Full MuJoCo Grasping Environment

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 git@github.com: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>

assets/robots/mjcf/include/asset/ur5.xml

@@ -0,0 +1,11 @@
+<mujoco>
+	<asset>
+		<mesh name="base" file="ur5/collision/base.stl" />
+		<mesh name="shoulder" file="ur5/collision/shoulder.stl" />
+		<mesh name="upperarm" file="ur5/collision/upperarm.stl" />
+		<mesh name="forearm" file="ur5/collision/forearm.stl" />
+		<mesh name="wrist1" file="ur5/collision/wrist1.stl" />
+		<mesh name="wrist2" file="ur5/collision/wrist2.stl" />
+		<mesh name="wrist3" file="ur5/collision/wrist3.stl" />
+	</asset>
+</mujoco>

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

@@ -0,0 +1,16 @@
+<mujoco>
+	<default>
+		<default class="mia_hand_finger">
+			<position forcerange="-1.75 1.75" />
+			<default class="mia_thumb">
+				<position ctrlrange="0 1.1345" forcerange="-3.5 3.5" />
+			</default>
+			<default class="mia_index">
+				<position ctrlrange="-1.4 1.4" />
+			</default>
+			<default class="mia_mrl">
+				<position ctrlrange="0 1.39626" />
+			</default>
+		</default>
+	</default>
+</mujoco>