MuJoCo version of shadow hand and mia hand grasping environments

deformable_gym/__init__.py

@@ -79,3 +79,17 @@
         "observable_object_pos": True,
     },
 )
+
+register(
+    id="MjShadowGraspInsole-v0",
+    entry_point="deformable_gym.envs.mujoco.shadow_grasp:ShadowHandGrasp",
+    disable_env_checker=True,
+    kwargs={"obj_name": "insole_fixed"},
+)
+
+register(
+    id="MjMiaGraspInsole-v0",
+    entry_point="deformable_gym.envs.mujoco.mia_grasp:MiaHandGrasp",
+    disable_env_checker=True,
+    kwargs={"obj_name": "insole_fixed"},
+)

deformable_gym/envs/mujoco/asset_manager.py

@@ -0,0 +1,155 @@
+import os
+import xml.etree.ElementTree as ET
+from typing import Optional, Sequence, Union
+
+import mujoco
+
+from ...helpers import mj_utils as mju
+
+ROBOTS = {
+    "shadow_hand": "shadow_hand.xml",
+    "mia_hand": "mia_hand.xml",
+}
+OBJECTS = {"insole_fixed": "insole_fixed.xml"}
+
+
+class AssetManager:
+    """
+    The AssetManager class manages the loading and combining of MuJoCo models (robots and objects)
+    into a single simulation scene. It provides methods to load individual robot or object models,
+    create complex scenes, and save the resulting XML configuration.
+    """
+
+    def __init__(self) -> None:
+        self.assets_dir = os.path.join(os.path.dirname(__file__), "assets")
+        self.meshdir = os.path.join(self.assets_dir, "meshes")
+        self.robots = ROBOTS
+        self.objects = OBJECTS
+
+    def load_asset(self, name: str) -> mujoco.MjModel:
+        """
+        Loads a asset (robot or object mujoco Model) based on its name.
+
+        Args:
+            name (str): The name of the robot or object to be loaded. Must be a key in either
+                        self.robots or self.objects.
+
+        Returns:
+            mujoco.MjModel: The loaded MuJoCo model.
+
+        Raises:
+            AssertionError: If the specified name is not found in either self.robots or self.objects.
+        """
+        assert (
+            name in self.robots or name in self.objects
+        ), f"Model {name} not found.\n available: {list(self.robots.keys()) + list(self.objects.keys())}"
+        model_path = self.robots.get(name, self.objects.get(name))
+        full_path = self._get_full_path(model_path)
+        model, _ = mju.load_model_from_file(full_path)
+        return model
+
+    def create_scene(self, robot_name: str, obj_name: str) -> str:
+        """
+        Creates an MJCF string representing a MuJoCo scene that includes a robot and an object.
+
+        Args:
+            robot_name (str): The name of the robot to include in the scene. Must be a key in self.robots.
+            obj_name (str): The name of the object to include in the scene. Must be a key in self.objects.
+
+        Returns:
+            str: A MJCF string representing the combined MuJoCo scene.
+
+        Raises:
+            AssertionError: If the specified robot_name is not found in self.robots.
+            AssertionError: If the specified obj_name is not found in self.objects.
+        """
+        assert (
+            robot_name in self.robots
+        ), f"Robot {robot_name} not found.\n available: {list(self.robots.keys())}"
+        assert (
+            obj_name in self.objects
+        ), f"Object {obj_name} not found.\n available: {list(self.objects.keys())}"
+
+        floor_path = self._get_full_path("floor.xml")
+        robot_path = self._get_full_path(self.robots[robot_name])
+        obj_path = self._get_full_path(self.objects[obj_name])
+
+        scene = self.include_mjcf(
+            obj_path, [robot_path, floor_path], meshdir=self.meshdir
+        )
+        return scene
+
+    # def create_scene(self, robot_name: str, *obj_name: str) -> str:
+    #     assert (
+    #         robot_name in self.robots
+    #     ), f"Robot {robot_name} not found.\n available: {list(self.robots.keys())}"
+
+    #     robot_path = self._get_full_path(self.robots[robot_name])
+
+    #     for obj in obj_name:
+    #         assert (
+    #             obj in self.objects
+    #         ), f"Object {obj} not found.\n available: {list(self.objects.keys())}"
+    #     obj_path = [self._get_full_path(self.objects[obj]) for obj in obj_name]
+    #     scene = self.include_mjcf(robot_path, obj_path, meshdir=self.meshdir)
+    #     return scene
+
+    def _get_full_path(self, file: str) -> str:
+        """
+        Generates the full path to a file within the assets directory.
+
+        Args:
+            file (str): The file name (with extension) for which to generate the full path.
+
+        Returns:
+            str: The full path to the specified file within the assets directory.
+        """
+        return os.path.join(self.assets_dir, file)
+
+    @staticmethod
+    def include_mjcf(
+        base_path: str,
+        include_path: Union[str, Sequence[str]],
+        *,
+        meshdir: Optional[str] = None,
+    ) -> str:
+        """
+        Generates an XML string for a MuJoCo scene by including additional MJCF files within a base MJCF file.
+
+        Args:
+            base_path (str): The file path to the base MJCF file.
+            include_path (Union[str, Sequence[str]]): A string or list of strings representing file paths
+                                                     to MJCF files to be included in the base file.
+            meshdir (Optional[str]): A string representing the path to the directory containing mesh files.
+                                     If provided, this path is added to the meshdir attribute of the compiler
+                                     element in the MJCF XML.
+
+        Returns:
+            str: An XML string representing the combined MJCF file.
+        """
+        tree = ET.parse(base_path)
+        root = tree.getroot()
+        if isinstance(include_path, list) or isinstance(include_path, tuple):
+            for path in include_path:
+                new_elem = ET.Element("include", {"file": path})
+                root.insert(0, new_elem)
+        else:
+            new_elem = ET.Element("include", {"file": include_path})
+            root.insert(0, new_elem)
+        if meshdir is not None:
+            if meshdir[-1] != "/":
+                meshdir += "/"
+            elems = root.findall("compiler")
+            if len(elems) != 0:
+                for elem in elems:
+                    elem.set("meshdir", meshdir)
+            else:
+                new_elem = ET.Element("compiler", {"meshdir": meshdir})
+                root.insert(0, new_elem)
+        new_mjcf = ET.tostring(root, encoding="utf-8").decode("utf-8")
+
+        return new_mjcf
+
+    def save_mjcf_string(self, mjcf: str, path: str) -> None:
+        with open(path, "w") as f:
+            f.write(mjcf)

deformable_gym/envs/mujoco/assets/floor.xml

@@ -0,0 +1,17 @@
+<mujoco>
+	<!-- <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" />
+		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+	</asset>
+	<worldbody>
+		<light pos="0.3 0 1.5" dir="0 0 -1" directional="true" />
+		<geom name="floor" pos="0 0 0" size="0 0 .05" type="plane" material="groundplane" />
+	</worldbody>
+</mujoco>

deformable_gym/envs/mujoco/assets/insole_fixed.xml

@@ -0,0 +1,29 @@
+<mujoco>
+	<!-- <include file="floor.xml"/> -->
+	<compiler meshdir="meshes/" />
+	<extension>
+		<plugin plugin="mujoco.elasticity.solid" />
+	</extension>
+	<worldbody>
+		<body name="insole_fixed" pos=".12 -.05 .456">
+			<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">
+					<config key="young" value="1e4" />
+					<config key="poisson" value="0.1" />
+					<config key="damping" value="1e-4" />
+				</plugin>
+			</flexcomp>
+		</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" />
+	</equality>
+</mujoco>