||||||
import skimage.transform as st
|
import skimage.transform as st
|
||||||
from gym import spaces
|
from gymnasium import spaces
|
||||||
from pymunk.vec2d import Vec2d
|
from pymunk.vec2d import Vec2d
|
||||||
|
|
||||||
from lerobot.common.envs.pusht.pymunk_override import DrawOptions
|
from lerobot.common.envs.pusht.pymunk_override import DrawOptions
|
||||||
|
|
|
||||||
|
|
@ -1,5 +1,5 @@
|
||||||
import numpy as np
|
import numpy as np
|
||||||
from gym import spaces
|
from gymnasium import spaces
|
||||||
|
|
||||||
from lerobot.common.envs.pusht.pusht_env import PushTEnv
|
from lerobot.common.envs.pusht.pusht_env import PushTEnv
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,4 +1,5 @@
|
||||||
import importlib
|
import importlib
|
||||||
|
import logging
|
||||||
from collections import deque
|
from collections import deque
|
||||||
from typing import Optional
|
from typing import Optional
|
||||||
|
|
||||||
|
|
@ -15,12 +16,11 @@ from torchrl.data.tensor_specs import (
|
||||||
from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
|
from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
|
||||||
|
|
||||||
from lerobot.common.envs.abstract import AbstractEnv
|
from lerobot.common.envs.abstract import AbstractEnv
|
||||||
from lerobot.common.utils import set_seed
|
from lerobot.common.utils import set_global_seed
|
||||||
|
|
||||||
MAX_NUM_ACTIONS = 4
|
MAX_NUM_ACTIONS = 4
|
||||||
|
|
||||||
_has_gym = importlib.util.find_spec("gym") is not None
|
_has_gym = importlib.util.find_spec("gymnasium") is not None
|
||||||
_has_simxarm = importlib.util.find_spec("simxarm") is not None and _has_gym
|
|
||||||
|
|
||||||
|
|
||||||
class SimxarmEnv(AbstractEnv):
|
class SimxarmEnv(AbstractEnv):
|
||||||
|
|
@ -49,13 +49,12 @@ class SimxarmEnv(AbstractEnv):
|
||||||
)
|
)
|
||||||
|
|
||||||
def _make_env(self):
|
def _make_env(self):
|
||||||
if not _has_simxarm:
|
|
||||||
raise ImportError("Cannot import simxarm.")
|
|
||||||
if not _has_gym:
|
if not _has_gym:
|
||||||
raise ImportError("Cannot import gym.")
|
raise ImportError("Cannot import gymnasium.")
|
||||||
|
|
||||||
import gym
|
import gymnasium
|
||||||
from simxarm import TASKS
|
|
||||||
|
from lerobot.common.envs.simxarm.simxarm import TASKS
|
||||||
|
|
||||||
if self.task not in TASKS:
|
if self.task not in TASKS:
|
||||||
raise ValueError(f"Unknown task {self.task}. Must be one of {list(TASKS.keys())}")
|
raise ValueError(f"Unknown task {self.task}. Must be one of {list(TASKS.keys())}")
|
||||||
|
|
@ -63,7 +62,7 @@ class SimxarmEnv(AbstractEnv):
|
||||||
self._env = TASKS[self.task]["env"]()
|
self._env = TASKS[self.task]["env"]()
|
||||||
|
|
||||||
num_actions = len(TASKS[self.task]["action_space"])
|
num_actions = len(TASKS[self.task]["action_space"])
|
||||||
self._action_space = gym.spaces.Box(low=-1.0, high=1.0, shape=(num_actions,))
|
self._action_space = gymnasium.spaces.Box(low=-1.0, high=1.0, shape=(num_actions,))
|
||||||
self._action_padding = np.zeros((MAX_NUM_ACTIONS - num_actions), dtype=np.float32)
|
self._action_padding = np.zeros((MAX_NUM_ACTIONS - num_actions), dtype=np.float32)
|
||||||
if "w" not in TASKS[self.task]["action_space"]:
|
if "w" not in TASKS[self.task]["action_space"]:
|
||||||
self._action_padding[-1] = 1.0
|
self._action_padding[-1] = 1.0
|
||||||
|
|
@ -84,7 +83,7 @@ class SimxarmEnv(AbstractEnv):
|
||||||
else:
|
else:
|
||||||
obs = {"state": torch.tensor(raw_obs["observation"], dtype=torch.float32)}
|
obs = {"state": torch.tensor(raw_obs["observation"], dtype=torch.float32)}
|
||||||
|
|
||||||
obs = TensorDict(obs, batch_size=[])
|
# obs = TensorDict(obs, batch_size=[])
|
||||||
return obs
|
return obs
|
||||||
|
|
||||||
def _reset(self, tensordict: Optional[TensorDict] = None):
|
def _reset(self, tensordict: Optional[TensorDict] = None):
|
||||||
|
|
@ -229,5 +228,7 @@ class SimxarmEnv(AbstractEnv):
|
||||||
)
|
)
|
||||||
|
|
||||||
def _set_seed(self, seed: Optional[int]):
|
def _set_seed(self, seed: Optional[int]):
|
||||||
set_seed(seed)
|
set_global_seed(seed)
|
||||||
self._env.seed(seed)
|
self._seed = seed
|
||||||
|
# TODO(aliberts): change self._reset so that it takes in a seed value
|
||||||
|
logging.warning("simxarm env is not properly seeded")
|
||||||
|
|
@ -0,0 +1,166 @@
|
||||||
|
from collections import OrderedDict, deque
|
||||||
|
|
||||||
|
import gymnasium as gym
|
||||||
|
import numpy as np
|
||||||
|
from gymnasium.wrappers import TimeLimit
|
||||||
|
|
||||||
|
from lerobot.common.envs.simxarm.simxarm.tasks.base import Base as Base
|
||||||
|
from lerobot.common.envs.simxarm.simxarm.tasks.lift import Lift
|
||||||
|
from lerobot.common.envs.simxarm.simxarm.tasks.peg_in_box import PegInBox
|
||||||
|
from lerobot.common.envs.simxarm.simxarm.tasks.push import Push
|
||||||
|
from lerobot.common.envs.simxarm.simxarm.tasks.reach import Reach
|
||||||
|
|
||||||
|
TASKS = OrderedDict(
|
||||||
|
(
|
||||||
|
(
|
||||||
|
"reach",
|
||||||
|
{
|
||||||
|
"env": Reach,
|
||||||
|
"action_space": "xyz",
|
||||||
|
"episode_length": 50,
|
||||||
|
"description": "Reach a target location with the end effector",
|
||||||
|
},
|
||||||
|
),
|
||||||
|
(
|
||||||
|
"push",
|
||||||
|
{
|
||||||
|
"env": Push,
|
||||||
|
"action_space": "xyz",
|
||||||
|
"episode_length": 50,
|
||||||
|
"description": "Push a cube to a target location",
|
||||||
|
},
|
||||||
|
),
|
||||||
|
(
|
||||||
|
"peg_in_box",
|
||||||
|
{
|
||||||
|
"env": PegInBox,
|
||||||
|
"action_space": "xyz",
|
||||||
|
"episode_length": 50,
|
||||||
|
"description": "Insert a peg into a box",
|
||||||
|
},
|
||||||
|
),
|
||||||
|
(
|
||||||
|
"lift",
|
||||||
|
{
|
||||||
|
"env": Lift,
|
||||||
|
"action_space": "xyzw",
|
||||||
|
"episode_length": 50,
|
||||||
|
"description": "Lift a cube above a height threshold",
|
||||||
|
},
|
||||||
|
),
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
class SimXarmWrapper(gym.Wrapper):
|
||||||
|
"""
|
||||||
|
A wrapper for the SimXarm environments. This wrapper is used to
|
||||||
|
convert the action and observation spaces to the correct format.
|
||||||
|
"""
|
||||||
|
|
||||||
|
def __init__(self, env, task, obs_mode, image_size, action_repeat, frame_stack=1, channel_last=False):
|
||||||
|
super().__init__(env)
|
||||||
|
self._env = env
|
||||||
|
self.obs_mode = obs_mode
|
||||||
|
self.image_size = image_size
|
||||||
|
self.action_repeat = action_repeat
|
||||||
|
self.frame_stack = frame_stack
|
||||||
|
self._frames = deque([], maxlen=frame_stack)
|
||||||
|
self.channel_last = channel_last
|
||||||
|
self._max_episode_steps = task["episode_length"] // action_repeat
|
||||||
|
|
||||||
|
image_shape = (
|
||||||
|
(image_size, image_size, 3 * frame_stack)
|
||||||
|
if channel_last
|
||||||
|
else (3 * frame_stack, image_size, image_size)
|
||||||
|
)
|
||||||
|
if obs_mode == "state":
|
||||||
|
self.observation_space = env.observation_space["observation"]
|
||||||
|
elif obs_mode == "rgb":
|
||||||
|
self.observation_space = gym.spaces.Box(low=0, high=255, shape=image_shape, dtype=np.uint8)
|
||||||
|
elif obs_mode == "all":
|
||||||
|
self.observation_space = gym.spaces.Dict(
|
||||||
|
state=gym.spaces.Box(low=-np.inf, high=np.inf, shape=(4,), dtype=np.float32),
|
||||||
|
rgb=gym.spaces.Box(low=0, high=255, shape=image_shape, dtype=np.uint8),
|
||||||
|
)
|
||||||
|
else:
|
||||||
|
raise ValueError(f"Unknown obs_mode {obs_mode}. Must be one of [rgb, all, state]")
|
||||||
|
self.action_space = gym.spaces.Box(low=-1.0, high=1.0, shape=(len(task["action_space"]),))
|
||||||
|
self.action_padding = np.zeros(4 - len(task["action_space"]), dtype=np.float32)
|
||||||
|
if "w" not in task["action_space"]:
|
||||||
|
self.action_padding[-1] = 1.0
|
||||||
|
|
||||||
|
def _render_obs(self):
|
||||||
|
obs = self.render(mode="rgb_array", width=self.image_size, height=self.image_size)
|
||||||
|
if not self.channel_last:
|
||||||
|
obs = obs.transpose(2, 0, 1)
|
||||||
|
return obs.copy()
|
||||||
|
|
||||||
|
def _update_frames(self, reset=False):
|
||||||
|
pixels = self._render_obs()
|
||||||
|
self._frames.append(pixels)
|
||||||
|
if reset:
|
||||||
|
for _ in range(1, self.frame_stack):
|
||||||
|
self._frames.append(pixels)
|
||||||
|
assert len(self._frames) == self.frame_stack
|
||||||
|
|
||||||
|
def transform_obs(self, obs, reset=False):
|
||||||
|
if self.obs_mode == "state":
|
||||||
|
return obs["observation"]
|
||||||
|
elif self.obs_mode == "rgb":
|
||||||
|
self._update_frames(reset=reset)
|
||||||
|
rgb_obs = np.concatenate(list(self._frames), axis=-1 if self.channel_last else 0)
|
||||||
|
return rgb_obs
|
||||||
|
elif self.obs_mode == "all":
|
||||||
|
self._update_frames(reset=reset)
|
||||||
|
rgb_obs = np.concatenate(list(self._frames), axis=-1 if self.channel_last else 0)
|
||||||
|
return OrderedDict((("rgb", rgb_obs), ("state", self.robot_state)))
|
||||||
|
else:
|
||||||
|
raise ValueError(f"Unknown obs_mode {self.obs_mode}. Must be one of [rgb, all, state]")
|
||||||
|
|
||||||
|
def reset(self):
|
||||||
|
return self.transform_obs(self._env.reset(), reset=True)
|
||||||
|
|
||||||
|
def step(self, action):
|
||||||
|
action = np.concatenate([action, self.action_padding])
|
||||||
|
reward = 0.0
|
||||||
|
for _ in range(self.action_repeat):
|
||||||
|
obs, r, done, info = self._env.step(action)
|
||||||
|
reward += r
|
||||||
|
return self.transform_obs(obs), reward, done, info
|
||||||
|
|
||||||
|
def render(self, mode="rgb_array", width=384, height=384, **kwargs):
|
||||||
|
return self._env.render(mode, width=width, height=height)
|
||||||
|
|
||||||
|
@property
|
||||||
|
def state(self):
|
||||||
|
return self._env.robot_state
|
||||||
|
|
||||||
|
|
||||||
|
def make(task, obs_mode="state", image_size=84, action_repeat=1, frame_stack=1, channel_last=False, seed=0):
|
||||||
|
"""
|
||||||
|
Create a new environment.
|
||||||
|
Args:
|
||||||
|
task (str): The task to create an environment for. Must be one of:
|
||||||
|
- 'reach'
|
||||||
|
- 'push'
|
||||||
|
- 'peg-in-box'
|
||||||
|
- 'lift'
|
||||||
|
obs_mode (str): The observation mode to use. Must be one of:
|
||||||
|
- 'state': Only state observations
|
||||||
|
- 'rgb': RGB images
|
||||||
|
- 'all': RGB images and state observations
|
||||||
|
image_size (int): The size of the image observations
|
||||||
|
action_repeat (int): The number of times to repeat the action
|
||||||
|
seed (int): The random seed to use
|
||||||
|
Returns:
|
||||||
|
gym.Env: The environment
|
||||||
|
"""
|
||||||
|
if task not in TASKS:
|
||||||
|
raise ValueError(f"Unknown task {task}. Must be one of {list(TASKS.keys())}")
|
||||||
|
env = TASKS[task]["env"]()
|
||||||
|
env = TimeLimit(env, TASKS[task]["episode_length"])
|
||||||
|
env = SimXarmWrapper(env, TASKS[task], obs_mode, image_size, action_repeat, frame_stack, channel_last)
|
||||||
|
env.seed(seed)
|
||||||
|
|
||||||
|
return env
|
||||||
|
|
@ -0,0 +1,53 @@
|
||||||
|
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|
||||||
|
|
||||||
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|
||||||
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|
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|
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
|
|
||||||
|
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|
||||||
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|
||||||
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|
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|
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|
||||||
|
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
||||||
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|
||||||
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|
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|
||||||
|
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|
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|
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|
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<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="1.65 0 10" dir="-0.57 -0.57 -0.57" name="light0"></light>
|
||||||
|
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|
||||||
|
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|
||||||
|
<light pos="0 0 2" dir="0.2 0.2 -0.8" directional="true" diffuse="0.3 0.3 0.3" castshadow="false" name="light3"></light>
|
||||||
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|
||||||
|
<camera fovy="50" name="camera0" pos="0.9559 1.0 1.1" euler="-1.1 -0.6 3.4" />
|
||||||
|
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|
||||||
|
|
||||||
|
<equality>
|
||||||
|
<connect body2="left_finger" body1="left_inner_knuckle" anchor="0.0 0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<connect body2="right_finger" body1="right_inner_knuckle" anchor="0.0 -0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<joint joint1="left_inner_knuckle_joint" joint2="right_inner_knuckle_joint"></joint>
|
||||||
|
</equality>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
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|
||||||
|
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|
||||||
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version https://git-lfs.github.com/spec/v1
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size 1211434
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<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
|
||||||
|
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|
||||||
|
<compiler angle="radian" coordinate="local" meshdir="mesh" texturedir="texture"></compiler>
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||||||
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|
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|
<flag warmstart="enable"></flag>
|
||||||
|
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|
||||||
|
<include file="shared.xml"></include>
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||||||
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|
||||||
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
<include file="xarm.xml"></include>
|
||||||
|
|
||||||
|
<body pos="0.75 0 0.6325" name="pedestal0">
|
||||||
|
<geom name="pedestalgeom0" size="0.1 0.1 0.01" pos="0.32 0.27 0" type="box" mass="2000" material="pedestal_mat"></geom>
|
||||||
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<site pos="0.30 0.30 0" size="0.075 0.075 0.002" type="box" name="robotmountsite0" rgba="0.55 0.54 0.53 1" />
|
||||||
|
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|
||||||
|
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
|
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
<geom name="box_side2" pos="0.064 0.074 0" size="0.002 0.075 0.04" type="box" rgba="0.8 0.1 0.1 1" mass ="2" condim="4" />
|
||||||
|
<geom name="box_side3" pos="-0.064 0.074 0" size="0.002 0.075 0.04" type="box" rgba="0.9 0.2 0.2 1" mass ="2" condim="4" />
|
||||||
|
<geom name="box_side4" pos="-0 0.074 -0.038" size="0.065 0.075 0.002" type="box" rgba="0.5 0 0 1" mass ="2" condim="4"/>
|
||||||
|
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||||||
|
|
||||||
|
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||||||
|
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|
||||||
|
<geom name="object_target0" type="cylinder" pos="0 0 -0.05" size="0.03 0.035" rgba="0.6 0.8 0.5 1" mass ="0.1" condim="3" />
|
||||||
|
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|
||||||
|
<body name="B0" pos="0 0 0" euler="0 0 0 ">
|
||||||
|
<joint name="B0:joint" type="slide" limited="true" axis="0 0 1" damping="0.05" range="0.0001 0.0001001" solimpfriction="0.98 0.98 0.95" frictionloss="1"></joint>
|
||||||
|
<geom type="capsule" size="0.002 0.03" rgba="0 0 0 1" mass="0.001" condim="4"/>
|
||||||
|
<body name="B1" pos="0 0 0.04" euler="0 3.14 0 ">
|
||||||
|
<joint name="B1:joint1" type="hinge" axis="1 0 0" range="-0.1 0.1" frictionloss="1"></joint>
|
||||||
|
<joint name="B1:joint2" type="hinge" axis="0 1 0" range="-0.1 0.1" frictionloss="1"></joint>
|
||||||
|
<joint name="B1:joint3" type="hinge" axis="0 0 1" range="-0.1 0.1" frictionloss="1"></joint>
|
||||||
|
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|
||||||
|
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||||||
|
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||||||
|
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||||||
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|
||||||
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<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="1.65 0 10" dir="-0.57 -0.57 -0.57" name="light0"></light>
|
||||||
|
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|
||||||
|
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|
||||||
|
<light pos="0 0 2" dir="0.2 0.2 -0.8" directional="true" diffuse="0.3 0.3 0.3" castshadow="false" name="light3"></light>
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||||||
|
|
||||||
|
<camera fovy="50" name="camera0" pos="0.9559 1.0 1.1" euler="-1.1 -0.6 3.4" />
|
||||||
|
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|
||||||
|
|
||||||
|
<equality>
|
||||||
|
<connect body2="left_finger" body1="left_inner_knuckle" anchor="0.0 0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<connect body2="right_finger" body1="right_inner_knuckle" anchor="0.0 -0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<weld body1="right_hand" body2="B1" solimp="0.99 0.99 0.99" solref="0.02 1"></weld>
|
||||||
|
<joint joint1="left_inner_knuckle_joint" joint2="right_inner_knuckle_joint"></joint>
|
||||||
|
</equality>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
</actuator>
|
||||||
|
</mujoco>
|
||||||
|
|
@ -0,0 +1,54 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
|
||||||
|
<mujoco>
|
||||||
|
<compiler angle="radian" coordinate="local" meshdir="mesh" texturedir="texture"></compiler>
|
||||||
|
<size nconmax="2000" njmax="500"/>
|
||||||
|
|
||||||
|
<option timestep="0.002">
|
||||||
|
<flag warmstart="enable"></flag>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<include file="shared.xml"></include>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<body name="floor0" pos="0 0 0">
|
||||||
|
<geom name="floorgeom0" pos="1.2 -2.0 0" size="1.0 10.0 1" type="plane" condim="3" material="floor_mat"></geom>
|
||||||
|
<site name="target0" pos="1.565 0.3 0.545" size="0.0475 0.001" rgba="1 0 0 1" type="cylinder"></site>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<include file="xarm.xml"></include>
|
||||||
|
|
||||||
|
<body pos="0.75 0 0.6325" name="pedestal0">
|
||||||
|
<geom name="pedestalgeom0" size="0.1 0.1 0.01" pos="0.32 0.27 0" type="box" mass="2000" material="pedestal_mat"></geom>
|
||||||
|
<site pos="0.30 0.30 0" size="0.075 0.075 0.002" type="box" name="robotmountsite0" rgba="0.55 0.54 0.53 1" />
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body pos="1.5 0.075 0.3425" name="table0">
|
||||||
|
<geom name="tablegeom0" size="0.3 0.6 0.2" pos="0 0 0" type="box" material="table_mat" density="2000" friction="1 0.005 0.0002"></geom>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="object" pos="1.655 0.3 0.68">
|
||||||
|
<joint name="object_joint0" type="free" limited="false"></joint>
|
||||||
|
<geom size="0.024 0.024 0.024" type="box" name="object" material="block_mat" density="50000" condim="4" friction="1 1 1" solimp="1 1 1" solref="0.02 1"></geom>
|
||||||
|
<site name="object_site" pos="0 0 0" size="0.024 0.024 0.024" rgba="0 0 0 0" type="box"></site>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="1.65 0 10" dir="-0.57 -0.57 -0.57" name="light0"></light>
|
||||||
|
<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="0 -4 4" dir="0 1 -0.1" name="light1"></light>
|
||||||
|
<light directional="true" ambient="0.05 0.05 0.05" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="2.13 1.6 2.5" name="light2"></light>
|
||||||
|
<light pos="0 0 2" dir="0.2 0.2 -0.8" directional="true" diffuse="0.3 0.3 0.3" castshadow="false" name="light3"></light>
|
||||||
|
|
||||||
|
<camera fovy="50" name="camera0" pos="0.9559 1.0 1.1" euler="-1.1 -0.6 3.4" />
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<equality>
|
||||||
|
<connect body2="left_finger" body1="left_inner_knuckle" anchor="0.0 0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<connect body2="right_finger" body1="right_inner_knuckle" anchor="0.0 -0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<joint joint1="left_inner_knuckle_joint" joint2="right_inner_knuckle_joint"></joint>
|
||||||
|
</equality>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
</actuator>
|
||||||
|
</mujoco>
|
||||||
|
|
@ -0,0 +1,48 @@
|
||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
|
||||||
|
<mujoco>
|
||||||
|
<compiler angle="radian" coordinate="local" meshdir="mesh" texturedir="texture"></compiler>
|
||||||
|
<size nconmax="2000" njmax="500"/>
|
||||||
|
|
||||||
|
<option timestep="0.002">
|
||||||
|
<flag warmstart="enable"></flag>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<include file="shared.xml"></include>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<body name="floor0" pos="0 0 0">
|
||||||
|
<geom name="floorgeom0" pos="1.2 -2.0 0" size="1.0 10.0 1" type="plane" condim="3" material="floor_mat"></geom>
|
||||||
|
<site name="target0" pos="1.605 0.3 0.58" size="0.0475 0.001" rgba="1 0 0 1" type="cylinder"></site>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<include file="xarm.xml"></include>
|
||||||
|
|
||||||
|
<body pos="0.75 0 0.6325" name="pedestal0">
|
||||||
|
<geom name="pedestalgeom0" size="0.1 0.1 0.01" pos="0.32 0.27 0" type="box" mass="2000" material="pedestal_mat"></geom>
|
||||||
|
<site pos="0.30 0.30 0" size="0.075 0.075 0.002" type="box" name="robotmountsite0" rgba="0.55 0.54 0.53 1" />
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body pos="1.5 0.075 0.3425" name="table0">
|
||||||
|
<geom name="tablegeom0" size="0.3 0.6 0.2" pos="0 0 0" type="box" material="table_mat" density="2000" friction="1 0.005 0.0002"></geom>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="1.65 0 10" dir="-0.57 -0.57 -0.57" name="light0"></light>
|
||||||
|
<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="0 -4 4" dir="0 1 -0.1" name="light1"></light>
|
||||||
|
<light directional="true" ambient="0.05 0.05 0.05" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="2.13 1.6 2.5" name="light2"></light>
|
||||||
|
<light pos="0 0 2" dir="0.2 0.2 -0.8" directional="true" diffuse="0.3 0.3 0.3" castshadow="false" name="light3"></light>
|
||||||
|
|
||||||
|
<camera fovy="50" name="camera0" pos="0.9559 1.0 1.1" euler="-1.1 -0.6 3.4" />
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<equality>
|
||||||
|
<connect body2="left_finger" body1="left_inner_knuckle" anchor="0.0 0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<connect body2="right_finger" body1="right_inner_knuckle" anchor="0.0 -0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
|
||||||
|
<joint joint1="left_inner_knuckle_joint" joint2="right_inner_knuckle_joint"></joint>
|
||||||
|
</equality>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_inner_knuckle_joint" gear="200.0"/>
|
||||||
|
</actuator>
|
||||||
|
</mujoco>
|
||||||
|
|
@ -0,0 +1,51 @@
|
||||||
|
<mujoco>
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1="0.0 0.0 0.0" rgb2="0.0 0.0 0.0" width="32" height="32"></texture>
|
||||||
|
<material name="floor_mat" specular="0" shininess="0.0" reflectance="0" rgba="0.043 0.055 0.051 1"></material>
|
||||||
|
|
||||||
|
<material name="table_mat" specular="0.2" shininess="0.2" reflectance="0" rgba="1 1 1 1"></material>
|
||||||
|
<material name="pedestal_mat" specular="0.35" shininess="0.5" reflectance="0" rgba="0.705 0.585 0.405 1"></material>
|
||||||
|
<material name="block_mat" specular="0.5" shininess="0.9" reflectance="0.05" rgba="0.373 0.678 0.627 1"></material>
|
||||||
|
|
||||||
|
<material name="robot0:geomMat" shininess="0.03" specular="0.4"></material>
|
||||||
|
<material name="robot0:gripper_finger_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
||||||
|
<material name="robot0:gripper_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
||||||
|
<material name="background:gripper_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
||||||
|
<material name="robot0:arm_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
||||||
|
<material name="robot0:head_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
||||||
|
<material name="robot0:torso_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
||||||
|
<material name="robot0:base_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
||||||
|
|
||||||
|
<mesh name="link_base" file="link_base.stl" />
|
||||||
|
<mesh name="link1" file="link1.stl" />
|
||||||
|
<mesh name="link2" file="link2.stl" />
|
||||||
|
<mesh name="link3" file="link3.stl" />
|
||||||
|
<mesh name="link4" file="link4.stl" />
|
||||||
|
<mesh name="link5" file="link5.stl" />
|
||||||
|
<mesh name="link6" file="link6.stl" />
|
||||||
|
<mesh name="link7" file="link7.stl" />
|
||||||
|
<mesh name="base_link" file="base_link.stl" />
|
||||||
|
<mesh name="left_outer_knuckle" file="left_outer_knuckle.stl" />
|
||||||
|
<mesh name="left_finger" file="left_finger.stl" />
|
||||||
|
<mesh name="left_inner_knuckle" file="left_inner_knuckle.stl" />
|
||||||
|
<mesh name="right_outer_knuckle" file="right_outer_knuckle.stl" />
|
||||||
|
<mesh name="right_finger" file="right_finger.stl" />
|
||||||
|
<mesh name="right_inner_knuckle" file="right_inner_knuckle.stl" />
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<equality>
|
||||||
|
<weld body1="robot0:mocap2" body2="link7" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
|
||||||
|
</equality>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<joint armature="1" damping="0.1" limited="true"/>
|
||||||
|
<default class="robot0:blue">
|
||||||
|
<geom rgba="0.086 0.506 0.767 1.0"></geom>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<default class="robot0:grey">
|
||||||
|
<geom rgba="0.356 0.361 0.376 1.0"></geom>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
|
|
@ -0,0 +1,88 @@
|
||||||
|
<mujoco model="xarm7">
|
||||||
|
<body mocap="true" name="robot0:mocap2" pos="0 0 0">
|
||||||
|
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" size="0.005 0.005 0.005" type="box"></geom>
|
||||||
|
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0.5 0 0 0" size="1 0.005 0.005" type="box"></geom>
|
||||||
|
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0 0.5 0" size="0.005 1 0.001" type="box"></geom>
|
||||||
|
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0.5 0.5 0 0" size="0.005 0.005 1" type="box"></geom>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="link0" pos="1.09 0.28 0.655">
|
||||||
|
<geom name="bb" type="mesh" mesh="link_base" material="robot0:base_mat" rgba="1 1 1 1"/>
|
||||||
|
<body name="link1" pos="0 0 0.267">
|
||||||
|
<inertial pos="-0.0042142 0.02821 -0.0087788" quat="0.917781 -0.277115 0.0606681 0.277858" mass="0.42603" diaginertia="0.00144551 0.00137757 0.000823511" />
|
||||||
|
<joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="10" frictionloss="1" />
|
||||||
|
<geom name="j1" type="mesh" mesh="link1" material="robot0:arm_mat" rgba="1 1 1 1"/>
|
||||||
|
<body name="link2" pos="0 0 0" quat="0.707105 -0.707108 0 0">
|
||||||
|
<inertial pos="-3.3178e-05 -0.12849 0.026337" quat="0.447793 0.894132 -0.00224061 0.00218314" mass="0.56095" diaginertia="0.00319151 0.00311598 0.000980804" />
|
||||||
|
<joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-2.059 2.0944" damping="10" frictionloss="1" />
|
||||||
|
<geom name="j2" type="mesh" mesh="link2" material="robot0:head_mat" rgba="1 1 1 1"/>
|
||||||
|
<body name="link3" pos="0 -0.293 0" quat="0.707105 0.707108 0 0">
|
||||||
|
<inertial pos="0.04223 -0.023258 -0.0096674" quat="0.883205 0.339803 0.323238 0.000542237" mass="0.44463" diaginertia="0.00133227 0.00119126 0.000780475" />
|
||||||
|
<joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="5" frictionloss="1" />
|
||||||
|
<geom name="j3" type="mesh" mesh="link3" material="robot0:gripper_mat" rgba="1 1 1 1"/>
|
||||||
|
<body name="link4" pos="0.0525 0 0" quat="0.707105 0.707108 0 0">
|
||||||
|
<inertial pos="0.067148 -0.10732 0.024479" quat="0.0654142 0.483317 -0.738663 0.465298" mass="0.52387" diaginertia="0.00288984 0.00282705 0.000894409" />
|
||||||
|
<joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-0.19198 3.927" damping="5" frictionloss="1" />
|
||||||
|
<geom name="j4" type="mesh" mesh="link4" material="robot0:arm_mat" rgba="1 1 1 1"/>
|
||||||
|
<body name="link5" pos="0.0775 -0.3425 0" quat="0.707105 0.707108 0 0">
|
||||||
|
<inertial pos="-0.00023397 0.036705 -0.080064" quat="0.981064 -0.19003 0.00637998 0.0369004" mass="0.18554" diaginertia="0.00099553 0.000988613 0.000247126" />
|
||||||
|
<joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="5" frictionloss="1" />
|
||||||
|
<geom name="j5" type="mesh" material="robot0:gripper_mat" rgba="1 1 1 1" mesh="link5" />
|
||||||
|
<body name="link6" pos="0 0 0" quat="0.707105 0.707108 0 0">
|
||||||
|
<inertial pos="0.058911 0.028469 0.0068428" quat="-0.188705 0.793535 0.166088 0.554173" mass="0.31344" diaginertia="0.000827892 0.000768871 0.000386708" />
|
||||||
|
<joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-1.69297 3.14159" damping="2" frictionloss="1" />
|
||||||
|
<geom name="j6" type="mesh" material="robot0:gripper_mat" rgba="1 1 1 1" mesh="link6" />
|
||||||
|
<body name="link7" pos="0.076 0.097 0" quat="0.707105 -0.707108 0 0">
|
||||||
|
<inertial pos="-0.000420033 -0.00287433 0.0257078" quat="0.999372 -0.0349129 -0.00605634 0.000551744" mass="0.85624" diaginertia="0.00137671 0.00118744 0.000514968" />
|
||||||
|
<joint name="joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="2" frictionloss="1" />
|
||||||
|
<geom name="j8" material="robot0:gripper_mat" type="mesh" rgba="0.753 0.753 0.753 1" mesh="link7" />
|
||||||
|
<geom name="j9" material="robot0:gripper_mat" type="mesh" rgba="1 1 1 1" mesh="base_link" />
|
||||||
|
<site name="grasp" pos="0 0 0.16" rgba="1 0 0 0" type="sphere" size="0.01" group="1"/>
|
||||||
|
<body name="left_outer_knuckle" pos="0 0.035 0.059098">
|
||||||
|
<inertial pos="0 0.021559 0.015181" quat="0.47789 0.87842 0 0" mass="0.033618" diaginertia="1.9111e-05 1.79089e-05 1.90167e-06" />
|
||||||
|
<joint name="drive_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.85" />
|
||||||
|
<geom type="mesh" rgba="0 0 0 1" conaffinity="1" contype="0" mesh="left_outer_knuckle" />
|
||||||
|
<body name="left_finger" pos="0 0.035465 0.042039">
|
||||||
|
<inertial pos="0 -0.016413 0.029258" quat="0.697634 0.115353 -0.115353 0.697634" mass="0.048304" diaginertia="1.88037e-05 1.7493e-05 3.56792e-06" />
|
||||||
|
<joint name="left_finger_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.85" />
|
||||||
|
<geom name="j10" material="robot0:gripper_finger_mat" type="mesh" rgba="0 0 0 1" conaffinity="3" contype="2" mesh="left_finger" friction='1.5 1.5 1.5' solref='0.01 1' solimp='0.99 0.99 0.01'/>
|
||||||
|
<body name="right_hand" pos="0 -0.03 0.05" quat="-0.7071 0 0 0.7071">
|
||||||
|
<site name="ee" pos="0 0 0" rgba="0 0 1 0" type="sphere" group="1"/>
|
||||||
|
<site name="ee_x" pos="0 0 0" size="0.005 .1" quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
|
||||||
|
<site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" type="cylinder" group="1"/>
|
||||||
|
<site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" type="cylinder" group="1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="left_inner_knuckle" pos="0 0.02 0.074098">
|
||||||
|
<inertial pos="1.86601e-06 0.0220468 0.0261335" quat="0.664139 -0.242732 0.242713 0.664146" mass="0.0230126" diaginertia="8.34216e-06 6.0949e-06 2.75601e-06" />
|
||||||
|
<joint name="left_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.85" />
|
||||||
|
<geom type="mesh" rgba="0 0 0 1" conaffinity="1" contype="0" mesh="left_inner_knuckle" friction='1.5 1.5 1.5' solref='0.01 1' solimp='0.99 0.99 0.01'/>
|
||||||
|
</body>
|
||||||
|
<body name="right_outer_knuckle" pos="0 -0.035 0.059098">
|
||||||
|
<inertial pos="0 -0.021559 0.015181" quat="0.87842 0.47789 0 0" mass="0.033618" diaginertia="1.9111e-05 1.79089e-05 1.90167e-06" />
|
||||||
|
<joint name="right_outer_knuckle_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.85" />
|
||||||
|
<geom type="mesh" rgba="0 0 0 1" conaffinity="1" contype="0" mesh="right_outer_knuckle" />
|
||||||
|
<body name="right_finger" pos="0 -0.035465 0.042039">
|
||||||
|
<inertial pos="0 0.016413 0.029258" quat="0.697634 -0.115356 0.115356 0.697634" mass="0.048304" diaginertia="1.88038e-05 1.7493e-05 3.56779e-06" />
|
||||||
|
<joint name="right_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.85" />
|
||||||
|
<geom name="j11" material="robot0:gripper_finger_mat" type="mesh" rgba="0 0 0 1" conaffinity="3" contype="2" mesh="right_finger" friction='1.5 1.5 1.5' solref='0.01 1' solimp='0.99 0.99 0.01'/>
|
||||||
|
<body name="left_hand" pos="0 0.03 0.05" quat="-0.7071 0 0 0.7071">
|
||||||
|
<site name="ee_2" pos="0 0 0" rgba="1 0 0 0" type="sphere" size="0.01" group="1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="right_inner_knuckle" pos="0 -0.02 0.074098">
|
||||||
|
<inertial pos="1.866e-06 -0.022047 0.026133" quat="0.66415 0.242702 -0.242721 0.664144" mass="0.023013" diaginertia="8.34209e-06 6.0949e-06 2.75601e-06" />
|
||||||
|
<joint name="right_inner_knuckle_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.85" />
|
||||||
|
<geom type="mesh" rgba="0 0 0 1" conaffinity="1" contype="0" mesh="right_inner_knuckle" friction='1.5 1.5 1.5' solref='0.01 1' solimp='0.99 0.99 0.01'/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</mujoco>
|
||||||
|
|
@ -0,0 +1,145 @@
|
||||||
|
import os
|
||||||
|
|
||||||
|
import mujoco
|
||||||
|
import numpy as np
|
||||||
|
from gymnasium_robotics.envs import robot_env
|
||||||
|
|
||||||
|
from lerobot.common.envs.simxarm.simxarm.tasks import mocap
|
||||||
|
|
||||||
|
|
||||||
|
class Base(robot_env.MujocoRobotEnv):
|
||||||
|
"""
|
||||||
|
Superclass for all simxarm environments.
|
||||||
|
Args:
|
||||||
|
xml_name (str): name of the xml environment file
|
||||||
|
gripper_rotation (list): initial rotation of the gripper (given as a quaternion)
|
||||||
|
"""
|
||||||
|
|
||||||
|
def __init__(self, xml_name, gripper_rotation=None):
|
||||||
|
if gripper_rotation is None:
|
||||||
|
gripper_rotation = [0, 1, 0, 0]
|
||||||
|
self.gripper_rotation = np.array(gripper_rotation, dtype=np.float32)
|
||||||
|
self.center_of_table = np.array([1.655, 0.3, 0.63625])
|
||||||
|
self.max_z = 1.2
|
||||||
|
self.min_z = 0.2
|
||||||
|
super().__init__(
|
||||||
|
model_path=os.path.join(os.path.dirname(__file__), "assets", xml_name + ".xml"),
|
||||||
|
n_substeps=20,
|
||||||
|
n_actions=4,
|
||||||
|
initial_qpos={},
|
||||||
|
)
|
||||||
|
|
||||||
|
@property
|
||||||
|
def dt(self):
|
||||||
|
return self.n_substeps * self.model.opt.timestep
|
||||||
|
|
||||||
|
@property
|
||||||
|
def eef(self):
|
||||||
|
return self._utils.get_site_xpos(self.model, self.data, "grasp")
|
||||||
|
|
||||||
|
@property
|
||||||
|
def obj(self):
|
||||||
|
return self._utils.get_site_xpos(self.model, self.data, "object_site")
|
||||||
|
|
||||||
|
@property
|
||||||
|
def robot_state(self):
|
||||||
|
gripper_angle = self._utils.get_joint_qpos(self.model, self.data, "right_outer_knuckle_joint")
|
||||||
|
return np.concatenate([self.eef, gripper_angle])
|
||||||
|
|
||||||
|
def is_success(self):
|
||||||
|
return NotImplementedError()
|
||||||
|
|
||||||
|
def get_reward(self):
|
||||||
|
raise NotImplementedError()
|
||||||
|
|
||||||
|
def _sample_goal(self):
|
||||||
|
raise NotImplementedError()
|
||||||
|
|
||||||
|
def get_obs(self):
|
||||||
|
return self._get_obs()
|
||||||
|
|
||||||
|
def _step_callback(self):
|
||||||
|
self._mujoco.mj_forward(self.model, self.data)
|
||||||
|
|
||||||
|
def _limit_gripper(self, gripper_pos, pos_ctrl):
|
||||||
|
if gripper_pos[0] > self.center_of_table[0] - 0.105 + 0.15:
|
||||||
|
pos_ctrl[0] = min(pos_ctrl[0], 0)
|
||||||
|
if gripper_pos[0] < self.center_of_table[0] - 0.105 - 0.3:
|
||||||
|
pos_ctrl[0] = max(pos_ctrl[0], 0)
|
||||||
|
if gripper_pos[1] > self.center_of_table[1] + 0.3:
|
||||||
|
pos_ctrl[1] = min(pos_ctrl[1], 0)
|
||||||
|
if gripper_pos[1] < self.center_of_table[1] - 0.3:
|
||||||
|
pos_ctrl[1] = max(pos_ctrl[1], 0)
|
||||||
|
if gripper_pos[2] > self.max_z:
|
||||||
|
pos_ctrl[2] = min(pos_ctrl[2], 0)
|
||||||
|
if gripper_pos[2] < self.min_z:
|
||||||
|
pos_ctrl[2] = max(pos_ctrl[2], 0)
|
||||||
|
return pos_ctrl
|
||||||
|
|
||||||
|
def _apply_action(self, action):
|
||||||
|
assert action.shape == (4,)
|
||||||
|
action = action.copy()
|
||||||
|
pos_ctrl, gripper_ctrl = action[:3], action[3]
|
||||||
|
pos_ctrl = self._limit_gripper(
|
||||||
|
self._utils.get_site_xpos(self.model, self.data, "grasp"), pos_ctrl
|
||||||
|
) * (1 / self.n_substeps)
|
||||||
|
gripper_ctrl = np.array([gripper_ctrl, gripper_ctrl])
|
||||||
|
mocap.apply_action(
|
||||||
|
self.model,
|
||||||
|
self._model_names,
|
||||||
|
self.data,
|
||||||
|
np.concatenate([pos_ctrl, self.gripper_rotation, gripper_ctrl]),
|
||||||
|
)
|
||||||
|
|
||||||
|
def _render_callback(self):
|
||||||
|
self._mujoco.mj_forward(self.model, self.data)
|
||||||
|
|
||||||
|
def _reset_sim(self):
|
||||||
|
self.data.time = self.initial_time
|
||||||
|
self.data.qpos[:] = np.copy(self.initial_qpos)
|
||||||
|
self.data.qvel[:] = np.copy(self.initial_qvel)
|
||||||
|
self._sample_goal()
|
||||||
|
self._mujoco.mj_step(self.model, self.data, nstep=10)
|
||||||
|
return True
|
||||||
|
|
||||||
|
def _set_gripper(self, gripper_pos, gripper_rotation):
|
||||||
|
self._utils.set_mocap_pos(self.model, self.data, "robot0:mocap", gripper_pos)
|
||||||
|
self._utils.set_mocap_quat(self.model, self.data, "robot0:mocap", gripper_rotation)
|
||||||
|
self._utils.set_joint_qpos(self.model, self.data, "right_outer_knuckle_joint", 0)
|
||||||
|
self.data.qpos[10] = 0.0
|
||||||
|
self.data.qpos[12] = 0.0
|
||||||
|
|
||||||
|
def _env_setup(self, initial_qpos):
|
||||||
|
for name, value in initial_qpos.items():
|
||||||
|
self.data.set_joint_qpos(name, value)
|
||||||
|
mocap.reset(self.model, self.data)
|
||||||
|
mujoco.mj_forward(self.model, self.data)
|
||||||
|
self._sample_goal()
|
||||||
|
mujoco.mj_forward(self.model, self.data)
|
||||||
|
|
||||||
|
def reset(self):
|
||||||
|
self._reset_sim()
|
||||||
|
return self._get_obs()
|
||||||
|
|
||||||
|
def step(self, action):
|
||||||
|
assert action.shape == (4,)
|
||||||
|
assert self.action_space.contains(action), "{!r} ({}) invalid".format(action, type(action))
|
||||||
|
self._apply_action(action)
|
||||||
|
self._mujoco.mj_step(self.model, self.data, nstep=2)
|
||||||
|
self._step_callback()
|
||||||
|
obs = self._get_obs()
|
||||||
|
reward = self.get_reward()
|
||||||
|
done = False
|
||||||
|
info = {"is_success": self.is_success(), "success": self.is_success()}
|
||||||
|
return obs, reward, done, info
|
||||||
|
|
||||||
|
def render(self, mode="rgb_array", width=384, height=384):
|
||||||
|
self._render_callback()
|
||||||
|
# HACK
|
||||||
|
self.model.vis.global_.offwidth = width
|
||||||
|
self.model.vis.global_.offheight = height
|
||||||
|
return self.mujoco_renderer.render(mode)
|
||||||
|
|
||||||
|
def close(self):
|
||||||
|
if self.mujoco_renderer is not None:
|
||||||
|
self.mujoco_renderer.close()
|
||||||
|
|
@ -0,0 +1,100 @@
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
from lerobot.common.envs.simxarm.simxarm import Base
|
||||||
|
|
||||||
|
|
||||||
|
class Lift(Base):
|
||||||
|
def __init__(self):
|
||||||
|
self._z_threshold = 0.15
|
||||||
|
super().__init__("lift")
|
||||||
|
|
||||||
|
@property
|
||||||
|
def z_target(self):
|
||||||
|
return self._init_z + self._z_threshold
|
||||||
|
|
||||||
|
def is_success(self):
|
||||||
|
return self.obj[2] >= self.z_target
|
||||||
|
|
||||||
|
def get_reward(self):
|
||||||
|
reach_dist = np.linalg.norm(self.obj - self.eef)
|
||||||
|
reach_dist_xy = np.linalg.norm(self.obj[:-1] - self.eef[:-1])
|
||||||
|
pick_completed = self.obj[2] >= (self.z_target - 0.01)
|
||||||
|
obj_dropped = (self.obj[2] < (self._init_z + 0.005)) and (reach_dist > 0.02)
|
||||||
|
|
||||||
|
# Reach
|
||||||
|
if reach_dist < 0.05:
|
||||||
|
reach_reward = -reach_dist + max(self._action[-1], 0) / 50
|
||||||
|
elif reach_dist_xy < 0.05:
|
||||||
|
reach_reward = -reach_dist
|
||||||
|
else:
|
||||||
|
z_bonus = np.linalg.norm(np.linalg.norm(self.obj[-1] - self.eef[-1]))
|
||||||
|
reach_reward = -reach_dist - 2 * z_bonus
|
||||||
|
|
||||||
|
# Pick
|
||||||
|
if pick_completed and not obj_dropped:
|
||||||
|
pick_reward = self.z_target
|
||||||
|
elif (reach_dist < 0.1) and (self.obj[2] > (self._init_z + 0.005)):
|
||||||
|
pick_reward = min(self.z_target, self.obj[2])
|
||||||
|
else:
|
||||||
|
pick_reward = 0
|
||||||
|
|
||||||
|
return reach_reward / 100 + pick_reward
|
||||||
|
|
||||||
|
def _get_obs(self):
|
||||||
|
eef_velp = self._utils.get_site_xvelp(self.model, self.data, "grasp") * self.dt
|
||||||
|
gripper_angle = self._utils.get_joint_qpos(self.model, self.data, "right_outer_knuckle_joint")
|
||||||
|
eef = self.eef - self.center_of_table
|
||||||
|
|
||||||
|
obj = self.obj - self.center_of_table
|
||||||
|
obj_rot = self._utils.get_joint_qpos(self.model, self.data, "object_joint0")[-4:]
|
||||||
|
obj_velp = self._utils.get_site_xvelp(self.model, self.data, "object_site") * self.dt
|
||||||
|
obj_velr = self._utils.get_site_xvelr(self.model, self.data, "object_site") * self.dt
|
||||||
|
|
||||||
|
obs = np.concatenate(
|
||||||
|
[
|
||||||
|
eef,
|
||||||
|
eef_velp,
|
||||||
|
obj,
|
||||||
|
obj_rot,
|
||||||
|
obj_velp,
|
||||||
|
obj_velr,
|
||||||
|
eef - obj,
|
||||||
|
np.array(
|
||||||
|
[
|
||||||
|
np.linalg.norm(eef - obj),
|
||||||
|
np.linalg.norm(eef[:-1] - obj[:-1]),
|
||||||
|
self.z_target,
|
||||||
|
self.z_target - obj[-1],
|
||||||
|
self.z_target - eef[-1],
|
||||||
|
]
|
||||||
|
),
|
||||||
|
gripper_angle,
|
||||||
|
],
|
||||||
|
axis=0,
|
||||||
|
)
|
||||||
|
return {"observation": obs, "state": eef, "achieved_goal": eef, "desired_goal": eef}
|
||||||
|
|
||||||
|
def _sample_goal(self):
|
||||||
|
# Gripper
|
||||||
|
gripper_pos = np.array([1.280, 0.295, 0.735]) + self.np_random.uniform(-0.05, 0.05, size=3)
|
||||||
|
super()._set_gripper(gripper_pos, self.gripper_rotation)
|
||||||
|
|
||||||
|
# Object
|
||||||
|
object_pos = self.center_of_table - np.array([0.15, 0.10, 0.07])
|
||||||
|
object_pos[0] += self.np_random.uniform(-0.05, 0.05, size=1)
|
||||||
|
object_pos[1] += self.np_random.uniform(-0.05, 0.05, size=1)
|
||||||
|
object_qpos = self._utils.get_joint_qpos(self.model, self.data, "object_joint0")
|
||||||
|
object_qpos[:3] = object_pos
|
||||||
|
self._utils.set_joint_qpos(self.model, self.data, "object_joint0", object_qpos)
|
||||||
|
self._init_z = object_pos[2]
|
||||||
|
|
||||||
|
# Goal
|
||||||
|
return object_pos + np.array([0, 0, self._z_threshold])
|
||||||
|
|
||||||
|
def reset(self):
|
||||||
|
self._action = np.zeros(4)
|
||||||
|
return super().reset()
|
||||||
|
|
||||||
|
def step(self, action):
|
||||||
|
self._action = action.copy()
|
||||||
|
return super().step(action)
|
||||||
|
|
@ -0,0 +1,67 @@
|
||||||
|
# import mujoco_py
|
||||||
|
import mujoco
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
|
||||||
|
def apply_action(model, model_names, data, action):
|
||||||
|
if model.nmocap > 0:
|
||||||
|
pos_action, gripper_action = np.split(action, (model.nmocap * 7,))
|
||||||
|
if data.ctrl is not None:
|
||||||
|
for i in range(gripper_action.shape[0]):
|
||||||
|
data.ctrl[i] = gripper_action[i]
|
||||||
|
pos_action = pos_action.reshape(model.nmocap, 7)
|
||||||
|
pos_delta, quat_delta = pos_action[:, :3], pos_action[:, 3:]
|
||||||
|
reset_mocap2body_xpos(model, model_names, data)
|
||||||
|
data.mocap_pos[:] = data.mocap_pos + pos_delta
|
||||||
|
data.mocap_quat[:] = data.mocap_quat + quat_delta
|
||||||
|
|
||||||
|
|
||||||
|
def reset(model, data):
|
||||||
|
if model.nmocap > 0 and model.eq_data is not None:
|
||||||
|
for i in range(model.eq_data.shape[0]):
|
||||||
|
# if sim.model.eq_type[i] == mujoco_py.const.EQ_WELD:
|
||||||
|
if model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD:
|
||||||
|
# model.eq_data[i, :] = np.array([0., 0., 0., 1., 0., 0., 0.])
|
||||||
|
model.eq_data[i, :] = np.array(
|
||||||
|
[
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
1.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
0.0,
|
||||||
|
]
|
||||||
|
)
|
||||||
|
# sim.forward()
|
||||||
|
mujoco.mj_forward(model, data)
|
||||||
|
|
||||||
|
|
||||||
|
def reset_mocap2body_xpos(model, model_names, data):
|
||||||
|
if model.eq_type is None or model.eq_obj1id is None or model.eq_obj2id is None:
|
||||||
|
return
|
||||||
|
|
||||||
|
# For all weld constraints
|
||||||
|
for eq_type, obj1_id, obj2_id in zip(model.eq_type, model.eq_obj1id, model.eq_obj2id, strict=False):
|
||||||
|
# if eq_type != mujoco_py.const.EQ_WELD:
|
||||||
|
if eq_type != mujoco.mjtEq.mjEQ_WELD:
|
||||||
|
continue
|
||||||
|
# body2 = model.body_id2name(obj2_id)
|
||||||
|
body2 = model_names.body_id2name[obj2_id]
|
||||||
|
if body2 == "B0" or body2 == "B9" or body2 == "B1":
|
||||||
|
continue
|
||||||
|
mocap_id = model.body_mocapid[obj1_id]
|
||||||
|
if mocap_id != -1:
|
||||||
|
# obj1 is the mocap, obj2 is the welded body
|
||||||
|
body_idx = obj2_id
|
||||||
|
else:
|
||||||
|
# obj2 is the mocap, obj1 is the welded body
|
||||||
|
mocap_id = model.body_mocapid[obj2_id]
|
||||||
|
body_idx = obj1_id
|
||||||
|
assert mocap_id != -1
|
||||||
|
data.mocap_pos[mocap_id][:] = data.xpos[body_idx]
|
||||||
|
data.mocap_quat[mocap_id][:] = data.xquat[body_idx]
|
||||||
|
|
@ -0,0 +1,86 @@
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
from lerobot.common.envs.simxarm.simxarm import Base
|
||||||
|
|
||||||
|
|
||||||
|
class PegInBox(Base):
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__("peg_in_box")
|
||||||
|
|
||||||
|
def _reset_sim(self):
|
||||||
|
self._act_magnitude = 0
|
||||||
|
super()._reset_sim()
|
||||||
|
for _ in range(10):
|
||||||
|
self._apply_action(np.array([0, 0, 0, 1], dtype=np.float32))
|
||||||
|
self.sim.step()
|
||||||
|
|
||||||
|
@property
|
||||||
|
def box(self):
|
||||||
|
return self.sim.data.get_site_xpos("box_site")
|
||||||
|
|
||||||
|
def is_success(self):
|
||||||
|
return np.linalg.norm(self.obj - self.box) <= 0.05
|
||||||
|
|
||||||
|
def get_reward(self):
|
||||||
|
dist_xy = np.linalg.norm(self.obj[:2] - self.box[:2])
|
||||||
|
dist_xyz = np.linalg.norm(self.obj - self.box)
|
||||||
|
return float(dist_xy <= 0.045) * (2 - 6 * dist_xyz) - 0.2 * np.square(self._act_magnitude) - dist_xy
|
||||||
|
|
||||||
|
def _get_obs(self):
|
||||||
|
eef_velp = self.sim.data.get_site_xvelp("grasp") * self.dt
|
||||||
|
gripper_angle = self.sim.data.get_joint_qpos("right_outer_knuckle_joint")
|
||||||
|
eef, box = self.eef - self.center_of_table, self.box - self.center_of_table
|
||||||
|
|
||||||
|
obj = self.obj - self.center_of_table
|
||||||
|
obj_rot = self.sim.data.get_joint_qpos("object_joint0")[-4:]
|
||||||
|
obj_velp = self.sim.data.get_site_xvelp("object_site") * self.dt
|
||||||
|
obj_velr = self.sim.data.get_site_xvelr("object_site") * self.dt
|
||||||
|
|
||||||
|
obs = np.concatenate(
|
||||||
|
[
|
||||||
|
eef,
|
||||||
|
eef_velp,
|
||||||
|
box,
|
||||||
|
obj,
|
||||||
|
obj_rot,
|
||||||
|
obj_velp,
|
||||||
|
obj_velr,
|
||||||
|
eef - box,
|
||||||
|
eef - obj,
|
||||||
|
obj - box,
|
||||||
|
np.array(
|
||||||
|
[
|
||||||
|
np.linalg.norm(eef - box),
|
||||||
|
np.linalg.norm(eef - obj),
|
||||||
|
np.linalg.norm(obj - box),
|
||||||
|
gripper_angle,
|
||||||
|
]
|
||||||
|
),
|
||||||
|
],
|
||||||
|
axis=0,
|
||||||
|
)
|
||||||
|
return {"observation": obs, "state": eef, "achieved_goal": eef, "desired_goal": box}
|
||||||
|
|
||||||
|
def _sample_goal(self):
|
||||||
|
# Gripper
|
||||||
|
gripper_pos = np.array([1.280, 0.295, 0.9]) + self.np_random.uniform(-0.05, 0.05, size=3)
|
||||||
|
super()._set_gripper(gripper_pos, self.gripper_rotation)
|
||||||
|
|
||||||
|
# Object
|
||||||
|
object_pos = gripper_pos - np.array([0, 0, 0.06]) + self.np_random.uniform(-0.005, 0.005, size=3)
|
||||||
|
object_qpos = self.sim.data.get_joint_qpos("object_joint0")
|
||||||
|
object_qpos[:3] = object_pos
|
||||||
|
self.sim.data.set_joint_qpos("object_joint0", object_qpos)
|
||||||
|
|
||||||
|
# Box
|
||||||
|
box_pos = np.array([1.61, 0.18, 0.58])
|
||||||
|
box_pos[:2] += self.np_random.uniform(-0.11, 0.11, size=2)
|
||||||
|
box_qpos = self.sim.data.get_joint_qpos("box_joint0")
|
||||||
|
box_qpos[:3] = box_pos
|
||||||
|
self.sim.data.set_joint_qpos("box_joint0", box_qpos)
|
||||||
|
|
||||||
|
return self.box
|
||||||
|
|
||||||
|
def step(self, action):
|
||||||
|
self._act_magnitude = np.linalg.norm(action[:3])
|
||||||
|
return super().step(action)
|
||||||
|
|
@ -0,0 +1,78 @@
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
from lerobot.common.envs.simxarm.simxarm import Base
|
||||||
|
|
||||||
|
|
||||||
|
class Push(Base):
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__("push")
|
||||||
|
|
||||||
|
def _reset_sim(self):
|
||||||
|
self._act_magnitude = 0
|
||||||
|
super()._reset_sim()
|
||||||
|
|
||||||
|
def is_success(self):
|
||||||
|
return np.linalg.norm(self.obj - self.goal) <= 0.05
|
||||||
|
|
||||||
|
def get_reward(self):
|
||||||
|
dist = np.linalg.norm(self.obj - self.goal)
|
||||||
|
penalty = self._act_magnitude**2
|
||||||
|
return -(dist + 0.15 * penalty)
|
||||||
|
|
||||||
|
def _get_obs(self):
|
||||||
|
eef_velp = self.sim.data.get_site_xvelp("grasp") * self.dt
|
||||||
|
gripper_angle = self.sim.data.get_joint_qpos("right_outer_knuckle_joint")
|
||||||
|
eef, goal = self.eef - self.center_of_table, self.goal - self.center_of_table
|
||||||
|
|
||||||
|
obj = self.obj - self.center_of_table
|
||||||
|
obj_rot = self.sim.data.get_joint_qpos("object_joint0")[-4:]
|
||||||
|
obj_velp = self.sim.data.get_site_xvelp("object_site") * self.dt
|
||||||
|
obj_velr = self.sim.data.get_site_xvelr("object_site") * self.dt
|
||||||
|
|
||||||
|
obs = np.concatenate(
|
||||||
|
[
|
||||||
|
eef,
|
||||||
|
eef_velp,
|
||||||
|
goal,
|
||||||
|
obj,
|
||||||
|
obj_rot,
|
||||||
|
obj_velp,
|
||||||
|
obj_velr,
|
||||||
|
eef - goal,
|
||||||
|
eef - obj,
|
||||||
|
obj - goal,
|
||||||
|
np.array(
|
||||||
|
[
|
||||||
|
np.linalg.norm(eef - goal),
|
||||||
|
np.linalg.norm(eef - obj),
|
||||||
|
np.linalg.norm(obj - goal),
|
||||||
|
gripper_angle,
|
||||||
|
]
|
||||||
|
),
|
||||||
|
],
|
||||||
|
axis=0,
|
||||||
|
)
|
||||||
|
return {"observation": obs, "state": eef, "achieved_goal": eef, "desired_goal": goal}
|
||||||
|
|
||||||
|
def _sample_goal(self):
|
||||||
|
# Gripper
|
||||||
|
gripper_pos = np.array([1.280, 0.295, 0.735]) + self.np_random.uniform(-0.05, 0.05, size=3)
|
||||||
|
super()._set_gripper(gripper_pos, self.gripper_rotation)
|
||||||
|
|
||||||
|
# Object
|
||||||
|
object_pos = self.center_of_table - np.array([0.25, 0, 0.07])
|
||||||
|
object_pos[0] += self.np_random.uniform(-0.08, 0.08, size=1)
|
||||||
|
object_pos[1] += self.np_random.uniform(-0.08, 0.08, size=1)
|
||||||
|
object_qpos = self.sim.data.get_joint_qpos("object_joint0")
|
||||||
|
object_qpos[:3] = object_pos
|
||||||
|
self.sim.data.set_joint_qpos("object_joint0", object_qpos)
|
||||||
|
|
||||||
|
# Goal
|
||||||
|
self.goal = np.array([1.600, 0.200, 0.545])
|
||||||
|
self.goal[:2] += self.np_random.uniform(-0.1, 0.1, size=2)
|
||||||
|
self.sim.model.site_pos[self.sim.model.site_name2id("target0")] = self.goal
|
||||||
|
return self.goal
|
||||||
|
|
||||||
|
def step(self, action):
|
||||||
|
self._act_magnitude = np.linalg.norm(action[:3])
|
||||||
|
return super().step(action)
|
||||||
|
|
@ -0,0 +1,44 @@
|
||||||
|
import numpy as np
|
||||||
|
|
||||||
|
from lerobot.common.envs.simxarm.simxarm import Base
|
||||||
|
|
||||||
|
|
||||||
|
class Reach(Base):
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__("reach")
|
||||||
|
|
||||||
|
def _reset_sim(self):
|
||||||
|
self._act_magnitude = 0
|
||||||
|
super()._reset_sim()
|
||||||
|
|
||||||
|
def is_success(self):
|
||||||
|
return np.linalg.norm(self.eef - self.goal) <= 0.05
|
||||||
|
|
||||||
|
def get_reward(self):
|
||||||
|
dist = np.linalg.norm(self.eef - self.goal)
|
||||||
|
penalty = self._act_magnitude**2
|
||||||
|
return -(dist + 0.15 * penalty)
|
||||||
|
|
||||||
|
def _get_obs(self):
|
||||||
|
eef_velp = self.sim.data.get_site_xvelp("grasp") * self.dt
|
||||||
|
gripper_angle = self.sim.data.get_joint_qpos("right_outer_knuckle_joint")
|
||||||
|
eef, goal = self.eef - self.center_of_table, self.goal - self.center_of_table
|
||||||
|
obs = np.concatenate(
|
||||||
|
[eef, eef_velp, goal, eef - goal, np.array([np.linalg.norm(eef - goal), gripper_angle])], axis=0
|
||||||
|
)
|
||||||
|
return {"observation": obs, "state": eef, "achieved_goal": eef, "desired_goal": goal}
|
||||||
|
|
||||||
|
def _sample_goal(self):
|
||||||
|
# Gripper
|
||||||
|
gripper_pos = np.array([1.280, 0.295, 0.735]) + self.np_random.uniform(-0.05, 0.05, size=3)
|
||||||
|
super()._set_gripper(gripper_pos, self.gripper_rotation)
|
||||||
|
|
||||||
|
# Goal
|
||||||
|
self.goal = np.array([1.550, 0.287, 0.580])
|
||||||
|
self.goal[:2] += self.np_random.uniform(-0.125, 0.125, size=2)
|
||||||
|
self.sim.model.site_pos[self.sim.model.site_name2id("target0")] = self.goal
|
||||||
|
return self.goal
|
||||||
|
|
||||||
|
def step(self, action):
|
||||||
|
self._act_magnitude = np.linalg.norm(action[:3])
|
||||||
|
return super().step(action)
|
||||||
|
|
@ -1,6 +1,7 @@
|
||||||
"""
|
"""
|
||||||
Various positional encodings for the transformer.
|
Various positional encodings for the transformer.
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import math
|
import math
|
||||||
|
|
||||||
import torch
|
import torch
|
||||||
|
|
|
||||||
|
|
@ -6,6 +6,7 @@ Copy-paste from torch.nn.Transformer with modifications:
|
||||||
* extra LN at the end of encoder is removed
|
* extra LN at the end of encoder is removed
|
||||||
* decoder returns a stack of activations from all decoding layers
|
* decoder returns a stack of activations from all decoding layers
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import copy
|
import copy
|
||||||
from typing import Optional
|
from typing import Optional
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -3,6 +3,7 @@ Misc functions, including distributed helpers.
|
||||||
|
|
||||||
Mostly copy-paste from torchvision references.
|
Mostly copy-paste from torchvision references.
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import datetime
|
import datetime
|
||||||
import os
|
import os
|
||||||
import pickle
|
import pickle
|
||||||
|
|
|
||||||
|
|
@ -2,6 +2,7 @@
|
||||||
A collection of utilities for working with nested tensor structures consisting
|
A collection of utilities for working with nested tensor structures consisting
|
||||||
of numpy arrays and torch tensors.
|
of numpy arrays and torch tensors.
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import collections
|
import collections
|
||||||
|
|
||||||
import numpy as np
|
import numpy as np
|
||||||
|
|
|
||||||
|
|
@ -26,7 +26,7 @@ def get_safe_torch_device(cfg_device: str, log: bool = False) -> torch.device:
|
||||||
return device
|
return device
|
||||||
|
|
||||||
|
|
||||||
def set_seed(seed):
|
def set_global_seed(seed):
|
||||||
"""Set seed for reproducibility."""
|
"""Set seed for reproducibility."""
|
||||||
random.seed(seed)
|
random.seed(seed)
|
||||||
np.random.seed(seed)
|
np.random.seed(seed)
|
||||||
|
|
|
||||||
|
|
@ -27,6 +27,7 @@ fps: ???
|
||||||
offline_prioritized_sampler: true
|
offline_prioritized_sampler: true
|
||||||
|
|
||||||
n_action_steps: ???
|
n_action_steps: ???
|
||||||
|
n_obs_steps: ???
|
||||||
env: ???
|
env: ???
|
||||||
|
|
||||||
policy: ???
|
policy: ???
|
||||||
|
|
|
||||||
|
|
@ -1,6 +1,7 @@
|
||||||
# @package _global_
|
# @package _global_
|
||||||
|
|
||||||
n_action_steps: 1
|
n_action_steps: 1
|
||||||
|
n_obs_steps: 1
|
||||||
|
|
||||||
policy:
|
policy:
|
||||||
name: tdmpc
|
name: tdmpc
|
||||||
|
|
|
||||||
|
|
@ -50,7 +50,7 @@ from lerobot.common.envs.factory import make_env
|
||||||
from lerobot.common.logger import log_output_dir
|
from lerobot.common.logger import log_output_dir
|
||||||
from lerobot.common.policies.abstract import AbstractPolicy
|
from lerobot.common.policies.abstract import AbstractPolicy
|
||||||
from lerobot.common.policies.factory import make_policy
|
from lerobot.common.policies.factory import make_policy
|
||||||
from lerobot.common.utils import get_safe_torch_device, init_logging, set_seed
|
from lerobot.common.utils import get_safe_torch_device, init_logging, set_global_seed
|
||||||
|
|
||||||
|
|
||||||
def write_video(video_path, stacked_frames, fps):
|
def write_video(video_path, stacked_frames, fps):
|
||||||
|
|
@ -188,7 +188,7 @@ def eval(cfg: dict, out_dir=None, stats_path=None):
|
||||||
|
|
||||||
torch.backends.cudnn.benchmark = True
|
torch.backends.cudnn.benchmark = True
|
||||||
torch.backends.cuda.matmul.allow_tf32 = True
|
torch.backends.cuda.matmul.allow_tf32 = True
|
||||||
set_seed(cfg.seed)
|
set_global_seed(cfg.seed)
|
||||||
|
|
||||||
log_output_dir(out_dir)
|
log_output_dir(out_dir)
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -12,7 +12,7 @@ from lerobot.common.datasets.factory import make_offline_buffer
|
||||||
from lerobot.common.envs.factory import make_env
|
from lerobot.common.envs.factory import make_env
|
||||||
from lerobot.common.logger import Logger, log_output_dir
|
from lerobot.common.logger import Logger, log_output_dir
|
||||||
from lerobot.common.policies.factory import make_policy
|
from lerobot.common.policies.factory import make_policy
|
||||||
from lerobot.common.utils import format_big_number, get_safe_torch_device, init_logging, set_seed
|
from lerobot.common.utils import format_big_number, get_safe_torch_device, init_logging, set_global_seed
|
||||||
from lerobot.scripts.eval import eval_policy
|
from lerobot.scripts.eval import eval_policy
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -122,7 +122,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
|
||||||
|
|
||||||
torch.backends.cudnn.benchmark = True
|
torch.backends.cudnn.benchmark = True
|
||||||
torch.backends.cuda.matmul.allow_tf32 = True
|
torch.backends.cuda.matmul.allow_tf32 = True
|
||||||
set_seed(cfg.seed)
|
set_global_seed(cfg.seed)
|
||||||
|
|
||||||
logging.info("make_offline_buffer")
|
logging.info("make_offline_buffer")
|
||||||
offline_buffer = make_offline_buffer(cfg)
|
offline_buffer = make_offline_buffer(cfg)
|
||||||
|
|
@ -224,7 +224,22 @@ def train(cfg: dict, out_dir=None, job_name=None):
|
||||||
policy=td_policy,
|
policy=td_policy,
|
||||||
auto_cast_to_device=True,
|
auto_cast_to_device=True,
|
||||||
)
|
)
|
||||||
assert len(rollout) <= cfg.env.episode_length
|
|
||||||
|
assert (
|
||||||
|
len(rollout.batch_size) == 2
|
||||||
|
), "2 dimensions expected: number of env in parallel x max number of steps during rollout"
|
||||||
|
|
||||||
|
num_parallel_env = rollout.batch_size[0]
|
||||||
|
if num_parallel_env != 1:
|
||||||
|
# TODO(rcadene): when num_parallel_env > 1, rollout["episode"] needs to be properly set and we need to add tests
|
||||||
|
raise NotImplementedError()
|
||||||
|
|
||||||
|
num_max_steps = rollout.batch_size[1]
|
||||||
|
assert num_max_steps <= cfg.env.episode_length
|
||||||
|
|
||||||
|
# reshape to have a list of steps to insert into online_buffer
|
||||||
|
rollout = rollout.reshape(num_parallel_env * num_max_steps)
|
||||||
|
|
||||||
# set same episode index for all time steps contained in this rollout
|
# set same episode index for all time steps contained in this rollout
|
||||||
rollout["episode"] = torch.tensor([env_step] * len(rollout), dtype=torch.int)
|
rollout["episode"] = torch.tensor([env_step] * len(rollout), dtype=torch.int)
|
||||||
online_buffer.extend(rollout)
|
online_buffer.extend(rollout)
|
||||||
|
|
|
||||||
|
|
@ -338,73 +338,6 @@ files = [
|
||||||
{file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
|
{file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "cython"
|
|
||||||
version = "3.0.9"
|
|
||||||
description = "The Cython compiler for writing C extensions in the Python language."
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
|
|
||||||
files = [
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:296bd30d4445ac61b66c9d766567f6e81a6e262835d261e903c60c891a6729d3"},
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f496b52845cb45568a69d6359a2c335135233003e708ea02155c10ce3548aa89"},
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:858c3766b9aa3ab8a413392c72bbab1c144a9766b7c7bfdef64e2e414363fa0c"},
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c0eb1e6ef036028a52525fd9a012a556f6dd4788a0e8755fe864ba0e70cde2ff"},
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:c8191941073ea5896321de3c8c958fd66e5f304b0cd1f22c59edd0b86c4dd90d"},
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:e32b016030bc72a8a22a1f21f470a2f57573761a4f00fbfe8347263f4fbdb9f1"},
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-win32.whl", hash = "sha256:d6f3ff1cd6123973fe03e0fb8ee936622f976c0c41138969975824d08886572b"},
|
|
||||||
{file = "Cython-3.0.9-cp310-cp310-win_amd64.whl", hash = "sha256:56f3b643dbe14449248bbeb9a63fe3878a24256664bc8c8ef6efd45d102596d8"},
|
|
||||||
{file = "Cython-3.0.9-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:35e6665a20d6b8a152d72b7fd87dbb2af6bb6b18a235b71add68122d594dbd41"},
|
|
||||||
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[[package]]
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[[package]]
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||||||
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|
name = "debugpy"
|
||||||
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|
version = "1.8.1"
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||||||
|
|
@ -639,6 +572,17 @@ files = [
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||||||
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|
[package.extras]
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test = ["pytest (>=6)"]
|
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||||||
|
|
||||||
|
[[package]]
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||||||
|
name = "farama-notifications"
|
||||||
|
version = "0.0.4"
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||||||
|
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||||||
|
optional = false
|
||||||
|
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||||||
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[[package]]
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[[package]]
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||||||
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|
name = "fasteners"
|
||||||
version = "0.19"
|
version = "0.19"
|
||||||
|
|
@ -840,43 +784,58 @@ files = [
|
||||||
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|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "gym"
|
name = "gymnasium"
|
||||||
version = "0.26.2"
|
version = "0.29.1"
|
||||||
description = "Gym: A universal API for reinforcement learning environments"
|
description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
|
||||||
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|
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|
||||||
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|
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|
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||||||
[package.dependencies]
|
[package.dependencies]
|
||||||
cloudpickle = ">=1.2.0"
|
cloudpickle = ">=1.2.0"
|
||||||
gym_notices = ">=0.0.4"
|
farama-notifications = ">=0.0.1"
|
||||||
numpy = ">=1.18.0"
|
numpy = ">=1.21.0"
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||||||
|
typing-extensions = ">=4.3.0"
|
||||||
|
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||||||
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|
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|
||||||
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|
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||||||
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||||||
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|
atari = ["shimmy[atari] (>=0.1.0,<1.0)"]
|
||||||
box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.0)", "swig (==4.*)"]
|
box2d = ["box2d-py (==2.3.5)", "pygame (>=2.1.3)", "swig (==4.*)"]
|
||||||
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|
classic-control = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
|
||||||
mujoco = ["imageio (>=2.14.1)", "mujoco (==2.2)"]
|
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|
||||||
mujoco-py = ["mujoco_py (>=2.1,<2.2)"]
|
mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.3)"]
|
||||||
other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)"]
|
mujoco-py = ["cython (<3)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"]
|
||||||
testing = ["box2d-py (==2.3.5)", "imageio (>=2.14.1)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (==2.2)", "mujoco_py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (==2.1.0)", "pytest (==7.0.1)", "swig (==4.*)"]
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|
||||||
toy-text = ["pygame (==2.1.0)"]
|
testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
|
||||||
|
toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "gym-notices"
|
name = "gymnasium-robotics"
|
||||||
version = "0.0.8"
|
version = "1.2.4"
|
||||||
description = "Notices for gym"
|
description = "Robotics environments for the Gymnasium repo."
|
||||||
optional = false
|
optional = false
|
||||||
python-versions = "*"
|
python-versions = ">=3.8"
|
||||||
files = [
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files = [
|
||||||
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||||||
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|
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|
||||||
|
|
||||||
|
[package.dependencies]
|
||||||
|
gymnasium = ">=0.26"
|
||||||
|
imageio = "*"
|
||||||
|
Jinja2 = ">=3.0.3"
|
||||||
|
mujoco = ">=2.3.3,<3.0"
|
||||||
|
numpy = ">=1.21.0"
|
||||||
|
PettingZoo = ">=1.23.0"
|
||||||
|
|
||||||
|
[package.extras]
|
||||||
|
mujoco-py = ["cython (<3)", "mujoco-py (>=2.1,<2.2)"]
|
||||||
|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
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|
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|
||||||
version = "3.10.0"
|
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|
||||||
|
|
@ -1506,25 +1465,6 @@ glfw = "*"
|
||||||
numpy = "*"
|
numpy = "*"
|
||||||
pyopengl = "*"
|
pyopengl = "*"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "mujoco-py"
|
|
||||||
version = "2.1.2.14"
|
|
||||||
description = ""
|
|
||||||
optional = false
|
|
||||||
python-versions = ">=3.6"
|
|
||||||
files = [
|
|
||||||
{file = "mujoco-py-2.1.2.14.tar.gz", hash = "sha256:eb5b14485acf80a3cf8c15f4b080c6a28a9f79e68869aa696d16cbd51ea7706f"},
|
|
||||||
{file = "mujoco_py-2.1.2.14-py3-none-any.whl", hash = "sha256:37c0b41bc0153a8a0eb3663103a67c60f65467753f74e4ff6e68b879f3e3a71f"},
|
|
||||||
]
|
|
||||||
|
|
||||||
[package.dependencies]
|
|
||||||
cffi = ">=1.10"
|
|
||||||
Cython = ">=0.27.2"
|
|
||||||
fasteners = ">=0.15,<1.0"
|
|
||||||
glfw = ">=1.4.0"
|
|
||||||
imageio = ">=2.1.2"
|
|
||||||
numpy = ">=1.11"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "networkx"
|
name = "networkx"
|
||||||
version = "3.2.1"
|
version = "3.2.1"
|
||||||
|
|
@ -1940,6 +1880,31 @@ sql-other = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "adbc-d
|
||||||
test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
|
test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
|
||||||
xml = ["lxml (>=4.9.2)"]
|
xml = ["lxml (>=4.9.2)"]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "pettingzoo"
|
||||||
|
version = "1.24.3"
|
||||||
|
description = "Gymnasium for multi-agent reinforcement learning."
|
||||||
|
optional = false
|
||||||
|
python-versions = ">=3.8"
|
||||||
|
files = [
|
||||||
|
{file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"},
|
||||||
|
{file = "pettingzoo-1.24.3.tar.gz", hash = "sha256:91f9094f18e06fb74b98f4099cd22e8ae4396125e51719d50b30c9f1c7ab07e6"},
|
||||||
|
]
|
||||||
|
|
||||||
|
[package.dependencies]
|
||||||
|
gymnasium = ">=0.28.0"
|
||||||
|
numpy = ">=1.21.0"
|
||||||
|
|
||||||
|
[package.extras]
|
||||||
|
all = ["box2d-py (==2.3.5)", "chess (==1.9.4)", "multi-agent-ale-py (==0.1.11)", "pillow (>=8.0.1)", "pygame (==2.3.0)", "pymunk (==6.2.0)", "rlcard (==1.0.5)", "scipy (>=1.4.1)", "shimmy[openspiel] (>=1.2.0)"]
|
||||||
|
atari = ["multi-agent-ale-py (==0.1.11)", "pygame (==2.3.0)"]
|
||||||
|
butterfly = ["pygame (==2.3.0)", "pymunk (==6.2.0)"]
|
||||||
|
classic = ["chess (==1.9.4)", "pygame (==2.3.0)", "rlcard (==1.0.5)", "shimmy[openspiel] (>=1.2.0)"]
|
||||||
|
mpe = ["pygame (==2.3.0)"]
|
||||||
|
other = ["pillow (>=8.0.1)"]
|
||||||
|
sisl = ["box2d-py (==2.3.5)", "pygame (==2.3.0)", "pymunk (==6.2.0)", "scipy (>=1.4.1)"]
|
||||||
|
testing = ["AutoROM", "pre-commit", "pynput", "pytest", "pytest-cov", "pytest-markdown-docs", "pytest-xdist"]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "pillow"
|
name = "pillow"
|
||||||
version = "10.2.0"
|
version = "10.2.0"
|
||||||
|
|
@ -3510,4 +3475,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
|
||||||
[metadata]
|
[metadata]
|
||||||
lock-version = "2.0"
|
lock-version = "2.0"
|
||||||
python-versions = "^3.10"
|
python-versions = "^3.10"
|
||||||
content-hash = "1a45c808e1c48bcbf4319d4cf6876771b7d50f40a5a8968a8b7f3af36192bf34"
|
content-hash = "99addbfc02bcd35a308f4ecc5b4285c9c5054118f4aadea27650d8bf355d9616"
|
||||||
|
|
|
||||||
|
|
@ -21,7 +21,6 @@ packages = [{include = "lerobot"}]
|
||||||
|
|
||||||
[tool.poetry.dependencies]
|
[tool.poetry.dependencies]
|
||||||
python = "^3.10"
|
python = "^3.10"
|
||||||
cython = "^3.0.8"
|
|
||||||
termcolor = "^2.4.0"
|
termcolor = "^2.4.0"
|
||||||
omegaconf = "^2.3.0"
|
omegaconf = "^2.3.0"
|
||||||
dm-env = "^1.6"
|
dm-env = "^1.6"
|
||||||
|
|
@ -42,9 +41,7 @@ mpmath = "^1.3.0"
|
||||||
torch = "^2.2.1"
|
torch = "^2.2.1"
|
||||||
tensordict = {git = "https://github.com/pytorch/tensordict"}
|
tensordict = {git = "https://github.com/pytorch/tensordict"}
|
||||||
torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
|
torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
|
||||||
mujoco = "2.3.7"
|
mujoco = "^2.3.7"
|
||||||
mujoco-py = "^2.1.2.14"
|
|
||||||
gym = "^0.26.2"
|
|
||||||
opencv-python = "^4.9.0.80"
|
opencv-python = "^4.9.0.80"
|
||||||
diffusers = "^0.26.3"
|
diffusers = "^0.26.3"
|
||||||
torchvision = "^0.17.1"
|
torchvision = "^0.17.1"
|
||||||
|
|
@ -52,6 +49,8 @@ h5py = "^3.10.0"
|
||||||
dm-control = "1.0.14"
|
dm-control = "1.0.14"
|
||||||
huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"}
|
huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"}
|
||||||
robomimic = "0.2.0"
|
robomimic = "0.2.0"
|
||||||
|
gymnasium-robotics = "^1.2.4"
|
||||||
|
gymnasium = "^0.29.1"
|
||||||
|
|
||||||
|
|
||||||
[tool.poetry.group.dev.dependencies]
|
[tool.poetry.group.dev.dependencies]
|
||||||
|
|
@ -90,7 +89,7 @@ exclude = [
|
||||||
|
|
||||||
[tool.ruff.lint]
|
[tool.ruff.lint]
|
||||||
select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
|
select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
|
||||||
|
ignore-init-module-imports = true
|
||||||
|
|
||||||
[tool.poetry-dynamic-versioning]
|
[tool.poetry-dynamic-versioning]
|
||||||
enable = true
|
enable = true
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:10ec2f944de18f1a2aa3fc2f9a4185c03e3a5afc31148c85c98b58602ac4186e
|
||||||
|
size 800
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:1a589cba6bf0dfce138110864b6509508a804d7ea5c519d0a3cd67c4a87fa2d0
|
||||||
|
size 200
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:6afe7098f30bdc8564526517c085e62613f6cb67194153840567974cfa6f3815
|
||||||
|
size 400
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
{"action": {"device": "cpu", "shape": [50, 4], "dtype": "torch.float32"}, "episode": {"device": "cpu", "shape": [50], "dtype": "torch.int32"}, "frame_id": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:dab3a9712c413c4bfcd91c645752ab981306b23d25bcd4da4c422911574673f7
|
||||||
|
size 50
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
{"reward": {"device": "cpu", "shape": [50], "dtype": "torch.float32"}, "done": {"device": "cpu", "shape": [50], "dtype": "torch.bool"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:d6f9d1422ce3764e7253f70ed4da278f0c07fafef0d5386479f09d6b6b9d8259
|
||||||
|
size 1058400
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
{"image": {"device": "cpu", "shape": [50, 3, 84, 84], "dtype": "torch.uint8"}, "state": {"device": "cpu", "shape": [50, 4], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:52e7c1a3c4fb2423b195e66ffee2c9e23b3ea0ad7c8bfc4dec30a35c65cadcbb
|
||||||
|
size 800
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:c4dbe8ea1966e5cc6da6daf5704805b9b5810f4575de7016b8f6cb1da1d7bb8a
|
||||||
|
size 200
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:8fca8ddbda3f7bb2f6e7553297c18f3ab8f8b73d64b5c9f81a3695ad9379d403
|
||||||
|
size 1058400
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
{"image": {"device": "cpu", "shape": [50, 3, 84, 84], "dtype": "torch.uint8"}, "state": {"device": "cpu", "shape": [50, 4], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
version https://git-lfs.github.com/spec/v1
|
||||||
|
oid sha256:7b3e3e12896d553c208ee152f6d447c877c435e15d010c4a6171966d5b8a0c0b
|
||||||
|
size 800
|
||||||
Binary file not shown.
|
|
@ -9,10 +9,8 @@ from .utils import DEVICE, init_config
|
||||||
@pytest.mark.parametrize(
|
@pytest.mark.parametrize(
|
||||||
"env_name,dataset_id",
|
"env_name,dataset_id",
|
||||||
[
|
[
|
||||||
# TODO(rcadene): simxarm is depreciated for now
|
("simxarm", "lift"),
|
||||||
# ("simxarm", "lift"),
|
|
||||||
("pusht", "pusht"),
|
("pusht", "pusht"),
|
||||||
# TODO(aliberts): add aloha when dataset is available on hub
|
|
||||||
("aloha", "sim_insertion_human"),
|
("aloha", "sim_insertion_human"),
|
||||||
("aloha", "sim_insertion_scripted"),
|
("aloha", "sim_insertion_scripted"),
|
||||||
("aloha", "sim_transfer_cube_human"),
|
("aloha", "sim_transfer_cube_human"),
|
||||||
|
|
|
||||||
|
|
@ -7,7 +7,7 @@ from lerobot.common.datasets.factory import make_offline_buffer
|
||||||
|
|
||||||
from lerobot.common.envs.factory import make_env
|
from lerobot.common.envs.factory import make_env
|
||||||
from lerobot.common.envs.pusht.env import PushtEnv
|
from lerobot.common.envs.pusht.env import PushtEnv
|
||||||
from lerobot.common.envs.simxarm import SimxarmEnv
|
from lerobot.common.envs.simxarm.env import SimxarmEnv
|
||||||
|
|
||||||
from .utils import DEVICE, init_config
|
from .utils import DEVICE, init_config
|
||||||
|
|
||||||
|
|
@ -39,19 +39,19 @@ def print_spec_rollout(env):
|
||||||
print("data from rollout:", simple_rollout(100))
|
print("data from rollout:", simple_rollout(100))
|
||||||
|
|
||||||
|
|
||||||
@pytest.mark.skip(reason="Simxarm is deprecated")
|
|
||||||
@pytest.mark.parametrize(
|
@pytest.mark.parametrize(
|
||||||
"task,from_pixels,pixels_only",
|
"task,from_pixels,pixels_only",
|
||||||
[
|
[
|
||||||
("lift", False, False),
|
("lift", False, False),
|
||||||
("lift", True, False),
|
("lift", True, False),
|
||||||
("lift", True, True),
|
("lift", True, True),
|
||||||
("reach", False, False),
|
# TODO(aliberts): Add simxarm other tasks
|
||||||
("reach", True, False),
|
# ("reach", False, False),
|
||||||
("push", False, False),
|
# ("reach", True, False),
|
||||||
("push", True, False),
|
# ("push", False, False),
|
||||||
("peg_in_box", False, False),
|
# ("push", True, False),
|
||||||
("peg_in_box", True, False),
|
# ("peg_in_box", False, False),
|
||||||
|
# ("peg_in_box", True, False),
|
||||||
],
|
],
|
||||||
)
|
)
|
||||||
def test_simxarm(task, from_pixels, pixels_only):
|
def test_simxarm(task, from_pixels, pixels_only):
|
||||||
|
|
@ -84,7 +84,7 @@ def test_pusht(from_pixels, pixels_only):
|
||||||
@pytest.mark.parametrize(
|
@pytest.mark.parametrize(
|
||||||
"env_name",
|
"env_name",
|
||||||
[
|
[
|
||||||
# "simxarm",
|
"simxarm",
|
||||||
"pusht",
|
"pusht",
|
||||||
"aloha",
|
"aloha",
|
||||||
],
|
],
|
||||||
|
|
|
||||||
|
|
@ -19,12 +19,13 @@ from .utils import DEVICE, init_config
|
||||||
[
|
[
|
||||||
("simxarm", "tdmpc", ["policy.mpc=true"]),
|
("simxarm", "tdmpc", ["policy.mpc=true"]),
|
||||||
("pusht", "tdmpc", ["policy.mpc=false"]),
|
("pusht", "tdmpc", ["policy.mpc=false"]),
|
||||||
("simxarm", "diffusion", []),
|
|
||||||
("pusht", "diffusion", []),
|
("pusht", "diffusion", []),
|
||||||
("aloha", "act", ["env.task=sim_insertion_scripted"]),
|
("aloha", "act", ["env.task=sim_insertion_scripted"]),
|
||||||
("aloha", "act", ["env.task=sim_insertion_human"]),
|
("aloha", "act", ["env.task=sim_insertion_human"]),
|
||||||
("aloha", "act", ["env.task=sim_transfer_cube_scripted"]),
|
("aloha", "act", ["env.task=sim_transfer_cube_scripted"]),
|
||||||
("aloha", "act", ["env.task=sim_transfer_cube_human"]),
|
("aloha", "act", ["env.task=sim_transfer_cube_human"]),
|
||||||
|
# TODO(aliberts): simxarm not working with diffusion
|
||||||
|
# ("simxarm", "diffusion", []),
|
||||||
],
|
],
|
||||||
)
|
)
|
||||||
def test_concrete_policy(env_name, policy_name, extra_overrides):
|
def test_concrete_policy(env_name, policy_name, extra_overrides):
|
||||||
|
|
@ -45,13 +46,6 @@ def test_concrete_policy(env_name, policy_name, extra_overrides):
|
||||||
# Check that we can make the policy object.
|
# Check that we can make the policy object.
|
||||||
policy = make_policy(cfg)
|
policy = make_policy(cfg)
|
||||||
# Check that we run select_actions and get the appropriate output.
|
# Check that we run select_actions and get the appropriate output.
|
||||||
if env_name == "simxarm":
|
|
||||||
# TODO(rcadene): Not implemented
|
|
||||||
return
|
|
||||||
if policy_name == "tdmpc":
|
|
||||||
# TODO(alexander-soare): TDMPC does not use n_obs_steps but the environment requires this.
|
|
||||||
with open_dict(cfg):
|
|
||||||
cfg["n_obs_steps"] = 1
|
|
||||||
offline_buffer = make_offline_buffer(cfg)
|
offline_buffer = make_offline_buffer(cfg)
|
||||||
env = make_env(cfg, transform=offline_buffer.transform)
|
env = make_env(cfg, transform=offline_buffer.transform)
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue