remove aloha
This commit is contained in:
Simon Alibert
parent
70aaf1c4cb
commit
5dff6d8339
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@ -1,21 +0,0 @@
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from gymnasium.envs.registration import register
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register(
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id="gym_aloha/AlohaInsertion-v0",
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entry_point="lerobot.common.envs.aloha.env:AlohaEnv",
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max_episode_steps=300,
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# Even after seeding, the rendered observations are slightly different,
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# so we set `nondeterministic=True` to pass `check_env` tests
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nondeterministic=True,
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kwargs={"obs_type": "state", "task": "insertion"},
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)
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register(
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id="gym_aloha/AlohaTransferCube-v0",
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entry_point="lerobot.common.envs.aloha.env:AlohaEnv",
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max_episode_steps=300,
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# Even after seeding, the rendered observations are slightly different,
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# so we set `nondeterministic=True` to pass `check_env` tests
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nondeterministic=True,
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kwargs={"obs_type": "state", "task": "transfer_cube"},
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)
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@ -1,59 +0,0 @@
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<mujoco>
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<include file="scene.xml"/>
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<include file="vx300s_dependencies.xml"/>
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<equality>
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<weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
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<weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
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</equality>
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<worldbody>
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<include file="vx300s_left.xml" />
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<include file="vx300s_right.xml" />
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<body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
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<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
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</body>
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<body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
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<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
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</body>
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<body name="peg" pos="0.2 0.5 0.05">
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<joint name="red_peg_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
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</body>
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<body name="socket" pos="-0.2 0.5 0.05">
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<joint name="blue_socket_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<!-- <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
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</body>
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</worldbody>
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<actuator>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
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</actuator>
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<keyframe>
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<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0 -0.2 0.5 0.05 1 0 0 0"/>
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</keyframe>
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</mujoco>
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@ -1,48 +0,0 @@
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<mujoco>
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<include file="scene.xml"/>
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<include file="vx300s_dependencies.xml"/>
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<equality>
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<weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
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<weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
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</equality>
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<worldbody>
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<include file="vx300s_left.xml" />
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<include file="vx300s_right.xml" />
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<body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
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<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
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</body>
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<body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
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<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
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<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
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</body>
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<body name="box" pos="0.2 0.5 0.05">
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<joint name="red_box_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
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</body>
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</worldbody>
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<actuator>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
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</actuator>
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<keyframe>
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<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/>
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</keyframe>
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</mujoco>
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@ -1,53 +0,0 @@
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<mujoco>
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<include file="scene.xml"/>
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<include file="vx300s_dependencies.xml"/>
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<worldbody>
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<include file="vx300s_left.xml" />
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<include file="vx300s_right.xml" />
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<body name="peg" pos="0.2 0.5 0.05">
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<joint name="red_peg_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
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</body>
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<body name="socket" pos="-0.2 0.5 0.05">
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<joint name="blue_socket_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<!-- <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
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</body>
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</worldbody>
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<actuator>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
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<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
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<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
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<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
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<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
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</actuator>
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<keyframe>
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<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0 -0.2 0.5 0.05 1 0 0 0"/>
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</keyframe>
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</mujoco>
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@ -1,42 +0,0 @@
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<mujoco>
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<include file="scene.xml"/>
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<include file="vx300s_dependencies.xml"/>
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<worldbody>
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<include file="vx300s_left.xml" />
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<include file="vx300s_right.xml" />
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<body name="box" pos="0.2 0.5 0.05">
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<joint name="red_box_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
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</body>
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</worldbody>
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<actuator>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
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<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
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<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
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<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
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<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
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</actuator>
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<keyframe>
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<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/>
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</keyframe>
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</mujoco>
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@ -1,38 +0,0 @@
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<mujocoinclude>
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<!-- <option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>-->
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<asset>
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<mesh file="tabletop.stl" name="tabletop" scale="0.001 0.001 0.001"/>
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</asset>
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<visual>
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<map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
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<quality shadowsize="4096" offsamples="4"/>
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<headlight ambient="0.4 0.4 0.4"/>
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</visual>
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<worldbody>
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<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1'
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dir='1 1 -1'/>
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<light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 1' dir='-1 1 -1'/>
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<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1'
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dir='0 -1 -1'/>
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<body name="table" pos="0 .6 0">
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<geom group="1" mesh="tabletop" pos="0 0 0" type="mesh" conaffinity="1" contype="1" name="table" rgba="0.2 0.2 0.2 1" />
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</body>
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<body name="midair" pos="0 .6 0.2">
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<site pos="0 0 0" size="0.01" type="sphere" name="midair" rgba="1 0 0 0"/>
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</body>
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<camera name="left_pillar" pos="-0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
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<camera name="right_pillar" pos="0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
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<camera name="top" pos="0 0.6 0.8" fovy="78" mode="targetbody" target="table"/>
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<camera name="angle" pos="0 0 0.6" fovy="78" mode="targetbody" target="table"/>
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<camera name="front_close" pos="0 0.2 0.4" fovy="78" mode="targetbody" target="vx300s_left/camera_focus"/>
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</worldbody>
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|
||||
</mujocoinclude>
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:76a1571d1aa36520f2bd81c268991b99816c2a7819464d718e0fd9976fe30dce
|
||||
size 684
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:df73ae5b9058e5d50a6409ac2ab687dade75053a86591bb5e23ab051dbf2d659
|
||||
size 83384
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:56fb3cc1236d4193106038adf8e457c7252ae9e86c7cee6dabf0578c53666358
|
||||
size 83384
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:a4baacd9a64df1be60ea5e98f50f3c660e1b7a1fe9684aace6004c5058c09483
|
||||
size 42884
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:a18a1601074d29ed1d546ead70cd18fbb063f1db7b5b96b9f0365be714f3136a
|
||||
size 3884
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:d100cafe656671ca8fde98fb6a4cf2d1b746995c51c61c25ad9ea2715635d146
|
||||
size 99984
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:139745a74055cb0b23430bb5bc032bf68cf7bea5e4975c8f4c04107ae005f7f0
|
||||
size 63884
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:900f236320dd3d500870c5fde763b2d47502d51e043a5c377875e70237108729
|
||||
size 102984
|
||||
|
|
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|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:4104fc54bbfb8a9b533029f1e7e3ade3d54d638372b3195daa0c98f57e0295b5
|
||||
size 49584
|
||||
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|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:66814e27fa728056416e25e02e89eb7d34c51d51c51e7c3df873829037ddc6b8
|
||||
size 99884
|
||||
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@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:90eb145c85627968c3776ae6de23ccff7e112c9dd713c46bc9acdfdaa859a048
|
||||
size 70784
|
||||
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@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:786c1077bfd226f14219581b11d5f19464ca95b17132e0bb7532503568f5af90
|
||||
size 450084
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:d1275a93fe2157c83dbc095617fb7e672888bdd48ec070a35ef4ab9ebd9755b0
|
||||
size 31684
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
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||||
oid sha256:a4de62c9a2ed2c78433010e4c05530a1254b1774a7651967f406120c9bf8973e
|
||||
size 379484
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
<mujocoinclude>
|
||||
<compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
|
||||
<asset>
|
||||
<mesh name="vx300s_1_base" file="vx300s_1_base.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_2_shoulder" file="vx300s_2_shoulder.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_3_upper_arm" file="vx300s_3_upper_arm.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_4_upper_forearm" file="vx300s_4_upper_forearm.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_5_lower_forearm" file="vx300s_5_lower_forearm.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_6_wrist" file="vx300s_6_wrist.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_7_gripper" file="vx300s_7_gripper.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_8_gripper_prop" file="vx300s_8_gripper_prop.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_9_gripper_bar" file="vx300s_9_gripper_bar.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_10_gripper_finger_left" file="vx300s_10_custom_finger_left.stl" scale="0.001 0.001 0.001" />
|
||||
<mesh name="vx300s_10_gripper_finger_right" file="vx300s_10_custom_finger_right.stl" scale="0.001 0.001 0.001" />
|
||||
</asset>
|
||||
|
||||
</mujocoinclude>
|
||||
|
|
@ -1,59 +0,0 @@
|
|||
|
||||
<mujocoinclude>
|
||||
<body name="vx300s_left" pos="-0.469 0.5 0">
|
||||
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_1_base" name="vx300s_left/1_base" contype="0" conaffinity="0"/>
|
||||
<body name="vx300s_left/shoulder_link" pos="0 0 0.079">
|
||||
<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614" diaginertia="0.00120156 0.00113744 0.0009388" />
|
||||
<joint name="vx300s_left/waist" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14158 3.14158" frictionloss="50" />
|
||||
<geom pos="0 0 -0.003" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_2_shoulder" name="vx300s_left/2_shoulder" />
|
||||
<body name="vx300s_left/upper_arm_link" pos="0 0 0.04805">
|
||||
<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592" diaginertia="0.00911338 0.008925 0.000759317" />
|
||||
<joint name="vx300s_left/shoulder" pos="0 0 0" axis="0 1 0" limited="true" range="-1.85005 1.25664" frictionloss="60" />
|
||||
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_3_upper_arm" name="vx300s_left/3_upper_arm"/>
|
||||
<body name="vx300s_left/upper_forearm_link" pos="0.05955 0 0.3">
|
||||
<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228" diaginertia="0.00144107 0.00134228 0.000152047" />
|
||||
<joint name="vx300s_left/elbow" pos="0 0 0" axis="0 1 0" limited="true" range="-1.76278 1.6057" frictionloss="60" />
|
||||
<geom type="mesh" mesh="vx300s_4_upper_forearm" name="vx300s_left/4_upper_forearm" />
|
||||
<body name="vx300s_left/lower_forearm_link" pos="0.2 0 0">
|
||||
<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823" diaginertia="0.0005911 0.000546493 0.000155707" />
|
||||
<joint name="vx300s_left/forearm_roll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
|
||||
<geom quat="0 1 0 0" type="mesh" mesh="vx300s_5_lower_forearm" name="vx300s_left/5_lower_forearm"/>
|
||||
<body name="vx300s_left/wrist_link" pos="0.1 0 0">
|
||||
<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387" mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05" />
|
||||
<joint name="vx300s_left/wrist_angle" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8675 2.23402" frictionloss="30" />
|
||||
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_6_wrist" name="vx300s_left/6_wrist" />
|
||||
<body name="vx300s_left/gripper_link" pos="0.069744 0 0">
|
||||
<body name="vx300s_left/camera_focus" pos="0.15 0 0.01">
|
||||
<site pos="0 0 0" size="0.01" type="sphere" name="left_cam_focus" rgba="0 0 1 0"/>
|
||||
</body>
|
||||
<site pos="0.15 0 0" size="0.003 0.003 0.03" type="box" name="cali_left_site1" rgba="0 0 1 0"/>
|
||||
<site pos="0.15 0 0" size="0.003 0.03 0.003" type="box" name="cali_left_site2" rgba="0 0 1 0"/>
|
||||
<site pos="0.15 0 0" size="0.03 0.003 0.003" type="box" name="cali_left_site3" rgba="0 0 1 0"/>
|
||||
<camera name="left_wrist" pos="-0.1 0 0.16" fovy="20" mode="targetbody" target="vx300s_left/camera_focus"/>
|
||||
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869" mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142" />
|
||||
<joint name="vx300s_left/wrist_rotate" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
|
||||
<geom pos="-0.02 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_7_gripper" name="vx300s_left/7_gripper" />
|
||||
<geom pos="-0.020175 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_9_gripper_bar" name="vx300s_left/9_gripper_bar" />
|
||||
<body name="vx300s_left/gripper_prop_link" pos="0.0485 0 0">
|
||||
<inertial pos="0.002378 2.85e-08 0" quat="0 0 0.897698 0.440611" mass="0.008009" diaginertia="4.2979e-06 2.8868e-06 1.5314e-06" />
|
||||
<!-- <joint name="vx300s_left/gripper" pos="0 0 0" axis="1 0 0" frictionloss="30" />-->
|
||||
<geom pos="-0.0685 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_8_gripper_prop" name="vx300s_left/8_gripper_prop" />
|
||||
</body>
|
||||
<body name="vx300s_left/left_finger_link" pos="0.0687 0 0">
|
||||
<inertial pos="0.017344 -0.0060692 0" quat="0.449364 0.449364 -0.54596 -0.54596" mass="0.034796" diaginertia="2.48003e-05 1.417e-05 1.20797e-05" />
|
||||
<joint name="vx300s_left/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.021 0.057" frictionloss="30" />
|
||||
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 -0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_left" name="vx300s_left/10_left_gripper_finger"/>
|
||||
</body>
|
||||
<body name="vx300s_left/right_finger_link" pos="0.0687 0 0">
|
||||
<inertial pos="0.017344 0.0060692 0" quat="0.44937 -0.44937 0.545955 -0.545955" mass="0.034796" diaginertia="2.48002e-05 1.417e-05 1.20798e-05" />
|
||||
<joint name="vx300s_left/right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.057 -0.021" frictionloss="30" />
|
||||
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_right" name="vx300s_left/10_right_gripper_finger"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</mujocoinclude>
|
||||
|
|
@ -1,59 +0,0 @@
|
|||
|
||||
<mujocoinclude>
|
||||
<body name="vx300s_right" pos="0.469 0.5 0" euler="0 0 3.1416">
|
||||
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_1_base" name="vx300s_right/1_base" contype="0" conaffinity="0"/>
|
||||
<body name="vx300s_right/shoulder_link" pos="0 0 0.079">
|
||||
<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614" diaginertia="0.00120156 0.00113744 0.0009388" />
|
||||
<joint name="vx300s_right/waist" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14158 3.14158" frictionloss="50" />
|
||||
<geom pos="0 0 -0.003" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_2_shoulder" name="vx300s_right/2_shoulder" />
|
||||
<body name="vx300s_right/upper_arm_link" pos="0 0 0.04805">
|
||||
<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592" diaginertia="0.00911338 0.008925 0.000759317" />
|
||||
<joint name="vx300s_right/shoulder" pos="0 0 0" axis="0 1 0" limited="true" range="-1.85005 1.25664" frictionloss="60" />
|
||||
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_3_upper_arm" name="vx300s_right/3_upper_arm"/>
|
||||
<body name="vx300s_right/upper_forearm_link" pos="0.05955 0 0.3">
|
||||
<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228" diaginertia="0.00144107 0.00134228 0.000152047" />
|
||||
<joint name="vx300s_right/elbow" pos="0 0 0" axis="0 1 0" limited="true" range="-1.76278 1.6057" frictionloss="60" />
|
||||
<geom type="mesh" mesh="vx300s_4_upper_forearm" name="vx300s_right/4_upper_forearm" />
|
||||
<body name="vx300s_right/lower_forearm_link" pos="0.2 0 0">
|
||||
<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823" diaginertia="0.0005911 0.000546493 0.000155707" />
|
||||
<joint name="vx300s_right/forearm_roll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
|
||||
<geom quat="0 1 0 0" type="mesh" mesh="vx300s_5_lower_forearm" name="vx300s_right/5_lower_forearm"/>
|
||||
<body name="vx300s_right/wrist_link" pos="0.1 0 0">
|
||||
<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387" mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05" />
|
||||
<joint name="vx300s_right/wrist_angle" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8675 2.23402" frictionloss="30" />
|
||||
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_6_wrist" name="vx300s_right/6_wrist" />
|
||||
<body name="vx300s_right/gripper_link" pos="0.069744 0 0">
|
||||
<body name="vx300s_right/camera_focus" pos="0.15 0 0.01">
|
||||
<site pos="0 0 0" size="0.01" type="sphere" name="right_cam_focus" rgba="0 0 1 0"/>
|
||||
</body>
|
||||
<site pos="0.15 0 0" size="0.003 0.003 0.03" type="box" name="cali_right_site1" rgba="0 0 1 0"/>
|
||||
<site pos="0.15 0 0" size="0.003 0.03 0.003" type="box" name="cali_right_site2" rgba="0 0 1 0"/>
|
||||
<site pos="0.15 0 0" size="0.03 0.003 0.003" type="box" name="cali_right_site3" rgba="0 0 1 0"/>
|
||||
<camera name="right_wrist" pos="-0.1 0 0.16" fovy="20" mode="targetbody" target="vx300s_right/camera_focus"/>
|
||||
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869" mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142" />
|
||||
<joint name="vx300s_right/wrist_rotate" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
|
||||
<geom pos="-0.02 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_7_gripper" name="vx300s_right/7_gripper" />
|
||||
<geom pos="-0.020175 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_9_gripper_bar" name="vx300s_right/9_gripper_bar" />
|
||||
<body name="vx300s_right/gripper_prop_link" pos="0.0485 0 0">
|
||||
<inertial pos="0.002378 2.85e-08 0" quat="0 0 0.897698 0.440611" mass="0.008009" diaginertia="4.2979e-06 2.8868e-06 1.5314e-06" />
|
||||
<!-- <joint name="vx300s_right/gripper" pos="0 0 0" axis="1 0 0" frictionloss="30" />-->
|
||||
<geom pos="-0.0685 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_8_gripper_prop" name="vx300s_right/8_gripper_prop" />
|
||||
</body>
|
||||
<body name="vx300s_right/left_finger_link" pos="0.0687 0 0">
|
||||
<inertial pos="0.017344 -0.0060692 0" quat="0.449364 0.449364 -0.54596 -0.54596" mass="0.034796" diaginertia="2.48003e-05 1.417e-05 1.20797e-05" />
|
||||
<joint name="vx300s_right/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.021 0.057" frictionloss="30" />
|
||||
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 -0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_left" name="vx300s_right/10_left_gripper_finger"/>
|
||||
</body>
|
||||
<body name="vx300s_right/right_finger_link" pos="0.0687 0 0">
|
||||
<inertial pos="0.017344 0.0060692 0" quat="0.44937 -0.44937 0.545955 -0.545955" mass="0.034796" diaginertia="2.48002e-05 1.417e-05 1.20798e-05" />
|
||||
<joint name="vx300s_right/right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.057 -0.021" frictionloss="30" />
|
||||
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_right" name="vx300s_right/10_right_gripper_finger"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</mujocoinclude>
|
||||
|
|
@ -1,163 +0,0 @@
|
|||
from pathlib import Path
|
||||
|
||||
### Simulation envs fixed constants
|
||||
DT = 0.02 # 0.02 ms -> 1/0.2 = 50 hz
|
||||
FPS = 50
|
||||
|
||||
|
||||
JOINTS = [
|
||||
# absolute joint position
|
||||
"left_arm_waist",
|
||||
"left_arm_shoulder",
|
||||
"left_arm_elbow",
|
||||
"left_arm_forearm_roll",
|
||||
"left_arm_wrist_angle",
|
||||
"left_arm_wrist_rotate",
|
||||
# normalized gripper position 0: close, 1: open
|
||||
"left_arm_gripper",
|
||||
# absolute joint position
|
||||
"right_arm_waist",
|
||||
"right_arm_shoulder",
|
||||
"right_arm_elbow",
|
||||
"right_arm_forearm_roll",
|
||||
"right_arm_wrist_angle",
|
||||
"right_arm_wrist_rotate",
|
||||
# normalized gripper position 0: close, 1: open
|
||||
"right_arm_gripper",
|
||||
]
|
||||
|
||||
ACTIONS = [
|
||||
# position and quaternion for end effector
|
||||
"left_arm_waist",
|
||||
"left_arm_shoulder",
|
||||
"left_arm_elbow",
|
||||
"left_arm_forearm_roll",
|
||||
"left_arm_wrist_angle",
|
||||
"left_arm_wrist_rotate",
|
||||
# normalized gripper position (0: close, 1: open)
|
||||
"left_arm_gripper",
|
||||
"right_arm_waist",
|
||||
"right_arm_shoulder",
|
||||
"right_arm_elbow",
|
||||
"right_arm_forearm_roll",
|
||||
"right_arm_wrist_angle",
|
||||
"right_arm_wrist_rotate",
|
||||
# normalized gripper position (0: close, 1: open)
|
||||
"right_arm_gripper",
|
||||
]
|
||||
|
||||
|
||||
START_ARM_POSE = [
|
||||
0,
|
||||
-0.96,
|
||||
1.16,
|
||||
0,
|
||||
-0.3,
|
||||
0,
|
||||
0.02239,
|
||||
-0.02239,
|
||||
0,
|
||||
-0.96,
|
||||
1.16,
|
||||
0,
|
||||
-0.3,
|
||||
0,
|
||||
0.02239,
|
||||
-0.02239,
|
||||
]
|
||||
|
||||
ASSETS_DIR = Path(__file__).parent.resolve() / "assets" # note: absolute path
|
||||
|
||||
# Left finger position limits (qpos[7]), right_finger = -1 * left_finger
|
||||
MASTER_GRIPPER_POSITION_OPEN = 0.02417
|
||||
MASTER_GRIPPER_POSITION_CLOSE = 0.01244
|
||||
PUPPET_GRIPPER_POSITION_OPEN = 0.05800
|
||||
PUPPET_GRIPPER_POSITION_CLOSE = 0.01844
|
||||
|
||||
# Gripper joint limits (qpos[6])
|
||||
MASTER_GRIPPER_JOINT_OPEN = 0.3083
|
||||
MASTER_GRIPPER_JOINT_CLOSE = -0.6842
|
||||
PUPPET_GRIPPER_JOINT_OPEN = 1.4910
|
||||
PUPPET_GRIPPER_JOINT_CLOSE = -0.6213
|
||||
|
||||
MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE) / 2
|
||||
|
||||
############################ Helper functions ############################
|
||||
|
||||
|
||||
def normalize_master_gripper_position(x):
|
||||
return (x - MASTER_GRIPPER_POSITION_CLOSE) / (
|
||||
MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE
|
||||
)
|
||||
|
||||
|
||||
def normalize_puppet_gripper_position(x):
|
||||
return (x - PUPPET_GRIPPER_POSITION_CLOSE) / (
|
||||
PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE
|
||||
)
|
||||
|
||||
|
||||
def unnormalize_master_gripper_position(x):
|
||||
return x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE) + MASTER_GRIPPER_POSITION_CLOSE
|
||||
|
||||
|
||||
def unnormalize_puppet_gripper_position(x):
|
||||
return x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE) + PUPPET_GRIPPER_POSITION_CLOSE
|
||||
|
||||
|
||||
def convert_position_from_master_to_puppet(x):
|
||||
return unnormalize_puppet_gripper_position(normalize_master_gripper_position(x))
|
||||
|
||||
|
||||
def normalizer_master_gripper_joint(x):
|
||||
return (x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
|
||||
|
||||
|
||||
def normalize_puppet_gripper_joint(x):
|
||||
return (x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
|
||||
|
||||
|
||||
def unnormalize_master_gripper_joint(x):
|
||||
return x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
|
||||
|
||||
|
||||
def unnormalize_puppet_gripper_joint(x):
|
||||
return x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
|
||||
|
||||
|
||||
def convert_join_from_master_to_puppet(x):
|
||||
return unnormalize_puppet_gripper_joint(normalizer_master_gripper_joint(x))
|
||||
|
||||
|
||||
def normalize_master_gripper_velocity(x):
|
||||
return x / (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
|
||||
|
||||
|
||||
def normalize_puppet_gripper_velocity(x):
|
||||
return x / (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
|
||||
|
||||
|
||||
def convert_master_from_position_to_joint(x):
|
||||
return (
|
||||
normalize_master_gripper_position(x) * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
|
||||
+ MASTER_GRIPPER_JOINT_CLOSE
|
||||
)
|
||||
|
||||
|
||||
def convert_master_from_joint_to_position(x):
|
||||
return unnormalize_master_gripper_position(
|
||||
(x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
|
||||
)
|
||||
|
||||
|
||||
def convert_puppet_from_position_to_join(x):
|
||||
return (
|
||||
normalize_puppet_gripper_position(x) * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
|
||||
+ PUPPET_GRIPPER_JOINT_CLOSE
|
||||
)
|
||||
|
||||
|
||||
def convert_puppet_from_joint_to_position(x):
|
||||
return unnormalize_puppet_gripper_position(
|
||||
(x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
|
||||
)
|
||||
|
|
@ -1,178 +0,0 @@
|
|||
import gymnasium as gym
|
||||
import numpy as np
|
||||
from dm_control import mujoco
|
||||
from dm_control.rl import control
|
||||
from gymnasium import spaces
|
||||
|
||||
from lerobot.common.envs.aloha.constants import (
|
||||
ACTIONS,
|
||||
ASSETS_DIR,
|
||||
DT,
|
||||
JOINTS,
|
||||
)
|
||||
from lerobot.common.envs.aloha.tasks.sim import BOX_POSE, InsertionTask, TransferCubeTask
|
||||
from lerobot.common.envs.aloha.tasks.sim_end_effector import (
|
||||
InsertionEndEffectorTask,
|
||||
TransferCubeEndEffectorTask,
|
||||
)
|
||||
from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
|
||||
|
||||
|
||||
class AlohaEnv(gym.Env):
|
||||
metadata = {"render_modes": [], "render_fps": 50}
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
task,
|
||||
obs_type="state",
|
||||
observation_width=640,
|
||||
observation_height=480,
|
||||
visualization_width=640,
|
||||
visualization_height=480,
|
||||
):
|
||||
super().__init__()
|
||||
self.task = task
|
||||
self.obs_type = obs_type
|
||||
self.observation_width = observation_width
|
||||
self.observation_height = observation_height
|
||||
self.visualization_width = visualization_width
|
||||
self.visualization_height = visualization_height
|
||||
|
||||
self._env = self._make_env_task(self.task)
|
||||
|
||||
if self.obs_type == "state":
|
||||
raise NotImplementedError()
|
||||
self.observation_space = spaces.Box(
|
||||
low=np.array([0] * len(JOINTS)), # ???
|
||||
high=np.array([255] * len(JOINTS)), # ???
|
||||
dtype=np.float64,
|
||||
)
|
||||
elif self.obs_type == "pixels":
|
||||
self.observation_space = spaces.Dict(
|
||||
{
|
||||
"top": spaces.Box(
|
||||
low=0,
|
||||
high=255,
|
||||
shape=(self.observation_height, self.observation_width, 3),
|
||||
dtype=np.uint8,
|
||||
)
|
||||
}
|
||||
)
|
||||
elif self.obs_type == "pixels_agent_pos":
|
||||
self.observation_space = spaces.Dict(
|
||||
{
|
||||
"pixels": spaces.Dict(
|
||||
{
|
||||
"top": spaces.Box(
|
||||
low=0,
|
||||
high=255,
|
||||
shape=(self.observation_height, self.observation_width, 3),
|
||||
dtype=np.uint8,
|
||||
)
|
||||
}
|
||||
),
|
||||
"agent_pos": spaces.Box(
|
||||
low=-np.inf,
|
||||
high=np.inf,
|
||||
shape=(len(JOINTS),),
|
||||
dtype=np.float64,
|
||||
),
|
||||
}
|
||||
)
|
||||
|
||||
self.action_space = spaces.Box(low=-1, high=1, shape=(len(ACTIONS),), dtype=np.float32)
|
||||
|
||||
def render(self, mode="rgb_array"):
|
||||
# TODO(rcadene): render and visualizer several cameras (e.g. angle, front_close)
|
||||
if mode in ["visualize", "human"]:
|
||||
height, width = self.visualize_height, self.visualize_width
|
||||
elif mode == "rgb_array":
|
||||
height, width = self.observation_height, self.observation_width
|
||||
else:
|
||||
raise ValueError(mode)
|
||||
image = self._env.physics.render(height=height, width=width, camera_id="top")
|
||||
return image
|
||||
|
||||
def _make_env_task(self, task_name):
|
||||
# time limit is controlled by StepCounter in env factory
|
||||
time_limit = float("inf")
|
||||
|
||||
if "transfer_cube" in task_name:
|
||||
xml_path = ASSETS_DIR / "bimanual_viperx_transfer_cube.xml"
|
||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
||||
task = TransferCubeTask()
|
||||
elif "insertion" in task_name:
|
||||
xml_path = ASSETS_DIR / "bimanual_viperx_insertion.xml"
|
||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
||||
task = InsertionTask()
|
||||
elif "end_effector_transfer_cube" in task_name:
|
||||
raise NotImplementedError()
|
||||
xml_path = ASSETS_DIR / "bimanual_viperx_end_effector_transfer_cube.xml"
|
||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
||||
task = TransferCubeEndEffectorTask()
|
||||
elif "end_effector_insertion" in task_name:
|
||||
raise NotImplementedError()
|
||||
xml_path = ASSETS_DIR / "bimanual_viperx_end_effector_insertion.xml"
|
||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
||||
task = InsertionEndEffectorTask()
|
||||
else:
|
||||
raise NotImplementedError(task_name)
|
||||
|
||||
env = control.Environment(
|
||||
physics, task, time_limit, control_timestep=DT, n_sub_steps=None, flat_observation=False
|
||||
)
|
||||
return env
|
||||
|
||||
def _format_raw_obs(self, raw_obs):
|
||||
if self.obs_type == "state":
|
||||
raise NotImplementedError()
|
||||
elif self.obs_type == "pixels":
|
||||
obs = {"top": raw_obs["images"]["top"].copy()}
|
||||
elif self.obs_type == "pixels_agent_pos":
|
||||
obs = {
|
||||
"pixels": {"top": raw_obs["images"]["top"].copy()},
|
||||
"agent_pos": raw_obs["qpos"],
|
||||
}
|
||||
return obs
|
||||
|
||||
def reset(self, seed=None, options=None):
|
||||
super().reset(seed=seed)
|
||||
|
||||
# TODO(rcadene): how to seed the env?
|
||||
if seed is not None:
|
||||
self._env.task.random.seed(seed)
|
||||
self._env.task._random = np.random.RandomState(seed)
|
||||
|
||||
# TODO(rcadene): do not use global variable for this
|
||||
if "transfer_cube" in self.task:
|
||||
BOX_POSE[0] = sample_box_pose(seed) # used in sim reset
|
||||
elif "insertion" in self.task:
|
||||
BOX_POSE[0] = np.concatenate(sample_insertion_pose(seed)) # used in sim reset
|
||||
else:
|
||||
raise ValueError(self.task)
|
||||
|
||||
raw_obs = self._env.reset()
|
||||
|
||||
observation = self._format_raw_obs(raw_obs.observation)
|
||||
|
||||
info = {"is_success": False}
|
||||
return observation, info
|
||||
|
||||
def step(self, action):
|
||||
assert action.ndim == 1
|
||||
# TODO(rcadene): add info["is_success"] and info["success"] ?
|
||||
|
||||
_, reward, _, raw_obs = self._env.step(action)
|
||||
|
||||
# TODO(rcadene): add an enum
|
||||
terminated = is_success = reward == 4
|
||||
|
||||
info = {"is_success": is_success}
|
||||
|
||||
observation = self._format_raw_obs(raw_obs)
|
||||
|
||||
truncated = False
|
||||
return observation, reward, terminated, truncated, info
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
|
@ -1,219 +0,0 @@
|
|||
import collections
|
||||
|
||||
import numpy as np
|
||||
from dm_control.suite import base
|
||||
|
||||
from lerobot.common.envs.aloha.constants import (
|
||||
START_ARM_POSE,
|
||||
normalize_puppet_gripper_position,
|
||||
normalize_puppet_gripper_velocity,
|
||||
unnormalize_puppet_gripper_position,
|
||||
)
|
||||
|
||||
BOX_POSE = [None] # to be changed from outside
|
||||
|
||||
"""
|
||||
Environment for simulated robot bi-manual manipulation, with joint position control
|
||||
Action space: [left_arm_qpos (6), # absolute joint position
|
||||
left_gripper_positions (1), # normalized gripper position (0: close, 1: open)
|
||||
right_arm_qpos (6), # absolute joint position
|
||||
right_gripper_positions (1),] # normalized gripper position (0: close, 1: open)
|
||||
|
||||
Observation space: {"qpos": Concat[ left_arm_qpos (6), # absolute joint position
|
||||
left_gripper_position (1), # normalized gripper position (0: close, 1: open)
|
||||
right_arm_qpos (6), # absolute joint position
|
||||
right_gripper_qpos (1)] # normalized gripper position (0: close, 1: open)
|
||||
"qvel": Concat[ left_arm_qvel (6), # absolute joint velocity (rad)
|
||||
left_gripper_velocity (1), # normalized gripper velocity (pos: opening, neg: closing)
|
||||
right_arm_qvel (6), # absolute joint velocity (rad)
|
||||
right_gripper_qvel (1)] # normalized gripper velocity (pos: opening, neg: closing)
|
||||
"images": {"main": (480x640x3)} # h, w, c, dtype='uint8'
|
||||
"""
|
||||
|
||||
|
||||
class BimanualViperXTask(base.Task):
|
||||
def __init__(self, random=None):
|
||||
super().__init__(random=random)
|
||||
|
||||
def before_step(self, action, physics):
|
||||
left_arm_action = action[:6]
|
||||
right_arm_action = action[7 : 7 + 6]
|
||||
normalized_left_gripper_action = action[6]
|
||||
normalized_right_gripper_action = action[7 + 6]
|
||||
|
||||
left_gripper_action = unnormalize_puppet_gripper_position(normalized_left_gripper_action)
|
||||
right_gripper_action = unnormalize_puppet_gripper_position(normalized_right_gripper_action)
|
||||
|
||||
full_left_gripper_action = [left_gripper_action, -left_gripper_action]
|
||||
full_right_gripper_action = [right_gripper_action, -right_gripper_action]
|
||||
|
||||
env_action = np.concatenate(
|
||||
[left_arm_action, full_left_gripper_action, right_arm_action, full_right_gripper_action]
|
||||
)
|
||||
super().before_step(env_action, physics)
|
||||
return
|
||||
|
||||
def initialize_episode(self, physics):
|
||||
"""Sets the state of the environment at the start of each episode."""
|
||||
super().initialize_episode(physics)
|
||||
|
||||
@staticmethod
|
||||
def get_qpos(physics):
|
||||
qpos_raw = physics.data.qpos.copy()
|
||||
left_qpos_raw = qpos_raw[:8]
|
||||
right_qpos_raw = qpos_raw[8:16]
|
||||
left_arm_qpos = left_qpos_raw[:6]
|
||||
right_arm_qpos = right_qpos_raw[:6]
|
||||
left_gripper_qpos = [normalize_puppet_gripper_position(left_qpos_raw[6])]
|
||||
right_gripper_qpos = [normalize_puppet_gripper_position(right_qpos_raw[6])]
|
||||
return np.concatenate([left_arm_qpos, left_gripper_qpos, right_arm_qpos, right_gripper_qpos])
|
||||
|
||||
@staticmethod
|
||||
def get_qvel(physics):
|
||||
qvel_raw = physics.data.qvel.copy()
|
||||
left_qvel_raw = qvel_raw[:8]
|
||||
right_qvel_raw = qvel_raw[8:16]
|
||||
left_arm_qvel = left_qvel_raw[:6]
|
||||
right_arm_qvel = right_qvel_raw[:6]
|
||||
left_gripper_qvel = [normalize_puppet_gripper_velocity(left_qvel_raw[6])]
|
||||
right_gripper_qvel = [normalize_puppet_gripper_velocity(right_qvel_raw[6])]
|
||||
return np.concatenate([left_arm_qvel, left_gripper_qvel, right_arm_qvel, right_gripper_qvel])
|
||||
|
||||
@staticmethod
|
||||
def get_env_state(physics):
|
||||
raise NotImplementedError
|
||||
|
||||
def get_observation(self, physics):
|
||||
obs = collections.OrderedDict()
|
||||
obs["qpos"] = self.get_qpos(physics)
|
||||
obs["qvel"] = self.get_qvel(physics)
|
||||
obs["env_state"] = self.get_env_state(physics)
|
||||
obs["images"] = {}
|
||||
obs["images"]["top"] = physics.render(height=480, width=640, camera_id="top")
|
||||
obs["images"]["angle"] = physics.render(height=480, width=640, camera_id="angle")
|
||||
obs["images"]["vis"] = physics.render(height=480, width=640, camera_id="front_close")
|
||||
|
||||
return obs
|
||||
|
||||
def get_reward(self, physics):
|
||||
# return whether left gripper is holding the box
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class TransferCubeTask(BimanualViperXTask):
|
||||
def __init__(self, random=None):
|
||||
super().__init__(random=random)
|
||||
self.max_reward = 4
|
||||
|
||||
def initialize_episode(self, physics):
|
||||
"""Sets the state of the environment at the start of each episode."""
|
||||
# TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
|
||||
# reset qpos, control and box position
|
||||
with physics.reset_context():
|
||||
physics.named.data.qpos[:16] = START_ARM_POSE
|
||||
np.copyto(physics.data.ctrl, START_ARM_POSE)
|
||||
assert BOX_POSE[0] is not None
|
||||
physics.named.data.qpos[-7:] = BOX_POSE[0]
|
||||
# print(f"{BOX_POSE=}")
|
||||
super().initialize_episode(physics)
|
||||
|
||||
@staticmethod
|
||||
def get_env_state(physics):
|
||||
env_state = physics.data.qpos.copy()[16:]
|
||||
return env_state
|
||||
|
||||
def get_reward(self, physics):
|
||||
# return whether left gripper is holding the box
|
||||
all_contact_pairs = []
|
||||
for i_contact in range(physics.data.ncon):
|
||||
id_geom_1 = physics.data.contact[i_contact].geom1
|
||||
id_geom_2 = physics.data.contact[i_contact].geom2
|
||||
name_geom_1 = physics.model.id2name(id_geom_1, "geom")
|
||||
name_geom_2 = physics.model.id2name(id_geom_2, "geom")
|
||||
contact_pair = (name_geom_1, name_geom_2)
|
||||
all_contact_pairs.append(contact_pair)
|
||||
|
||||
touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
|
||||
touch_table = ("red_box", "table") in all_contact_pairs
|
||||
|
||||
reward = 0
|
||||
if touch_right_gripper:
|
||||
reward = 1
|
||||
if touch_right_gripper and not touch_table: # lifted
|
||||
reward = 2
|
||||
if touch_left_gripper: # attempted transfer
|
||||
reward = 3
|
||||
if touch_left_gripper and not touch_table: # successful transfer
|
||||
reward = 4
|
||||
return reward
|
||||
|
||||
|
||||
class InsertionTask(BimanualViperXTask):
|
||||
def __init__(self, random=None):
|
||||
super().__init__(random=random)
|
||||
self.max_reward = 4
|
||||
|
||||
def initialize_episode(self, physics):
|
||||
"""Sets the state of the environment at the start of each episode."""
|
||||
# TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
|
||||
# reset qpos, control and box position
|
||||
with physics.reset_context():
|
||||
physics.named.data.qpos[:16] = START_ARM_POSE
|
||||
np.copyto(physics.data.ctrl, START_ARM_POSE)
|
||||
assert BOX_POSE[0] is not None
|
||||
physics.named.data.qpos[-7 * 2 :] = BOX_POSE[0] # two objects
|
||||
# print(f"{BOX_POSE=}")
|
||||
super().initialize_episode(physics)
|
||||
|
||||
@staticmethod
|
||||
def get_env_state(physics):
|
||||
env_state = physics.data.qpos.copy()[16:]
|
||||
return env_state
|
||||
|
||||
def get_reward(self, physics):
|
||||
# return whether peg touches the pin
|
||||
all_contact_pairs = []
|
||||
for i_contact in range(physics.data.ncon):
|
||||
id_geom_1 = physics.data.contact[i_contact].geom1
|
||||
id_geom_2 = physics.data.contact[i_contact].geom2
|
||||
name_geom_1 = physics.model.id2name(id_geom_1, "geom")
|
||||
name_geom_2 = physics.model.id2name(id_geom_2, "geom")
|
||||
contact_pair = (name_geom_1, name_geom_2)
|
||||
all_contact_pairs.append(contact_pair)
|
||||
|
||||
touch_right_gripper = ("red_peg", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
|
||||
touch_left_gripper = (
|
||||
("socket-1", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
or ("socket-2", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
or ("socket-3", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
or ("socket-4", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
)
|
||||
|
||||
peg_touch_table = ("red_peg", "table") in all_contact_pairs
|
||||
socket_touch_table = (
|
||||
("socket-1", "table") in all_contact_pairs
|
||||
or ("socket-2", "table") in all_contact_pairs
|
||||
or ("socket-3", "table") in all_contact_pairs
|
||||
or ("socket-4", "table") in all_contact_pairs
|
||||
)
|
||||
peg_touch_socket = (
|
||||
("red_peg", "socket-1") in all_contact_pairs
|
||||
or ("red_peg", "socket-2") in all_contact_pairs
|
||||
or ("red_peg", "socket-3") in all_contact_pairs
|
||||
or ("red_peg", "socket-4") in all_contact_pairs
|
||||
)
|
||||
pin_touched = ("red_peg", "pin") in all_contact_pairs
|
||||
|
||||
reward = 0
|
||||
if touch_left_gripper and touch_right_gripper: # touch both
|
||||
reward = 1
|
||||
if (
|
||||
touch_left_gripper and touch_right_gripper and (not peg_touch_table) and (not socket_touch_table)
|
||||
): # grasp both
|
||||
reward = 2
|
||||
if peg_touch_socket and (not peg_touch_table) and (not socket_touch_table): # peg and socket touching
|
||||
reward = 3
|
||||
if pin_touched: # successful insertion
|
||||
reward = 4
|
||||
return reward
|
||||
|
|
@ -1,263 +0,0 @@
|
|||
import collections
|
||||
|
||||
import numpy as np
|
||||
from dm_control.suite import base
|
||||
|
||||
from lerobot.common.envs.aloha.constants import (
|
||||
PUPPET_GRIPPER_POSITION_CLOSE,
|
||||
START_ARM_POSE,
|
||||
normalize_puppet_gripper_position,
|
||||
normalize_puppet_gripper_velocity,
|
||||
unnormalize_puppet_gripper_position,
|
||||
)
|
||||
from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
|
||||
|
||||
"""
|
||||
Environment for simulated robot bi-manual manipulation, with end-effector control.
|
||||
Action space: [left_arm_pose (7), # position and quaternion for end effector
|
||||
left_gripper_positions (1), # normalized gripper position (0: close, 1: open)
|
||||
right_arm_pose (7), # position and quaternion for end effector
|
||||
right_gripper_positions (1),] # normalized gripper position (0: close, 1: open)
|
||||
|
||||
Observation space: {"qpos": Concat[ left_arm_qpos (6), # absolute joint position
|
||||
left_gripper_position (1), # normalized gripper position (0: close, 1: open)
|
||||
right_arm_qpos (6), # absolute joint position
|
||||
right_gripper_qpos (1)] # normalized gripper position (0: close, 1: open)
|
||||
"qvel": Concat[ left_arm_qvel (6), # absolute joint velocity (rad)
|
||||
left_gripper_velocity (1), # normalized gripper velocity (pos: opening, neg: closing)
|
||||
right_arm_qvel (6), # absolute joint velocity (rad)
|
||||
right_gripper_qvel (1)] # normalized gripper velocity (pos: opening, neg: closing)
|
||||
"images": {"main": (480x640x3)} # h, w, c, dtype='uint8'
|
||||
"""
|
||||
|
||||
|
||||
class BimanualViperXEndEffectorTask(base.Task):
|
||||
def __init__(self, random=None):
|
||||
super().__init__(random=random)
|
||||
|
||||
def before_step(self, action, physics):
|
||||
a_len = len(action) // 2
|
||||
action_left = action[:a_len]
|
||||
action_right = action[a_len:]
|
||||
|
||||
# set mocap position and quat
|
||||
# left
|
||||
np.copyto(physics.data.mocap_pos[0], action_left[:3])
|
||||
np.copyto(physics.data.mocap_quat[0], action_left[3:7])
|
||||
# right
|
||||
np.copyto(physics.data.mocap_pos[1], action_right[:3])
|
||||
np.copyto(physics.data.mocap_quat[1], action_right[3:7])
|
||||
|
||||
# set gripper
|
||||
g_left_ctrl = unnormalize_puppet_gripper_position(action_left[7])
|
||||
g_right_ctrl = unnormalize_puppet_gripper_position(action_right[7])
|
||||
np.copyto(physics.data.ctrl, np.array([g_left_ctrl, -g_left_ctrl, g_right_ctrl, -g_right_ctrl]))
|
||||
|
||||
def initialize_robots(self, physics):
|
||||
# reset joint position
|
||||
physics.named.data.qpos[:16] = START_ARM_POSE
|
||||
|
||||
# reset mocap to align with end effector
|
||||
# to obtain these numbers:
|
||||
# (1) make an ee_sim env and reset to the same start_pose
|
||||
# (2) get env._physics.named.data.xpos['vx300s_left/gripper_link']
|
||||
# get env._physics.named.data.xquat['vx300s_left/gripper_link']
|
||||
# repeat the same for right side
|
||||
np.copyto(physics.data.mocap_pos[0], [-0.31718881, 0.5, 0.29525084])
|
||||
np.copyto(physics.data.mocap_quat[0], [1, 0, 0, 0])
|
||||
# right
|
||||
np.copyto(physics.data.mocap_pos[1], np.array([0.31718881, 0.49999888, 0.29525084]))
|
||||
np.copyto(physics.data.mocap_quat[1], [1, 0, 0, 0])
|
||||
|
||||
# reset gripper control
|
||||
close_gripper_control = np.array(
|
||||
[
|
||||
PUPPET_GRIPPER_POSITION_CLOSE,
|
||||
-PUPPET_GRIPPER_POSITION_CLOSE,
|
||||
PUPPET_GRIPPER_POSITION_CLOSE,
|
||||
-PUPPET_GRIPPER_POSITION_CLOSE,
|
||||
]
|
||||
)
|
||||
np.copyto(physics.data.ctrl, close_gripper_control)
|
||||
|
||||
def initialize_episode(self, physics):
|
||||
"""Sets the state of the environment at the start of each episode."""
|
||||
super().initialize_episode(physics)
|
||||
|
||||
@staticmethod
|
||||
def get_qpos(physics):
|
||||
qpos_raw = physics.data.qpos.copy()
|
||||
left_qpos_raw = qpos_raw[:8]
|
||||
right_qpos_raw = qpos_raw[8:16]
|
||||
left_arm_qpos = left_qpos_raw[:6]
|
||||
right_arm_qpos = right_qpos_raw[:6]
|
||||
left_gripper_qpos = [normalize_puppet_gripper_position(left_qpos_raw[6])]
|
||||
right_gripper_qpos = [normalize_puppet_gripper_position(right_qpos_raw[6])]
|
||||
return np.concatenate([left_arm_qpos, left_gripper_qpos, right_arm_qpos, right_gripper_qpos])
|
||||
|
||||
@staticmethod
|
||||
def get_qvel(physics):
|
||||
qvel_raw = physics.data.qvel.copy()
|
||||
left_qvel_raw = qvel_raw[:8]
|
||||
right_qvel_raw = qvel_raw[8:16]
|
||||
left_arm_qvel = left_qvel_raw[:6]
|
||||
right_arm_qvel = right_qvel_raw[:6]
|
||||
left_gripper_qvel = [normalize_puppet_gripper_velocity(left_qvel_raw[6])]
|
||||
right_gripper_qvel = [normalize_puppet_gripper_velocity(right_qvel_raw[6])]
|
||||
return np.concatenate([left_arm_qvel, left_gripper_qvel, right_arm_qvel, right_gripper_qvel])
|
||||
|
||||
@staticmethod
|
||||
def get_env_state(physics):
|
||||
raise NotImplementedError
|
||||
|
||||
def get_observation(self, physics):
|
||||
# note: it is important to do .copy()
|
||||
obs = collections.OrderedDict()
|
||||
obs["qpos"] = self.get_qpos(physics)
|
||||
obs["qvel"] = self.get_qvel(physics)
|
||||
obs["env_state"] = self.get_env_state(physics)
|
||||
obs["images"] = {}
|
||||
obs["images"]["top"] = physics.render(height=480, width=640, camera_id="top")
|
||||
obs["images"]["angle"] = physics.render(height=480, width=640, camera_id="angle")
|
||||
obs["images"]["vis"] = physics.render(height=480, width=640, camera_id="front_close")
|
||||
# used in scripted policy to obtain starting pose
|
||||
obs["mocap_pose_left"] = np.concatenate(
|
||||
[physics.data.mocap_pos[0], physics.data.mocap_quat[0]]
|
||||
).copy()
|
||||
obs["mocap_pose_right"] = np.concatenate(
|
||||
[physics.data.mocap_pos[1], physics.data.mocap_quat[1]]
|
||||
).copy()
|
||||
|
||||
# used when replaying joint trajectory
|
||||
obs["gripper_ctrl"] = physics.data.ctrl.copy()
|
||||
return obs
|
||||
|
||||
def get_reward(self, physics):
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class TransferCubeEndEffectorTask(BimanualViperXEndEffectorTask):
|
||||
def __init__(self, random=None):
|
||||
super().__init__(random=random)
|
||||
self.max_reward = 4
|
||||
|
||||
def initialize_episode(self, physics):
|
||||
"""Sets the state of the environment at the start of each episode."""
|
||||
self.initialize_robots(physics)
|
||||
# randomize box position
|
||||
cube_pose = sample_box_pose()
|
||||
box_start_idx = physics.model.name2id("red_box_joint", "joint")
|
||||
np.copyto(physics.data.qpos[box_start_idx : box_start_idx + 7], cube_pose)
|
||||
# print(f"randomized cube position to {cube_position}")
|
||||
|
||||
super().initialize_episode(physics)
|
||||
|
||||
@staticmethod
|
||||
def get_env_state(physics):
|
||||
env_state = physics.data.qpos.copy()[16:]
|
||||
return env_state
|
||||
|
||||
def get_reward(self, physics):
|
||||
# return whether left gripper is holding the box
|
||||
all_contact_pairs = []
|
||||
for i_contact in range(physics.data.ncon):
|
||||
id_geom_1 = physics.data.contact[i_contact].geom1
|
||||
id_geom_2 = physics.data.contact[i_contact].geom2
|
||||
name_geom_1 = physics.model.id2name(id_geom_1, "geom")
|
||||
name_geom_2 = physics.model.id2name(id_geom_2, "geom")
|
||||
contact_pair = (name_geom_1, name_geom_2)
|
||||
all_contact_pairs.append(contact_pair)
|
||||
|
||||
touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
|
||||
touch_table = ("red_box", "table") in all_contact_pairs
|
||||
|
||||
reward = 0
|
||||
if touch_right_gripper:
|
||||
reward = 1
|
||||
if touch_right_gripper and not touch_table: # lifted
|
||||
reward = 2
|
||||
if touch_left_gripper: # attempted transfer
|
||||
reward = 3
|
||||
if touch_left_gripper and not touch_table: # successful transfer
|
||||
reward = 4
|
||||
return reward
|
||||
|
||||
|
||||
class InsertionEndEffectorTask(BimanualViperXEndEffectorTask):
|
||||
def __init__(self, random=None):
|
||||
super().__init__(random=random)
|
||||
self.max_reward = 4
|
||||
|
||||
def initialize_episode(self, physics):
|
||||
"""Sets the state of the environment at the start of each episode."""
|
||||
self.initialize_robots(physics)
|
||||
# randomize peg and socket position
|
||||
peg_pose, socket_pose = sample_insertion_pose()
|
||||
|
||||
def id2index(j_id):
|
||||
return 16 + (j_id - 16) * 7 # first 16 is robot qpos, 7 is pose dim # hacky
|
||||
|
||||
peg_start_id = physics.model.name2id("red_peg_joint", "joint")
|
||||
peg_start_idx = id2index(peg_start_id)
|
||||
np.copyto(physics.data.qpos[peg_start_idx : peg_start_idx + 7], peg_pose)
|
||||
# print(f"randomized cube position to {cube_position}")
|
||||
|
||||
socket_start_id = physics.model.name2id("blue_socket_joint", "joint")
|
||||
socket_start_idx = id2index(socket_start_id)
|
||||
np.copyto(physics.data.qpos[socket_start_idx : socket_start_idx + 7], socket_pose)
|
||||
# print(f"randomized cube position to {cube_position}")
|
||||
|
||||
super().initialize_episode(physics)
|
||||
|
||||
@staticmethod
|
||||
def get_env_state(physics):
|
||||
env_state = physics.data.qpos.copy()[16:]
|
||||
return env_state
|
||||
|
||||
def get_reward(self, physics):
|
||||
# return whether peg touches the pin
|
||||
all_contact_pairs = []
|
||||
for i_contact in range(physics.data.ncon):
|
||||
id_geom_1 = physics.data.contact[i_contact].geom1
|
||||
id_geom_2 = physics.data.contact[i_contact].geom2
|
||||
name_geom_1 = physics.model.id2name(id_geom_1, "geom")
|
||||
name_geom_2 = physics.model.id2name(id_geom_2, "geom")
|
||||
contact_pair = (name_geom_1, name_geom_2)
|
||||
all_contact_pairs.append(contact_pair)
|
||||
|
||||
touch_right_gripper = ("red_peg", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
|
||||
touch_left_gripper = (
|
||||
("socket-1", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
or ("socket-2", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
or ("socket-3", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
or ("socket-4", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
|
||||
)
|
||||
|
||||
peg_touch_table = ("red_peg", "table") in all_contact_pairs
|
||||
socket_touch_table = (
|
||||
("socket-1", "table") in all_contact_pairs
|
||||
or ("socket-2", "table") in all_contact_pairs
|
||||
or ("socket-3", "table") in all_contact_pairs
|
||||
or ("socket-4", "table") in all_contact_pairs
|
||||
)
|
||||
peg_touch_socket = (
|
||||
("red_peg", "socket-1") in all_contact_pairs
|
||||
or ("red_peg", "socket-2") in all_contact_pairs
|
||||
or ("red_peg", "socket-3") in all_contact_pairs
|
||||
or ("red_peg", "socket-4") in all_contact_pairs
|
||||
)
|
||||
pin_touched = ("red_peg", "pin") in all_contact_pairs
|
||||
|
||||
reward = 0
|
||||
if touch_left_gripper and touch_right_gripper: # touch both
|
||||
reward = 1
|
||||
if (
|
||||
touch_left_gripper and touch_right_gripper and (not peg_touch_table) and (not socket_touch_table)
|
||||
): # grasp both
|
||||
reward = 2
|
||||
if peg_touch_socket and (not peg_touch_table) and (not socket_touch_table): # peg and socket touching
|
||||
reward = 3
|
||||
if pin_touched: # successful insertion
|
||||
reward = 4
|
||||
return reward
|
||||
|
|
@ -1,43 +0,0 @@
|
|||
import numpy as np
|
||||
|
||||
|
||||
def sample_box_pose(seed=None):
|
||||
x_range = [0.0, 0.2]
|
||||
y_range = [0.4, 0.6]
|
||||
z_range = [0.05, 0.05]
|
||||
|
||||
rng = np.random.RandomState(seed)
|
||||
|
||||
ranges = np.vstack([x_range, y_range, z_range])
|
||||
cube_position = rng.uniform(ranges[:, 0], ranges[:, 1])
|
||||
|
||||
cube_quat = np.array([1, 0, 0, 0])
|
||||
return np.concatenate([cube_position, cube_quat])
|
||||
|
||||
|
||||
def sample_insertion_pose(seed=None):
|
||||
# Peg
|
||||
x_range = [0.1, 0.2]
|
||||
y_range = [0.4, 0.6]
|
||||
z_range = [0.05, 0.05]
|
||||
|
||||
rng = np.random.RandomState(seed)
|
||||
|
||||
ranges = np.vstack([x_range, y_range, z_range])
|
||||
peg_position = rng.uniform(ranges[:, 0], ranges[:, 1])
|
||||
|
||||
peg_quat = np.array([1, 0, 0, 0])
|
||||
peg_pose = np.concatenate([peg_position, peg_quat])
|
||||
|
||||
# Socket
|
||||
x_range = [-0.2, -0.1]
|
||||
y_range = [0.4, 0.6]
|
||||
z_range = [0.05, 0.05]
|
||||
|
||||
ranges = np.vstack([x_range, y_range, z_range])
|
||||
socket_position = rng.uniform(ranges[:, 0], ranges[:, 1])
|
||||
|
||||
socket_quat = np.array([1, 0, 0, 0])
|
||||
socket_pose = np.concatenate([socket_position, socket_quat])
|
||||
|
||||
return peg_pose, socket_pose
|
||||
Loading…
Reference in New Issue