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Add Aloha env and ACT policy

Browse Source 
WIP Aloha env tests pass

Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])

Update README

Copy past from act repo

Remove download.py add a WIP for Simxarm

Remove download.py add a WIP for Simxarm

Add act yaml (TODO: try train.py)

Training can runs (TODO: eval)

Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)

Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)

poetry lock

fix bug in compute_stats for action normalization

fix more bugs in normalization

fix training

fix import

PushtEnv inheriates AbstractEnv, Improve factory Normalization

Add _make_env to EnvAbstract

Add call_rendering_hooks to pusht env

SimxarmEnv inherites from AbstractEnv (NOT TESTED)

Add aloha tests artifacts + update pusht stats

fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]

Small fix on simxarm

Add next to obs

Add top camera to Aloha env (TODO: make it compatible with set of cameras)

Add top camera to Aloha env (TODO: make it compatible with set of cameras)
This commit is contained in:
Remi Cadene
2024-03-08 09:47:39 +00:00
committed by Cadene
parent 060bac7672
commit 9d002032d1
116 changed files with 3658 additions and 301 deletions
Download Patch File Download Diff File Expand all files Collapse all files

59
lerobot/common/envs/aloha/assets/bimanual_viperx_end_effector_insertion.xml Normal file
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<mujoco>
<include file="scene.xml"/>
<include file="vx300s_dependencies.xml"/>
<equality>
<weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
<weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
</equality>
<worldbody>
<include file="vx300s_left.xml" />
<include file="vx300s_right.xml" />
<body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
</body>
<body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
<site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
<site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
</body>
<body name="peg" pos="0.2 0.5 0.05">
<joint name="red_peg_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
</body>
<body name="socket" pos="-0.2 0.5 0.05">
<joint name="blue_socket_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<!-- <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
</actuator>
<keyframe>
<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0 -0.2 0.5 0.05 1 0 0 0"/>
</keyframe>
</mujoco>

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

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

42
lerobot/common/envs/aloha/assets/bimanual_viperx_transfer_cube.xml Normal file
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<mujoco>
<include file="scene.xml"/>
<include file="vx300s_dependencies.xml"/>
<worldbody>
<include file="vx300s_left.xml" />
<include file="vx300s_right.xml" />
<body name="box" pos="0.2 0.5 0.05">
<joint name="red_box_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/>
<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/>
<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
</actuator>
<keyframe>
<key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/>
</keyframe>
</mujoco>

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

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

59
lerobot/common/envs/aloha/assets/vx300s_left.xml Normal file
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<mujocoinclude>
<body name="vx300s_left" pos="-0.469 0.5 0">
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_1_base" name="vx300s_left/1_base" contype="0" conaffinity="0"/>
<body name="vx300s_left/shoulder_link" pos="0 0 0.079">
<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614" diaginertia="0.00120156 0.00113744 0.0009388" />
<joint name="vx300s_left/waist" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14158 3.14158" frictionloss="50" />
<geom pos="0 0 -0.003" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_2_shoulder" name="vx300s_left/2_shoulder" />
<body name="vx300s_left/upper_arm_link" pos="0 0 0.04805">
<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592" diaginertia="0.00911338 0.008925 0.000759317" />
<joint name="vx300s_left/shoulder" pos="0 0 0" axis="0 1 0" limited="true" range="-1.85005 1.25664" frictionloss="60" />
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_3_upper_arm" name="vx300s_left/3_upper_arm"/>
<body name="vx300s_left/upper_forearm_link" pos="0.05955 0 0.3">
<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228" diaginertia="0.00144107 0.00134228 0.000152047" />
<joint name="vx300s_left/elbow" pos="0 0 0" axis="0 1 0" limited="true" range="-1.76278 1.6057" frictionloss="60" />
<geom type="mesh" mesh="vx300s_4_upper_forearm" name="vx300s_left/4_upper_forearm" />
<body name="vx300s_left/lower_forearm_link" pos="0.2 0 0">
<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823" diaginertia="0.0005911 0.000546493 0.000155707" />
<joint name="vx300s_left/forearm_roll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
<geom quat="0 1 0 0" type="mesh" mesh="vx300s_5_lower_forearm" name="vx300s_left/5_lower_forearm"/>
<body name="vx300s_left/wrist_link" pos="0.1 0 0">
<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387" mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05" />
<joint name="vx300s_left/wrist_angle" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8675 2.23402" frictionloss="30" />
<geom quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_6_wrist" name="vx300s_left/6_wrist" />
<body name="vx300s_left/gripper_link" pos="0.069744 0 0">
<body name="vx300s_left/camera_focus" pos="0.15 0 0.01">
<site pos="0 0 0" size="0.01" type="sphere" name="left_cam_focus" rgba="0 0 1 0"/>
</body>
<site pos="0.15 0 0" size="0.003 0.003 0.03" type="box" name="cali_left_site1" rgba="0 0 1 0"/>
<site pos="0.15 0 0" size="0.003 0.03 0.003" type="box" name="cali_left_site2" rgba="0 0 1 0"/>
<site pos="0.15 0 0" size="0.03 0.003 0.003" type="box" name="cali_left_site3" rgba="0 0 1 0"/>
<camera name="left_wrist" pos="-0.1 0 0.16" fovy="20" mode="targetbody" target="vx300s_left/camera_focus"/>
<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869" mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142" />
<joint name="vx300s_left/wrist_rotate" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14158 3.14158" frictionloss="30" />
<geom pos="-0.02 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_7_gripper" name="vx300s_left/7_gripper" />
<geom pos="-0.020175 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_9_gripper_bar" name="vx300s_left/9_gripper_bar" />
<body name="vx300s_left/gripper_prop_link" pos="0.0485 0 0">
<inertial pos="0.002378 2.85e-08 0" quat="0 0 0.897698 0.440611" mass="0.008009" diaginertia="4.2979e-06 2.8868e-06 1.5314e-06" />
<!-- <joint name="vx300s_left/gripper" pos="0 0 0" axis="1 0 0" frictionloss="30" />-->
<geom pos="-0.0685 0 0" quat="0.707107 0 0 0.707107" type="mesh" mesh="vx300s_8_gripper_prop" name="vx300s_left/8_gripper_prop" />
</body>
<body name="vx300s_left/left_finger_link" pos="0.0687 0 0">
<inertial pos="0.017344 -0.0060692 0" quat="0.449364 0.449364 -0.54596 -0.54596" mass="0.034796" diaginertia="2.48003e-05 1.417e-05 1.20797e-05" />
<joint name="vx300s_left/left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.021 0.057" frictionloss="30" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 -0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_left" name="vx300s_left/10_left_gripper_finger"/>
</body>
<body name="vx300s_left/right_finger_link" pos="0.0687 0 0">
<inertial pos="0.017344 0.0060692 0" quat="0.44937 -0.44937 0.545955 -0.545955" mass="0.034796" diaginertia="2.48002e-05 1.417e-05 1.20798e-05" />
<joint name="vx300s_left/right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.057 -0.021" frictionloss="30" />
<geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0.005 0.052 0" euler="3.14 1.57 0" type="mesh" mesh="vx300s_10_gripper_finger_right" name="vx300s_left/10_right_gripper_finger"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</mujocoinclude>

59
lerobot/common/envs/aloha/assets/vx300s_right.xml Normal file
View File

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