9d002032d1
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)
54 lines
4.2 KiB
XML
54 lines
4.2 KiB
XML
<mujoco>
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<include file="scene.xml"/>
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<include file="vx300s_dependencies.xml"/>
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<worldbody>
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<include file="vx300s_left.xml" />
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<include file="vx300s_right.xml" />
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<body name="peg" pos="0.2 0.5 0.05">
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<joint name="red_peg_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<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" />
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</body>
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<body name="socket" pos="-0.2 0.5 0.05">
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<joint name="blue_socket_joint" type="free" frictionloss="0.01" />
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<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
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<!-- <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" />-->
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<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" />
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<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" />
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<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" />
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<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" />
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<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" />
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</body>
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</worldbody>
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<actuator>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
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<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
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<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/>
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<position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/>
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<position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/>
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<position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/>
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<position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/>
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<position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/>
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<position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/>
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</actuator>
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<keyframe>
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<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"/>
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</keyframe>
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</mujoco>
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