Merge pull request #63 from dfki-ric/development

Add mujoco environments

.github/workflows/test.yaml

@@ -27,8 +27,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        pip install flake8 pytest
-        pip install . --user
+        pip install .[dev,mujoco] --user
     - name: Lint with flake8
       run: |
         # stop the build if there are Python syntax errors or undefined names

.gitignore

@@ -15,3 +15,4 @@ logs
 *.mp4
 *.json
 .coverage
+*MUJOCO_LOG.TXT

CONTRIBUTING.md

@@ -5,7 +5,7 @@ Everyone is welcome to contribute.
 There are several ways to contribute to DeformableGym: you could
 
 * send a bug report to the
-  [bug tracker](https://git.hb.dfki.de/april/learning/deformable_gym)
+  [issue tracker](https://www.github.com/dfki-ric/deformable_gym)
 * work on one of the reported issues
 * write documentation
 * add a new feature
@@ -18,17 +18,17 @@ This text is shamelessly copied from
 [scikit-learn's](https://scikit-learn.org/stable/developers/contributing.html)
 contribution guidelines.
 
-The preferred way to contribute to DefromableGym is to fork the
-[repository](https://git.hb.dfki.de/april/learning/deformable_gym) on GitLab,
-then submit a "merge request" (MR):
+The preferred way to contribute to DefromableGym is to fork this
+[repository](https://www.github.com/dfki-ric/deformable_gym),
+then submit a "pull request" (PR):
 
-1. Fork the [project repository](https://git.hb.dfki.de/april/learning/deformable_gym):
+1. Fork the [project repository](https://www.github.com/dfki-ric/deformable_gym):
    click on the 'Fork' button near the top of the page. This creates a copy of
    the code under your account on the GitHub server.
 
 2. Clone this copy to your local disk:
 
-       $ git clone --recurse-submodules git@git.hb.dfki.de:april/learning/deformable_gym.git
+       $ git clone git@github.com:dfki-ric/deformable_gym.git
 
 3. Create a branch to hold your changes:
 
@@ -47,16 +47,16 @@ then submit a "merge request" (MR):
        $ git push -u origin my-feature
 
 Finally, go to the web page of your fork of the deformable_gym repository,
-and click 'Merge request' to send your changes to the maintainer for review.
-Make sure that your target branch is 'development'.
+and click 'Pull request' to send your changes to the maintainer for review.
+Make sure that your target branch is `development`.
 
 In the above setup, your `origin` remote repository points to
 YourLogin/deformable_gym.git. If you wish to fetch/merge from the main
 repository instead of your forked one, you will need to add another remote
 to use instead of `origin`. If we choose the name `upstream` for it, the
 command will be:
 
-    $ git remote add upstream https://git.hb.dfki.de/april/learning/deformable_gym
+    $ git remote add upstream https://www.github.com/dfki-ric/deformable_gym
 
 (If any of the above seems like magic to you, then look up the
 [Git documentation](http://git-scm.com/documentation) on the web.)
@@ -89,4 +89,4 @@ be discussed and announced in advance with deprecation warnings.
 Semantic versioning is used, that is, the major version number will be
 incremented when the API changes in a backwards incompatible way, the
 minor version will be incremented when new functionality is added in a
-backwards compatible manner.
+backwards compatible manner.

README.md

@@ -1,17 +1,17 @@
 [![Tests](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml/badge.svg)](https://github.com/dfki-ric/deformable_gym/actions/workflows/test.yaml)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+
 # DeformableGym
 
-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.
 
 <p align="center">
   <img src="doc/source/_static/defgym.svg"/>
 </p>
 
-
-## Installation 
+## Installation
 
 ```bash
 git clone [email protected]:dfki-ric/deformable_gym.git
@@ -25,19 +25,16 @@ pip install -e .
 
 ## Available environments
 
-| 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:         |
-
-
-
+| 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: |
 
 ### Known Issues
 
@@ -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
 ```
-
+```
+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:
 
 ```bash
@@ -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.
 
 """
 
@@ -93,19 +100,20 @@ while num_episodes <= 10:
     if terminated or truncated:
         print(f"Episode finished with return {episode_return}!")
         num_episodes += 1
-        
+
         env.reset()
 
 ```
 
-
 ## Documentation
+
 The documentation can be found in the directory doc. To build the documentation, run e.g. (on linux):
 
 ```bash
 cd doc
 make html
 ```
+
 The HTML documentation is now located at doc/build/html/index.html. You need the following packages to build the documentation:
 
 ```bash
@@ -114,14 +122,15 @@ pip install numpydoc sphinx sphinx-gallery sphinx-bootstrap-theme
 
 ## Contributing
 
-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.
 
 The recommended workflow to add a new feature, add documentation, or fix a bug is the following:
+
 - 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.
 
 Note that there is a checklist for new features.
@@ -143,8 +152,6 @@ url = {https://deformable-workshop.github.io/icra2023/},
 }
 ```
 
-
-
 ## Releases
 
 ### Semantic Versioning
@@ -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.
 
-
 ## Funding
 
 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).
 
 <p float="left">
     <img src="doc/source/_static/DFKI_Logo.png" height="100px" />
     <img src="doc/source/_static/Uni_Logo.png" height="100px" />
 </p>
-
-
-
-
-

assets/objects/mjcf/floor.xml → assets/mj_scene_base.xml

@@ -1,9 +1,8 @@
 <mujoco>
-	<!-- <option timestep="0.005"/> -->
+	<option timestep="0.005" />
 	<visual>
 		<rgba haze="0.15 0.25 0.35 1" />
 		<quality shadowsize="8192" />
-		<global azimuth="220" elevation="-30" />
 	</visual>
 	<asset>
 		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />

assets/objects/mjcf/insole_fixed.xml

@@ -5,7 +5,7 @@
 		<plugin plugin="mujoco.elasticity.solid" />
 	</extension>
 	<worldbody>
-		<body name="insole_fixed" pos=".12 -.05 .456">
+		<body name="insole_fixed">
 			<flexcomp name="insole" mass=".5" dim="3" type="gmsh" file="insole.msh" rgba=".1 .9 .1 1" radius="0.001">
 				<edge equality="true" />
 				<plugin plugin="mujoco.elasticity.solid">
@@ -17,13 +17,13 @@
 		</body>
 	</worldbody>
 	<equality>
-		<weld name="fix_1" body1="insole_27" body2="world" />
-		<weld name="fix_2" body1="insole_44" body2="world" />
-		<weld name="fix_3" body1="insole_37" body2="world" />
-		<weld name="fix_4" body1="insole_35" body2="world" />
-		<weld name="fix_5" body1="insole_43" body2="world" />
-		<weld name="fix_6" body1="insole_1" body2="world" />
-		<weld name="fix_7" body1="insole_32" body2="world" />
-		<weld name="fix_8" body1="insole_69" body2="world" />
+		<weld name="fix_1" body1="insole_27" body2="insole_fixed" />
+		<weld name="fix_2" body1="insole_44" body2="insole_fixed" />
+		<weld name="fix_3" body1="insole_37" body2="insole_fixed" />
+		<weld name="fix_4" body1="insole_35" body2="insole_fixed" />
+		<weld name="fix_5" body1="insole_43" body2="insole_fixed" />
+		<weld name="fix_6" body1="insole_1" body2="insole_fixed" />
+		<weld name="fix_7" body1="insole_32" body2="insole_fixed" />
+		<weld name="fix_8" body1="insole_69" body2="insole_fixed" />
 	</equality>
 </mujoco>

assets/objects/mjcf/pillow_fixed.xml

@@ -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>

assets/robots/mjcf/include/asset/mia_hand.xml

@@ -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>

assets/robots/mjcf/include/asset/shadow_hand.xml

@@ -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>

assets/robots/mjcf/include/asset/ur10.xml

@@ -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>

assets/robots/mjcf/include/asset/ur10e.xml

@@ -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>

assets/robots/mjcf/include/asset/ur10ft.xml

@@ -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>