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Full MuJoCo Grasping Environment #61

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Full MuJoCo Grasping Environment #61

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xkiixkii
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@xkiixkii xkiixkii commented Oct 4, 2024

Implemented UR+Hand mujoco grasp environments #56 #57

Avaliable environment ids:

  • MjFloatingShadowGraspInsole-v0
  • MjFloatingShadowGraspPillow-v0
  • MjFloatingMiaGraspInsole-v0
  • MjFloatingMiaGraspPillow-v0
  • MjUR5MiaGraspInsole-v0
  • MjUR5MiaGraspPillow-v0
  • MjUR10MiaGraspInsole-v0
  • MjUR10MiaGraspPillow-v0
  • MjUR10FTMiaGraspInsole-v0
  • MjUR10FTMiaGraspPillow-v0
  • MjUR10EMiaGraspInsole-v0
  • MjUR10EMiaGraspPillow-v0
  • MjUR5ShadowGraspInsole-v0
  • MjUR5ShadowGraspPillow-v0
  • MjUR10ShadowGraspInsole-v0
  • MjUR10ShadowGraspPillow-v0
  • MjUR10EShadowGraspInsole-v0
  • MjUR10EShadowGraspPillow-v0

@xkiixkii
Change relative body of equality constraints
f0c9def
@xkiixkii
Remove initial position
452dfed
@xkiixkii
Add default position and orientation for pose
702589e
@xkiixkii
Refactor asset manager into modules
07635ca
@xkiixkii
Add new robots
299e1cb
@xkiixkii
Support mocap body control
19a85e9
@xkiixkii
Add mocap body control
b8cc066
@xkiixkii
Load init pose from init_pose and add pillow object
c9b287e
@xkiixkii
Add mocap control and arm descriptions
fb100dc
@xkiixkii
Add new robots
1d09e86
@xkiixkii
Add mocap body and rotation utils
fc5d275
@xkiixkii
Set None as initial value of Pose
c60c0e9
@xkiixkii
Use pose defined in mjcf if pos or quat is not specified in given pose
8500d28
@xkiixkii
Change relative weld body
a697981
@xkiixkii
Register all mujoco grasp environments
14bce13
@xkiixkii
Add mujoco environment scene base
e8b7dfa
@xkiixkii
Use gymnasium style render method
268e668
@xkiixkii
Adapt initial pose for UR5ShadowGraspPillow
86f7b6e
@xkiixkii
Use only GraspEnv for all mujoco grasp environments
11bf6e8
@xkiixkii
Reset equality constraint after reset mocap pose
fa91ecb
@xkiixkii
Add tests for mocap control
dc2bc13
@xkiixkii
Update README
9718608
@xkiixkii
Add mjSpec utils
2eb34e2
@xkiixkii
Use native mujoco viewer for "human" render mode
65fc70e
@xkiixkii
Update dependencies
a5a02ef
@xkiixkii
Fix annotation issue
49f5012
@xkiixkii
Update dependencies
b15f926
@xkiixkii
Set render mode to "human"
24a2cb0
@xkiixkii
Update README
54e96fc
@xkiixkii
Update docstring
e994b4a
@xkiixkii xkiixkii changed the title Full MuJoCo Grasping Environment #56 #57 Full MuJoCo Grasping Environment Oct 5, 2024
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