Add xarm as package
This commit is contained in:
Simon Alibert
parent
3713a3a87b
commit
8260a7010a
|
|
@ -7,6 +7,7 @@ authors = [
|
|||
]
|
||||
maintainers = [
|
||||
"Alexander Soare <alexander.soare159@gmail.com>",
|
||||
"Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
|
||||
"Simon Alibert <alibert.sim@gmail.com>",
|
||||
]
|
||||
readme = "README.md"
|
||||
|
|
@ -20,6 +21,7 @@ classifiers=[
|
|||
]
|
||||
packages = [{include = "pusht"}]
|
||||
|
||||
|
||||
[tool.poetry.dependencies]
|
||||
python = "^3.10"
|
||||
gymnasium = "^0.29.1"
|
||||
|
|
@ -29,6 +31,7 @@ pymunk = "^6.6.0"
|
|||
shapely = "^2.0.3"
|
||||
scikit-image = "^0.22.0"
|
||||
|
||||
|
||||
[build-system]
|
||||
requires = ["poetry-core"]
|
||||
build-backend = "poetry.core.masonry.api"
|
||||
|
|
|
|||
|
|
@ -19,6 +19,7 @@ from lerobot.common.envs.abstract import AbstractEnv
|
|||
from lerobot.common.utils import set_global_seed
|
||||
|
||||
_has_gym = importlib.util.find_spec("gymnasium") is not None
|
||||
_has_pusht = importlib.util.find_spec("pusht") is not None
|
||||
|
||||
|
||||
class PushtEnv(AbstractEnv):
|
||||
|
|
@ -56,9 +57,14 @@ class PushtEnv(AbstractEnv):
|
|||
|
||||
# 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
|
||||
|
||||
if not self.from_pixels:
|
||||
raise NotImplementedError("Use PushTEnv, instead of PushTImageEnv")
|
||||
|
||||
if not _has_pusht:
|
||||
raise ImportError(
|
||||
"Cannot import pusht env. Please install it with `python -m pip install 'lerobot[pusht]'`"
|
||||
)
|
||||
|
||||
from pusht.pusht_image_env import PushTImageEnv
|
||||
|
||||
self._env = PushTImageEnv(render_size=self.image_size)
|
||||
|
|
|
|||
|
|
@ -21,6 +21,7 @@ from lerobot.common.utils import set_global_seed
|
|||
MAX_NUM_ACTIONS = 4
|
||||
|
||||
_has_gym = importlib.util.find_spec("gymnasium") is not None
|
||||
_has_xarm = importlib.util.find_spec("xarm") is not None
|
||||
|
||||
|
||||
class SimxarmEnv(AbstractEnv):
|
||||
|
|
@ -57,7 +58,12 @@ class SimxarmEnv(AbstractEnv):
|
|||
|
||||
import gymnasium
|
||||
|
||||
from lerobot.common.envs.simxarm.simxarm import TASKS
|
||||
if not _has_xarm:
|
||||
raise ImportError(
|
||||
"Cannot import xarm env. Please install it with `python -m pip install 'lerobot[xarm]'`"
|
||||
)
|
||||
|
||||
from xarm import TASKS
|
||||
|
||||
if self.task not in TASKS:
|
||||
raise ValueError(f"Unknown task {self.task}. Must be one of {list(TASKS.keys())}")
|
||||
|
|
|
|||
|
|
@ -1,166 +0,0 @@
|
|||
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
|
||||
|
|
@ -1,53 +0,0 @@
|
|||
<?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="20.0 20.0 1" type="plane" condim="3" material="floor_mat"></geom>
|
||||
</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 1 1"></geom>
|
||||
</body>
|
||||
|
||||
<body name="object" pos="1.405 0.3 0.58625">
|
||||
<joint name="object_joint0" type="free" limited="false"></joint>
|
||||
<geom size="0.035 0.035 0.035" type="box" name="object0" 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="0.035 0.035 0.035" rgba="1 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>
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:21fb81ae7fba19e3c6b2d2ca60c8051712ba273357287eb5a397d92d61c7a736
|
||||
size 1211434
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:be68ce180d11630a667a5f37f4dffcc3feebe4217d4bb3912c813b6d9ca3ec66
|
||||
size 3284
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:2c6448552bf6b1c4f17334d686a5320ce051bcdfe31431edf69303d8a570d1de
|
||||
size 3284
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:748b9e197e6521914f18d1f6383a36f211136b3f33f2ad2a8c11b9f921c2cf86
|
||||
size 6284
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:a44756eb72f9c214cb37e61dc209cd7073fdff3e4271a7423476ef6fd090d2d4
|
||||
size 242684
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:e8e48692ad26837bb3d6a97582c89784d09948fc09bfe4e5a59017859ff04dac
|
||||
size 366284
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:501665812b08d67e764390db781e839adc6896a9540301d60adf606f57648921
|
||||
size 22284
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:34b541122df84d2ef5fcb91b715eb19659dc15ad8d44a191dde481f780265636
|
||||
size 184184
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:61e641cd47c169ecef779683332e00e4914db729bf02dfb61bfbe69351827455
|
||||
size 225584
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:9e2798e7946dd70046c95455d5ba96392d0b54a6069caba91dc4ca66e1379b42
|
||||
size 237084
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:c757fee95f873191a0633c355c07a360032960771cabbd7593a6cdb0f1ffb089
|
||||
size 243684
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:715ad5787c5dab57589937fd47289882707b5e1eb997e340d567785b02f4ec90
|
||||
size 229084
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:85b320aa420497827223d16d492bba8de091173374e361396fc7a5dad7bdb0cb
|
||||
size 399384
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:97115d848fbf802cb770cd9be639ae2af993103b9d9bbb0c50c943c738a36f18
|
||||
size 231684
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:f6fcbc18258090eb56c21cfb17baa5ae43abc98b1958cd366f3a73b9898fc7f0
|
||||
size 2106184
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:c5dee87c7f37baf554b8456ebfe0b3e8ed0b22b8938bd1add6505c2ad6d32c7d
|
||||
size 242684
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:b41dd2c2c550281bf78d7cc6fa117b14786700e5c453560a0cb5fd6dfa0ffb3e
|
||||
size 366284
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:75ca1107d0a42a0f03802a9a49cab48419b31851ee8935f8f1ca06be1c1c91e8
|
||||
size 22284
|
||||
|
|
@ -1,74 +0,0 @@
|
|||
<?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="0.001">
|
||||
<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>
|
||||
</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="box0" pos="1.605 0.25 0.55">
|
||||
<joint name="box_joint0" type="free" limited="false"></joint>
|
||||
<site name="box_site" pos="0 0.075 -0.01" size="0.02" rgba="0 0 0 0" type="sphere"></site>
|
||||
<geom name="box_side0" pos="0 0 0" size="0.065 0.002 0.04" type= "box" rgba="0.8 0.1 0.1 1" mass ="1" condim="4" />
|
||||
<geom name="box_side1" pos="0 0.149 0" size="0.065 0.002 0.04" type="box" rgba="0.9 0.2 0.2 1" mass ="2" condim="4" />
|
||||
<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"/>
|
||||
</body>
|
||||
|
||||
<body name="object0" pos="1.4 0.25 0.65">
|
||||
<joint name="object_joint0" type="free" limited="false"></joint>
|
||||
<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" />
|
||||
<site name="object_site" pos="0 0 -0.05" size="0.0325 0.0375" rgba="0 0 0 0" type="cylinder"></site>
|
||||
<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>
|
||||
<geom type="capsule" size="0.002 0.004" rgba="1 0 0 0" mass="0.001" condim="4"/>
|
||||
</body>
|
||||
</body>
|
||||
</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>
|
||||
<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>
|
||||
|
|
@ -1,54 +0,0 @@
|
|||
<?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>
|
||||
|
|
@ -1,48 +0,0 @@
|
|||
<?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>
|
||||
|
|
@ -1,51 +0,0 @@
|
|||
<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>
|
||||
|
|
@ -1,88 +0,0 @@
|
|||
<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>
|
||||
|
|
@ -1,145 +0,0 @@
|
|||
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()
|
||||
|
|
@ -1,100 +0,0 @@
|
|||
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)
|
||||
|
|
@ -1,67 +0,0 @@
|
|||
# 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]
|
||||
|
|
@ -1,86 +0,0 @@
|
|||
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)
|
||||
|
|
@ -1,78 +0,0 @@
|
|||
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)
|
||||
|
|
@ -1,44 +0,0 @@
|
|||
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)
|
||||
|
|
@ -3115,6 +3115,22 @@ pymunk = ">=6.6.0,<7.0.0"
|
|||
scikit-image = ">=0.22.0,<0.23.0"
|
||||
shapely = ">=2.0.3,<3.0.0"
|
||||
|
||||
[[package]]
|
||||
name = "sim-xarm"
|
||||
version = "0.1.0"
|
||||
description = "xArm environment for LeRobot"
|
||||
optional = true
|
||||
python-versions = "<4.0,>=3.10"
|
||||
files = [
|
||||
{file = "sim_xarm-0.1.0-py3-none-any.whl", hash = "sha256:2771ca0e8d775dc7d9ccb3360e7fcf42507c5d4791525692e409f53ff5c83eaa"},
|
||||
{file = "sim_xarm-0.1.0.tar.gz", hash = "sha256:90342394369ab37636a8c41a995ba20f1dac79c50563b1b1e4b38eeffbc5588d"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
gymnasium = ">=0.29.1,<0.30.0"
|
||||
gymnasium-robotics = ">=1.2.4,<2.0.0"
|
||||
mujoco = ">=2.3.7,<3.0.0"
|
||||
|
||||
[[package]]
|
||||
name = "six"
|
||||
version = "1.16.0"
|
||||
|
|
@ -3607,8 +3623,9 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
|
|||
|
||||
[extras]
|
||||
pusht = ["sim-pusht"]
|
||||
xarm = ["sim-xarm"]
|
||||
|
||||
[metadata]
|
||||
lock-version = "2.0"
|
||||
python-versions = "^3.10"
|
||||
content-hash = "91dcb5cc851e0a348bfa36801e6cd260391a851623f0949575a5a19ca014d75c"
|
||||
content-hash = "0ac21898262a0d5410340f822b4aa3ae4580348ebb2bc58dbd351f46a0feedbd"
|
||||
|
|
|
|||
|
|
@ -7,6 +7,7 @@ authors = [
|
|||
]
|
||||
maintainers = [
|
||||
"Alexander Soare <alexander.soare159@gmail.com>",
|
||||
"Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
|
||||
"Simon Alibert <alibert.sim@gmail.com>",
|
||||
]
|
||||
repository = "https://github.com/Cadene/lerobot"
|
||||
|
|
@ -57,10 +58,12 @@ gymnasium-robotics = "^1.2.4"
|
|||
gymnasium = "^0.29.1"
|
||||
cmake = "^3.29.0.1"
|
||||
sim-pusht = { version = "^0.1.0", optional = true}
|
||||
sim-xarm = { version = "^0.1.0", optional = true}
|
||||
|
||||
|
||||
[tool.poetry.extras]
|
||||
pusht = ["sim-pusht"]
|
||||
xarm = ["sim-xarm"]
|
||||
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
|
|
@ -106,7 +109,7 @@ select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
|
|||
ignore-init-module-imports = true
|
||||
|
||||
[tool.ruff.lint.isort]
|
||||
known-first-party = ["pusht"]
|
||||
known-first-party = ["pusht", "xarm"]
|
||||
|
||||
[tool.poetry-dynamic-versioning]
|
||||
enable = true
|
||||
|
|
|
|||
Loading…
Reference in New Issue