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lerobot
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Remove deprecated code

This commit is contained in:
Simon Alibert 2024-03-25 13:22:49 +01:00
parent a2ac83276b
commit 5ef813ff1e
2 changed files with 4 additions and 36 deletions
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39
lerobot/common/envs/simxarm/simxarm/task/base.py
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@ -1,11 +1,7 @@
import os import os
import glfw
import mujoco import mujoco
import numpy as np import numpy as np
# import gym
# from gym.envs.robotics import robot_env
from gymnasium_robotics.envs import robot_env from gymnasium_robotics.envs import robot_env
from lerobot.common.envs.simxarm.simxarm.task import mocap from lerobot.common.envs.simxarm.simxarm.task import mocap
@ -63,7 +59,6 @@ class Base(robot_env.MujocoRobotEnv):
return self._get_obs() return self._get_obs()
def _step_callback(self): def _step_callback(self):
# self.sim.forward()
self._mujoco.mj_forward(self.model, self.data) self._mujoco.mj_forward(self.model, self.data)
def _limit_gripper(self, gripper_pos, pos_ctrl): 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]), 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): def _render_callback(self):
# self.sim.forward()
self._mujoco.mj_forward(self.model, self.data) self._mujoco.mj_forward(self.model, self.data)
def _reset_sim(self): def _reset_sim(self):
# self.sim.set_state(self.initial_state)
self.data.time = self.initial_time self.data.time = self.initial_time
self.data.qpos[:] = np.copy(self.initial_qpos) self.data.qpos[:] = np.copy(self.initial_qpos)
self.data.qvel[:] = np.copy(self.initial_qvel) self.data.qvel[:] = np.copy(self.initial_qvel)
self._sample_goal() self._sample_goal()
for _ in range(10): self._mujoco.mj_step(self.model, self.data, nstep=10)
# self.sim.step()
self._mujoco.mj_forward(self.model, self.data)
return True return True
def _set_gripper(self, gripper_pos, gripper_rotation): 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_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_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._utils.set_joint_qpos(self.model, self.data, "right_outer_knuckle_joint", 0)
self.data.qpos[10] = 0.0 self.data.qpos[10] = 0.0
@ -133,13 +111,10 @@ class Base(robot_env.MujocoRobotEnv):
def _env_setup(self, initial_qpos): def _env_setup(self, initial_qpos):
for name, value in initial_qpos.items(): for name, value in initial_qpos.items():
# self.sim.data.set_joint_qpos(name, value)
self.data.set_joint_qpos(name, value) self.data.set_joint_qpos(name, value)
mocap.reset(self.model, self.data) mocap.reset(self.model, self.data)
mujoco.mj_forward(self.model, self.data) mujoco.mj_forward(self.model, self.data)
# self.sim.forward()
self._sample_goal() self._sample_goal()
# self.sim.forward()
mujoco.mj_forward(self.model, self.data) mujoco.mj_forward(self.model, self.data)
def reset(self): def reset(self):
@ -150,8 +125,6 @@ class Base(robot_env.MujocoRobotEnv):
assert action.shape == (4,) assert action.shape == (4,)
assert self.action_space.contains(action), "{!r} ({}) invalid".format(action, type(action)) assert self.action_space.contains(action), "{!r} ({}) invalid".format(action, type(action))
self._apply_action(action) self._apply_action(action)
# for _ in range(2):
# self.sim.step()
self._mujoco.mj_step(self.model, self.data, nstep=2) self._mujoco.mj_step(self.model, self.data, nstep=2)
self._step_callback() self._step_callback()
obs = self._get_obs() obs = self._get_obs()
@ -162,15 +135,11 @@ class Base(robot_env.MujocoRobotEnv):
def render(self, mode="rgb_array", width=384, height=384): def render(self, mode="rgb_array", width=384, height=384):
self._render_callback() self._render_callback()
# hack # HACK
self.model.vis.global_.offwidth = width self.model.vis.global_.offwidth = width
self.model.vis.global_.offheight = height self.model.vis.global_.offheight = height
return self.mujoco_renderer.render(mode) return self.mujoco_renderer.render(mode)
def close(self): def close(self):
if self.viewer is not None: if self.mujoco_renderer is not None:
# self.viewer.finish() self.mujoco_renderer.close()
print("Closing window glfw")
glfw.destroy_window(self.viewer.window)
self.viewer = None
self._viewers = {}

1
lerobot/common/envs/simxarm/simxarm/task/lift.py
View File

@ -85,7 +85,6 @@ class Lift(Base):
object_pos[1] += 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 = self._utils.get_joint_qpos(self.model, self.data, "object_joint0")
object_qpos[:3] = object_pos 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._utils.set_joint_qpos(self.model, self.data, "object_joint0", object_qpos)
self._init_z = object_pos[2] self._init_z = object_pos[2]