Add aloha as package
This commit is contained in:
Simon Alibert
parent
8fc1008809
commit
f17b600198
|
|
@ -6,8 +6,6 @@ from typing import Optional
|
||||||
import einops
|
import einops
|
||||||
import numpy as np
|
import numpy as np
|
||||||
import torch
|
import torch
|
||||||
from dm_control import mujoco
|
|
||||||
from dm_control.rl import control
|
|
||||||
from tensordict import TensorDict
|
from tensordict import TensorDict
|
||||||
from torchrl.data.tensor_specs import (
|
from torchrl.data.tensor_specs import (
|
||||||
BoundedTensorSpec,
|
BoundedTensorSpec,
|
||||||
|
|
@ -17,21 +15,10 @@ from torchrl.data.tensor_specs import (
|
||||||
)
|
)
|
||||||
|
|
||||||
from lerobot.common.envs.abstract import AbstractEnv
|
from lerobot.common.envs.abstract import AbstractEnv
|
||||||
from lerobot.common.envs.aloha.constants import (
|
|
||||||
ACTIONS,
|
|
||||||
ASSETS_DIR,
|
|
||||||
DT,
|
|
||||||
JOINTS,
|
|
||||||
)
|
|
||||||
from lerobot.common.envs.aloha.tasks.sim import BOX_POSE, InsertionTask, TransferCubeTask
|
|
||||||
from lerobot.common.envs.aloha.tasks.sim_end_effector import (
|
|
||||||
InsertionEndEffectorTask,
|
|
||||||
TransferCubeEndEffectorTask,
|
|
||||||
)
|
|
||||||
from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
|
|
||||||
from lerobot.common.utils import set_global_seed
|
from lerobot.common.utils import set_global_seed
|
||||||
|
|
||||||
_has_gym = importlib.util.find_spec("gymnasium") is not None
|
_has_gym = importlib.util.find_spec("gymnasium") is not None
|
||||||
|
_has_aloha = importlib.util.find_spec("aloha") is not None
|
||||||
|
|
||||||
|
|
||||||
class AlohaEnv(AbstractEnv):
|
class AlohaEnv(AbstractEnv):
|
||||||
|
|
@ -70,43 +57,20 @@ class AlohaEnv(AbstractEnv):
|
||||||
if not self.from_pixels:
|
if not self.from_pixels:
|
||||||
raise NotImplementedError()
|
raise NotImplementedError()
|
||||||
|
|
||||||
self._env = self._make_env_task(self.task)
|
if not _has_aloha:
|
||||||
|
raise ImportError(
|
||||||
|
"Cannot import aloha env. Please install it with `python -m pip install 'lerobot[aloha]'`"
|
||||||
|
)
|
||||||
|
|
||||||
|
from aloha.env import make_env_task
|
||||||
|
|
||||||
|
self._env = make_env_task(self.task)
|
||||||
|
|
||||||
def render(self, mode="rgb_array", width=640, height=480):
|
def render(self, mode="rgb_array", width=640, height=480):
|
||||||
# TODO(rcadene): render and visualizer several cameras (e.g. angle, front_close)
|
# TODO(rcadene): render and visualizer several cameras (e.g. angle, front_close)
|
||||||
image = self._env.physics.render(height=height, width=width, camera_id="top")
|
image = self._env.physics.render(height=height, width=width, camera_id="top")
|
||||||
return image
|
return image
|
||||||
|
|
||||||
def _make_env_task(self, task_name):
|
|
||||||
# time limit is controlled by StepCounter in env factory
|
|
||||||
time_limit = float("inf")
|
|
||||||
|
|
||||||
if "sim_transfer_cube" in task_name:
|
|
||||||
xml_path = ASSETS_DIR / "bimanual_viperx_transfer_cube.xml"
|
|
||||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
|
||||||
task = TransferCubeTask(random=False)
|
|
||||||
elif "sim_insertion" in task_name:
|
|
||||||
xml_path = ASSETS_DIR / "bimanual_viperx_insertion.xml"
|
|
||||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
|
||||||
task = InsertionTask(random=False)
|
|
||||||
elif "sim_end_effector_transfer_cube" in task_name:
|
|
||||||
raise NotImplementedError()
|
|
||||||
xml_path = ASSETS_DIR / "bimanual_viperx_end_effector_transfer_cube.xml"
|
|
||||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
|
||||||
task = TransferCubeEndEffectorTask(random=False)
|
|
||||||
elif "sim_end_effector_insertion" in task_name:
|
|
||||||
raise NotImplementedError()
|
|
||||||
xml_path = ASSETS_DIR / "bimanual_viperx_end_effector_insertion.xml"
|
|
||||||
physics = mujoco.Physics.from_xml_path(str(xml_path))
|
|
||||||
task = InsertionEndEffectorTask(random=False)
|
|
||||||
else:
|
|
||||||
raise NotImplementedError(task_name)
|
|
||||||
|
|
||||||
env = control.Environment(
|
|
||||||
physics, task, time_limit, control_timestep=DT, n_sub_steps=None, flat_observation=False
|
|
||||||
)
|
|
||||||
return env
|
|
||||||
|
|
||||||
def _format_raw_obs(self, raw_obs):
|
def _format_raw_obs(self, raw_obs):
|
||||||
if self.from_pixels:
|
if self.from_pixels:
|
||||||
image = torch.from_numpy(raw_obs["images"]["top"].copy())
|
image = torch.from_numpy(raw_obs["images"]["top"].copy())
|
||||||
|
|
@ -124,6 +88,9 @@ class AlohaEnv(AbstractEnv):
|
||||||
return obs
|
return obs
|
||||||
|
|
||||||
def _reset(self, tensordict: Optional[TensorDict] = None):
|
def _reset(self, tensordict: Optional[TensorDict] = None):
|
||||||
|
from aloha.tasks.sim import BOX_POSE
|
||||||
|
from aloha.utils import sample_box_pose, sample_insertion_pose
|
||||||
|
|
||||||
if tensordict is not None and not AlohaEnv._reset_warning_issued:
|
if tensordict is not None and not AlohaEnv._reset_warning_issued:
|
||||||
logging.warning(f"{self.__class__.__name__}._reset ignores the provided tensordict.")
|
logging.warning(f"{self.__class__.__name__}._reset ignores the provided tensordict.")
|
||||||
AlohaEnv._reset_warning_issued = True
|
AlohaEnv._reset_warning_issued = True
|
||||||
|
|
@ -200,9 +167,14 @@ class AlohaEnv(AbstractEnv):
|
||||||
return td
|
return td
|
||||||
|
|
||||||
def _make_spec(self):
|
def _make_spec(self):
|
||||||
obs = {}
|
|
||||||
from omegaconf import OmegaConf
|
from omegaconf import OmegaConf
|
||||||
|
|
||||||
|
from aloha.constants import (
|
||||||
|
ACTIONS,
|
||||||
|
JOINTS,
|
||||||
|
)
|
||||||
|
|
||||||
|
obs = {}
|
||||||
if self.from_pixels:
|
if self.from_pixels:
|
||||||
if isinstance(self.image_size, int):
|
if isinstance(self.image_size, int):
|
||||||
image_shape = (3, self.image_size, self.image_size)
|
image_shape = (3, self.image_size, self.image_size)
|
||||||
|
|
@ -1,59 +0,0 @@
|
||||||
<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>
|
|
||||||
|
|
@ -1,48 +0,0 @@
|
||||||
<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>
|
|
||||||
|
|
@ -1,53 +0,0 @@
|
||||||
<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>
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
<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>
|
|
||||||
|
|
@ -1,38 +0,0 @@
|
||||||
<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>
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:76a1571d1aa36520f2bd81c268991b99816c2a7819464d718e0fd9976fe30dce
|
|
||||||
size 684
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:df73ae5b9058e5d50a6409ac2ab687dade75053a86591bb5e23ab051dbf2d659
|
|
||||||
size 83384
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:56fb3cc1236d4193106038adf8e457c7252ae9e86c7cee6dabf0578c53666358
|
|
||||||
size 83384
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:a4baacd9a64df1be60ea5e98f50f3c660e1b7a1fe9684aace6004c5058c09483
|
|
||||||
size 42884
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:a18a1601074d29ed1d546ead70cd18fbb063f1db7b5b96b9f0365be714f3136a
|
|
||||||
size 3884
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:d100cafe656671ca8fde98fb6a4cf2d1b746995c51c61c25ad9ea2715635d146
|
|
||||||
size 99984
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:139745a74055cb0b23430bb5bc032bf68cf7bea5e4975c8f4c04107ae005f7f0
|
|
||||||
size 63884
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:900f236320dd3d500870c5fde763b2d47502d51e043a5c377875e70237108729
|
|
||||||
size 102984
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:4104fc54bbfb8a9b533029f1e7e3ade3d54d638372b3195daa0c98f57e0295b5
|
|
||||||
size 49584
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:66814e27fa728056416e25e02e89eb7d34c51d51c51e7c3df873829037ddc6b8
|
|
||||||
size 99884
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:90eb145c85627968c3776ae6de23ccff7e112c9dd713c46bc9acdfdaa859a048
|
|
||||||
size 70784
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:786c1077bfd226f14219581b11d5f19464ca95b17132e0bb7532503568f5af90
|
|
||||||
size 450084
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:d1275a93fe2157c83dbc095617fb7e672888bdd48ec070a35ef4ab9ebd9755b0
|
|
||||||
size 31684
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
version https://git-lfs.github.com/spec/v1
|
|
||||||
oid sha256:a4de62c9a2ed2c78433010e4c05530a1254b1774a7651967f406120c9bf8973e
|
|
||||||
size 379484
|
|
||||||
|
|
@ -1,17 +0,0 @@
|
||||||
<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>
|
|
||||||
|
|
@ -1,59 +0,0 @@
|
||||||
|
|
||||||
<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>
|
|
||||||
|
|
@ -1,59 +0,0 @@
|
||||||
|
|
||||||
<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>
|
|
||||||
|
|
@ -1,163 +0,0 @@
|
||||||
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)
|
|
||||||
)
|
|
||||||
|
|
@ -1,219 +0,0 @@
|
||||||
import collections
|
|
||||||
|
|
||||||
import numpy as np
|
|
||||||
from dm_control.suite import base
|
|
||||||
|
|
||||||
from lerobot.common.envs.aloha.constants import (
|
|
||||||
START_ARM_POSE,
|
|
||||||
normalize_puppet_gripper_position,
|
|
||||||
normalize_puppet_gripper_velocity,
|
|
||||||
unnormalize_puppet_gripper_position,
|
|
||||||
)
|
|
||||||
|
|
||||||
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
|
|
||||||
|
|
@ -1,263 +0,0 @@
|
||||||
import collections
|
|
||||||
|
|
||||||
import numpy as np
|
|
||||||
from dm_control.suite import base
|
|
||||||
|
|
||||||
from lerobot.common.envs.aloha.constants import (
|
|
||||||
PUPPET_GRIPPER_POSITION_CLOSE,
|
|
||||||
START_ARM_POSE,
|
|
||||||
normalize_puppet_gripper_position,
|
|
||||||
normalize_puppet_gripper_velocity,
|
|
||||||
unnormalize_puppet_gripper_position,
|
|
||||||
)
|
|
||||||
from lerobot.common.envs.aloha.utils import sample_box_pose, sample_insertion_pose
|
|
||||||
|
|
||||||
"""
|
|
||||||
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
|
|
||||||
|
|
@ -1,39 +0,0 @@
|
||||||
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
|
|
||||||
|
|
@ -17,18 +17,18 @@ def make_env(cfg, transform=None):
|
||||||
}
|
}
|
||||||
|
|
||||||
if cfg.env.name == "simxarm":
|
if cfg.env.name == "simxarm":
|
||||||
from lerobot.common.envs.simxarm.env import SimxarmEnv
|
from lerobot.common.envs.xarm import SimxarmEnv
|
||||||
|
|
||||||
kwargs["task"] = cfg.env.task
|
kwargs["task"] = cfg.env.task
|
||||||
clsfunc = SimxarmEnv
|
clsfunc = SimxarmEnv
|
||||||
elif cfg.env.name == "pusht":
|
elif cfg.env.name == "pusht":
|
||||||
from lerobot.common.envs.pusht.env import PushtEnv
|
from lerobot.common.envs.pusht import PushtEnv
|
||||||
|
|
||||||
# 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."
|
# 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
|
clsfunc = PushtEnv
|
||||||
elif cfg.env.name == "aloha":
|
elif cfg.env.name == "aloha":
|
||||||
from lerobot.common.envs.aloha.env import AlohaEnv
|
from lerobot.common.envs.aloha import AlohaEnv
|
||||||
|
|
||||||
kwargs["task"] = cfg.env.task
|
kwargs["task"] = cfg.env.task
|
||||||
clsfunc = AlohaEnv
|
clsfunc = AlohaEnv
|
||||||
|
|
|
||||||
|
|
@ -3096,6 +3096,20 @@ numpy = ">=1.14,<2"
|
||||||
docs = ["matplotlib", "numpydoc (==1.1.*)", "sphinx", "sphinx-book-theme", "sphinx-remove-toctrees"]
|
docs = ["matplotlib", "numpydoc (==1.1.*)", "sphinx", "sphinx-book-theme", "sphinx-remove-toctrees"]
|
||||||
test = ["pytest", "pytest-cov"]
|
test = ["pytest", "pytest-cov"]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "sim-aloha"
|
||||||
|
version = "0.1.2"
|
||||||
|
description = "ALOHA environment for LeRobot"
|
||||||
|
optional = true
|
||||||
|
python-versions = "<4.0,>=3.10"
|
||||||
|
files = [
|
||||||
|
{file = "sim_aloha-0.1.2-py3-none-any.whl", hash = "sha256:3b13c1ee474481f5d686b57bf1a9ed350e01ca4da7d65f7501446eb74b02653a"},
|
||||||
|
{file = "sim_aloha-0.1.2.tar.gz", hash = "sha256:44d36bbdb13e98e0c74f4d2a682f38683f4f63951618da28175f89cbb1c6f324"},
|
||||||
|
]
|
||||||
|
|
||||||
|
[package.dependencies]
|
||||||
|
dm-control = "1.0.14"
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "sim-pusht"
|
name = "sim-pusht"
|
||||||
version = "0.1.0"
|
version = "0.1.0"
|
||||||
|
|
@ -3622,10 +3636,11 @@ docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.link
|
||||||
testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
|
testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
|
||||||
|
|
||||||
[extras]
|
[extras]
|
||||||
|
aloha = ["sim-aloha"]
|
||||||
pusht = ["sim-pusht"]
|
pusht = ["sim-pusht"]
|
||||||
xarm = ["sim-xarm"]
|
xarm = ["sim-xarm"]
|
||||||
|
|
||||||
[metadata]
|
[metadata]
|
||||||
lock-version = "2.0"
|
lock-version = "2.0"
|
||||||
python-versions = "^3.10"
|
python-versions = "^3.10"
|
||||||
content-hash = "0ac21898262a0d5410340f822b4aa3ae4580348ebb2bc58dbd351f46a0feedbd"
|
content-hash = "e42b69516ddf3626847e98266fb844dcbcf2cdfc3d48524326e212bc494eafc7"
|
||||||
|
|
|
||||||
|
|
@ -59,11 +59,13 @@ gymnasium = "^0.29.1"
|
||||||
cmake = "^3.29.0.1"
|
cmake = "^3.29.0.1"
|
||||||
sim-pusht = { version = "^0.1.0", optional = true}
|
sim-pusht = { version = "^0.1.0", optional = true}
|
||||||
sim-xarm = { version = "^0.1.0", optional = true}
|
sim-xarm = { version = "^0.1.0", optional = true}
|
||||||
|
sim-aloha = { version = "^0.1.2", optional = true}
|
||||||
|
|
||||||
|
|
||||||
[tool.poetry.extras]
|
[tool.poetry.extras]
|
||||||
pusht = ["sim-pusht"]
|
pusht = ["sim-pusht"]
|
||||||
xarm = ["sim-xarm"]
|
xarm = ["sim-xarm"]
|
||||||
|
aloha = ["sim-aloha"]
|
||||||
|
|
||||||
|
|
||||||
[tool.poetry.group.dev.dependencies]
|
[tool.poetry.group.dev.dependencies]
|
||||||
|
|
@ -109,7 +111,7 @@ select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]
|
||||||
ignore-init-module-imports = true
|
ignore-init-module-imports = true
|
||||||
|
|
||||||
[tool.ruff.lint.isort]
|
[tool.ruff.lint.isort]
|
||||||
known-first-party = ["pusht", "xarm"]
|
known-first-party = ["pusht", "xarm", "aloha"]
|
||||||
|
|
||||||
[tool.poetry-dynamic-versioning]
|
[tool.poetry-dynamic-versioning]
|
||||||
enable = true
|
enable = true
|
||||||
|
|
|
||||||
|
|
@ -15,9 +15,9 @@ Note:
|
||||||
import pytest
|
import pytest
|
||||||
import lerobot
|
import lerobot
|
||||||
|
|
||||||
from lerobot.common.envs.aloha.env import AlohaEnv
|
from lerobot.common.envs.aloha import AlohaEnv
|
||||||
from lerobot.common.envs.pusht.env import PushtEnv
|
from lerobot.common.envs.pusht import PushtEnv
|
||||||
from lerobot.common.envs.simxarm.env import SimxarmEnv
|
from lerobot.common.envs.xarm import SimxarmEnv
|
||||||
|
|
||||||
from lerobot.common.datasets.simxarm import SimxarmDataset
|
from lerobot.common.datasets.simxarm import SimxarmDataset
|
||||||
from lerobot.common.datasets.aloha import AlohaDataset
|
from lerobot.common.datasets.aloha import AlohaDataset
|
||||||
|
|
|
||||||
|
|
@ -5,9 +5,9 @@ from torchrl.envs.utils import check_env_specs, step_mdp
|
||||||
from lerobot.common.datasets.factory import make_offline_buffer
|
from lerobot.common.datasets.factory import make_offline_buffer
|
||||||
|
|
||||||
from lerobot.common.envs.factory import make_env
|
from lerobot.common.envs.factory import make_env
|
||||||
from lerobot.common.envs.pusht.env import PushtEnv
|
from lerobot.common.envs.pusht import PushtEnv
|
||||||
from lerobot.common.envs.simxarm.env import SimxarmEnv
|
from lerobot.common.envs.xarm import SimxarmEnv
|
||||||
from lerobot.common.envs.aloha.env import AlohaEnv
|
from lerobot.common.envs.aloha import AlohaEnv
|
||||||
|
|
||||||
from .utils import DEVICE, init_config
|
from .utils import DEVICE, init_config
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue