diff --git a/envs/sim_aloha/README.md b/envs/sim_aloha/README.md new file mode 100644 index 00000000..aa0ba3aa --- /dev/null +++ b/envs/sim_aloha/README.md @@ -0,0 +1 @@ +# ALOHA environment for LeRobot diff --git a/envs/sim_aloha/aloha/__init__.py b/envs/sim_aloha/aloha/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/envs/sim_aloha/aloha/assets/bimanual_viperx_end_effector_insertion.xml b/envs/sim_aloha/aloha/assets/bimanual_viperx_end_effector_insertion.xml new file mode 100644 index 00000000..8002838c --- /dev/null +++ b/envs/sim_aloha/aloha/assets/bimanual_viperx_end_effector_insertion.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/assets/bimanual_viperx_end_effector_transfer_cube.xml b/envs/sim_aloha/aloha/assets/bimanual_viperx_end_effector_transfer_cube.xml new file mode 100644 index 00000000..05249ad2 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/bimanual_viperx_end_effector_transfer_cube.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/assets/bimanual_viperx_insertion.xml b/envs/sim_aloha/aloha/assets/bimanual_viperx_insertion.xml new file mode 100644 index 00000000..511f7947 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/bimanual_viperx_insertion.xml @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/assets/bimanual_viperx_transfer_cube.xml b/envs/sim_aloha/aloha/assets/bimanual_viperx_transfer_cube.xml new file mode 100644 index 00000000..2d85a47c --- /dev/null +++ b/envs/sim_aloha/aloha/assets/bimanual_viperx_transfer_cube.xml @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/assets/scene.xml b/envs/sim_aloha/aloha/assets/scene.xml new file mode 100644 index 00000000..0f61b8a5 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/scene.xml @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/assets/tabletop.stl b/envs/sim_aloha/aloha/assets/tabletop.stl new file mode 100644 index 00000000..1c17d3f0 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/tabletop.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76a1571d1aa36520f2bd81c268991b99816c2a7819464d718e0fd9976fe30dce +size 684 diff --git a/envs/sim_aloha/aloha/assets/vx300s_10_custom_finger_left.stl b/envs/sim_aloha/aloha/assets/vx300s_10_custom_finger_left.stl new file mode 100644 index 00000000..ef1f3f35 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_10_custom_finger_left.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df73ae5b9058e5d50a6409ac2ab687dade75053a86591bb5e23ab051dbf2d659 +size 83384 diff --git a/envs/sim_aloha/aloha/assets/vx300s_10_custom_finger_right.stl b/envs/sim_aloha/aloha/assets/vx300s_10_custom_finger_right.stl new file mode 100644 index 00000000..7eb8aefd --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_10_custom_finger_right.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56fb3cc1236d4193106038adf8e457c7252ae9e86c7cee6dabf0578c53666358 +size 83384 diff --git a/envs/sim_aloha/aloha/assets/vx300s_10_gripper_finger.stl b/envs/sim_aloha/aloha/assets/vx300s_10_gripper_finger.stl new file mode 100644 index 00000000..4c2b3a1f --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_10_gripper_finger.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4baacd9a64df1be60ea5e98f50f3c660e1b7a1fe9684aace6004c5058c09483 +size 42884 diff --git a/envs/sim_aloha/aloha/assets/vx300s_11_ar_tag.stl b/envs/sim_aloha/aloha/assets/vx300s_11_ar_tag.stl new file mode 100644 index 00000000..8a30f7cc --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_11_ar_tag.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a18a1601074d29ed1d546ead70cd18fbb063f1db7b5b96b9f0365be714f3136a +size 3884 diff --git a/envs/sim_aloha/aloha/assets/vx300s_1_base.stl b/envs/sim_aloha/aloha/assets/vx300s_1_base.stl new file mode 100644 index 00000000..9198e625 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_1_base.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d100cafe656671ca8fde98fb6a4cf2d1b746995c51c61c25ad9ea2715635d146 +size 99984 diff --git a/envs/sim_aloha/aloha/assets/vx300s_2_shoulder.stl b/envs/sim_aloha/aloha/assets/vx300s_2_shoulder.stl new file mode 100644 index 00000000..ab3d9570 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_2_shoulder.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:139745a74055cb0b23430bb5bc032bf68cf7bea5e4975c8f4c04107ae005f7f0 +size 63884 diff --git a/envs/sim_aloha/aloha/assets/vx300s_3_upper_arm.stl b/envs/sim_aloha/aloha/assets/vx300s_3_upper_arm.stl new file mode 100644 index 00000000..3d6f663c --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_3_upper_arm.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:900f236320dd3d500870c5fde763b2d47502d51e043a5c377875e70237108729 +size 102984 diff --git a/envs/sim_aloha/aloha/assets/vx300s_4_upper_forearm.stl b/envs/sim_aloha/aloha/assets/vx300s_4_upper_forearm.stl new file mode 100644 index 00000000..4eb249e7 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_4_upper_forearm.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4104fc54bbfb8a9b533029f1e7e3ade3d54d638372b3195daa0c98f57e0295b5 +size 49584 diff --git a/envs/sim_aloha/aloha/assets/vx300s_5_lower_forearm.stl b/envs/sim_aloha/aloha/assets/vx300s_5_lower_forearm.stl new file mode 100644 index 00000000..34c76221 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_5_lower_forearm.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66814e27fa728056416e25e02e89eb7d34c51d51c51e7c3df873829037ddc6b8 +size 99884 diff --git a/envs/sim_aloha/aloha/assets/vx300s_6_wrist.stl b/envs/sim_aloha/aloha/assets/vx300s_6_wrist.stl new file mode 100644 index 00000000..232fabf7 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_6_wrist.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90eb145c85627968c3776ae6de23ccff7e112c9dd713c46bc9acdfdaa859a048 +size 70784 diff --git a/envs/sim_aloha/aloha/assets/vx300s_7_gripper.stl b/envs/sim_aloha/aloha/assets/vx300s_7_gripper.stl new file mode 100644 index 00000000..946c3c86 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_7_gripper.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:786c1077bfd226f14219581b11d5f19464ca95b17132e0bb7532503568f5af90 +size 450084 diff --git a/envs/sim_aloha/aloha/assets/vx300s_8_gripper_prop.stl b/envs/sim_aloha/aloha/assets/vx300s_8_gripper_prop.stl new file mode 100644 index 00000000..28d5bd76 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_8_gripper_prop.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1275a93fe2157c83dbc095617fb7e672888bdd48ec070a35ef4ab9ebd9755b0 +size 31684 diff --git a/envs/sim_aloha/aloha/assets/vx300s_9_gripper_bar.stl b/envs/sim_aloha/aloha/assets/vx300s_9_gripper_bar.stl new file mode 100644 index 00000000..5201d5ea --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_9_gripper_bar.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4de62c9a2ed2c78433010e4c05530a1254b1774a7651967f406120c9bf8973e +size 379484 diff --git a/envs/sim_aloha/aloha/assets/vx300s_dependencies.xml b/envs/sim_aloha/aloha/assets/vx300s_dependencies.xml new file mode 100644 index 00000000..93037ab7 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_dependencies.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/assets/vx300s_left.xml b/envs/sim_aloha/aloha/assets/vx300s_left.xml new file mode 100644 index 00000000..3af6c235 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_left.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/assets/vx300s_right.xml b/envs/sim_aloha/aloha/assets/vx300s_right.xml new file mode 100644 index 00000000..495df478 --- /dev/null +++ b/envs/sim_aloha/aloha/assets/vx300s_right.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/envs/sim_aloha/aloha/constants.py b/envs/sim_aloha/aloha/constants.py new file mode 100644 index 00000000..e582e5f3 --- /dev/null +++ b/envs/sim_aloha/aloha/constants.py @@ -0,0 +1,163 @@ +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) + ) diff --git a/envs/sim_aloha/aloha/tasks/sim.py b/envs/sim_aloha/aloha/tasks/sim.py new file mode 100644 index 00000000..f8107f95 --- /dev/null +++ b/envs/sim_aloha/aloha/tasks/sim.py @@ -0,0 +1,218 @@ +import collections + +import numpy as np +from aloha.constants import ( + START_ARM_POSE, + normalize_puppet_gripper_position, + normalize_puppet_gripper_velocity, + unnormalize_puppet_gripper_position, +) +from dm_control.suite import base + +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 diff --git a/envs/sim_aloha/aloha/tasks/sim_end_effector.py b/envs/sim_aloha/aloha/tasks/sim_end_effector.py new file mode 100644 index 00000000..527326fe --- /dev/null +++ b/envs/sim_aloha/aloha/tasks/sim_end_effector.py @@ -0,0 +1,262 @@ +import collections + +import numpy as np +from aloha.constants import ( + PUPPET_GRIPPER_POSITION_CLOSE, + START_ARM_POSE, + normalize_puppet_gripper_position, + normalize_puppet_gripper_velocity, + unnormalize_puppet_gripper_position, +) +from aloha.utils import sample_box_pose, sample_insertion_pose +from dm_control.suite import base + +""" +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 diff --git a/envs/sim_aloha/aloha/utils.py b/envs/sim_aloha/aloha/utils.py new file mode 100644 index 00000000..5ac8b955 --- /dev/null +++ b/envs/sim_aloha/aloha/utils.py @@ -0,0 +1,39 @@ +import numpy as np + + +def sample_box_pose(): + x_range = [0.0, 0.2] + y_range = [0.4, 0.6] + z_range = [0.05, 0.05] + + ranges = np.vstack([x_range, y_range, z_range]) + cube_position = np.random.uniform(ranges[:, 0], ranges[:, 1]) + + cube_quat = np.array([1, 0, 0, 0]) + return np.concatenate([cube_position, cube_quat]) + + +def sample_insertion_pose(): + # Peg + x_range = [0.1, 0.2] + y_range = [0.4, 0.6] + z_range = [0.05, 0.05] + + ranges = np.vstack([x_range, y_range, z_range]) + peg_position = np.random.uniform(ranges[:, 0], ranges[:, 1]) + + peg_quat = np.array([1, 0, 0, 0]) + peg_pose = np.concatenate([peg_position, peg_quat]) + + # 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