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Merge pull request #61 from xkiixkii/development
Full MuJoCo Grasping Environment
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| [](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml) | ||
| [](https://github.com/psf/black) | ||
| [](https://github.com/pre-commit/pre-commit) | ||
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| # DeformableGym | ||
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| This repository contains a collection of [gymnasium](https://github.com/Farama-Foundation/Gymnasium) environments built with [PyBullet](https://pybullet.org/) and [MuJoCo](https://github.com/google-deepmind/mujoco). | ||
| This repository contains a collection of [gymnasium](https://github.com/Farama-Foundation/Gymnasium) environments built with [PyBullet](https://pybullet.org/) and [MuJoCo](https://github.com/google-deepmind/mujoco). | ||
| In these environments, the agent needs to learn to grasp deformable 3D objects such as shoe insoles or pillows from sparse reward signals. | ||
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| <p align="center"> | ||
| <img src="doc/source/_static/defgym.svg"/> | ||
| </p> | ||
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| ## Installation | ||
| ## Installation | ||
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| ```bash | ||
| git clone [email protected]:dfki-ric/deformable_gym.git | ||
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@@ -25,19 +25,16 @@ pip install -e . | |
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| ## Available environments | ||
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| | Environment Name | PyBullet | MuJoCo | | ||
| |---------------------------|:-------------------:|:------------------:| | ||
| | FloatingMiaGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingShadowGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingMiaGraspPillow | :heavy_check_mark: | :x: | | ||
| | FloatingShadowGraspPillow | :heavy_check_mark: | :x: | | ||
| | URMiaGraspInsole | :heavy_check_mark: | :x: | | ||
| | URShadowGraspInsole | :heavy_check_mark: | :x: | | ||
| | URMiaGraspPillow | :heavy_check_mark: | :x: | | ||
| | URShadowGraspPillow | :heavy_check_mark: | :x: | | ||
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| | Environment Name | PyBullet | MuJoCo | | ||
| | ------------------------- | :----------------: | :----------------: | | ||
| | FloatingMiaGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingShadowGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingMiaGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
| | FloatingShadowGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URMiaGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URShadowGraspInsole | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URMiaGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
| | URShadowGraspPillow | :heavy_check_mark: | :heavy_check_mark: | | ||
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| ### Known Issues | ||
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@@ -49,7 +46,17 @@ libGL error: failed to load driver: iris | |
| libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) | ||
| libGL error: failed to load driver: swrast | ||
| ``` | ||
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| ``` | ||
| libGL error: MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) | ||
| libGL error: failed to load driver: iris | ||
| libGL error: MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) | ||
| libGL error: failed to load driver: iris | ||
| libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri) | ||
| libGL error: failed to load driver: swrast | ||
| /home/kaixing/miniconda3/envs/test/lib/python3.10/site-packages/glfw/__init__.py:914: GLFWError: (65543) b'GLX: Failed to create context: BadValue (integer parameter out of range for operation)' | ||
| warnings.warn(message, GLFWError) | ||
| ERROR: could not create window | ||
| ``` | ||
| In this case, install the following dependency via conda-forge: | ||
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| ```bash | ||
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@@ -72,8 +79,8 @@ import gymnasium | |
| Floating Mia Example | ||
| ========= | ||
| This is an example of how to use the FloatingMiaGraspEnv. A random policy is then | ||
| used to generate ten episodes. | ||
| This is an example of how to use the FloatingMiaGraspEnv. A random policy is then | ||
| used to generate ten episodes. | ||
| """ | ||
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@@ -93,19 +100,20 @@ while num_episodes <= 10: | |
| if terminated or truncated: | ||
| print(f"Episode finished with return {episode_return}!") | ||
| num_episodes += 1 | ||
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| env.reset() | ||
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| ``` | ||
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| ## Documentation | ||
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| The documentation can be found in the directory doc. To build the documentation, run e.g. (on linux): | ||
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| ```bash | ||
| cd doc | ||
| make html | ||
| ``` | ||
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| The HTML documentation is now located at doc/build/html/index.html. You need the following packages to build the documentation: | ||
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| ```bash | ||
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@@ -114,14 +122,15 @@ pip install numpydoc sphinx sphinx-gallery sphinx-bootstrap-theme | |
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| ## Contributing | ||
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| If you wish to report bugs, please use the [issue tracker](https://github.com/dfki-ric/deformable_gym/issues). If you would like to contribute to DeformableGym, just open an issue or a | ||
| [pull request](https://github.com/dfki-ric/deformable_gym/pulls). The target branch for | ||
| merge requests is the development branch. The development branch will be merged to main for new releases. If you have | ||
| If you wish to report bugs, please use the [issue tracker](https://github.com/dfki-ric/deformable_gym/issues). If you would like to contribute to DeformableGym, just open an issue or a | ||
| [pull request](https://github.com/dfki-ric/deformable_gym/pulls). The target branch for | ||
| merge requests is the development branch. The development branch will be merged to main for new releases. If you have | ||
| questions about the software, you should ask them in the discussion section. | ||
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| The recommended workflow to add a new feature, add documentation, or fix a bug is the following: | ||
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| - Push your changes to a branch (e.g. feature/x, doc/y, or fix/z) of your fork of the deformable_gym repository. | ||
| - Open a pull request to the latest development branch. There is usually an open merge request from the latest development branch to the main branch. | ||
| - Open a pull request to the latest development branch. There is usually an open merge request from the latest development branch to the main branch. | ||
| - When the latest development branch is merged to the main branch, a new release will be made. | ||
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| Note that there is a checklist for new features. | ||
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@@ -143,8 +152,6 @@ url = {https://deformable-workshop.github.io/icra2023/}, | |
| } | ||
| ``` | ||
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| ## Releases | ||
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| ### Semantic Versioning | ||
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@@ -155,22 +162,16 @@ version will be incremented when new functionality is added in a backwards | |
| compatible manner, and the patch version is incremented for bugfixes, | ||
| documentation, etc. | ||
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| ## Funding | ||
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| This library has been developed initially at the | ||
| [Robotics Innovation Center](http://robotik.dfki-bremen.de/en/startpage.html) of the | ||
| [German Research Center for Artificial Intelligence (DFKI)](http://www.dfki.de) in Bremen together with the | ||
| [Robotics Group](https://robotik.dfki-bremen.de/en/about-us/university-of-bremen-robotics-group.html) of the | ||
| [Robotics Innovation Center](http://robotik.dfki-bremen.de/en/startpage.html) of the | ||
| [German Research Center for Artificial Intelligence (DFKI)](http://www.dfki.de) in Bremen together with the | ||
| [Robotics Group](https://robotik.dfki-bremen.de/en/about-us/university-of-bremen-robotics-group.html) of the | ||
| [University of Bremen](http://www.uni-bremen.de/en.html). At this phase, the work was supported through a grant from the European | ||
| Commission (870142). | ||
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| <p float="left"> | ||
| <img src="doc/source/_static/DFKI_Logo.png" height="100px" /> | ||
| <img src="doc/source/_static/Uni_Logo.png" height="100px" /> | ||
| </p> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,29 +1,29 @@ | ||
| <mujoco> | ||
| <!-- <include file="floor.xml"/> --> | ||
| <!-- <include file="floor.xml" /> --> | ||
| <compiler meshdir="../../meshes/" /> | ||
| <extension> | ||
| <plugin plugin="mujoco.elasticity.solid" /> | ||
| </extension> | ||
| <worldbody> | ||
| <body name="pillow_fixed" pos=".12 -.05 .456"> | ||
| <flexcomp name="pillow" mass=".5" dim="3" type="gmsh" scale=".7 .7 .7" file="pillow_small.msh" rgba=".1 .9 .1 1" radius="0.001"> | ||
| <body name="pillow_fixed" pos="0 0 1" quat="1 0 0 1"> | ||
| <flexcomp name="pillow" mass="1" dim="3" type="gmsh" scale=".7 .7 .7" file="pillow_small.msh" rgba=".1 .9 .1 1" radius="0.001"> | ||
| <edge equality="true" /> | ||
| <plugin plugin="mujoco.elasticity.solid"> | ||
| <config key="young" value="1e4" /> | ||
| <config key="young" value="2000" /> | ||
| <config key="poisson" value="0.1" /> | ||
| <config key="damping" value="1e-4" /> | ||
| </plugin> | ||
| </flexcomp> | ||
| </body> | ||
| </worldbody> | ||
| <equality> | ||
| <weld name="fix_1" body1="pillow_94" body2="world" /> | ||
| <weld name="fix_2" body1="pillow_8" body2="world" /> | ||
| <weld name="fix_3" body1="pillow_9" body2="world" /> | ||
| <weld name="fix_4" body1="pillow_2" body2="world" /> | ||
| <weld name="fix_5" body1="pillow_58" body2="world" /> | ||
| <weld name="fix_6" body1="pillow_69" body2="world" /> | ||
| <weld name="fix_7" body1="pillow_116" body2="world" /> | ||
| <weld name="fix_8" body1="pillow_47" body2="world" /> | ||
| <weld name="fix_1" body1="pillow_94" body2="pillow_fixed" /> | ||
| <weld name="fix_2" body1="pillow_8" body2="pillow_fixed" /> | ||
| <weld name="fix_3" body1="pillow_9" body2="pillow_fixed" /> | ||
| <weld name="fix_4" body1="pillow_2" body2="pillow_fixed" /> | ||
| <weld name="fix_5" body1="pillow_58" body2="pillow_fixed" /> | ||
| <weld name="fix_6" body1="pillow_69" body2="pillow_fixed" /> | ||
| <weld name="fix_7" body1="pillow_116" body2="pillow_fixed" /> | ||
| <weld name="fix_8" body1="pillow_47" body2="pillow_fixed" /> | ||
| </equality> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| <mujoco> | ||
| <asset> | ||
| <mesh name="index_finger" file="stl/index_finger.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="index_tip" file="stl/index_tip.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="little_finger" file="stl/little_finger.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="little_tip" file="stl/little_tip.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="middle_finger" file="stl/middle_finger.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="middle_tip" file="stl/middle_tip.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="dorsum_simple" file="stl/dorsum_simple.stl" scale="0.0766738 0.104275 0.0766738" /> | ||
| <mesh name="palm_simple" file="stl/palm_simple.stl" scale="0.122027 0.122027 0.122027" /> | ||
| <mesh name="wrist" file="stl/wrist.stl" scale="0.000999999 0.000999999 0.000999999" /> | ||
| <mesh name="ring_finger" file="stl/ring_finger.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="ring_tip" file="stl/ring_tip.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="thumb_cover" file="stl/thumb_cover.stl" scale="0.000999988 0.000999987 0.000999987" /> | ||
| <mesh name="thumb_frame" file="stl/thumb_frame.stl" scale="0.000999988 0.000999987 0.000999987" /> | ||
| <mesh name="thumb_metacarpus" file="stl/thumb_metacarpus.stl" scale="0.000999987 0.000999987 0.000999987" /> | ||
| <mesh name="UR_flange" file="stl/UR_flange.stl" scale="0.000999999 0.000999999 0.000999999" /> | ||
| </asset> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <mujoco> | ||
| <asset> | ||
| <material name="black" specular="0.5" shininess="0.25" rgba="0.16355 0.16355 0.16355 1" /> | ||
| <material name="gray" specular="0.0" shininess="0.25" rgba="0.80848 0.80848 0.80848 1" /> | ||
| <material name="metallic" specular="0" shininess="0.25" rgba="0.9 0.9 0.9 1" /> | ||
| <mesh name="shadow_rh_forearm_0" scale="0.001 0.001 0.001" file="shadow_hand/forearm_0.obj" /> | ||
| <mesh name="shadow_rh_forearm_1" scale="0.001 0.001 0.001" file="shadow_hand/forearm_1.obj" /> | ||
| <mesh name="shadow_rh_forearm_collision" scale="0.001 0.001 0.001" file="shadow_hand/forearm_collision.obj" /> | ||
| <mesh name="shadow_rh_wrist" scale="0.001 0.001 0.001" file="shadow_hand/wrist.obj" /> | ||
| <mesh name="shadow_rh_palm" scale="0.001 0.001 0.001" file="shadow_hand/palm.obj" /> | ||
| <mesh name="shadow_rh_f_knuckle" scale="0.001 0.001 0.001" file="shadow_hand/f_knuckle.obj" /> | ||
| <mesh name="shadow_rh_f_proximal" scale="0.001 0.001 0.001" file="shadow_hand/f_proximal.obj" /> | ||
| <mesh name="shadow_rh_f_middle" scale="0.001 0.001 0.001" file="shadow_hand/f_middle.obj" /> | ||
| <mesh name="shadow_rh_f_distal_pst" scale="0.001 0.001 0.001" file="shadow_hand/f_distal_pst.obj" /> | ||
| <mesh name="shadow_rh_lf_metacarpal" scale="0.001 0.001 0.001" file="shadow_hand/lf_metacarpal.obj" /> | ||
| <mesh name="shadow_rh_th_proximal" scale="0.001 0.001 0.001" file="shadow_hand/th_proximal.obj" /> | ||
| <mesh name="shadow_rh_th_middle" scale="0.001 0.001 0.001" file="shadow_hand/th_middle.obj" /> | ||
| <mesh name="shadow_rh_th_distal_pst" scale="0.001 0.001 0.001" file="shadow_hand/th_distal_pst.obj" /> | ||
| </asset> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,11 @@ | ||
| <mujoco> | ||
| <asset> | ||
| <mesh name="base" file="ur10/collision/base.stl" /> | ||
| <mesh name="shoulder" file="ur10/collision/shoulder.stl" /> | ||
| <mesh name="upperarm" file="ur10/collision/upperarm.stl" /> | ||
| <mesh name="forearm" file="ur10/collision/forearm.stl" /> | ||
| <mesh name="wrist1" file="ur10/collision/wrist1.stl" /> | ||
| <mesh name="wrist2" file="ur10/collision/wrist2.stl" /> | ||
| <mesh name="wrist3" file="ur10/collision/wrist3.stl" /> | ||
| </asset> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <mujoco> | ||
| <asset> | ||
| <mesh name="base" file="ur10e/collision/base.stl" /> | ||
| <mesh name="shoulder" file="ur10e/collision/shoulder.stl" /> | ||
| <mesh name="upperarm" file="ur10e/collision/upperarm.stl" /> | ||
| <mesh name="forearm" file="ur10e/collision/forearm.stl" /> | ||
| <mesh name="wrist1" file="ur10e/collision/wrist1.stl" /> | ||
| <mesh name="wrist2" file="ur10e/collision/wrist2.stl" /> | ||
| <mesh name="wrist3" file="ur10e/collision/wrist3.stl" /> | ||
| </asset> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <mujoco> | ||
| <asset> | ||
| <mesh name="base" file="ur10/collision/base.stl" /> | ||
| <mesh name="shoulder" file="ur10/collision/shoulder.stl" /> | ||
| <mesh name="upperarm" file="ur10/collision/upperarm.stl" /> | ||
| <mesh name="forearm" file="ur10/collision/forearm.stl" /> | ||
| <mesh name="wrist1" file="ur10/collision/wrist1.stl" /> | ||
| <mesh name="wrist2" file="ur10/collision/wrist2.stl" /> | ||
| <mesh name="wrist3" file="ur10/collision/wrist3.stl" /> | ||
| <mesh name="robotiq_ft300" file="collision/robotiq/robotiq_ft300.STL" /> | ||
| <mesh name="robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119" file="collision/robotiq/mountings/robotiq_ft300-G-062-COUPLING_G-50-4M6-1D6_20181119.STL" /> | ||
| </asset> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <mujoco> | ||
| <asset> | ||
| <mesh name="base" file="ur5/collision/base.stl" /> | ||
| <mesh name="shoulder" file="ur5/collision/shoulder.stl" /> | ||
| <mesh name="upperarm" file="ur5/collision/upperarm.stl" /> | ||
| <mesh name="forearm" file="ur5/collision/forearm.stl" /> | ||
| <mesh name="wrist1" file="ur5/collision/wrist1.stl" /> | ||
| <mesh name="wrist2" file="ur5/collision/wrist2.stl" /> | ||
| <mesh name="wrist3" file="ur5/collision/wrist3.stl" /> | ||
| </asset> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,16 @@ | ||
| <mujoco> | ||
| <default> | ||
| <default class="mia_hand_finger"> | ||
| <position forcerange="-1.75 1.75" /> | ||
| <default class="mia_thumb"> | ||
| <position ctrlrange="0 1.1345" forcerange="-3.5 3.5" /> | ||
| </default> | ||
| <default class="mia_index"> | ||
| <position ctrlrange="-1.4 1.4" /> | ||
| </default> | ||
| <default class="mia_mrl"> | ||
| <position ctrlrange="0 1.39626" /> | ||
| </default> | ||
| </default> | ||
| </default> | ||
| </mujoco> |
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