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Push Environments #88

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646cf0e
Update push environment to use robotiq gripper and to have cartesian …
May 1, 2023
c91f588
Add new pushing envs
May 1, 2023
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76 changes: 74 additions & 2 deletions robohive/envs/arms/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ def register_visual_envs(encoder_type):
'robot_site_name': "end_effector",
'object_site_name': "sugarbox",
'target_site_name': "target",
'target_xyz_range': {'high':[-.4, 0.5, 0.78], 'low':[-.4, 0.5, 0.78]}
'target_xyz_range': {'high': [0.5, 0.4, 0.78], 'low': [0.5, 0.4, 0.78]}
}
)

Expand All @@ -91,7 +91,79 @@ def register_visual_envs(encoder_type):
'robot_site_name': "end_effector",
'object_site_name': "sugarbox",
'target_site_name': "target",
'target_xyz_range': {'high':[0.4, 0.5, 0.78], 'low':[-.4, .4, 0.78]}
'target_xyz_range': {'high': [0.5, 0.4, 0.78], 'low': [0.4, -0.4, 0.78]}
}
)

register(
# Init position: [0.51,0.23,0.98]
# Init euler: [-np.pi/4+0.3, np.pi+0.3, -3*np.pi/4,]
id='FrankaBinPush-v0',
entry_point='robohive.envs.arms.push_base_v0:PushBaseV0',
max_episode_steps=50, #50steps*40Skip*2ms = 4s
kwargs={
'model_path': curr_dir+'/franka/assets/franka_bin_push_v0.xml',
'config_path': curr_dir+'/franka/assets/franka_bin_push_v0.config',
'robot_site_name': "end_effector",
'object_site_name': "obj0",
'obj_pos_limits': {'high':[0.52, 0.126, 0.955], 'low':[0.48, 0.125, 0.945]},
'target_site_name': "target",
'target_xyz_range': {'high':[0.5, -0.22, 1.085], 'low':[0.5, -0.22, 1.085]},
'pos_limits': {'eef_low': [0.315, -0.22, 0.89, -0.485, 3.14, -2.36, 0.4],
'eef_high': [0.695, 0.275, 1.125, -0.485, 3.14, -2.36, 0.4]
},
'vel_limits': {'eef':[0.15, 0.15, 0.15],
'jnt': [0.15, 0.25, 0.1, 0.25, 0.1, 0.25, 0.2, 1.0]
},
'init_qpos': [0.534, 0.401, 0.0, -1.971, -0.457, 0.490, 1.617, 0.4, 0.4],
}
)

register(
# Init position: [0.36, 0.0, 1.34]
# Init euler: [3.14, 0.5, -0.8,]
id='FrankaHangPush-v0',
entry_point='robohive.envs.arms.push_base_v0:PushBaseV0',
max_episode_steps=50, #50steps*40Skip*2ms = 4s
kwargs={
'model_path': curr_dir+'/franka/assets/franka_hang_push_v0.xml',
'config_path': curr_dir+'/franka/assets/franka_hang_push_v0.config',
'robot_site_name': "end_effector",
'object_site_name': "obj0",
'obj_pos_limits': {'high':[0.46, 0.01, 1.31], 'low':[0.44, -0.01, 1.3]},
'target_site_name': "target",
'target_xyz_range': {'high':[0.621, 0.0, 1.333], 'low':[0.621, 0.0, 1.333]},
'pos_limits': {'eef_low': [0.3, -0.1, 1.25, 3.14, 0.5, -0.8, 0.2],
'eef_high': [0.8, 0.1, 1.5, 3.14, 0.5, -0.8, 0.2]
},
'vel_limits': {'eef':[0.15, 0.15, 0.15],
'jnt': [0.15, 0.25, 0.1, 0.25, 0.1, 0.25, 0.2, 1.0]
},
'init_qpos': [0.0227, -0.9291, -0.014, -2.5568, -0.029, 0.5052, -0.783, 0.2, 0.2],
}
)

register(
# Init position: [0.36, 0.0, 1.34]
# Init euler: [3.14, 0.5, -0.8,]
id='FrankaPlanarPush-v0',
entry_point='robohive.envs.arms.push_base_v0:PushBaseV0',
max_episode_steps=50, #50steps*40Skip*2ms = 4s
kwargs={
'model_path': curr_dir+'/franka/assets/franka_planar_push_v0.xml',
'config_path': curr_dir+'/franka/assets/franka_planar_push_v0.config',
'robot_site_name': "end_effector",
'object_site_name': "obj0",
'obj_pos_limits': {'high':[0.50, 0.31, 0.855], 'low':[0.46, 0.29, 0.845]},
'target_site_name': "target",
'target_xyz_range': {'high':[0.48, -0.1, 0.845], 'low':[0.48, -0.1, 0.845]},
'pos_limits': {'eef_low': [0.3, -0.4, 0.865, 3.14, 0.0, 0.28, 0.2],
'eef_high': [0.8, 0.4, 0.965, 3.14, 0.0, 1.28, 0.2]
},
'vel_limits': {'eef':[0.15, 0.15, 0.15],
'jnt': [0.15, 0.25, 0.1, 0.25, 0.1, 0.25, 0.2, 1.0]
},
'init_qpos': [0.665, 0.567, 0.0, -1.999, 0.0, 0.9172, 1.4541, 0.2, 0.2],
}
)

Expand Down
89 changes: 89 additions & 0 deletions robohive/envs/arms/franka/assets/franka_bin_push_v0.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,89 @@
{
# device1: sensors, actuators
'franka':{
'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale': 0.5},
'sensor':[
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
{'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
{'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
{'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},

],

'actuator':[
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
]
},

'robotiq':{
'interface': {'type': 'robotiq', 'ip_address':'172.16.0.3'},
'sensor':[
{'range':(0, 0.834), 'noise':0.0, 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-9.81, 'offset':0.834},
],
'actuator':[
{'pos_range':(0, 1), 'vel_range':(-20*np.pi/4, 20*np.pi/4), 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-0.085, 'offset':0.085},
]
},

'right_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_819112073358/color/image_raw',
'd_topic': 'realsense_819112073358/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

'left_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_948522071060/color/image_raw',
'd_topic':'realsense_948522071060/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

'top_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_815412071252/color/image_raw',
'd_topic': 'realsense_815412071252/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_color'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

'Franka_wrist_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_137222072789/color/image_raw',
'd_topic': 'realsense_137222072789/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_color'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

}
74 changes: 74 additions & 0 deletions robohive/envs/arms/franka/assets/franka_bin_push_v0.xml
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Original file line number Diff line number Diff line change
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<mujoco model="RoboPen-BinPush">
<!-- =================================================
Copyright 2022 Vikash Kumar
Model :: BinPick (MuJoCoV2.0)
Author :: Vikash Kumar ([email protected])
source :: https://github.com/vikashplus/robohive
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -->

<size njmax='1000' nconmax='1000'/>

<include file="../../../../simhive/scene_sim/topfloor_scene.xml"/>
<include file="../../../../simhive/furniture_sim/simpleTable/simpleTable_asset.xml"/>
<include file="../../../../simhive/furniture_sim/ventionTable/ventionTable_asset.xml"/>
<include file="../../../../simhive/franka_sim/assets/assets.xml"/>
<include file="../../../../simhive/franka_sim/assets/actuator0.xml"/>
<include file="../../../../simhive/robotiq_sim/assets/assets.xml"/>
<include file="../../../../simhive/furniture_sim/bin/bin_asset.xml"/>

<compiler inertiafromgeom="auto" inertiagrouprange="3 4" angle="radian" meshdir="../../../../simhive/franka_sim" texturedir="../../../../simhive/franka_sim"/>

<worldbody>

<camera name='left_cam' pos='-0.5 1.2 1.8' quat='-0.32 -0.22 0.49 0.78'/>
<camera name='right_cam' pos='-0.5 -1.2 1.8' quat='0.76 0.5 -0.21 -0.35'/>
<camera name='top_cam' pos='0.5 0 2.2' euler='0 0 -1.57'/>
<site name='workspace' type='box' size='.6 .375 .25' pos='0 0.475 1.0' group='3' rgba='0 0 .4 .2'/>

<!-- Franka Arm-->
<body pos='0 0 .823' euler='0 0 0'>
<include file="../../../../simhive/franka_sim/assets/chain0_nogripper.xml"/>
</body>

<!-- Robotiq Hand-->
<body name="ee_mount" pos="0 0 .11" euler="0 0 0">
<include file="../../../../simhive/robotiq_sim/assets/chain.xml"/>
</body>

<!-- Tables -->
<body name="ventiontable" pos='-0.3 0 0' euler='0 0 1.57'>
<include file="../../../../simhive/furniture_sim/ventionTable/ventionTable_body.xml"/>
</body>
<body name="scenetable" pos='0.49 0 0.065' euler="0 0 1.57">
<include file="../../../../simhive/furniture_sim/simpleTable/simpleMarbleTable_body.xml"/>
</body>

<!-- tasks details added here via include-->
<body name="busbin1" pos='0.5 0.0 0.935' euler='-0.4 0.0 0.0'>
<include file="../../../../simhive/furniture_sim/bin/busbin1_body.xml"/>
</body>
<site name="busbin_top" size="0.01" rgba="0.3 .95 .3 0" pos="0.5 -0.22 1.085"/>

<site name='target' type='sphere' size='.02' pos='0.5 -0.22 1.085' group='1' rgba='.1 .8 .2 0.0'/>

<site name='pos_limit_low' type="sphere" size="0.02" pos='0.315 -0.22 1.125' group="1" rgba="0.1 0.8 0.2 0" />
<site name='pos_limit_high' type="sphere" size="0.02" pos='0.695 0.275 0.89' group="1" rgba="0.1 0.8 0.2 0" />

<body name="obj0" pos="0.5 0.125 0.945" euler='0 0 1.57'>
<inertial pos="0 0 0" mass="0.088" diaginertia="0.0001 0.0001 0.0001" />
<geom type="capsule" size="0.02 0.04" pos="0.0 0.0 0.0" euler="1.57 0 0" group="1" rgba=".3 .7 .8 1" mass=".100"/>
<site name="obj0" size="0.01" pos="0 0 0"/>
<freejoint name="obj0"/>
</body>

</worldbody>

<tendon>
<spatial width="0.002" rgba=".95 .3 .3 0" limited="true" range="0 0.4">
<site site="busbin_top"/>
<site site="obj0"/>
</spatial>
</tendon>

</mujoco>
89 changes: 89 additions & 0 deletions robohive/envs/arms/franka/assets/franka_hang_push_v0.config
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{
# device1: sensors, actuators
'franka':{
'interface': {'type': 'franka', 'ip_address':'172.16.0.1', 'gain_scale': 0.5},
'sensor':[
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':0, 'scale':1, 'offset':0, 'name':'fr_arm_jp1'},
{'range':(-1.8, 1.8), 'noise':0.05, 'hdr_id':1, 'scale':1, 'offset':0, 'name':'fr_arm_jp2'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':2, 'scale':1, 'offset':0, 'name':'fr_arm_jp3'},
{'range':(-3.1, 0.0), 'noise':0.05, 'hdr_id':3, 'scale':1, 'offset':0, 'name':'fr_arm_jp4'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':4, 'scale':1, 'offset':0, 'name':'fr_arm_jp5'},
{'range':(-1.7, 3.8), 'noise':0.05, 'hdr_id':5, 'scale':1, 'offset':-np.pi/2, 'name':'fr_arm_jp6'},
{'range':(-2.9, 2.9), 'noise':0.05, 'hdr_id':6, 'scale':1, 'offset':-np.pi/4, 'name':'fr_arm_jp7'},

],

'actuator':[
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':0, 'scale':1, 'offset':0, 'name':'panda0_joint1'},
{'pos_range':(-1.8326, 1.8326), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':1, 'scale':1, 'offset':0, 'name':'panda0_joint2'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':2, 'scale':1, 'offset':0, 'name':'panda0_joint3'},
{'pos_range':(-3.1416, 0.0000), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':3, 'scale':1, 'offset':0, 'name':'panda0_joint4'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':4, 'scale':1, 'offset':0, 'name':'panda0_joint5'},
{'pos_range':(-1.6600, 2.1817), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':5, 'scale':1, 'offset':np.pi/2, 'name':'panda0_joint6'},
{'pos_range':(-2.9671, 2.9671), 'vel_range':(-4*np.pi/2, 4*np.pi/2), 'hdr_id':6, 'scale':1, 'offset':np.pi/4, 'name':'panda0_joint7'},
]
},

'robotiq':{
'interface': {'type': 'robotiq', 'ip_address':'172.16.0.3'},
'sensor':[
{'range':(0, 0.834), 'noise':0.0, 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-9.81, 'offset':0.834},
],
'actuator':[
{'pos_range':(0, 1), 'vel_range':(-20*np.pi/4, 20*np.pi/4), 'hdr_id':0, 'name':'robotiq_2f_85', 'scale':-0.085, 'offset':0.085},
]
},

'right_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_817612071438/color/image_raw',
'd_topic': 'realsense_817612071438/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

'left_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_923322071682/color/image_raw',
'd_topic':'realsense_923322071682/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_raw'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

'top_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_831612071935/color/image_raw',
'd_topic': 'realsense_831612071935/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_color'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

'Franka_wrist_cam':{
'interface': {'type': 'realsense',
'rgb_topic':'realsense_936322070059/color/image_raw',
'd_topic': 'realsense_936322070059/depth_uncolored/image_raw',
'data_type':'rgbd'},
'sensor':[],
'cams': [
{'range':(0, 255), 'noise':0.00, 'hdr_id':'rgb', 'scale':1, 'offset':0, 'name':'/color/image_color'},
{'range':(0, 255), 'noise':0.00, 'hdr_id':'d', 'scale':0.05, 'offset':0, 'name':'/depth_mono/image_raw'},
],
'actuator':[]
},

}