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MuJoCo version of shadow hand and mia hand grasping environments #52

Merged
merged 61 commits into from
Sep 3, 2024
Merged

MuJoCo version of shadow hand and mia hand grasping environments #52

merged 61 commits into from
Sep 3, 2024

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xkiixkii
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@xkiixkii xkiixkii commented Aug 16, 2024 •
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New registered environments #51:

  • MjShadowGraspInsole-v0
  • MjMiaGraspInsole-v0

@xkiixkii
basic shadow hand grasp env
14e25a3
@xkiixkii
basic shadow hand grasp env
e172d81
@xkiixkii
Add sensor related utils
cdb71f5
@xkiixkii
Step simulation according to simulation time not actual time; Initial…
e507f0e 
…ize object use factory
@xkiixkii
Initialize object use factory
a1cb212
@xkiixkii
Remove unnecessary top level settings
6433850
@xkiixkii
Set up qpos and qvel independently
297e579
@xkiixkii
Volumetric mesh for insole in GMSH format
e8d286e
@xkiixkii
Add load_keyfram and set_state function
fafdb30
@xkiixkii
some basic logging set up
05cb750
@xkiixkii
move set_state and load_keyframe to base_mjenv
d4b913c
@xkiixkii
fix hand passes through insole after applying solid plugin
c64a1d5
@xkiixkii
some placement adjustments
98b286a
@xkiixkii
update requirements
5ef6a7e
@xkiixkii
Include object com in observation space
1539157
@xkiixkii
add mj_utils test
7f4f384
@xkiixkii
euler2quat take arraylike args; add load_model_from_string()
0f92413
@xkiixkii
Registration of MjShadowGraspInsole-v0
52611ba
@xkiixkii
asset manager to manager all assets path
0aa6da5
@xkiixkii
base env can combine different robots and objects with asset manager
8730d2b
@xkiixkii
initialize via obj name now
b77e4ab
@xkiixkii
add set position to set initial position
00e859a
@xkiixkii
load env via gymnasium
9b04736
@xkiixkii
organize meshes and models
8f4017e
@xkiixkii
Add equality constraint
afca959
@xkiixkii
Add equality constraint utils
f92abe5
@xkiixkii
add observable obj position
cc4de44
@xkiixkii
Add load_model for individual model
29d4d13
@xkiixkii
Add trailing slash for meshdir; Separate the floor.xml from robot and…
1e0dc75 
… object
@xkiixkii
add obs and action space
5794055
@mlaux1 mlaux1 self-assigned this Aug 16, 2024
mlaux1
mlaux1 requested changes Aug 22, 2024
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Very nice contribution. I just added some stylistic comments and suggestions.

deformable_gym/envs/mujoco/asset_manager.py Outdated Show resolved Hide resolved
deformable_gym/envs/mujoco/asset_manager.py Outdated Show resolved Hide resolved
deformable_gym/envs/mujoco/asset_manager.py Outdated Show resolved Hide resolved
deformable_gym/envs/mujoco/asset_manager.py Outdated Show resolved Hide resolved
deformable_gym/envs/mujoco/assets/mia_hand.xml Outdated Show resolved Hide resolved
deformable_gym/envs/mujoco/grasp_env.py Outdated Show resolved Hide resolved
deformable_gym/envs/mujoco/grasp_env.py Outdated Show resolved Hide resolved
deformable_gym/envs/mujoco/grasp_env.py Outdated Show resolved Hide resolved
deformable_gym/objects/mj_object.py Outdated Show resolved Hide resolved
deformable_gym/robots/mj_robot.py Outdated Show resolved Hide resolved
@mlaux1 mlaux1 linked an issue Aug 22, 2024 that may be closed by this pull request
Implement MuJoCo versions of environments #51
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@xkiixkii xkiixkii requested a review from mlaux1 August 27, 2024 15:11
@mlaux1 mlaux1 merged commit d71f752 into dfki-ric:main Sep 3, 2024
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Implement MuJoCo versions of environments
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@xkiixkii @mlaux1