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This commit is contained in:
Remi Cadene 2024-03-08 09:47:39 +00:00 committed by Cadene
parent 4cc7e1539e
commit d98b435b4c
30 changed files with 1262 additions and 82 deletions
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0
lerobot/common/envs/abstract.py Normal file
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59
lerobot/common/envs/aloha/assets/bimanual_viperx_ee_insertion.xml Normal file
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<mujoco>
<include file="scene.xml"/>
<include file="vx300s_dependencies.xml"/>
<equality>
<weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
<weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
</equality>
<worldbody>
<include file="vx300s_left.xml" />
<include file="vx300s_right.xml" />
<body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
</body>
<body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
</body>
<body name="peg" pos="0.2 0.5 0.05">
<joint name="red_peg_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
</body>
<body name="socket" pos="-0.2 0.5 0.05">
<joint name="blue_socket_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<!-- <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
</actuator>
<keyframe>
<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0 -0.2 0.5 0.05 1 0 0 0"/>
</keyframe>
</mujoco>

48
lerobot/common/envs/aloha/assets/bimanual_viperx_ee_transfer_cube.xml Normal file
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<mujoco>
<include file="scene.xml"/>
<include file="vx300s_dependencies.xml"/>
<equality>
<weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
<weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
</equality>
<worldbody>
<include file="vx300s_left.xml" />
<include file="vx300s_right.xml" />
<body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
</body>
<body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
</body>
<body name="box" pos="0.2 0.5 0.05">
<joint name="red_box_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
</actuator>
<keyframe>
<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/>
</keyframe>
</mujoco>

53
lerobot/common/envs/aloha/assets/bimanual_viperx_insertion.xml Normal file
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<mujoco>
<include file="scene.xml"/>
<include file="vx300s_dependencies.xml"/>
<worldbody>
<include file="vx300s_left.xml" />
<include file="vx300s_right.xml" />
<body name="peg" pos="0.2 0.5 0.05">
<joint name="red_peg_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
</body>
<body name="socket" pos="-0.2 0.5 0.05">
<joint name="blue_socket_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<!-- <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
</actuator>
<keyframe>
<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0 -0.2 0.5 0.05 1 0 0 0"/>
</keyframe>
</mujoco>

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lerobot/common/envs/aloha/assets/bimanual_viperx_transfer_cube.xml Normal file
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<mujoco>
<include file="scene.xml"/>
<include file="vx300s_dependencies.xml"/>
<worldbody>
<include file="vx300s_left.xml" />
<include file="vx300s_right.xml" />
<body name="box" pos="0.2 0.5 0.05">
<joint name="red_box_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
</actuator>
<keyframe>
<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/>
</keyframe>
</mujoco>

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lerobot/common/envs/aloha/assets/scene.xml Normal file
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<mujocoinclude>
<!-- <option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>-->
<asset>
<mesh file="tabletop.stl" name="tabletop" scale="0.001 0.001 0.001"/>
</asset>
<visual>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
<quality shadowsize="4096" offsamples="4"/>
<headlight ambient="0.4 0.4 0.4"/>
</visual>
<worldbody>
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1'
dir='1 1 -1'/>
<light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 1' dir='-1 1 -1'/>
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1'
dir='0 -1 -1'/>
<body name="table" pos="0 .6 0">
<geom group="1" mesh="tabletop" pos="0 0 0" type="mesh" conaffinity="1" contype="1" name="table" rgba="0.2 0.2 0.2 1" />
</body>
<body name="midair" pos="0 .6 0.2">
<site pos="0 0 0" size="0.01" type="sphere" name="midair" rgba="1 0 0 0"/>
</body>
<camera name="left_pillar" pos="-0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
<camera name="right_pillar" pos="0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/>
<camera name="top" pos="0 0.6 0.8" fovy="78" mode="targetbody" target="table"/>
<camera name="angle" pos="0 0 0.6" fovy="78" mode="targetbody" target="table"/>
<camera name="front_close" pos="0 0.2 0.4" fovy="78" mode="targetbody" target="vx300s_left/camera_focus"/>
</worldbody>
</mujocoinclude>

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lerobot/common/envs/aloha/assets/vx300s_dependencies.xml Normal file
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<mujocoinclude>
<compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
<asset>
<mesh name="vx300s_1_base" file="vx300s_1_base.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_2_shoulder" file="vx300s_2_shoulder.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_3_upper_arm" file="vx300s_3_upper_arm.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_4_upper_forearm" file="vx300s_4_upper_forearm.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_5_lower_forearm" file="vx300s_5_lower_forearm.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_6_wrist" file="vx300s_6_wrist.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_7_gripper" file="vx300s_7_gripper.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_8_gripper_prop" file="vx300s_8_gripper_prop.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_9_gripper_bar" file="vx300s_9_gripper_bar.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_10_gripper_finger_left" file="vx300s_10_custom_finger_left.stl" scale="0.001 0.001 0.001" />
<mesh name="vx300s_10_gripper_finger_right" file="vx300s_10_custom_finger_right.stl" scale="0.001 0.001 0.001" />
</asset>
</mujocoinclude>

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lerobot/common/envs/aloha/assets/vx300s_left.xml Normal file
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<mujocoinclude>
<body name="vx300s_left" pos="-0.469 0.5 0">
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_1_base" name="vx300s_left/1_base" contype="0" conaffinity="0"/>
<body name="vx300s_left/shoulder_link" pos="0 0 0.079">
<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614" diaginertia="0.00120156 0.00113744 0.0009388" />
<joint name="vx300s_left/waist" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14158 3.14158" frictionloss="50" />
<geom pos="0 0 -0.003" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_2_shoulder" name="vx300s_left/2_shoulder" />
<body name="vx300s_left/upper_arm_link" pos="0 0 0.04805">
<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592" diaginertia="0.00911338 0.008925 0.000759317" />
<joint name="vx300s_left/shoulder" pos="0 0 0" axis="0 1 0" limited="true" range="-1.85005 1.25664" frictionloss="60" />
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_3_upper_arm" name="vx300s_left/3_upper_arm"/>
<body name="vx300s_left/upper_forearm_link" pos="0.05955 0 0.3">
<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228" diaginertia="0.00144107 0.00134228 0.000152047" />
<joint name="vx300s_left/elbow" pos="0 0 0" axis="0 1 0" limited="true" range="-1.76278 1.6057" frictionloss="60" />
<geom type="mesh" mesh="vx300s_4_upper_forearm" name="vx300s_left/4_upper_forearm" />
<body name="vx300s_left/lower_forearm_link" pos="0.2 0 0">
<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823" diaginertia="0.0005911 0.000546493 0.000155707" />
<joint name="vx300s_left/forearm_roll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
<geom quat="0 1 0 0" type="mesh" mesh="vx300s_5_lower_forearm" name="vx300s_left/5_lower_forearm"/>
<body name="vx300s_left/wrist_link" pos="0.1 0 0">
<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387" mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05" />
<joint name="vx300s_left/wrist_angle" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8675 2.23402" frictionloss="30" />
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_6_wrist" name="vx300s_left/6_wrist" />
<body name="vx300s_left/gripper_link" pos="0.069744 0 0">
<body name="vx300s_left/camera_focus" pos="0.15 0 0.01">
<site pos="0 0 0" size="0.01" type="sphere" name="left_cam_focus" rgba="0 0 1 0"/>
</body>
<site pos="0.15 0 0" size="0.003 0.003 0.03" type="box" name="cali_left_site1" rgba="0 0 1 0"/>
<site pos="0.15 0 0" size="0.003 0.03 0.003" type="box" name="cali_left_site2" rgba="0 0 1 0"/>
<site pos="0.15 0 0" size="0.03 0.003 0.003" type="box" name="cali_left_site3" rgba="0 0 1 0"/>
<camera name="left_wrist" pos="-0.1 0 0.16" fovy="20" mode="targetbody" target="vx300s_left/camera_focus"/>
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869" mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142" />
<joint name="vx300s_left/wrist_rotate" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
<geom pos="-0.02 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_7_gripper" name="vx300s_left/7_gripper" />
<geom pos="-0.020175 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_9_gripper_bar" name="vx300s_left/9_gripper_bar" />
<body name="vx300s_left/gripper_prop_link" pos="0.0485 0 0">
<inertial pos="0.002378 2.85e-08 0" quat="0 0 0.897698 0.440611" mass="0.008009" diaginertia="4.2979e-06 2.8868e-06 1.5314e-06" />
<!-- <joint name="vx300s_left/gripper" pos="0 0 0" axis="1 0 0" frictionloss="30" />-->
<geom pos="-0.0685 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_8_gripper_prop" name="vx300s_left/8_gripper_prop" />
</body>
<body name="vx300s_left/left_finger_link" pos="0.0687 0 0">
<inertial pos="0.017344 -0.0060692 0" quat="0.449364 0.449364 -0.54596 -0.54596" mass="0.034796" diaginertia="2.48003e-05 1.417e-05 1.20797e-05" />
<joint name="vx300s_left/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.021 0.057" frictionloss="30" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 -0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_left" name="vx300s_left/10_left_gripper_finger"/>
</body>
<body name="vx300s_left/right_finger_link" pos="0.0687 0 0">
<inertial pos="0.017344 0.0060692 0" quat="0.44937 -0.44937 0.545955 -0.545955" mass="0.034796" diaginertia="2.48002e-05 1.417e-05 1.20798e-05" />
<joint name="vx300s_left/right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.057 -0.021" frictionloss="30" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_right" name="vx300s_left/10_right_gripper_finger"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</mujocoinclude>

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<mujocoinclude>
<body name="vx300s_right" pos="0.469 0.5 0" euler="0 0 3.1416">
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_1_base" name="vx300s_right/1_base" contype="0" conaffinity="0"/>
<body name="vx300s_right/shoulder_link" pos="0 0 0.079">
<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614" diaginertia="0.00120156 0.00113744 0.0009388" />
<joint name="vx300s_right/waist" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14158 3.14158" frictionloss="50" />
<geom pos="0 0 -0.003" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_2_shoulder" name="vx300s_right/2_shoulder" />
<body name="vx300s_right/upper_arm_link" pos="0 0 0.04805">
<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592" diaginertia="0.00911338 0.008925 0.000759317" />
<joint name="vx300s_right/shoulder" pos="0 0 0" axis="0 1 0" limited="true" range="-1.85005 1.25664" frictionloss="60" />
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_3_upper_arm" name="vx300s_right/3_upper_arm"/>
<body name="vx300s_right/upper_forearm_link" pos="0.05955 0 0.3">
<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228" diaginertia="0.00144107 0.00134228 0.000152047" />
<joint name="vx300s_right/elbow" pos="0 0 0" axis="0 1 0" limited="true" range="-1.76278 1.6057" frictionloss="60" />
<geom type="mesh" mesh="vx300s_4_upper_forearm" name="vx300s_right/4_upper_forearm" />
<body name="vx300s_right/lower_forearm_link" pos="0.2 0 0">
<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823" diaginertia="0.0005911 0.000546493 0.000155707" />
<joint name="vx300s_right/forearm_roll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
<geom quat="0 1 0 0" type="mesh" mesh="vx300s_5_lower_forearm" name="vx300s_right/5_lower_forearm"/>
<body name="vx300s_right/wrist_link" pos="0.1 0 0">
<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387" mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05" />
<joint name="vx300s_right/wrist_angle" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8675 2.23402" frictionloss="30" />
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_6_wrist" name="vx300s_right/6_wrist" />
<body name="vx300s_right/gripper_link" pos="0.069744 0 0">
<body name="vx300s_right/camera_focus" pos="0.15 0 0.01">
<site pos="0 0 0" size="0.01" type="sphere" name="right_cam_focus" rgba="0 0 1 0"/>
</body>
<site pos="0.15 0 0" size="0.003 0.003 0.03" type="box" name="cali_right_site1" rgba="0 0 1 0"/>
<site pos="0.15 0 0" size="0.003 0.03 0.003" type="box" name="cali_right_site2" rgba="0 0 1 0"/>
<site pos="0.15 0 0" size="0.03 0.003 0.003" type="box" name="cali_right_site3" rgba="0 0 1 0"/>
<camera name="right_wrist" pos="-0.1 0 0.16" fovy="20" mode="targetbody" target="vx300s_right/camera_focus"/>
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869" mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142" />
<joint name="vx300s_right/wrist_rotate" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
<geom pos="-0.02 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_7_gripper" name="vx300s_right/7_gripper" />
<geom pos="-0.020175 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_9_gripper_bar" name="vx300s_right/9_gripper_bar" />
<body name="vx300s_right/gripper_prop_link" pos="0.0485 0 0">
<inertial pos="0.002378 2.85e-08 0" quat="0 0 0.897698 0.440611" mass="0.008009" diaginertia="4.2979e-06 2.8868e-06 1.5314e-06" />
<!-- <joint name="vx300s_right/gripper" pos="0 0 0" axis="1 0 0" frictionloss="30" />-->
<geom pos="-0.0685 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_8_gripper_prop" name="vx300s_right/8_gripper_prop" />
</body>
<body name="vx300s_right/left_finger_link" pos="0.0687 0 0">
<inertial pos="0.017344 -0.0060692 0" quat="0.449364 0.449364 -0.54596 -0.54596" mass="0.034796" diaginertia="2.48003e-05 1.417e-05 1.20797e-05" />
<joint name="vx300s_right/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.021 0.057" frictionloss="30" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 -0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_left" name="vx300s_right/10_left_gripper_finger"/>
</body>
<body name="vx300s_right/right_finger_link" pos="0.0687 0 0">
<inertial pos="0.017344 0.0060692 0" quat="0.44937 -0.44937 0.545955 -0.545955" mass="0.034796" diaginertia="2.48002e-05 1.417e-05 1.20798e-05" />
<joint name="vx300s_right/right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.057 -0.021" frictionloss="30" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_right" name="vx300s_right/10_right_gripper_finger"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</mujocoinclude>

97
lerobot/common/envs/aloha/constants.py Normal file
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from pathlib import Path
### Simulation envs fixed constants
DT = 0.02
JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]
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
############################ Helper functions ############################
MASTER_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_POSITION_CLOSE) / (
MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE
)
PUPPET_GRIPPER_POSITION_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_POSITION_CLOSE) / (
PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE
)
MASTER_GRIPPER_POSITION_UNNORMALIZE_FN = (
lambda x: x * (MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE)
+ MASTER_GRIPPER_POSITION_CLOSE
)
PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN = (
lambda x: x * (PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE)
+ PUPPET_GRIPPER_POSITION_CLOSE
)
MASTER2PUPPET_POSITION_FN = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(
MASTER_GRIPPER_POSITION_NORMALIZE_FN(x)
)
MASTER_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - MASTER_GRIPPER_JOINT_CLOSE) / (
MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE
)
PUPPET_GRIPPER_JOINT_NORMALIZE_FN = lambda x: (x - PUPPET_GRIPPER_JOINT_CLOSE) / (
PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE
)
MASTER_GRIPPER_JOINT_UNNORMALIZE_FN = (
lambda x: x * (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE) + MASTER_GRIPPER_JOINT_CLOSE
)
PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN = (
lambda x: x * (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE) + PUPPET_GRIPPER_JOINT_CLOSE
)
MASTER2PUPPET_JOINT_FN = lambda x: PUPPET_GRIPPER_JOINT_UNNORMALIZE_FN(MASTER_GRIPPER_JOINT_NORMALIZE_FN(x))
MASTER_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (
MASTER_GRIPPER_POSITION_OPEN - MASTER_GRIPPER_POSITION_CLOSE
)
PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN = lambda x: x / (
PUPPET_GRIPPER_POSITION_OPEN - PUPPET_GRIPPER_POSITION_CLOSE
)
MASTER_POS2JOINT = (
lambda x: MASTER_GRIPPER_POSITION_NORMALIZE_FN(x)
* (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
+ MASTER_GRIPPER_JOINT_CLOSE
)
MASTER_JOINT2POS = lambda x: MASTER_GRIPPER_POSITION_UNNORMALIZE_FN(
(x - MASTER_GRIPPER_JOINT_CLOSE) / (MASTER_GRIPPER_JOINT_OPEN - MASTER_GRIPPER_JOINT_CLOSE)
)
PUPPET_POS2JOINT = (
lambda x: PUPPET_GRIPPER_POSITION_NORMALIZE_FN(x)
* (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
+ PUPPET_GRIPPER_JOINT_CLOSE
)
PUPPET_JOINT2POS = lambda x: PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(
(x - PUPPET_GRIPPER_JOINT_CLOSE) / (PUPPET_GRIPPER_JOINT_OPEN - PUPPET_GRIPPER_JOINT_CLOSE)
)
MASTER_GRIPPER_JOINT_MID = (MASTER_GRIPPER_JOINT_OPEN + MASTER_GRIPPER_JOINT_CLOSE) / 2

535
lerobot/common/envs/aloha/env.py Normal file
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import collections
import importlib
from collections import deque
from typing import Optional
import numpy as np
import torch
from dm_control import mujoco
from dm_control.rl import control
from dm_control.suite import base
from tensordict import TensorDict
from torchrl.data.tensor_specs import (
BoundedTensorSpec,
CompositeSpec,
DiscreteTensorSpec,
UnboundedContinuousTensorSpec,
)
from torchrl.envs import EnvBase
from torchrl.envs.libs.gym import _gym_to_torchrl_spec_transform
from lerobot.common.utils import set_seed
from .constants import (
ASSETS_DIR,
DT,
PUPPET_GRIPPER_POSITION_CLOSE,
PUPPET_GRIPPER_POSITION_NORMALIZE_FN,
PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN,
PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN,
START_ARM_POSE,
)
from .utils import sample_box_pose, sample_insertion_pose
_has_gym = importlib.util.find_spec("gym") is not None
def make_ee_sim_env(task_name):
"""
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'
"""
if "sim_transfer_cube" in task_name:
xml_path = ASSETS_DIR / "bimanual_viperx_ee_transfer_cube.xml"
physics = mujoco.Physics.from_xml_path(xml_path)
task = TransferCubeEETask(random=False)
env = control.Environment(
physics, task, time_limit=20, control_timestep=DT, n_sub_steps=None, flat_observation=False
)
elif "sim_insertion" in task_name:
xml_path = ASSETS_DIR / "bimanual_viperx_ee_insertion.xml"
physics = mujoco.Physics.from_xml_path(xml_path)
task = InsertionEETask(random=False)
env = control.Environment(
physics, task, time_limit=20, control_timestep=DT, n_sub_steps=None, flat_observation=False
)
else:
raise NotImplementedError
return env
class BimanualViperXEETask(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 = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(action_left[7])
g_right_ctrl = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(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 = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(left_qpos_raw[6])]
right_gripper_qpos = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(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 = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(left_qvel_raw[6])]
right_gripper_qvel = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(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"] = dict()
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 TransferCubeEETask(BimanualViperXEETask):
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 InsertionEETask(BimanualViperXEETask):
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()
id2index = lambda j_id: 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
class AlohaEnv(EnvBase):
def __init__(
self,
task,
frame_skip: int = 1,
from_pixels: bool = False,
pixels_only: bool = False,
image_size=None,
seed=1337,
device="cpu",
num_prev_obs=1,
num_prev_action=0,
):
super().__init__(device=device, batch_size=[])
self.frame_skip = frame_skip
self.from_pixels = from_pixels
self.pixels_only = pixels_only
self.image_size = image_size
self.num_prev_obs = num_prev_obs
self.num_prev_action = num_prev_action
if pixels_only:
assert from_pixels
if from_pixels:
assert image_size
if not _has_gym:
raise ImportError("Cannot import gym.")
if not from_pixels:
raise NotImplementedError()
if "sim_transfer_cube" in task:
xml_path = ASSETS_DIR / "bimanual_viperx_ee_transfer_cube.xml"
physics = mujoco.Physics.from_xml_path(xml_path)
task = TransferCubeEETask(random=False)
env = control.Environment(
physics, task, time_limit=20, control_timestep=DT, n_sub_steps=None, flat_observation=False
)
elif "sim_insertion" in task:
xml_path = ASSETS_DIR / "bimanual_viperx_ee_insertion.xml"
physics = mujoco.Physics.from_xml_path(xml_path)
task = InsertionEETask(random=False)
env = control.Environment(
physics, task, time_limit=20, control_timestep=DT, n_sub_steps=None, flat_observation=False
)
else:
raise NotImplementedError
self._env = env
self._make_spec()
self._current_seed = self.set_seed(seed)
if self.num_prev_obs > 0:
self._prev_obs_image_queue = deque(maxlen=self.num_prev_obs)
self._prev_obs_state_queue = deque(maxlen=self.num_prev_obs)
if self.num_prev_action > 0:
raise NotImplementedError()
# self._prev_action_queue = deque(maxlen=self.num_prev_action)
def render(self, mode="rgb_array", width=384, height=384):
if width != height:
raise NotImplementedError()
tmp = self._env.render_size
self._env.render_size = width
out = self._env.render(mode)
self._env.render_size = tmp
return out
def _format_raw_obs(self, raw_obs):
if self.from_pixels:
image = torch.from_numpy(raw_obs["image"])
obs = {"image": image}
if not self.pixels_only:
obs["state"] = torch.from_numpy(raw_obs["agent_pos"]).type(torch.float32)
else:
# TODO:
obs = {"state": torch.from_numpy(raw_obs["observation"]).type(torch.float32)}
return obs
def _reset(self, tensordict: Optional[TensorDict] = None):
td = tensordict
if td is None or td.is_empty():
# we need to handle seed iteration, since self._env.reset() rely an internal _seed.
self._current_seed += 1
self.set_seed(self._current_seed)
raw_obs = self._env.reset()
assert self._current_seed == self._env._seed
obs = self._format_raw_obs(raw_obs)
if self.num_prev_obs > 0:
stacked_obs = {}
if "image" in obs:
self._prev_obs_image_queue = deque(
[obs["image"]] * (self.num_prev_obs + 1), maxlen=(self.num_prev_obs + 1)
)
stacked_obs["image"] = torch.stack(list(self._prev_obs_image_queue))
if "state" in obs:
self._prev_obs_state_queue = deque(
[obs["state"]] * (self.num_prev_obs + 1), maxlen=(self.num_prev_obs + 1)
)
stacked_obs["state"] = torch.stack(list(self._prev_obs_state_queue))
obs = stacked_obs
td = TensorDict(
{
"observation": TensorDict(obs, batch_size=[]),
"done": torch.tensor([False], dtype=torch.bool),
},
batch_size=[],
)
else:
raise NotImplementedError()
return td
def _step(self, tensordict: TensorDict):
td = tensordict
action = td["action"].numpy()
# step expects shape=(4,) so we pad if necessary
# TODO(rcadene): add info["is_success"] and info["success"] ?
sum_reward = 0
if action.ndim == 1:
action = einops.repeat(action, "c -> t c", t=self.frame_skip)
else:
if self.frame_skip > 1:
raise NotImplementedError()
num_action_steps = action.shape[0]
for i in range(num_action_steps):
raw_obs, reward, done, info = self._env.step(action[i])
sum_reward += reward
obs = self._format_raw_obs(raw_obs)
if self.num_prev_obs > 0:
stacked_obs = {}
if "image" in obs:
self._prev_obs_image_queue.append(obs["image"])
stacked_obs["image"] = torch.stack(list(self._prev_obs_image_queue))
if "state" in obs:
self._prev_obs_state_queue.append(obs["state"])
stacked_obs["state"] = torch.stack(list(self._prev_obs_state_queue))
obs = stacked_obs
td = TensorDict(
{
"observation": TensorDict(obs, batch_size=[]),
"reward": torch.tensor([sum_reward], dtype=torch.float32),
# succes and done are true when coverage > self.success_threshold in env
"done": torch.tensor([done], dtype=torch.bool),
"success": torch.tensor([done], dtype=torch.bool),
},
batch_size=[],
)
return td
def _make_spec(self):
obs = {}
if self.from_pixels:
image_shape = (3, self.image_size, self.image_size)
if self.num_prev_obs > 0:
image_shape = (self.num_prev_obs + 1, *image_shape)
obs["image"] = BoundedTensorSpec(
low=0,
high=1,
shape=image_shape,
dtype=torch.float32,
device=self.device,
)
if not self.pixels_only:
state_shape = self._env.observation_space["agent_pos"].shape
if self.num_prev_obs > 0:
state_shape = (self.num_prev_obs + 1, *state_shape)
obs["state"] = BoundedTensorSpec(
low=0,
high=512,
shape=state_shape,
dtype=torch.float32,
device=self.device,
)
else:
# TODO(rcadene): add observation_space achieved_goal and desired_goal?
state_shape = self._env.observation_space["observation"].shape
if self.num_prev_obs > 0:
state_shape = (self.num_prev_obs + 1, *state_shape)
obs["state"] = UnboundedContinuousTensorSpec(
# TODO:
shape=state_shape,
dtype=torch.float32,
device=self.device,
)
self.observation_spec = CompositeSpec({"observation": obs})
self.action_spec = _gym_to_torchrl_spec_transform(
self._env.action_space,
device=self.device,
)
self.reward_spec = UnboundedContinuousTensorSpec(
shape=(1,),
dtype=torch.float32,
device=self.device,
)
self.done_spec = CompositeSpec(
{
"done": DiscreteTensorSpec(
2,
shape=(1,),
dtype=torch.bool,
device=self.device,
),
"success": DiscreteTensorSpec(
2,
shape=(1,),
dtype=torch.bool,
device=self.device,
),
}
)
def _set_seed(self, seed: Optional[int]):
set_seed(seed)
self._env.seed(seed)

39
lerobot/common/envs/aloha/utils.py Normal file
View File

@ -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])
# Socket
x_range = [-0.2, -0.1]
y_range = [0.4, 0.6]
z_range = [0.05, 0.05]
ranges = np.vstack([x_range, y_range, z_range])
socket_position = np.random.uniform(ranges[:, 0], ranges[:, 1])
socket_quat = np.array([1, 0, 0, 0])
socket_pose = np.concatenate([socket_position, socket_quat])
return peg_pose, socket_pose

4
lerobot/common/envs/factory.py
View File

@ -23,6 +23,10 @@ def make_env(cfg, transform=None):
# assert kwargs["seed"] > 200, "Seed 0-200 are used for the demonstration dataset, so we don't want to seed the eval env with this range."
clsfunc = PushtEnv
elif cfg.env.name == "aloha":
from lerobot.common.envs.aloha.env import AlohaEnv
clsfunc = AlohaEnv
else:
raise ValueError(cfg.env.name)

290
poetry.lock generated
View File

@ -503,6 +503,37 @@ files = [
{file = "distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64"},
]
[[package]]
name = "dm-control"
version = "1.0.14"
description = "Continuous control environments and MuJoCo Python bindings."
optional = false
python-versions = ">=3.8"
files = [
{file = "dm_control-1.0.14-py3-none-any.whl", hash = "sha256:883c63244a7ebf598700a97564ed19fffd3479ca79efd090aed881609cdb9fc6"},
{file = "dm_control-1.0.14.tar.gz", hash = "sha256:def1ece747b6f175c581150826b50f1a6134086dab34f8f3fd2d088ea035cf3d"},
]
[package.dependencies]
absl-py = ">=0.7.0"
dm-env = "*"
dm-tree = "!=0.1.2"
glfw = "*"
labmaze = "*"
lxml = "*"
mujoco = ">=2.3.7"
numpy = ">=1.9.0"
protobuf = ">=3.19.4"
pyopengl = ">=3.1.4"
pyparsing = ">=3.0.0"
requests = "*"
scipy = "*"
setuptools = "!=50.0.0"
tqdm = "*"
[package.extras]
hdf5 = ["h5py"]
[[package]]
name = "dm-env"
version = "1.6"
@ -599,43 +630,6 @@ files = [
{file = "einops-0.7.0.tar.gz", hash = "sha256:b2b04ad6081a3b227080c9bf5e3ace7160357ff03043cd66cc5b2319eb7031d1"},
]
[[package]]
name = "etils"
version = "1.7.0"
description = "Collection of common python utils"
optional = false
python-versions = ">=3.10"
files = [
{file = "etils-1.7.0-py3-none-any.whl", hash = "sha256:61af8f7c242171de15e22e5da02d527cb9e677d11f8bcafe18fcc3548eee3e60"},
{file = "etils-1.7.0.tar.gz", hash = "sha256:97b68fd25e185683215286ef3a54e38199b6245f5fe8be6bedc1189be4256350"},
]
[package.dependencies]
fsspec = {version = "*", optional = true, markers = "extra == \"epath\""}
importlib_resources = {version = "*", optional = true, markers = "extra == \"epath\""}
typing_extensions = {version = "*", optional = true, markers = "extra == \"epy\""}
zipp = {version = "*", optional = true, markers = "extra == \"epath\""}
[package.extras]
all = ["etils[array-types]", "etils[eapp]", "etils[ecolab]", "etils[edc]", "etils[enp]", "etils[epath-gcs]", "etils[epath-s3]", "etils[epath]", "etils[epy]", "etils[etqdm]", "etils[etree-dm]", "etils[etree-jax]", "etils[etree-tf]", "etils[etree]"]
array-types = ["etils[enp]"]
dev = ["chex", "dataclass_array", "optree", "pyink", "pylint (>=2.6.0)", "pytest", "pytest-subtests", "pytest-xdist", "torch"]
docs = ["etils[all,dev]", "sphinx-apitree[ext]"]
eapp = ["absl-py", "etils[epy]", "simple_parsing"]
ecolab = ["etils[enp]", "etils[epy]", "etils[etree]", "jupyter", "mediapy", "numpy", "packaging", "protobuf"]
edc = ["etils[epy]"]
enp = ["etils[epy]", "numpy"]
epath = ["etils[epy]", "fsspec", "importlib_resources", "typing_extensions", "zipp"]
epath-gcs = ["etils[epath]", "gcsfs"]
epath-s3 = ["etils[epath]", "s3fs"]
epy = ["typing_extensions"]
etqdm = ["absl-py", "etils[epy]", "tqdm"]
etree = ["etils[array-types]", "etils[enp]", "etils[epy]", "etils[etqdm]"]
etree-dm = ["dm-tree", "etils[etree]"]
etree-jax = ["etils[etree]", "jax[cpu]"]
etree-tf = ["etils[etree]", "tensorflow"]
lazy-imports = ["etils[ecolab]"]
[[package]]
name = "exceptiongroup"
version = "1.2.0"
@ -1003,21 +997,6 @@ docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.link
perf = ["ipython"]
testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]
[[package]]
name = "importlib-resources"
version = "6.1.2"
description = "Read resources from Python packages"
optional = false
python-versions = ">=3.8"
files = [
{file = "importlib_resources-6.1.2-py3-none-any.whl", hash = "sha256:9a0a862501dc38b68adebc82970140c9e4209fc99601782925178f8386339938"},
{file = "importlib_resources-6.1.2.tar.gz", hash = "sha256:308abf8474e2dba5f867d279237cd4076482c3de7104a40b41426370e891549b"},
]
[package.extras]
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)", "zipp (>=3.17)"]
[[package]]
name = "iniconfig"
version = "2.0.0"
@ -1046,6 +1025,50 @@ MarkupSafe = ">=2.0"
[package.extras]
i18n = ["Babel (>=2.7)"]
[[package]]
name = "labmaze"
version = "1.0.6"
description = "LabMaze: DeepMind Lab's text maze generator."
optional = false
python-versions = "*"
files = [
{file = "labmaze-1.0.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:b2ddef976dfd8d992b19cfa6c633f2eba7576d759c2082da534e3f727479a84a"},
{file = "labmaze-1.0.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:157efaa93228c8ccce5cae337902dd652093e0fba9d3a0f6506e4bee272bb66f"},
{file = "labmaze-1.0.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b3ce98b9541c5fe6a306e411e7d018121dd646f2c9978d763fad86f9f30c5f57"},
{file = "labmaze-1.0.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4e6433bd49bc541791de8191040526fddfebb77151620eb04203453f43ee486a"},
{file = "labmaze-1.0.6-cp310-cp310-win_amd64.whl", hash = "sha256:6a507fc35961f1b1479708e2716f65e0d0611cefb55f31a77be29ce2339b6fef"},
{file = "labmaze-1.0.6-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:a0c2cb9dec971814ea9c5d7150af15fa3964482131fa969e0afb94bd224348af"},
{file = "labmaze-1.0.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:2c6ba9538d819543f4be448d36b4926a3881e53646a2b331ebb5a1f353047d05"},
{file = "labmaze-1.0.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:70635d1cdb0147a02efb6b3f607a52cdc51723bc3dcc42717a0d4ef55fa0a987"},
{file = "labmaze-1.0.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ff472793238bd9b6dabea8094594d6074ad3c111455de3afcae72f6c40c6817e"},
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[package.dependencies]
absl-py = "*"
etils = {version = "*", extras = ["epath"]}
glfw = "*"
numpy = "*"
pyopengl = "*"
@ -2031,6 +2145,20 @@ files = [
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[[package]]
name = "pyparsing"
version = "3.1.2"
description = "pyparsing module - Classes and methods to define and execute parsing grammars"
optional = false
python-versions = ">=3.6.8"
files = [
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[package.extras]
diagrams = ["jinja2", "railroad-diagrams"]
[[package]]
name = "pysocks"
version = "1.7.1"
@ -3140,4 +3268,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata]
lock-version = "2.0"
python-versions = "^3.10"
content-hash = "9c3e86956dd11bc8d7823e5e6c5e74a073051b495f71f96179113d99791f7ca0"
content-hash = "84cda58ab0670dcb1e2429b342f4f1b3c35f261d1201fc17acad5cc1ef2c6aa8"

3
pyproject.toml
View File

@ -41,7 +41,7 @@ mpmath = "^1.3.0"
torch = "^2.2.1"
tensordict = {git = "https://github.com/pytorch/tensordict"}
torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
mujoco = "^3.1.2"
mujoco = "2.3.7"
mujoco-py = "^2.1.2.14"
gym = "^0.26.2"
opencv-python = "^4.9.0.80"
@ -49,6 +49,7 @@ diffusion-policy = {git = "https://github.com/real-stanford/diffusion_policy"}
diffusers = "^0.26.3"
torchvision = "^0.17.1"
h5py = "^3.10.0"
dm-control = "1.0.14"
[tool.poetry.group.dev.dependencies]

1
tests/test_envs.py
View File

@ -83,6 +83,7 @@ def test_pusht(from_pixels, pixels_only):
[
# "simxarm",
"pusht",
"aloha",
],
)
def test_factory(env_name):