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)
18 lines
1.2 KiB
XML
18 lines
1.2 KiB
XML
<mujocoinclude>
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<compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
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<asset>
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<mesh name="vx300s_1_base" file="vx300s_1_base.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_2_shoulder" file="vx300s_2_shoulder.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_3_upper_arm" file="vx300s_3_upper_arm.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_4_upper_forearm" file="vx300s_4_upper_forearm.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_5_lower_forearm" file="vx300s_5_lower_forearm.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_6_wrist" file="vx300s_6_wrist.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_7_gripper" file="vx300s_7_gripper.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_8_gripper_prop" file="vx300s_8_gripper_prop.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_9_gripper_bar" file="vx300s_9_gripper_bar.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_10_gripper_finger_left" file="vx300s_10_custom_finger_left.stl" scale="0.001 0.001 0.001" />
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<mesh name="vx300s_10_gripper_finger_right" file="vx300s_10_custom_finger_right.stl" scale="0.001 0.001 0.001" />
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</asset>
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</mujocoinclude>
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