From 5ef813ff1e61243c3f02bf02d99e73f562196ece Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Mon, 25 Mar 2024 13:22:49 +0100 Subject: [PATCH] Remove deprecated code --- .../common/envs/simxarm/simxarm/task/base.py | 39 ++----------------- .../common/envs/simxarm/simxarm/task/lift.py | 1 - 2 files changed, 4 insertions(+), 36 deletions(-) diff --git a/lerobot/common/envs/simxarm/simxarm/task/base.py b/lerobot/common/envs/simxarm/simxarm/task/base.py index f9829c2c..58902601 100644 --- a/lerobot/common/envs/simxarm/simxarm/task/base.py +++ b/lerobot/common/envs/simxarm/simxarm/task/base.py @@ -1,11 +1,7 @@ import os -import glfw import mujoco import numpy as np - -# import gym -# from gym.envs.robotics import robot_env from gymnasium_robotics.envs import robot_env from lerobot.common.envs.simxarm.simxarm.task import mocap @@ -63,7 +59,6 @@ class Base(robot_env.MujocoRobotEnv): return self._get_obs() def _step_callback(self): - # self.sim.forward() self._mujoco.mj_forward(self.model, self.data) def _limit_gripper(self, gripper_pos, pos_ctrl): @@ -96,36 +91,19 @@ class Base(robot_env.MujocoRobotEnv): np.concatenate([pos_ctrl, self.gripper_rotation, gripper_ctrl]), ) - def _viewer_setup(self): - body_id = self.sim.model.body_name2id("link7") - lookat = self.sim.data.body_xpos[body_id] - for idx, value in enumerate(lookat): - self.viewer.cam.lookat[idx] = value - self.viewer.cam.distance = 4.0 - self.viewer.cam.azimuth = 132.0 - self.viewer.cam.elevation = -14.0 - def _render_callback(self): - # self.sim.forward() self._mujoco.mj_forward(self.model, self.data) def _reset_sim(self): - # self.sim.set_state(self.initial_state) 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() - for _ in range(10): - # self.sim.step() - self._mujoco.mj_forward(self.model, self.data) + self._mujoco.mj_step(self.model, self.data, nstep=10) return True def _set_gripper(self, gripper_pos, gripper_rotation): - # self.data.set_mocap_pos('robot0:mocap2', gripper_pos) - # self.data.set_mocap_quat('robot0:mocap2', gripper_rotation) - # self.data.set_joint_qpos('right_outer_knuckle_joint', 0) self._utils.set_mocap_pos(self.model, self.data, "robot0:mocap", gripper_pos) - # self._utils.set_mocap_pos(self.model, self.data, "robot0:mocap", gripper_rotation) 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 @@ -133,13 +111,10 @@ class Base(robot_env.MujocoRobotEnv): def _env_setup(self, initial_qpos): for name, value in initial_qpos.items(): - # self.sim.data.set_joint_qpos(name, value) self.data.set_joint_qpos(name, value) mocap.reset(self.model, self.data) mujoco.mj_forward(self.model, self.data) - # self.sim.forward() self._sample_goal() - # self.sim.forward() mujoco.mj_forward(self.model, self.data) def reset(self): @@ -150,8 +125,6 @@ class Base(robot_env.MujocoRobotEnv): assert action.shape == (4,) assert self.action_space.contains(action), "{!r} ({}) invalid".format(action, type(action)) self._apply_action(action) - # for _ in range(2): - # self.sim.step() self._mujoco.mj_step(self.model, self.data, nstep=2) self._step_callback() obs = self._get_obs() @@ -162,15 +135,11 @@ class Base(robot_env.MujocoRobotEnv): def render(self, mode="rgb_array", width=384, height=384): self._render_callback() - # hack + # HACK self.model.vis.global_.offwidth = width self.model.vis.global_.offheight = height return self.mujoco_renderer.render(mode) def close(self): - if self.viewer is not None: - # self.viewer.finish() - print("Closing window glfw") - glfw.destroy_window(self.viewer.window) - self.viewer = None - self._viewers = {} + if self.mujoco_renderer is not None: + self.mujoco_renderer.close() diff --git a/lerobot/common/envs/simxarm/simxarm/task/lift.py b/lerobot/common/envs/simxarm/simxarm/task/lift.py index bd7fc500..0b11196c 100644 --- a/lerobot/common/envs/simxarm/simxarm/task/lift.py +++ b/lerobot/common/envs/simxarm/simxarm/task/lift.py @@ -85,7 +85,6 @@ class Lift(Base): 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.sim.data.set_joint_qpos('object_joint0', object_qpos) self._utils.set_joint_qpos(self.model, self.data, "object_joint0", object_qpos) self._init_z = object_pos[2]