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