|
| [ReachTargetSingle](bigym/envs/reach_target.py) | Reach the target with specific wrist. | 
|
| [ReachTargetDual](bigym/envs/reach_target.py) | Reach 2 targets, one with each arm. | 
|
| [StackBlocks](bigym/envs/manipulation.py) | Move blocks across the table, and stack them in the target area. | 
|
| [MovePlate](bigym/envs/move_plates.py) | Move the plate between two draining racks. | 
|
| [MoveTwoPlates](bigym/envs/move_plates.py) | Move two plates simultaneously from one draining rack to the other. | 
|
| [FlipCup](bigym/envs/manipulation.py) | Flip the cup, initially positioned upside down on the table, to an upright position. | 
|
| [FlipCutlery](bigym/envs/manipulation.py) | Take the cutlery from the static holder, flip it, and place it back into the holder. | 
|
| [DishwasherOpen](bigym/envs/dishwasher.py) | Open the dishwasher door and pull out all trays. | 
|
| [DishwasherClose](bigym/envs/dishwasher.py) | Push back all trays and close the door of the dishwasher. | 
|
| [DishwasherOpenTrays](bigym/envs/dishwasher.py) | Pull out the dishwasher’s trays with the door initially open. | 
|
| [DishwasherCloseTrays](bigym/envs/dishwasher.py) | Push the dishwasher’s trays back with the door initially open. | 
|
| [DishwasherLoadPlates](bigym/envs/dishwasher_plates.py) | Move plates from the rack to the lower tray of the dishwasher. | 
|
| [DishwasherLoadCups](bigym/envs/dishwasher_cups.py) | Move cups from the table to the upper tray of the dishwasher. | 
|
| [DishwasherLoadCutlery](bigym/envs/dishwasher_cutlery.py) | Move cutlery from the table holder to the dishwasher’s cutlery basket. | 
|
| [DishwasherUnloadPlates](bigym/envs/dishwasher_plates.py) | Move plates from the tray of the dishwasher to a table rack. | 
|
| [DishwasherUnloadCups](bigym/envs/dishwasher_cups.py) | Move cups from the upper tray of the dishwasher to the table. | 
|
| [DishwasherUnloadCutlery](bigym/envs/dishwasher_cutlery.py) | Move cutlery from the cutlery basket to a tray on the table. | 
|
| [DishwasherUnloadPlatesLong](bigym/envs/dishwasher_plates.py) | A full task of unloading a plate: picking up the plate from dishwasher, placing this plate into the rack located in the closed wall cabinet, and closing the dishwasher and cupboard. | 
|
| [DishwasherUnloadCupsLong](bigym/envs/dishwasher_cups.py) | A full task of unloading a cup: picking up the cup, placing it inside the closed wall cabinet, and closing the dishwasher and cupboard. | 
|
| [DishwasherUnloadCutleryLong](bigym/envs/dishwasher_cutlery.py) | A full task of unloading a cutlery: picking up a cutlery, placing it into the cutlery tray inside the closed drawer, and closing the dishwasher and drawer. | 
|
| [DrawerTopOpen](bigym/envs/cupboards.py) | Open the top drawer of the kitchen cabinet. | 
|
| [DrawerTopClose](bigym/envs/cupboards.py) | Close the top drawer of the kitchen cabinet. | 
|
| [DrawersAllOpen](bigym/envs/cupboards.py) | Open all sliding drawers of the kitchen cabinet. | 
|
| [DrawersAllClose](bigym/envs/cupboards.py) | Close all sliding drawers of the kitchen cabinet. | 
|
| [WallCupboardOpen](bigym/envs/cupboards.py) | Open doors of the wall cabinet. | 
|
| [WallCupboardClose](bigym/envs/cupboards.py) | Close doors of the wall cabinet. | 
|
| [CupboardsOpenAll](bigym/envs/cupboards.py) | Open all drawers and doors of the kitchen set. | 
|
| [CupboardsCloseAll](bigym/envs/cupboards.py) | Close all drawers and doors of the kitchen set. | 
|
| [PutCups](bigym/envs/pick_and_place.py) | Pick up cups from the table and put them into the closed wall cabinet. | 
|
| [TakeCups](bigym/envs/pick_and_place.py) | Take two cups out from the closed wall cabinet and put them on the table. | 
|
| [PickBox](bigym/envs/pick_and_place.py) | Pick up a large box from the floor and place it on the counter. | 
|
| [StoreBox](bigym/envs/pick_and_place.py) | Move a large box from the counter to the shelf in the cabinet below. | 
|
| [SaucepanToHob](bigym/envs/pick_and_place.py) | Take the saucepan from the closed cabinet and place it on the hob. | 
|
| [StoreKitchenware](bigym/envs/pick_and_place.py) | Take all items from the hob and place them in the cabinet below. | 
|
| [ToastSandwich](bigym/envs/pick_and_place.py) | Use the spatula to put the sandwich on the frying pan. | 
|
| [FlipSandwich](bigym/envs/pick_and_place.py) | Flip the sandwich in the frying pan using the spatula. | 
|
| [RemoveSandwich](bigym/envs/pick_and_place.py) | Take the sandwich out of the frying pan. | 
|
| [GroceriesStoreLower](bigym/envs/groceries.py) | Place a random set of groceries in the cabinets below the counter. | 
|
| [GroceriesStoreUpper](bigym/envs/groceries.py) | Place a random set of groceries in cabinets and shelves on the wall. | 
|
## Usage
Directly instantiate the task of interest. Tasks are located in [bigym/envs/](bigym/envs/).
```python
from bigym.action_modes import TorqueActionMode
from bigym.envs.reach_target import ReachTarget
from bigym.utils.observation_config import ObservationConfig, CameraConfig
env = ReachTarget(
action_mode=TorqueActionMode(floating_base=True),
observation_config=ObservationConfig(
cameras=[
CameraConfig(
name="head",
rgb=True,
depth=False,
resolution=(128, 128),
)
],
),
render_mode=None,
)
```
Use `ActionModes` to parameterise how you want to control your robot.
## Working with demonstrations
### [Demo Store](demonstrations/demo_store.py)
Please see simple example here: [examples/replay_demo.py](examples/replay_demo.py).
Demonstrations are automatically downloaded from GitHub releases.
When demos are requested by calling `DemoStore.get_demos()`. The current dataset will be cached locally at `$HOME/.bigym/v0.0.0`.
Demonstrations with custom observations and frequency are also cached to `$HOME/.bigym/v0.0.0`.
**⚠️ Warning:** We are working on the dataset. Not all demonstrations will result in successful completion of the task. Please validate before use.
**⚠️ Warning:** The current dataset includes demonstrations for the following action modes only:
- `JointPositionActionMode(floating_base=True, absolute=True)`
- `JointPositionActionMode(floating_base=True, absolute=False)`
### [Demo Player](tools/demo_player/main.py)
Replay existing demos using GUI player.
```bash
python tools/demo_player/main.py
```
### [VR Demo Recorder](tools/demo_recorder/main.py)
Record new demos in VR. Follow [VR README](vr/README.md) to configure docker container to run this tool.
```bash
python tools/demo_recorder/main.py
```
## Contributing
On each PR, please ensure to bump the:
- **Major** version if you alter the existing interface in any way.
- **Minor** version if you have added new features (which didn't break the existing interface)
- **Patch** version for bug fixes.
Please ensure that you pass pre-commits before opening a PR: `pre-commit run --all-files` and that you pass all tests: `pytest tests/ --run-slow`.
## Licenses
- [BiGym License (Apache 2.0)](LICENSE) - This repository
- [Mujoco Menagerie (Apache 2.0)](https://github.com/google-deepmind/mujoco_menagerie/blob/main/LICENSE) - Models of robots and grippers
- [3D Assets Attributions (CC0, CC BY 4.0, CC BY NC 4.0)](bigym/envs/xmls/3D_MODELS_ATTRIBUTION.md) - 3D Assets
## Citation
If you find our work helpful, please kindly cite us
```bibtex
@article{chernyadev2024bigym,
title={BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark},
author={Chernyadev, Nikita and Backshall, Nicholas and Ma, Xiao and Lu, Yunfan and Seo, Younggyo and James, Stephen},
journal={arXiv preprint arXiv:2407.07788},
year={2024}
}
```
================================================
FILE: bigym/__init__.py
================================================
"""Init."""
__version__ = "4.1.0"
================================================
FILE: bigym/action_modes.py
================================================
"""Action modes for H1."""
from __future__ import annotations
from enum import Enum
from typing import TYPE_CHECKING
import warnings
from abc import abstractmethod, ABC
from typing import Optional
import numpy as np
from gymnasium import spaces
from mojo import Mojo
from bigym.const import TOLERANCE_ANGULAR
from bigym.utils.physics_utils import (
is_target_reached,
)
if TYPE_CHECKING:
from bigym.robots.robot import Robot
class TargetStateNotReachedWarning(Warning):
"""Warning raised when the target state is not reached within the maximum steps."""
pass
class PelvisDof(Enum):
"""Set of floating base DOFs."""
X = "pelvis_x"
Y = "pelvis_y"
Z = "pelvis_z"
RZ = "pelvis_rz"
DEFAULT_DOFS = [PelvisDof.X, PelvisDof.Y, PelvisDof.RZ]
class ActionMode(ABC):
"""Base action mode class used for controlling H1."""
def __init__(
self,
floating_base: bool = True,
floating_dofs: Optional[list[PelvisDof]] = None,
):
"""Init.
:param floating_base: If True, then legs are frozen, and the robot base
controlled by positional actuators.
If False, then user has full control of legs (i.e. for whole-body control).
:param floating_dofs: Set of floating DOFs. By default, it is: [X, Y, RZ].
"""
self._floating_base = floating_base
self._floating_dofs = DEFAULT_DOFS if floating_dofs is None else floating_dofs
# Will be assigned later
self._mojo: Optional[Mojo] = None
self._robot: Optional[Robot] = None
def bind_robot(self, robot: Robot, mojo: Mojo):
"""Bind action mode to robot."""
self._robot = robot
self._mojo = mojo
@property
def floating_base(self) -> bool:
"""Is floating base enabled."""
return self._floating_base
@property
def floating_dofs(self) -> list[PelvisDof]:
"""Set of floating DOFs."""
return self._floating_dofs
@abstractmethod
def action_space(
self, action_scale: float, seed: Optional[int] = None
) -> spaces.Box:
"""The action space for this action mode."""
pass
@abstractmethod
def step(self, action: np.ndarray):
"""Apply the control command and step the physics.
Note: This function has the responsibility of calling `mujoco.mj_step`.
:param action: The entire action passed to the action mode.
"""
pass
@abstractmethod
def reset(self, reset_state: np.ndarray):
"""Reset state of the robot accordingly to the action mode.
:param reset_state: Target reset state of robot actuators.
"""
pass
class TorqueActionMode(ActionMode):
"""Control all joints through torque control.
Enables the user to control joints using torque values.
Notes:
- Grippers are controlled in positional mode.
- Joints of the 'floating_base' are always controlled in delta position mode.
"""
def action_space(
self, action_scale: float, seed: Optional[int] = None
) -> spaces.Box:
"""See base."""
bounds = []
if self.floating_base:
action_bounds = self._robot.floating_base.get_action_bounds()
action_bounds = [np.array(b) * action_scale for b in action_bounds]
bounds.extend(action_bounds)
for actuator in self._robot.limb_actuators:
action_bounds = np.array(actuator.ctrlrange)
bounds.append(action_bounds)
for _, gripper in self._robot.grippers.items():
bounds.append(gripper.range)
bounds = np.array(bounds).copy().astype(np.float32)
low, high = bounds.T
return spaces.Box(
low=low,
high=high,
dtype=np.float32,
seed=seed,
)
def step(self, action: np.ndarray):
"""See base."""
if self.floating_base:
base_action = action[: self._robot.floating_base.dof_amount]
action = action[self._robot.floating_base.dof_amount :]
self._robot.floating_base.set_control(base_action)
for i, actuator in enumerate(self._robot.limb_actuators):
self._mojo.physics.bind(actuator).ctrl = action[i]
gripper_actions = action[-len(self._robot.grippers) :]
for side, action in zip(self._robot.grippers, gripper_actions):
self._robot.grippers[side].set_control(action)
self._mojo.step()
def reset(self, reset_state: np.ndarray):
"""See base."""
if len(reset_state) != len(self._robot.limb_actuators):
raise ValueError(
f"Mismatch between reset_state length "
f"({len(reset_state)}) "
f"and number of actuators ({len(self._robot.limb_actuators)}). "
f"Ensure reset_state matches the actuators count in the model."
)
for value, actuator in zip(reset_state, self._robot.limb_actuators):
if actuator.joint:
joint = self._mojo.physics.bind(actuator.joint)
joint.qpos = value
joint.qvel *= 0
joint.qacc *= 0
elif actuator.tendon:
warnings.warn(
f"Tendon actuators are not fully supported "
f"for {self.__class__.__name__} action mode."
)
class JointPositionActionMode(ActionMode):
"""Control all joints through joint position.
Allows to control joint positions, supporting both absolute and delta positions.
For absolute control, set 'absolute' to True. If the floating base is enabled,
only delta position control is applied to it.
Notes:
- `block_until_reached` does not guarantee reaching the target position because
the target position could be unreachable due to collisions.
- Joints of the `floating_base` are always controlled in delta position mode.
"""
MAX_STEPS = 200
def __init__(
self,
absolute: bool = False,
block_until_reached: bool = False,
floating_base: bool = True,
floating_dofs: list[PelvisDof] = None,
):
"""See base.
:param absolute: Use absolute or delta joint positions.
:param block_until_reached: Continue stepping until the target
position is reached or the step threshold is exceeded.
"""
super().__init__(
floating_base=floating_base,
floating_dofs=floating_dofs,
)
self.absolute = absolute
self.block_until_reached = block_until_reached
def action_space(
self, action_scale: float, seed: Optional[int] = None
) -> spaces.Box:
"""See base."""
bounds = []
if self.floating_base:
action_bounds = self._robot.floating_base.get_action_bounds()
action_bounds = [np.array(b) * action_scale for b in action_bounds]
bounds.extend(action_bounds)
for actuator in self._robot.limb_actuators:
action_bounds = np.array(
self._robot.get_limb_control_range(actuator, self.absolute)
)
action_bounds *= 1 if self.absolute else action_scale
bounds.append(action_bounds)
for _, gripper in self._robot.grippers.items():
bounds.append(gripper.range)
bounds = np.array(bounds).copy().astype(np.float32)
low, high = bounds.T
return spaces.Box(
low=low,
high=high,
dtype=np.float32,
seed=seed,
)
def step(self, action: np.ndarray):
"""See base."""
if self.floating_base:
base_action = action[: self._robot.floating_base.dof_amount]
action = action[self._robot.floating_base.dof_amount :]
self._robot.floating_base.set_control(base_action)
for i, actuator in enumerate(self._robot.limb_actuators):
actuator = self._mojo.physics.bind(actuator)
actuator.ctrl = action[i] if self.absolute else actuator.ctrl + action[i]
gripper_actions = action[-len(self._robot.grippers) :]
for side, action in zip(self._robot.grippers, gripper_actions):
self._robot.grippers[side].set_control(action)
if self.block_until_reached:
self._step_until_reached()
else:
self._mojo.step()
def reset(self, reset_state: np.ndarray):
"""See base."""
if len(reset_state) != len(self._robot.limb_actuators):
raise ValueError(
f"Mismatch between reset_state length "
f"({len(reset_state)}) "
f"and number of actuators ({len(self._robot.limb_actuators)}). "
f"Ensure reset_state matches the actuators count in the model."
)
for value, actuator in zip(reset_state, self._robot.limb_actuators):
if actuator.joint:
bound_joint = self._mojo.physics.bind(actuator.joint)
bound_joint.qpos = value
bound_joint.qvel *= 0
bound_joint.qacc *= 0
elif actuator.tendon:
if actuator.tendon.joint is None or len(actuator.tendon.joint) == 0:
raise RuntimeError(
"Currently only fixed tendons with joints are supported."
)
joint_value = value / len(actuator.tendon.joint)
for tendon_joint in actuator.tendon.joint:
value_coefficient = tendon_joint.coef
bound_joint = self._mojo.physics.bind(tendon_joint.joint)
bound_joint.qpos = joint_value / value_coefficient
bound_joint.qvel *= 0
bound_joint.qacc *= 0
bound_actuator = self._mojo.physics.bind(actuator)
bound_actuator.ctrl = value
def _step_until_reached(self):
"""Step physics until the target position is reached."""
steps_counter = 0
while True:
self._mojo.step()
steps_counter += 1
if self._is_target_state_reached() or steps_counter >= self.MAX_STEPS:
if steps_counter >= self.MAX_STEPS:
warnings.warn(
f"Failed to reach target state in " f"{self.MAX_STEPS} steps!",
TargetStateNotReachedWarning,
)
break
def _is_target_state_reached(self):
if self.floating_base:
if not self._robot.floating_base.is_target_reached:
return False
for actuator in self._robot.limb_actuators:
if not is_target_reached(actuator, self._mojo.physics, TOLERANCE_ANGULAR):
return False
return True
================================================
FILE: bigym/bigym_env.py
================================================
"""Core BiGym env functionality."""
from __future__ import annotations
import logging
from pathlib import Path
from typing import Any, Optional, Type
import mujoco
import numpy as np
import gymnasium as gym
from gymnasium import spaces
from mojo import Mojo
from mojo.elements import Geom, Camera
from bigym.action_modes import ActionMode
from bigym.const import WORLD_MODEL
from bigym.envs.props.preset import Preset
from bigym.robots.configs.h1 import H1
from bigym.robots.robot import Robot
from bigym.bigym_renderer import BiGymRenderer
from bigym.utils.callables_cache import CallablesCache
from bigym.utils.env_health import EnvHealth
from bigym.utils.observation_config import ObservationConfig
CONTROL_FREQUENCY_MAX = 500
CONTROL_FREQUENCY_MIN = 20
PHYSICS_DT = 0.002
MAX_DISTANCE_FROM_ORIGIN = 10
SPARSE_REWARD_FACTOR = 1
class BiGymEnv(gym.Env):
"""Core BiGym environment which loads in common robot across all tasks."""
metadata = {
"render_modes": ["human", "rgb_array", "depth_array"],
"render_fps": 1 / PHYSICS_DT,
}
_ENV_CAMERAS = ["external"]
_MODEL_PATH: Path = WORLD_MODEL
_PRESET_PATH: Optional[Path] = None
_FLOOR = "floor"
DEFAULT_ROBOT = H1
RESET_ROBOT_POS = np.array([0, 0, 0])
RESET_ROBOT_QUAT = np.array([1, 0, 0, 0])
def __init__(
self,
action_mode: ActionMode,
observation_config: ObservationConfig = ObservationConfig(),
render_mode: Optional[str] = None,
start_seed: Optional[int] = None,
control_frequency: int = CONTROL_FREQUENCY_MAX,
robot_cls: Optional[Type[Robot]] = None,
):
"""Init.
:param action_mode: The action mode of the robot. Use this to configure how
you plan to control the robot. E.g. joint position, delta ee pose, ect.
:param observation_config: Observations configuration. Use this to configure
collected data.
:param render_mode: The render mode for mujoco. Options are
"human", "rgb_array" or "depth_array". If None, the default render mode
will be used.
:param start_seed: The seed to start the environment with. If None, a random
seed will be used.
:param control_frequency: Control loop frequency, 500 Hz by default.
:param robot_cls: Environment robot class override.
"""
# Tracks physics simulation stability
self._env_health = EnvHealth()
# Caches results valid for one environment step
self._step_cache = CallablesCache()
self._observation_config = observation_config
self.action_mode = action_mode
if start_seed is None:
start_seed = np.random.randint(2**32)
if not isinstance(start_seed, int):
raise ValueError("Expected start_seed to be an integer.")
self._next_seed = start_seed
self._current_seed = None
assert CONTROL_FREQUENCY_MIN <= control_frequency <= CONTROL_FREQUENCY_MAX, (
f"Control frequency must be in "
f"{CONTROL_FREQUENCY_MIN}-{CONTROL_FREQUENCY_MAX} range."
)
self._control_frequency = control_frequency
self._sub_steps_count = int(
np.round(CONTROL_FREQUENCY_MAX / self._control_frequency)
)
self._mojo = Mojo(str(self._MODEL_PATH), timestep=PHYSICS_DT)
self._robot = (robot_cls or self.DEFAULT_ROBOT)(self.action_mode, self._mojo)
self._preset = Preset(self._mojo, self._PRESET_PATH)
self._initialize_env()
self._floor = Geom.get(self._mojo, self._FLOOR)
self.action_space: spaces.Box = self.action_mode.action_space(
action_scale=self._sub_steps_count, seed=self._next_seed
)
self._action: np.ndarray = np.zeros_like(self.action_space.low)
self.observation_space: spaces.Space = self.get_observation_space()
assert self.metadata["render_modes"] == [
"human",
"rgb_array",
"depth_array",
], self.metadata["render_modes"]
self.render_mode = render_mode
# Validate cameras configuration
available_cameras = set(self._ENV_CAMERAS + self._robot.config.cameras)
for camera_config in self._observation_config.cameras:
assert camera_config.name in available_cameras
# Mapping original camera names to full identifiers
self._cameras_map = self._initialize_cameras()
self.mujoco_renderer: Optional[BiGymRenderer] = None
self.obs_renderers: Optional[dict[tuple[int, int], mujoco.Renderer]] = {}
self._initialize_renderers()
@property
def task_name(self) -> str:
"""Returns the class name of the environment."""
return self.__class__.__name__
@property
def _use_pixels(self):
"""Returns True if the environment uses pixels."""
return len(self.observation_config.cameras) > 0
@property
def seed(self) -> Optional[int]:
"""Initial seed of the environment."""
return self._current_seed
@property
def success(self) -> bool:
"""Check if current step is successful."""
return bool(self._step_cache.get(self._success))
@property
def fail(self) -> bool:
"""Check if current step is successful."""
return bool(self._step_cache.get(self._fail))
@property
def reward(self) -> float:
"""Get current step reward."""
return float(self._step_cache.get(self._reward))
@property
def terminate(self) -> bool:
"""Get current step termination condition."""
return bool(self.success or self.fail)
@property
def truncate(self) -> bool:
"""Get current step truncation condition."""
return bool(not self.is_healthy)
@property
def is_healthy(self) -> bool:
"""Checks if the simulation is currently healthy."""
return bool(self._env_health.is_healthy)
@property
def observation_config(self) -> ObservationConfig:
"""Get the observation configuration."""
return self._observation_config
@property
def control_frequency(self):
"""Control frequency of the environment."""
return self._control_frequency
@property
def robot(self) -> Robot:
"""Get robot."""
return self._robot
@property
def floor(self) -> Geom:
"""Get environment floor."""
return self._floor
@property
def mojo(self) -> Mojo:
"""Get Mojo."""
return self._mojo
@property
def action(self) -> np.ndarray:
"""Get last executed action."""
return self._action.copy()
def _initialize_renderers(self):
self._close_renderers()
self.mujoco_renderer: BiGymRenderer = BiGymRenderer(self._mojo)
for camera_config in self._observation_config.cameras:
resolution = camera_config.resolution
if resolution in self.obs_renderers:
continue
self.obs_renderers[resolution] = mujoco.Renderer(
self._mojo.model, resolution[0], resolution[1]
)
def _initialize_cameras(self) -> dict[str, tuple[int, Camera]]:
cameras_map: dict[str, tuple[int, Camera]] = {}
for camera_name in self._ENV_CAMERAS:
camera: Camera = Camera.get(
self._mojo, camera_name, self._mojo.root_element
)
cameras_map[camera_name] = (camera.id, camera)
for robot_camera in self._robot.cameras:
cameras_map[robot_camera.mjcf.name] = (
robot_camera.id,
robot_camera,
)
for camera_config in self._observation_config.cameras:
_, camera = cameras_map[camera_config.name]
if camera_config.pos is not None:
camera.set_position(np.array(camera_config.pos))
if camera_config.quat is not None:
camera.set_quaternion(np.array(camera_config.quat))
return cameras_map
def _close_renderers(self):
if self.mujoco_renderer is not None:
self.mujoco_renderer.close()
for renderer in self.obs_renderers.values():
renderer.close()
self.mujoco_renderer = None
self.obs_renderers.clear()
def _initialize_env(self):
"""Can be overwritten to add task specific items to scene."""
pass
def get_observation_space(self) -> spaces.Space:
"""Get observation space."""
obs_dict = {}
if self._observation_config.proprioception:
obs_dict = {
"proprioception": spaces.Box(
low=-np.inf,
high=np.inf,
shape=(len(self._robot.qpos) + len(self._robot.qvel),),
dtype=np.float32,
),
"proprioception_grippers": spaces.Box(
low=0,
high=1,
shape=(len(self.robot.qpos_grippers),),
dtype=np.float32,
),
}
if self.robot.floating_base:
obs_dict.update(
{
"proprioception_floating_base": spaces.Box(
low=-np.inf,
high=np.inf,
shape=(len(self.robot.floating_base.qpos),),
dtype=np.float32,
),
"proprioception_floating_base_actions": spaces.Box(
low=-np.inf,
high=np.inf,
shape=(
len(self.robot.floating_base.get_accumulated_actions),
),
dtype=np.float32,
),
}
)
if self._use_pixels:
for camera in self.observation_config.cameras:
if camera.rgb:
obs_dict[f"rgb_{camera.name}"] = spaces.Box(
low=0, high=255, shape=(3, *camera.resolution), dtype=np.uint8
)
if camera.depth:
obs_dict[f"depth_{camera.name}"] = spaces.Box(
# todo: check if this is the correct range
low=0,
high=1,
shape=camera.resolution,
dtype=np.float32,
)
if self._observation_config.privileged_information:
obs_dict.update(self._get_task_privileged_obs_space())
return spaces.Dict(obs_dict)
def _get_task_privileged_obs_space(self) -> dict[str, Any]:
"""Get the task privileged observation space."""
return {}
def get_observation(self) -> dict[str, np.ndarray]:
"""Get the observation."""
obs = {}
if self._observation_config.proprioception:
obs |= self._get_proprioception_obs()
if self._use_pixels:
obs |= self._get_visual_obs()
if self._observation_config.privileged_information:
obs |= self._get_task_privileged_obs()
return obs
def _get_task_info(self) -> dict[str, Any]:
"""Get the task info dict."""
return {}
def get_info(self) -> dict[str, Any]:
"""Get info dict."""
info = self._get_task_info()
info.update({"task_success": float(self.success)})
return info
def _get_proprioception_obs(self) -> dict[str, Any]:
obs = {
"proprioception": np.concatenate(
[self._robot.qpos, self._robot.qvel]
).astype(np.float32),
"proprioception_grippers": np.array(self.robot.qpos_grippers).astype(
np.float32
),
}
if self.robot.floating_base:
obs["proprioception_floating_base"] = np.array(
self.robot.floating_base.qpos
).astype(np.float32)
obs["proprioception_floating_base_actions"] = np.array(
self.robot.floating_base.get_accumulated_actions
).astype(np.float32)
return obs
def _get_visual_obs(self) -> dict[str, Any]:
"""Get the visual observation."""
obs = {}
for camera_config in self._observation_config.cameras:
obs_renderer = self.obs_renderers[camera_config.resolution]
obs_renderer.update_scene(
self._mojo.data, self._cameras_map[camera_config.name][0]
)
if camera_config.rgb:
rgb = obs_renderer.render()
obs[f"rgb_{camera_config.name}"] = np.moveaxis(rgb, -1, 0)
if camera_config.depth:
obs_renderer.enable_depth_rendering()
obs[f"depth_{camera_config.name}"] = obs_renderer.render()
obs_renderer.disable_depth_rendering()
return obs
def _get_task_privileged_obs(self) -> dict[str, Any]:
"""Get the task privileged observation."""
return {}
def _update_seed(self, override_seed=None):
"""Update the seed for the environment.
Args:
override_seed: If not None, the next seed will be set to this value.
"""
if override_seed is not None:
if not isinstance(override_seed, int):
logging.warning(
"Expected override_seed to be an integer. Casting to int."
)
override_seed = int(override_seed)
self._next_seed = override_seed
self.action_space = self.action_mode.action_space(
action_scale=self._sub_steps_count, seed=override_seed
)
self._current_seed = self._next_seed
assert self._current_seed is not None
self._next_seed = np.random.randint(2**32)
np.random.seed(self._current_seed)
def reset(self, *, seed: Optional[int] = None, options: Optional[dict] = None):
"""Reset the environment.
Args:
seed: If not None, the environment will be reset with this seed.
options: Additional information to specify how the environment is reset
(optional, depending on the specific environment).
"""
self._env_health.reset()
self._update_seed(override_seed=seed)
self._mojo.physics.reset()
self._action = np.zeros_like(self._action)
self._robot.reset(self.RESET_ROBOT_POS, self.RESET_ROBOT_QUAT)
self._on_reset()
return self.get_observation(), self.get_info()
def _on_reset(self):
"""Custom environment reset behaviour."""
pass
def _on_step(self):
"""Custom environment behaviour after stepping."""
pass
def render(self):
"""Renders a frame of the simulation."""
return self.mujoco_renderer.render(self.render_mode)
def step(
self, action: np.ndarray, fast: bool = False
) -> tuple[Any, float, bool, bool, dict]:
"""Step the environment.
Args:
action: Action to take.
fast: If True, perform the environment step without processing observations
and return default values. Useful when performance is crucial,
but observations are not required, e.g., demo collection in VR.
Returns:
tuple: (observation, reward, terminated, truncated, info).
"""
self._step_cache.clean()
self._step_mujoco_simulation(action)
self._on_step()
self._action = action
if fast:
return {}, 0, False, False, {}
else:
return (
self.get_observation(),
self.reward,
self.terminate,
self.truncate,
self.get_info(),
)
def _step_mujoco_simulation(self, action):
"""Step the mujoco simulation."""
if action.shape != self.action_space.shape:
raise ValueError(
f"Action shape mismatch: "
f"expected {self.action_space.shape}, but got {action.shape}."
)
if np.any(action < self.action_space.low) or np.any(
action > self.action_space.high
):
clipped_action = np.clip(
action, self.action_space.low, self.action_space.high
)
raise ValueError(
f"Action {action} is out of the action space bounds. "
f"Overhead: {action - clipped_action}"
)
with self._env_health.track():
for i in range(self._sub_steps_count):
if i == 0:
self.action_mode.step(action)
else:
self._mojo.step()
mujoco.mj_rnePostConstraint(self._mojo.model, self._mojo.data)
def _success(self) -> bool:
"""Check if the episode is successful."""
return False
def _fail(self) -> bool:
"""Check if the episode is failed."""
return (
np.linalg.norm(self._robot.pelvis.get_position()) > MAX_DISTANCE_FROM_ORIGIN
)
def _reward(self) -> float:
"""Get current episode reward."""
return float(self.success) * SPARSE_REWARD_FACTOR
def close(self):
"""Close environment."""
self._close_renderers()
================================================
FILE: bigym/bigym_renderer.py
================================================
"""Fix to be able to render to on- and off- screen at the same time."""
import time
import glfw
import mujoco
from gymnasium.envs.mujoco.mujoco_rendering import (
MujocoRenderer,
WindowViewer,
OffScreenViewer,
BaseRender,
)
from mojo import Mojo
class BiGymRenderer(MujocoRenderer):
"""Custom mujoco_rendering.MujocoRenderer with fixes.
Notes:
- Allows to render in human mode along with visual observations.
"""
def __init__(self, mojo: Mojo):
"""Init."""
super().__init__(mojo.model, mojo.data)
def _get_viewer(self, render_mode: str) -> BaseRender:
"""See base."""
self.viewer = self._viewers.get(render_mode)
if self.viewer is None:
if render_mode == "human":
self.viewer = BiGymWindowViewer(self.model, self.data)
elif render_mode in {"rgb_array", "depth_array"}:
self.viewer = OffScreenViewer(self.model, self.data)
else:
raise AttributeError(
f"Unexpected mode: {render_mode}, "
f"expected modes: human, rgb_array, or depth_array"
)
self._set_cam_config()
self._viewers[render_mode] = self.viewer
self.viewer.make_context_current()
return self.viewer
def get_viewer(self, render_mode: str) -> BaseRender:
"""Get viewer for specified render mode."""
return self._get_viewer(render_mode)
class BiGymWindowViewer(WindowViewer):
"""Custom mujoco_rendering.WindowViewer with fixes.
Notes:
- Fixes GUI overlap when viewer is paused.
"""
def render(self):
"""See base."""
def update():
# fill overlay items
self._create_overlay()
render_start = time.time()
if self.window is None:
return
elif glfw.window_should_close(self.window):
glfw.destroy_window(self.window)
glfw.terminate()
self.viewport.width, self.viewport.height = glfw.get_framebuffer_size(
self.window
)
# update scene
mujoco.mjv_updateScene(
self.model,
self.data,
self.vopt,
mujoco.MjvPerturb(),
self.cam,
mujoco.mjtCatBit.mjCAT_ALL.value,
self.scn,
)
# marker items
for marker in self._markers:
self._add_marker_to_scene(marker)
# render
mujoco.mjr_render(self.viewport, self.scn, self.con)
# overlay items
if not self._hide_menu:
for gridpos, [t1, t2] in self._overlays.items():
mujoco.mjr_overlay(
mujoco.mjtFontScale.mjFONTSCALE_150,
gridpos,
self.viewport,
t1,
t2,
self.con,
)
glfw.swap_buffers(self.window)
glfw.poll_events()
self._time_per_render = 0.9 * self._time_per_render + 0.1 * (
time.time() - render_start
)
# clear overlay
self._overlays.clear()
# clear markers
self._markers.clear()
if self._paused:
while self._paused:
update()
if self._advance_by_one_step:
self._advance_by_one_step = False
break
else:
self._loop_count += self.model.opt.timestep / (
self._time_per_render * self._run_speed
)
if self._render_every_frame:
self._loop_count = 1
while self._loop_count > 0:
update()
self._loop_count -= 1
================================================
FILE: bigym/const.py
================================================
"""A set of common constants."""
from __future__ import annotations
from enum import Enum, IntEnum
from pathlib import Path
import numpy as np
PACKAGE_PATH = Path(__file__).parent
ASSETS_PATH = PACKAGE_PATH / "envs" / "xmls"
PRESETS_PATH = PACKAGE_PATH / "envs" / "presets"
CACHE_PATH = Path.home() / ".bigym"
DEMO_RELEASES = "https://github.com/chernyadev/bigym_data/releases/download"
DEMO_VERSION = "0.9.0"
WORLD_MODEL = ASSETS_PATH / "world.xml"
class ActuatorGroup(IntEnum):
"""Enum class representing the actuator group."""
BASE = 0
LIMB = 1
GRIPPER = 2
class HandSide(Enum):
"""Enum class representing the hand side."""
LEFT = "Left"
RIGHT = "Right"
TOLERANCE_ANGULAR = np.deg2rad(2)
TOLERANCE_LINEAR = 1e-3
================================================
FILE: bigym/envs/__init__.py
================================================
"""Init."""
================================================
FILE: bigym/envs/cupboards.py
================================================
"""Cupboard interaction tasks."""
from abc import ABC
import numpy as np
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.cabintets import BaseCabinet, WallCabinet
TOLERANCE = 0.1
class _CupboardsInteractionEnv(BiGymEnv, ABC):
"""Base cupboards environment."""
RESET_ROBOT_POS = np.array([-0.2, 0, 0])
_PRESET_PATH = PRESETS_PATH / "counter_base_wall_3x1.yaml"
def _initialize_env(self):
self.cabinet_drawers = self._preset.get_props(BaseCabinet)[0]
self.cabinet_door_left = self._preset.get_props(BaseCabinet)[1]
self.cabinet_door_right = self._preset.get_props(BaseCabinet)[2]
self.cabinet_wall = self._preset.get_props(WallCabinet)[0]
self.all_cabinets = [
self.cabinet_drawers,
self.cabinet_door_left,
self.cabinet_door_right,
self.cabinet_wall,
]
class DrawerTopOpen(_CupboardsInteractionEnv):
"""Open top drawer of the cupboard task."""
def _success(self) -> bool:
return np.allclose(self.cabinet_drawers.get_state()[-1], 1, atol=TOLERANCE)
class DrawerTopClose(_CupboardsInteractionEnv):
"""Close top drawer of the cupboard task."""
def _success(self) -> bool:
return np.allclose(self.cabinet_drawers.get_state()[-1], 0, atol=TOLERANCE)
def _on_reset(self):
self.cabinet_drawers.set_state(np.array([0, 0, 1]))
class DrawersAllOpen(_CupboardsInteractionEnv):
"""Open all drawers of the cupboard task."""
def _success(self) -> bool:
return np.allclose(self.cabinet_drawers.get_state(), 1, atol=TOLERANCE)
class DrawersAllClose(_CupboardsInteractionEnv):
"""Close all drawers of the cupboard task."""
def _success(self) -> bool:
return np.allclose(self.cabinet_drawers.get_state(), 0, atol=TOLERANCE)
def _on_reset(self):
self.cabinet_drawers.set_state(np.array([1, 1, 1]))
class WallCupboardOpen(_CupboardsInteractionEnv):
"""Open doors of the wall cupboard task."""
def _success(self) -> bool:
return np.allclose(self.cabinet_wall.get_state(), 1, atol=TOLERANCE)
class WallCupboardClose(_CupboardsInteractionEnv):
"""Close doors of the wall cupboard task."""
def _success(self) -> bool:
return np.allclose(self.cabinet_wall.get_state(), 0, atol=TOLERANCE)
def _on_reset(self):
self.cabinet_wall.set_state(np.array([1, 1]))
class CupboardsOpenAll(_CupboardsInteractionEnv):
"""Open all doors/drawers of the kitchen counter task."""
def _success(self) -> bool:
for cabinet in self.all_cabinets:
if not np.allclose(cabinet.get_state(), 1, atol=TOLERANCE):
return False
return True
class CupboardsCloseAll(_CupboardsInteractionEnv):
"""Close all doors/drawers of the kitchen counter task."""
def _success(self) -> bool:
for cabinet in self.all_cabinets:
if not np.allclose(cabinet.get_state(), 0, atol=TOLERANCE):
return False
return True
def _on_reset(self):
for cabinet in self.all_cabinets:
cabinet.set_state(np.ones_like(cabinet.get_state()))
================================================
FILE: bigym/envs/dishwasher.py
================================================
"""Dishwasher interaction tasks."""
from abc import ABC
import numpy as np
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.dishwasher import Dishwasher
class _DishwasherEnv(BiGymEnv, ABC):
"""Base dishwasher environment."""
RESET_ROBOT_POS = np.array([0, -0.8, 0])
_PRESET_PATH = PRESETS_PATH / "dishwasher.yaml"
_TOLERANCE = 0.05
def _initialize_env(self):
self.dishwasher = self._preset.get_props(Dishwasher)[0]
class DishwasherOpen(_DishwasherEnv):
"""Open the dishwasher door and pull out all trays."""
def _success(self) -> bool:
return np.allclose(self.dishwasher.get_state(), 1, atol=self._TOLERANCE)
def _on_reset(self):
self.dishwasher.set_state(door=0, bottom_tray=0, middle_tray=0)
class DishwasherClose(_DishwasherEnv):
"""Push back all trays and close the door of the dishwasher."""
def _success(self) -> bool:
return np.allclose(self.dishwasher.get_state(), 0, atol=self._TOLERANCE)
def _on_reset(self):
self.dishwasher.set_state(door=1, bottom_tray=1, middle_tray=1)
class DishwasherCloseTrays(DishwasherClose):
"""Push the dishwasher’s trays back with the door initially open."""
def _success(self) -> bool:
return np.allclose(self.dishwasher.get_state()[1:], 0, atol=self._TOLERANCE)
class DishwasherOpenTrays(DishwasherClose):
"""Pull out the dishwasher’s trays with the door initially open."""
def _success(self) -> bool:
return np.allclose(self.dishwasher.get_state()[1:], 1, atol=self._TOLERANCE)
def _on_reset(self):
self.dishwasher.set_state(door=1, bottom_tray=0, middle_tray=0)
================================================
FILE: bigym/envs/dishwasher_cups.py
================================================
"""Load/unload cups to/from dishwasher."""
from abc import ABC
import numpy as np
from pyquaternion import Quaternion
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.cabintets import BaseCabinet, WallCabinet
from bigym.envs.props.dishwasher import Dishwasher
from bigym.envs.props.kitchenware import Mug
from bigym.utils.env_utils import get_random_sites
class _DishwasherCupsEnv(BiGymEnv, ABC):
"""Base cups environment."""
RESET_ROBOT_POS = np.array([0, -0.6, 0])
_PRESET_PATH = PRESETS_PATH / "counter_dishwasher.yaml"
_CUPS_COUNT = 2
def _initialize_env(self):
self.dishwasher = self._preset.get_props(Dishwasher)[0]
self.cabinets = self._preset.get_props(BaseCabinet)
self.cups = [Mug(self._mojo) for _ in range(self._CUPS_COUNT)]
def _fail(self) -> bool:
if super()._fail():
return True
for cup in self.cups:
if cup.is_colliding(self.floor):
return True
return False
def _on_reset(self):
self.dishwasher.set_state(door=1, bottom_tray=0, middle_tray=1)
class DishwasherUnloadCups(_DishwasherCupsEnv):
"""Unload cups from dishwasher task."""
_SITES_STEP = 3
_SITES_SLICE = 3
_CUPS_ROT_X = np.deg2rad(180)
_CUPS_ROT_Z = np.deg2rad(90)
_CUPS_ROT_BOUNDS = np.deg2rad(5)
_CUPS_POS = np.array([0, -0.05, 0.05])
_CUPS_STEP = np.array([0.115, 0, 0])
def _success(self) -> bool:
for cup in self.cups:
if not any([cup.is_colliding(cabinet) for cabinet in self.cabinets]):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(cup, side):
return False
return True
def _on_reset(self):
super()._on_reset()
sites = self.dishwasher.tray_middle.site_sets[0]
sites = get_random_sites(
sites, len(self.cups), self._SITES_STEP, self._SITES_SLICE
)
for site, cup in zip(sites, self.cups):
quat = Quaternion(axis=[1, 0, 0], angle=self._CUPS_ROT_X)
angle = np.random.uniform(-self._CUPS_ROT_BOUNDS, self._CUPS_ROT_BOUNDS)
quat *= Quaternion(axis=[0, 0, 1], angle=self._CUPS_ROT_Z + angle)
cup.body.set_quaternion(quat.elements, True)
pos = site.get_position()
pos += self._CUPS_POS
cup.body.set_position(pos, True)
class DishwasherUnloadCupsLong(DishwasherUnloadCups):
"""Unload cup from dishwasher in wall cabinet task."""
_PRESET_PATH = PRESETS_PATH / "counter_dishwasher_wall_cabinet.yaml"
_CUPS_COUNT = 1
_SITES_SLICE = 2
_TOLERANCE = 0.1
def _initialize_env(self):
super()._initialize_env()
self.wall_cabinet = self._preset.get_props(WallCabinet)[0]
def _success(self) -> bool:
if not np.allclose(self.dishwasher.get_state(), 0, atol=self._TOLERANCE):
return False
if not np.allclose(self.wall_cabinet.get_state(), 0, atol=self._TOLERANCE):
return False
for cup in self.cups:
if not cup.is_colliding(self.wall_cabinet.shelf_bottom):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(cup, side):
return False
return True
class DishwasherLoadCups(_DishwasherCupsEnv):
"""Load cups to dishwasher task."""
_CUPS_POS = np.array([0.6, -0.6, 1])
_CUPS_POS_STEP = np.array([0, 0.15, 0])
_CUPS_POS_BOUNDS = np.array([0.05, 0.02, 0])
_CUPS_ROT_X = np.deg2rad(180)
_CUPS_ROT_Z = np.deg2rad(180)
_CUPS_ROT_BOUNDS = np.deg2rad(30)
def _success(self) -> bool:
for cup in self.cups:
if not cup.is_colliding(self.dishwasher.tray_middle.colliders):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(cup, side):
return False
return True
def _on_reset(self):
super()._on_reset()
for i, cup in enumerate(self.cups):
quat = Quaternion(axis=[1, 0, 0], angle=self._CUPS_ROT_X)
angle = np.random.uniform(-self._CUPS_ROT_BOUNDS, self._CUPS_ROT_BOUNDS)
quat *= Quaternion(axis=[0, 0, 1], angle=self._CUPS_ROT_Z + angle)
cup.body.set_quaternion(quat.elements, True)
pos = self._CUPS_POS + i * self._CUPS_POS_STEP
pos += np.random.uniform(-self._CUPS_POS_BOUNDS, self._CUPS_POS_BOUNDS)
cup.body.set_position(pos, True)
================================================
FILE: bigym/envs/dishwasher_cutlery.py
================================================
"""Load/unload cutlery to/from dishwasher."""
from abc import ABC
import numpy as np
from pyquaternion import Quaternion
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.cabintets import BaseCabinet
from bigym.envs.props.cutlery import Fork, Knife
from bigym.envs.props.dishwasher import Dishwasher
from bigym.envs.props.holders import CutleryTray
from bigym.envs.props.kitchenware import Mug
from bigym.robots.configs.h1 import H1FineManipulation
from bigym.utils.env_utils import get_random_sites
class _DishwasherCutleryEnv(BiGymEnv, ABC):
"""Base cutlery environment."""
DEFAULT_ROBOT = H1FineManipulation
_PRESET_PATH = PRESETS_PATH / "counter_dishwasher.yaml"
_CUTLERY = [Knife, Fork]
RESET_ROBOT_POS = np.array([0, -0.6, 0])
def _initialize_env(self):
self.dishwasher = self._preset.get_props(Dishwasher)[0]
self.cutlery = [item_cls(self._mojo) for item_cls in self._CUTLERY]
def _fail(self) -> bool:
if super()._fail():
return True
for item in self.cutlery:
if item.is_colliding(self.floor):
return True
return False
def _on_reset(self):
self.dishwasher.set_state(door=1, bottom_tray=1, middle_tray=0)
class _DishwasherUnloadCutleryEnv(_DishwasherCutleryEnv):
"""Base unload cutlery from dishwasher task."""
_SITES_SLICE = -2
_CUTLERY_OFFSET_POS = np.array([0, 0, 0.1])
_CUTLERY_BOUNDS_ANGLE = np.deg2rad(30)
_CUTLERY_SPAWN_ROT = Quaternion(axis=[1, 0, 0], degrees=90)
def _on_reset(self):
super()._on_reset()
sites = self.dishwasher.basket.site_sets[0]
sites = get_random_sites(sites, len(self.cutlery), segment=self._SITES_SLICE)
for site, item in zip(sites, self.cutlery):
item_pos = site.get_position() + self._CUTLERY_OFFSET_POS
angle = np.random.uniform(
-self._CUTLERY_BOUNDS_ANGLE, self._CUTLERY_BOUNDS_ANGLE
)
item_quat = self._CUTLERY_SPAWN_ROT * Quaternion(
axis=[0, 1, 0], angle=angle
)
item.body.set_quaternion(item_quat.elements, True)
item.body.set_position(item_pos, True)
class DishwasherUnloadCutlery(_DishwasherUnloadCutleryEnv):
"""Unload cutlery from dishwasher task."""
_TRAY_POS = np.array([0.65, -0.6, 0.86])
_TRAY_BOUNDS = np.array([0.05, 0.05, 0])
_TRAY_ROT = np.array([0, 0, -np.pi / 2])
def _initialize_env(self):
super()._initialize_env()
self.tray = CutleryTray(self._mojo)
def _success(self) -> bool:
for item in self.cutlery:
if not item.is_colliding(self.tray):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(item, side):
return False
return True
def _on_reset(self):
super()._on_reset()
offset = np.random.uniform(-self._TRAY_BOUNDS, self._TRAY_BOUNDS)
self.tray.body.set_position(self._TRAY_POS + offset)
self.tray.body.set_euler(self._TRAY_ROT)
class DishwasherUnloadCutleryLong(_DishwasherUnloadCutleryEnv):
"""Unload cutlery from dishwasher to drawer task."""
_PRESET_PATH = PRESETS_PATH / "counter_dishwasher_cutlery_cabinet.yaml"
_CUTLERY = [Fork]
_TOLERANCE = 0.1
def _initialize_env(self):
super()._initialize_env()
self.cutlery_cabinet = self._preset.get_props(BaseCabinet)[-1]
self.tray = self._preset.get_props(CutleryTray)[0]
def _success(self) -> bool:
if not np.allclose(self.dishwasher.get_state(), 0, atol=self._TOLERANCE):
return False
if not np.allclose(self.cutlery_cabinet.get_state(), 0, atol=self._TOLERANCE):
return False
for item in self.cutlery:
if not item.is_colliding(self.tray):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(item, side):
return False
return True
class DishwasherLoadCutlery(_DishwasherCutleryEnv):
"""Load cutlery to dishwasher task."""
_MUG_POS = np.array([0.65, -0.6, 0.86])
_MUG_BOUNDS = np.array([0.05, 0.05, 0])
_MUG_BOUNDS_ANGLE = np.deg2rad(90)
_BASKET_OFFSET_POS = np.array([0, 0, 0.15])
_CUTLERY_SPAWN_ROT = Quaternion(axis=[1, 0, 0], degrees=90)
_CUTLERY_OFFSET_ANGLE = np.deg2rad(90)
_CUTLERY_OFFSET_ANGLE_RANGE = np.deg2rad(5)
_CUTLERY_SPAWN_OFFSET = 0.02
def _initialize_env(self):
super()._initialize_env()
self.mug = Mug(self._mojo, False)
def _success(self) -> bool:
for item in self.cutlery:
if not item.is_colliding(self.dishwasher.basket.colliders):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(item, side):
return False
return True
def _on_reset(self):
super()._on_reset()
mug_angle = np.random.uniform(-self._MUG_BOUNDS_ANGLE, self._MUG_BOUNDS_ANGLE)
self.mug.body.set_euler(np.array([0, 0, mug_angle]))
offset = np.random.uniform(-self._MUG_BOUNDS, self._MUG_BOUNDS)
mug_pos = self._MUG_POS + offset
self.mug.body.set_position(mug_pos, True)
for i, item in enumerate(self.cutlery):
item.body.set_quaternion(self._CUTLERY_SPAWN_ROT.elements, True)
offset_angle = self._CUTLERY_OFFSET_ANGLE * i
offset_angle += np.random.uniform(
-self._CUTLERY_OFFSET_ANGLE_RANGE, self._CUTLERY_OFFSET_ANGLE_RANGE
)
item_offset = np.array([np.cos(offset_angle), np.sin(offset_angle), 0])
item_offset *= self._CUTLERY_SPAWN_OFFSET
item_pos = mug_pos.copy() + self._BASKET_OFFSET_POS + item_offset
item.body.set_position(item_pos, True)
================================================
FILE: bigym/envs/dishwasher_plates.py
================================================
"""Load/unload plates to/from dishwasher."""
from abc import ABC
import numpy as np
import quaternion
from pyquaternion import Quaternion
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.holders import DishDrainer
from bigym.envs.props.dishwasher import Dishwasher
from bigym.envs.props.cabintets import WallCabinet
from bigym.envs.props.kitchenware import Plate
from bigym.utils.env_utils import get_random_sites
class _DishwasherPlatesEnv(BiGymEnv, ABC):
"""Base plates environment."""
RESET_ROBOT_POS = np.array([0, -0.6, 0])
_PRESET_PATH = PRESETS_PATH / "counter_dishwasher.yaml"
_RACK_POSITION = np.array([0.6, -0.6, 0.86])
_RACK_BOUNDS = np.array([0.05, 0.05, 0])
_PLATES_COUNT = 2
_PLATE_ROTATION = quaternion.from_euler_angles(np.pi / 2, np.pi / 2, 0)
_PLATE_OFFSET_POS = np.array([0, -0.01, 0.05])
_SITES_STEP = 2
_SITES_SLICE = 4
_TOLERANCE = np.deg2rad(20)
def _initialize_env(self):
self.dishwasher = self._preset.get_props(Dishwasher)[0]
self.drainer: DishDrainer = DishDrainer(self._mojo)
self.plates: list[Plate] = []
for _ in range(self._PLATES_COUNT):
self.plates.append(Plate(self._mojo))
def _fail(self) -> bool:
if super()._fail():
return True
for plate in self.plates:
if plate.is_colliding(self.floor):
return True
return False
def _on_reset(self):
self.dishwasher.set_state(door=1, bottom_tray=1, middle_tray=0)
offset = np.random.uniform(-self._RACK_BOUNDS, self._RACK_BOUNDS)
self.drainer.body.set_position(self._RACK_POSITION + offset)
class DishwasherUnloadPlates(_DishwasherPlatesEnv):
"""Unload plates from dishwasher task."""
def _success(self) -> bool:
for plate in self.plates:
if not plate.is_colliding(self.drainer):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(plate, side):
return False
return True
def _on_reset(self):
super()._on_reset()
sites = self.dishwasher.tray_bottom.site_sets[0]
sites = get_random_sites(
sites, len(self.plates), self._SITES_STEP, self._SITES_SLICE
)
for plate, site in zip(self.plates, sites):
plate.body.set_quaternion(quaternion.as_float_array(self._PLATE_ROTATION))
plate.body.set_position(site.get_position() + self._PLATE_OFFSET_POS)
class DishwasherUnloadPlatesLong(DishwasherUnloadPlates):
"""Unload plate from dishwasher in wall cabinet task."""
_PRESET_PATH = PRESETS_PATH / "counter_dishwasher_wall_cabinet.yaml"
_PLATES_COUNT = 1
_RACK_POSITION = np.array([0.8, -0.6, 1.474])
_RACK_BOUNDS = np.array([0.01, 0.05, 0])
_TOLERANCE = 0.1
def _initialize_env(self):
super()._initialize_env()
self.wall_cabinet = self._preset.get_props(WallCabinet)[0]
def _success(self) -> bool:
if not np.allclose(self.dishwasher.get_state(), 0, atol=self._TOLERANCE):
return False
if not np.allclose(self.wall_cabinet.get_state(), 0, atol=self._TOLERANCE):
return False
return super()._success()
class DishwasherLoadPlates(_DishwasherPlatesEnv):
"""Load plates to dishwasher task."""
def _success(self) -> bool:
up = np.array([0, 0, 1])
right = np.array([0, -1, 0])
for plate in self.plates:
plate_up = Quaternion(plate.body.get_quaternion()).rotate(up)
angle_to_right = np.arccos(np.clip(np.dot(plate_up, right), -1.0, 1.0))
angle_to_left = np.arccos(np.clip(np.dot(plate_up, -right), -1.0, 1.0))
if not (
angle_to_right <= self._TOLERANCE or angle_to_left <= self._TOLERANCE
):
return False
if not plate.is_colliding(self.dishwasher.tray_bottom.colliders):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(plate, side):
return False
return True
def _on_reset(self):
super()._on_reset()
sites = self.drainer.sites
sites = get_random_sites(
sites, len(self.plates), self._SITES_STEP, self._SITES_SLICE
)
for plate, site in zip(self.plates, sites):
plate.body.set_quaternion(quaternion.as_float_array(self._PLATE_ROTATION))
plate.body.set_position(site.get_position() + self._PLATE_OFFSET_POS)
================================================
FILE: bigym/envs/groceries.py
================================================
"""Groceries tasks."""
import numpy as np
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.cabintets import BaseCabinet, WallCabinet, OpenShelf
from bigym.envs.props.items import Wine, Beer, Soap, Cereals, Ketchup, Mustard, Soda
from bigym.envs.props.prop import Prop
from bigym.utils.env_utils import get_random_points_on_plane
class GroceriesStoreLower(BiGymEnv):
"""Put groceries to lower cabinets tasks."""
_PRESET_PATH = PRESETS_PATH / "counter_base_2.yaml"
_PROP_TYPES = [Wine, Soap, Beer, Cereals, Ketchup, Mustard, Soda]
_PROPS_PER_CATEGORY = 1
_PROPS_COUNT = 4
_PROPS_POS = np.array([0.7, -0.3, 0.9])
_PROPS_STEP = 0.2
_PROPS_POS_EXTENTS = np.array([0.1, 0.5])
_PROPS_POS_BOUNDS = np.array([0.1, 0.05, 0])
_PROPS_ROT_BOUNDS = np.deg2rad([0, 0, 180])
def _initialize_env(self):
self.cabinet_1 = self._preset.get_props(BaseCabinet)[0]
self.cabinet_2 = self._preset.get_props(BaseCabinet)[1]
self.props: list[Prop] = []
self.selected_props: list[Prop] = []
for prop_type in self._PROP_TYPES:
self.props.extend(
[prop_type(self._mojo) for _ in range(self._PROPS_PER_CATEGORY)]
)
def _on_reset(self):
for prop in self.props:
prop.disable()
self.selected_props = np.random.choice(
np.array(self.props), size=self._PROPS_COUNT, replace=False
)
points = get_random_points_on_plane(
len(self.selected_props),
self._PROPS_POS,
self._PROPS_POS_EXTENTS,
self._PROPS_STEP,
)
for prop, point in zip(self.selected_props, points):
prop.enable()
prop.set_pose(
point,
position_bounds=self._PROPS_POS_BOUNDS,
rotation_bounds=self._PROPS_ROT_BOUNDS,
)
def _success(self) -> bool:
for prop in self.selected_props:
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(prop, side):
return False
if not (
prop.is_colliding(self.cabinet_1.shelf)
or prop.is_colliding(self.cabinet_1.shelf_bottom)
or prop.is_colliding(self.cabinet_2.shelf_bottom)
):
return False
return True
class GroceriesStoreUpper(GroceriesStoreLower):
"""Put groceries to upper cabinets tasks."""
_PRESET_PATH = PRESETS_PATH / "counter_base_wall_2x2.yaml"
def _initialize_env(self):
super()._initialize_env()
self.cabinet_wall = self._preset.get_props(WallCabinet)[0]
self.shelf = self._preset.get_props(OpenShelf)[0]
def _success(self) -> bool:
for prop in self.selected_props:
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(prop, side):
return False
if not (
prop.is_colliding(self.cabinet_wall.shelf)
or prop.is_colliding(self.cabinet_wall.shelf_bottom)
or prop.is_colliding(self.shelf.shelf)
):
return False
return True
================================================
FILE: bigym/envs/manipulation.py
================================================
"""Manipulation tasks."""
from abc import ABC
import numpy as np
from mojo.elements import Body, Geom
from mojo.elements.consts import GeomType
from pyquaternion import Quaternion
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.cabintets import BaseCabinet
from bigym.envs.props.cutlery import Spoon
from bigym.envs.props.items import Cube
from bigym.envs.props.kitchenware import Mug
from bigym.robots.configs.h1 import H1FineManipulation
from bigym.utils.env_utils import get_random_points_on_plane
class _ManipulationEnv(BiGymEnv, ABC):
"""Base manipulation environment."""
_PRESET_PATH = PRESETS_PATH / "cabinet.yaml"
def _initialize_env(self):
self.cabinet = self._preset.get_props(BaseCabinet)[0]
class FlipCup(_ManipulationEnv):
"""Flip cup upside-up task."""
_CUP_POS = np.array([0.8, 0, 1])
_CUP_ROT_X = np.deg2rad(180)
_CUP_ROT_Z = np.deg2rad(180)
_CUP_STEP = 0.1
_CUP_POS_EXTENTS = np.array([0.1, 0.25])
_CUP_POS_BOUNDS = np.array([0.03, 0.03, 0])
_CUP_ROT_BOUNDS = np.deg2rad(30)
_TOLERANCE = np.deg2rad(5)
def _initialize_env(self):
super()._initialize_env()
self.cup = Mug(self._mojo)
def _success(self) -> bool:
up = np.array([0, 0, 1])
cup_up = Quaternion(self.cup.body.get_quaternion()).rotate(up)
angle_to_up = np.arccos(np.clip(np.dot(cup_up, up), -1.0, 1.0))
if angle_to_up > self._TOLERANCE:
return False
if not self.cup.is_colliding(self.cabinet.counter):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(self.cup, side):
return False
return True
def _on_reset(self):
spawn_point = get_random_points_on_plane(
1,
self._CUP_POS,
self._CUP_POS_EXTENTS,
self._CUP_STEP,
self._CUP_POS_BOUNDS,
)[0]
self.cup.body.set_position(spawn_point, True)
quat = Quaternion(axis=[1, 0, 0], angle=self._CUP_ROT_X)
angle = np.random.uniform(-self._CUP_ROT_BOUNDS, self._CUP_ROT_BOUNDS)
quat *= Quaternion(axis=[0, 0, 1], angle=self._CUP_ROT_Z + angle)
self.cup.body.set_quaternion(quat.elements, True)
class FlipCutlery(_ManipulationEnv):
"""Flip cutlery item task."""
DEFAULT_ROBOT = H1FineManipulation
_CUP_POS = np.array([0.8, 0, 0.86])
_CUP_ROT_Z = np.deg2rad(180)
_CUP_STEP = 0.1
_CUP_POS_EXTENTS = np.array([0.1, 0.25])
_CUP_POS_BOUNDS = np.array([0.03, 0.03, 0])
_CUP_ROT_BOUNDS = np.deg2rad(180)
_SPOON_OFFSET = np.array([0, 0, 0.15])
_SPOON_QUAT = Quaternion(axis=[1, 0, 0], degrees=90)
_TOLERANCE = np.deg2rad(50)
def _initialize_env(self):
super()._initialize_env()
self.cup = Mug(self._mojo, kinematic=False)
self.spoon = Spoon(self._mojo)
def _success(self) -> bool:
down = np.array([0, 0, -1])
fwd = np.array([0, 1, 0])
spoon_fwd = Quaternion(self.spoon.body.get_quaternion()).rotate(fwd)
angle_to_up = np.arccos(np.clip(np.dot(spoon_fwd, down), -1.0, 1.0))
if angle_to_up > self._TOLERANCE:
return False
if not self.spoon.is_colliding(self.cup):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(self.cup, side):
return False
return True
def _on_reset(self):
spawn_point = get_random_points_on_plane(
1,
self._CUP_POS,
self._CUP_POS_EXTENTS,
self._CUP_STEP,
self._CUP_POS_BOUNDS,
)[0]
self.cup.body.set_position(spawn_point)
angle = np.random.uniform(-self._CUP_ROT_BOUNDS, self._CUP_ROT_BOUNDS)
quat = Quaternion(axis=[0, 0, 1], angle=self._CUP_ROT_Z + angle)
self.cup.body.set_quaternion(quat.elements)
self.spoon.body.set_position(spawn_point + self._SPOON_OFFSET, True)
self.spoon.body.set_quaternion(self._SPOON_QUAT.elements, True)
class StackBlocks(BiGymEnv):
"""Stack blocks in the correct area of the table."""
_PRESET_PATH = PRESETS_PATH / "stack_blocks.yaml"
_NUM_BLOCKS = 3
_BLOCKS_POS = np.array([0.7, 0, 1])
_BLOCKS_POS_EXTENTS = np.array([0.2, 0.5])
_BLOCKS_STEP = 0.15
_BLOCKS_POS_BOUNDS = np.array([0.05, 0.05, 0])
_BLOCKS_ROT_BOUNDS = np.deg2rad([0, 0, 180])
_TARGET_SIZE = np.array([0.05, 0.05, 0.001])
_TARGET_COLOR = np.array([0.3, 0.8, 0.3, 1.0])
_TARGET_POS = np.array([1.4, 0, 0.95])
_TARGET_POS_BOUNDS = np.array([0.05, 0.2, 0.0])
def _initialize_env(self):
self.blocks = [Cube(self._mojo) for _ in range(self._NUM_BLOCKS)]
self.target: Body = Body.create(self._mojo)
self.target_collider = Geom.create(
self._mojo,
parent=self.target,
geom_type=GeomType.BOX,
size=self._TARGET_SIZE,
color=self._TARGET_COLOR,
)
def _on_reset(self):
points = get_random_points_on_plane(
len(self.blocks),
self._BLOCKS_POS,
self._BLOCKS_POS_EXTENTS,
self._BLOCKS_STEP,
)
for block, point in zip(self.blocks, points):
block.set_pose(
point,
position_bounds=self._BLOCKS_POS_BOUNDS,
rotation_bounds=self._BLOCKS_ROT_BOUNDS,
)
offset = np.random.uniform(-self._TARGET_POS_BOUNDS, self._TARGET_POS_BOUNDS)
self.target.set_position(self._TARGET_POS + offset)
def _success(self) -> bool:
blocks_sorted = sorted(self.blocks, key=lambda b: b.body.get_position()[2])
if not blocks_sorted[0].is_colliding(self.target_collider):
return False
if not blocks_sorted[1].is_colliding(blocks_sorted[0]):
return False
if not blocks_sorted[2].is_colliding(blocks_sorted[1]):
return False
for block in self.blocks:
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(block, side):
return False
return True
def _fail(self) -> bool:
if super()._fail():
return True
for block in self.blocks:
if block.is_colliding(self.floor):
return True
return False
================================================
FILE: bigym/envs/move_plates.py
================================================
"""Set of plate moving tasks."""
from abc import ABC
import numpy as np
from gymnasium import spaces
from pyquaternion import Quaternion
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.holders import DishDrainer
from bigym.envs.props.kitchenware import Plate
from bigym.envs.props.tables import Table
from bigym.utils.physics_utils import distance
RACK_BOUNDS = np.array([0.05, 0.05, 0])
RACK_POSITION_LEFT = np.array([0.7, 0.3, 0.95])
RACK_POSITION_RIGHT = np.array([0.7, -0.3, 0.95])
PLATE_OFFSET_POS = np.array([0, 0.01, 0])
PLATE_OFFSET_ROT = Quaternion(axis=[1, 0, 0], degrees=-5).elements
class _MovePlatesEnv(BiGymEnv, ABC):
"""Base plates environment."""
_PRESET_PATH = PRESETS_PATH / "move_plates.yaml"
_SUCCESSFUL_DIST = 0.05
_SUCCESS_ROT = np.deg2rad(20)
_PLATES_COUNT = 1
def _initialize_env(self):
self.table = self._preset.get_props(Table)[0]
self.rack_start = self._preset.get_props(DishDrainer)[0]
self.rack_target = self._preset.get_props(DishDrainer)[1]
self.plates = [Plate(self._mojo) for _ in range(self._PLATES_COUNT)]
def _success(self) -> bool:
up = np.array([0, 0, 1])
right = np.array([0, -1, 0])
for plate in self.plates:
if np.all(
[
distance(plate.body, site) > self._SUCCESSFUL_DIST
for site in self.rack_target.sites
]
):
return False
plate_up = Quaternion(plate.body.get_quaternion()).rotate(up)
angle = np.arccos(np.clip(np.dot(plate_up, right), -1.0, 1.0))
if angle > self._SUCCESS_ROT:
return False
if not plate.is_colliding(self.rack_target):
return False
if plate.is_colliding(self.table):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(plate, side):
return False
return True
def _fail(self) -> bool:
if super()._fail():
return True
for plate in self.plates:
if plate.is_colliding(self.floor):
return True
return False
def _on_reset(self):
offset = np.random.uniform(-RACK_BOUNDS, RACK_BOUNDS)
self.rack_start.body.set_position(RACK_POSITION_LEFT + offset)
offset = np.random.uniform(-RACK_BOUNDS, RACK_BOUNDS)
self.rack_target.body.set_position(RACK_POSITION_RIGHT + offset)
sites = np.array(self.rack_start.sites)
sites = np.random.choice(sites, size=len(self.plates), replace=False)
for site, plate in zip(sites, self.plates):
plate.body.set_position(site.get_position() + PLATE_OFFSET_POS, True)
quat = Quaternion(site.get_quaternion())
quat *= PLATE_OFFSET_ROT
plate.body.set_quaternion(quat.elements, True)
class MovePlate(_MovePlatesEnv):
"""Move one plate from one rack to another."""
def _get_task_privileged_obs_space(self):
return {
"rack_pose": spaces.Box(
low=-np.inf, high=np.inf, shape=(7,), dtype=np.float32
),
"plate_pose": spaces.Box(
low=-np.inf, high=np.inf, shape=(3,), dtype=np.float32
),
}
def _get_task_privileged_obs(self):
return {
"rack_pose": np.array(self.rack_target.get_pose(), np.float32).flatten(),
"plate_pose": np.array(self.plates[0].get_pose(), np.float32).flatten(),
}
class MoveTwoPlates(_MovePlatesEnv):
"""Move two plates from one rack to another."""
_PLATES_COUNT = 2
def _get_task_privileged_obs_space(self):
return {}
def _get_task_privileged_obs(self):
return {}
================================================
FILE: bigym/envs/pick_and_place.py
================================================
"""Pick and place tasks."""
import numpy as np
from pyquaternion import Quaternion
from bigym.bigym_env import BiGymEnv
from bigym.const import PRESETS_PATH
from bigym.envs.props.cabintets import BaseCabinet, WallCabinet
from bigym.envs.props.cutlery import Spatula
from bigym.envs.props.items import Box, Sandwich
from bigym.envs.props.prop import Prop
from bigym.envs.props.kitchenware import Mug, Saucepan, Pan, ChoppingBoard
from bigym.robots.configs.h1 import H1FineManipulation
from bigym.utils.env_utils import get_random_points_on_plane
class PutCups(BiGymEnv):
"""Put cups in the wall cabinet."""
_PRESET_PATH = PRESETS_PATH / "counter_base_wall_1x1.yaml"
_CUPS_COUNT = 2
_CUPS_POS = np.array([0.8, 0, 1])
_CUPS_ROT = np.deg2rad(180)
_CUPS_STEP = 0.15
_CUPS_POS_EXTENTS = np.array([0.1, 0.25])
_CUPS_POS_BOUNDS = np.array([0.03, 0.03, 0])
_CUPS_ROT_BOUNDS = np.deg2rad(30)
def _initialize_env(self):
self.cabinet_base = self._preset.get_props(BaseCabinet)[0]
self.cabinet_wall = self._preset.get_props(WallCabinet)[0]
self.cups = [Mug(self._mojo) for _ in range(self._CUPS_COUNT)]
def _success(self) -> bool:
for cup in self.cups:
if not cup.is_colliding(self.cabinet_wall.shelf_bottom):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(cup, side):
return False
return True
def _on_reset(self):
points = get_random_points_on_plane(
len(self.cups),
self._CUPS_POS,
self._CUPS_POS_EXTENTS,
self._CUPS_STEP,
self._CUPS_POS_BOUNDS,
)
for cup, point in zip(self.cups, points):
cup.body.set_position(point)
angle = np.random.uniform(-self._CUPS_ROT_BOUNDS, self._CUPS_ROT_BOUNDS)
cup.body.set_quaternion(
Quaternion(axis=[0, 0, 1], angle=self._CUPS_ROT + angle).elements
)
class TakeCups(PutCups):
"""Take cups from the wall cupboard."""
_CUPS_POS = np.array([1.05, 0, 1.5])
def _success(self) -> bool:
for cup in self.cups:
if not cup.is_colliding(self.cabinet_base.counter):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(cup, side):
return False
return True
class StoreBox(BiGymEnv):
"""Put box in the cupboard task."""
_PRESET_PATH = PRESETS_PATH / "cabinet_door.yaml"
_BOX_POS = np.array([0.8, 0, 1])
_BOX_POS_BOUNDS = np.array([0.03, 0.03, 0])
_BOX_ROT_BOUNDS = np.deg2rad(180)
def _initialize_env(self):
self.cabinet_base = self._preset.get_props(BaseCabinet)[0]
self.box = Box(self._mojo, True)
def _on_reset(self):
offset = np.random.uniform(-self._BOX_POS_BOUNDS, self._BOX_POS_BOUNDS)
self.box.body.set_position(self._BOX_POS + offset, True)
angle = np.random.uniform(-self._BOX_ROT_BOUNDS, self._BOX_ROT_BOUNDS)
self.box.body.set_quaternion(Quaternion(axis=[0, 0, 1], angle=angle).elements)
def _success(self) -> bool:
if not self.box.is_colliding(self.cabinet_base.shelf):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(self.box, side):
return False
return True
class PickBox(StoreBox):
"""Pick up box from and place it on the counter task."""
_BOX_POS = np.array([0.8, -1, 0.2])
_BOX_QUAT = Quaternion(axis=[0, 1, 0], degrees=90)
def _success(self) -> bool:
if not self.box.is_colliding(self.cabinet_base.counter):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(self.box, side):
return False
return True
def _on_reset(self):
offset = np.random.uniform(-self._BOX_POS_BOUNDS, self._BOX_POS_BOUNDS)
self.box.body.set_position(self._BOX_POS + offset, True)
angle = np.random.uniform(-self._BOX_ROT_BOUNDS, self._BOX_ROT_BOUNDS)
quat = self._BOX_QUAT
quat *= Quaternion(axis=[1, 0, 0], angle=angle)
self.box.body.set_quaternion(quat.elements)
class SaucepanToHob(BiGymEnv):
"""Take saucepan from cabinet and place it to hob."""
_PRESET_PATH = PRESETS_PATH / "cabinet_hob.yaml"
_SAUCEPAN_POS = np.array([0.85, 0.1, 0.5])
_SAUCEPAN_QUAT = Quaternion(axis=[0, 0, 1], degrees=90)
_SAUCEPAN_POS_BOUNDS = np.array([0.05, 0.05, 0])
_SAUCEPAN_ROT_BOUNDS = np.deg2rad([0, 0, 20])
def _initialize_env(self):
self.cabinet_base = self._preset.get_props(BaseCabinet)[0]
self.saucepan = Saucepan(self._mojo)
def _success(self) -> bool:
if not self.saucepan.is_colliding(self.cabinet_base.hob):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(self.saucepan, side):
return False
return True
def _on_reset(self):
self.saucepan.set_pose(
self._SAUCEPAN_POS,
self._SAUCEPAN_QUAT.elements,
self._SAUCEPAN_POS_BOUNDS,
self._SAUCEPAN_ROT_BOUNDS,
)
class StoreKitchenware(BiGymEnv):
"""Put all kitchenware to cupboard."""
_PRESET_PATH = PRESETS_PATH / "cabinet_hob.yaml"
_ITEMS = [Saucepan, Pan]
_ITEMS_QUAT = Quaternion(axis=[0, 0, 1], degrees=15)
_ITEMS_POS_BOUNDS = np.array([0.02, 0.02, 0])
_ITEMS_ROT_BOUNDS = np.deg2rad([0, 0, 30])
def _initialize_env(self):
self.cabinet_base = self._preset.get_props(BaseCabinet)[0]
self.items: list[Prop] = [item(self._mojo) for item in self._ITEMS]
def _success(self) -> bool:
for item in self.items:
if not item.is_colliding(self.cabinet_base.shelf):
return False
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(item, side):
return False
return True
def _on_reset(self):
sites = [self.cabinet_base.sites[0], self.cabinet_base.sites[2]]
np.random.shuffle(sites)
for item, site in zip(self.items, sites):
item.set_pose(
site.get_position(),
self._ITEMS_QUAT.elements,
self._ITEMS_POS_BOUNDS,
self._ITEMS_ROT_BOUNDS,
)
class ToastSandwich(BiGymEnv):
"""Move sandwich on the frying pan."""
DEFAULT_ROBOT = H1FineManipulation
_PRESET_PATH = PRESETS_PATH / "counter_base_2_hob.yaml"
_PAN_QUAT = Quaternion(axis=[0, 0, 1], degrees=-90)
_PAN_POS_BOUNDS = np.array([0.02, 0.02, 0])
_PAN_ROT_BOUNDS = np.deg2rad([0, 0, 30])
_SPATULA_OFFSET = np.array([-0.02, 0.02, 0.08])
_SPATULA_QUAT = Quaternion(axis=[0, 0, 1], degrees=90)
_BOARD_POS = np.array([0.7, -0.6, 0.88])
_BOARD_ROT_BOUNDS = np.deg2rad([0, 0, 5])
_TOLERANCE = np.deg2rad(10)
_TOASTED = False
_ROUNDED = False
_SANDWICH_OFFSET = np.array([0, 0, 0.05])
_SANDWICH_POS_BOUNDS = np.array([0.05, 0.05, 0])
_SANDWICH_ROT_BOUNDS = np.deg2rad([0, 0, 180])
@property
def _sandwich_anchor(self) -> Prop:
return self.board
def _initialize_env(self):
self.cabinet_base = self._preset.get_props(BaseCabinet)[0]
self.pan = Pan(self._mojo)
self.spatula = Spatula(self._mojo)
self.board = ChoppingBoard(self._mojo)
self.sandwich = Sandwich(
self._mojo, toasted=self._TOASTED, rounded_collider=self._ROUNDED
)
def _on_reset(self):
site = self.cabinet_base.sites[0]
self.pan.set_pose(
site.get_position(),
self._PAN_QUAT.elements,
self._PAN_POS_BOUNDS,
self._PAN_ROT_BOUNDS,
)
self.spatula.set_pose(
self.pan.body.get_position() + self._SPATULA_OFFSET,
self._SPATULA_QUAT.elements,
)
self.board.set_pose(self._BOARD_POS, rotation_bounds=self._BOARD_ROT_BOUNDS)
self.sandwich.set_pose(
self._sandwich_anchor.body.get_position() + self._SANDWICH_OFFSET,
position_bounds=self._SANDWICH_POS_BOUNDS,
rotation_bounds=self._SANDWICH_ROT_BOUNDS,
)
def _success(self) -> bool:
up = np.array([0, 0, 1])
sandwich_up = Quaternion(self.sandwich.body.get_quaternion()).rotate(up)
angle_to_up = np.arccos(np.clip(np.dot(sandwich_up, up), -1.0, 1.0))
angle_to_down = np.arccos(np.clip(np.dot(sandwich_up, -up), -1.0, 1.0))
if not (angle_to_up <= self._TOLERANCE or angle_to_down <= self._TOLERANCE):
return False
if not self.pan.is_colliding(self.cabinet_base.hob):
return False
if not self.sandwich.is_colliding(self.pan):
return False
return True
def _fail(self) -> bool:
if super()._fail():
return True
for side in self.robot.grippers:
if self.robot.is_gripper_holding_object(self.sandwich, side):
return True
return False
class FlipSandwich(ToastSandwich):
"""Flip sandwich using spatula."""
_SANDWICH_OFFSET = np.array([0, 0, 0.04])
_SANDWICH_POS_BOUNDS = np.array([0.01, 0.01, 0])
_SANDWICH_ROT_BOUNDS = np.deg2rad([0, 0, 180])
_ROUNDED = True
@property
def _sandwich_anchor(self) -> Prop:
return self.pan
def _success(self) -> bool:
up = np.array([0, 0, 1])
sandwich_up = Quaternion(self.sandwich.body.get_quaternion()).rotate(up)
angle_to_down = np.arccos(np.clip(np.dot(sandwich_up, -up), -1.0, 1.0))
if angle_to_down > self._TOLERANCE:
return False
if not self.pan.is_colliding(self.cabinet_base.hob):
return False
if not self.sandwich.is_colliding(self.pan):
return False
return True
class RemoveSandwich(FlipSandwich):
"""Remove sandwich from the frying pan."""
_TOASTED = True
def _success(self) -> bool:
up = np.array([0, 0, 1])
sandwich_up = Quaternion(self.sandwich.body.get_quaternion()).rotate(up)
angle_to_up = np.arccos(np.clip(np.dot(sandwich_up, up), -1.0, 1.0))
angle_to_down = np.arccos(np.clip(np.dot(sandwich_up, -up), -1.0, 1.0))
if not (angle_to_up <= self._TOLERANCE or angle_to_down <= self._TOLERANCE):
return False
if not self.sandwich.is_colliding(self.board):
return False
return True
================================================
FILE: bigym/envs/presets/cabinet.yaml
================================================
# Static cabinet
props:
- type: BaseCabinet
position: [1.2, 0, 0]
euler: [0, 0, -90]
panel_enable: true
================================================
FILE: bigym/envs/presets/cabinet_door.yaml
================================================
# Base cabinets with door
props:
- type: BaseCabinet
position: [1.2, 0, 0]
euler: [0, 0, -90]
door_left_enable: true
shelf_enable: true
================================================
FILE: bigym/envs/presets/cabinet_hob.yaml
================================================
# Base cabinet with hob
props:
- type: BaseCabinet
position: [1.2, 0, 0]
euler: [0, 0, -90]
door_left_enable: true
hob_enable: true
shelf_enable: true
================================================
FILE: bigym/envs/presets/counter_base_2.yaml
================================================
# 2 base cabinets
props:
- type: BaseCabinet
position: [1.1, 0, 0]
euler: [0, 0, -90]
shelf_enable: true
door_right_enable: true
- type: BaseCabinet
position: [1.1, -0.6, 0]
euler: [0, 0, -90]
shelf_enable: false
door_left_enable: true
================================================
FILE: bigym/envs/presets/counter_base_2_hob.yaml
================================================
# 2 base cabinets with hob
props:
- type: BaseCabinet
position: [1.1, 0, 0]
euler: [0, 0, -90]
shelf_enable: true
door_right_enable: true
hob_enable: true
- type: BaseCabinet
position: [1.1, -0.6, 0]
euler: [0, 0, -90]
shelf_enable: false
door_left_enable: true
================================================
FILE: bigym/envs/presets/counter_base_wall_1x1.yaml
================================================
# 1 base and 1 wall cabinet
props:
- type: BaseCabinet
position: [1.2, 0, 0]
euler: [0, 0, -90]
door_left_enable: true
shelf_enable: true
- type: WallCabinet
position: [ 1.2, 0, 0 ]
euler: [ 0, 0, -90 ]
glass_doors_enable: true
================================================
FILE: bigym/envs/presets/counter_base_wall_2x2.yaml
================================================
# 2 base and 2 wall cabinets
include:
- counter_base_2.yaml
props:
- type: WallCabinet
position: [1.1, 0, 0]
euler: [0, 0, -90]
glass_doors_enable: true
- type: OpenShelf
position: [1.1, -0.6, 0]
euler: [0, 0, -90]
================================================
FILE: bigym/envs/presets/counter_base_wall_3x1.yaml
================================================
# 3 base and 1 wall cabinets
props:
- type: BaseCabinet
position: [1.2, 0, 0]
euler: [ 0, 0, -90 ]
big_drawers_enable: [true, false]
small_drawers_enable: [false, false, true, true]
hob_enable: true
- type: BaseCabinet
position: [ 1.2, -0.6, 0 ]
euler: [ 0, 0, -90 ]
door_left_enable: true
shelf_enable: true
- type: BaseCabinet
position: [ 1.2, 0.6, 0 ]
euler: [ 0, 0, -90 ]
door_right_enable: true
shelf_enable: true
- type: WallCabinet
position: [ 1.2, 0, 0 ]
euler: [ 0, 0, -90 ]
doors_enable: true
vent_enable: true
================================================
FILE: bigym/envs/presets/counter_dishwasher.yaml
================================================
# Dishwasher with kitchen counter
props:
- type: Dishwasher
position: [1, 0, 0]
euler: [0, 0, -90]
- type: BaseCabinet
position: [1, 0, 0]
euler: [0, 0, -90]
walls_enable: false
- type: BaseCabinet
position: [1, -0.6, 0]
euler: [0, 0, -90]
panel_enable: true
================================================
FILE: bigym/envs/presets/counter_dishwasher_cutlery_cabinet.yaml
================================================
# Dishwasher with kitchen counter and cabinet with cutlery tray
include:
- counter_dishwasher.yaml
props:
- type: BaseCabinet
position: [1, -1.2, 0]
euler: [0, 0, -90]
small_drawers_enable: [true, true, true, true]
children:
- type: CutleryTray
parent_site: "drawer_small_4"
================================================
FILE: bigym/envs/presets/counter_dishwasher_wall_cabinet.yaml
================================================
# Dishwasher with kitchen counter and wall cabinet
include:
- counter_dishwasher.yaml
props:
- type: WallCabinet
position: [1, -0.6, 0]
euler: [0, 0, -90]
glass_doors_enable: true
================================================
FILE: bigym/envs/presets/dishwasher.yaml
================================================
# Dishwasher
props:
- type: Dishwasher
position: [1.2, 0, 0]
euler: [0, 0, -90]
================================================
FILE: bigym/envs/presets/move_plates.yaml
================================================
# Table for the "move plates" task
props:
- type: Table
position: [0.7, 0, 0]
euler: [0, 0, -90]
- type: DishDrainer
position: [0.7, 0.3, 0.95]
- type: DishDrainer
position: [0.7, -0.3, 0.95 ]
================================================
FILE: bigym/envs/presets/stack_blocks.yaml
================================================
# Two tables for the "stack blocks" task
props:
- type: Table
position: [0.7, 0, 0]
euler: [0, 0, -90]
- type: Table
position: [1.4, 0, 0]
euler: [0, 0, 90]
================================================
FILE: bigym/envs/props/__init__.py
================================================
"""Init."""
================================================
FILE: bigym/envs/props/cabintets.py
================================================
"""Modular cabinets."""
from abc import ABC
from pathlib import Path
from typing import Any
import numpy as np
from dm_control import mjcf
from mojo.elements import Body, MujocoElement
from bigym.const import ASSETS_PATH
from bigym.envs.props.prop import CollidableProp
from bigym.utils.physics_utils import set_joint_position, get_joint_position
class ModularCabinet(CollidableProp, ABC):
"""Base modular prop."""
def _post_init(self):
self._joints = self.body.joints
def set_state(self, state: np.ndarray):
"""Set normalized state of joints."""
for value, joint in zip(state, self._joints):
set_joint_position(joint, value, True)
def get_state(self) -> np.ndarray[float]:
"""Get normalized state of joints."""
return np.array([get_joint_position(joint, True) for joint in self._joints])
@staticmethod
def _toggle_body(model: mjcf.RootElement, name: str, enable: bool):
if not enable:
model.find("body", name).remove()
class BaseCabinet(ModularCabinet):
"""Modular base cabinet."""
_BIG_DRAWERS = ["drawer_big_1", "drawer_big_2"]
_SMALL_DRAWERS = [
"drawer_small_1",
"drawer_small_2",
"drawer_small_3",
"drawer_small_4",
]
_DOOR_LEFT = "door_left"
_DOOR_RIGHT = "door_right"
_PANEL = "panel"
_SHELF = "shelf"
_SHELF_BOTTOM = "shelf_bottom"
_HOB = "hob"
_WALLS = "walls"
_COUNTER = "counter"
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/kitchen/base_cabinet_600.xml"
def _parse_kwargs(self, kwargs: dict[str, Any]):
self._walls_enable = kwargs.get("walls_enable", True)
self._big_drawers_enable = kwargs.get("big_drawers_enable", None)
self._small_drawers_enable = kwargs.get("small_drawers_enable", None)
self._hob_enable = kwargs.get("hob_enable", False)
self._panel_enable = kwargs.get("panel_enable", False)
self._door_left_enable = kwargs.get("door_left_enable", False)
self._door_right_enable = kwargs.get("door_right_enable", False)
self._shelf_enable = kwargs.get("shelf_enable", False)
if self._big_drawers_enable is None:
self._big_drawers_enable = [False] * len(self._BIG_DRAWERS)
if self._small_drawers_enable is None:
self._small_drawers_enable = [False] * len(self._SMALL_DRAWERS)
assert len(self._big_drawers_enable) == len(self._BIG_DRAWERS)
assert len(self._small_drawers_enable) == len(self._SMALL_DRAWERS)
self._CACHE_SITES = (
self._hob_enable
or any(self._big_drawers_enable)
or any(self._small_drawers_enable)
)
def _on_loaded(self, model: mjcf.RootElement):
cabinet = MujocoElement(self._mojo, model)
self.shelf = Body.get(self._mojo, self._SHELF, cabinet).geoms[-1]
self.shelf_bottom = Body.get(self._mojo, self._SHELF_BOTTOM, cabinet).geoms[-1]
self.counter = Body.get(self._mojo, self._COUNTER, cabinet).geoms[-1]
self.hob = Body.get(self._mojo, self._HOB, cabinet).geoms[-1]
for name, enable in zip(self._BIG_DRAWERS, self._big_drawers_enable):
self._toggle_body(model, name, enable)
for name, enable in zip(self._SMALL_DRAWERS, self._small_drawers_enable):
self._toggle_body(model, name, enable)
self._toggle_body(model, self._WALLS, self._walls_enable)
self._toggle_body(model, self._HOB, self._hob_enable)
self._toggle_body(model, self._PANEL, self._panel_enable)
self._toggle_body(model, self._DOOR_LEFT, self._door_left_enable)
self._toggle_body(model, self._DOOR_RIGHT, self._door_right_enable)
self._toggle_body(model, self._SHELF, self._shelf_enable)
class WallCabinet(ModularCabinet):
"""Modular wall cabinet."""
_DOORS = ["door_right", "door_left"]
_GLASS_DOORS = ["door_right_glass", "door_left_glass"]
_VENT = "vent"
_SHELF = "shelf"
_SHELF_BOTTOM = "shelf_bottom"
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/kitchen/wall_cabinet_600.xml"
def _parse_kwargs(self, kwargs: dict[str, Any]):
self._doors_enable = kwargs.get("doors_enable", False)
self._glass_doors_enable = kwargs.get("glass_doors_enable", False)
self._vent_enable = kwargs.get("vent_enable", False)
def _on_loaded(self, model: mjcf.RootElement):
cabinet = MujocoElement(self._mojo, model)
self.shelf = Body.get(self._mojo, self._SHELF, cabinet).geoms[-1]
self.shelf_bottom = Body.get(self._mojo, self._SHELF_BOTTOM, cabinet).geoms[-1]
for door_name in self._DOORS:
self._toggle_body(model, door_name, self._doors_enable)
for door_name in self._GLASS_DOORS:
self._toggle_body(model, door_name, self._glass_doors_enable)
self._toggle_body(model, self._VENT, self._vent_enable)
class OpenShelf(ModularCabinet):
"""Modular open shelf."""
_SHELF = "shelf"
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/kitchen/open_shelf_600.xml"
def _on_loaded(self, model: mjcf.RootElement):
shelf = MujocoElement(self._mojo, model)
self.shelf = Body.get(self._mojo, self._SHELF, shelf).geoms[-1]
================================================
FILE: bigym/envs/props/cutlery.py
================================================
"""Cutlery props."""
from pathlib import Path
from bigym.const import ASSETS_PATH
from bigym.envs.props.prop import KinematicProp
class Fork(KinematicProp):
"""Fork."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/cutlery/fork/fork.xml"
class Knife(KinematicProp):
"""Knife."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/cutlery/knife/knife.xml"
class Spoon(KinematicProp):
"""Spoon."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/cutlery/spoon/spoon.xml"
class Spatula(KinematicProp):
"""Spatula."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/spatula/spatula.xml"
================================================
FILE: bigym/envs/props/dishwasher.py
================================================
"""Dishwasher."""
from pathlib import Path
from typing import Optional
import numpy as np
from mojo import Mojo
from mojo.elements import Joint, Site, Body, Geom
from bigym.const import ASSETS_PATH
from bigym.envs.props.prop import Prop
from bigym.utils.physics_utils import get_joint_position, set_joint_position
class DishwasherPart:
"""Part of the dishwasher."""
def __init__(
self,
mojo: Mojo,
dishwasher_body: Body,
body_name: Optional[str] = None,
joint_name: Optional[str] = None,
site_sets: Optional[list[tuple[str, int]]] = None,
):
"""Init."""
self._mojo = mojo
self.body: Optional[Body] = (
Body.get(self._mojo, body_name, dishwasher_body) if body_name else None
)
self.joint: Optional[Joint] = (
Joint.get(self._mojo, joint_name, dishwasher_body) if joint_name else None
)
self.site_sets: list[list[Site]] = []
if site_sets:
for sites_name, sites_count in site_sets:
sites_set: list[Site] = []
for i in range(sites_count):
site = Site.get(
self._mojo, f"{sites_name}_{i + 1}", dishwasher_body
)
sites_set.append(site)
self.site_sets.append(sites_set)
self.colliders: list[Geom] = Prop.get_body_colliders(self.body)
class Dishwasher(Prop):
"""Dishwasher."""
DOOR_BODY = "dishwasher/door"
DOOR_JOINT = "dishwasher/door_hinge"
TRAY_BOTTOM_BODY = "dishwasher/tray_bottom"
TRAY_BOTTOM_JOINT = "dishwasher/tray_bottom_linear"
TRAY_BOTTOM_SITES = [
("dishwasher/tray_bottom_holder_1", 11),
("dishwasher/tray_bottom_holder_2", 11),
]
TRAY_MIDDLE_BODY = "dishwasher/tray_mid"
TRAY_MIDDLE_JOINT = "dishwasher/tray_mid_linear"
TRAY_MIDDLE_SITES = [
("dishwasher/tray_mid_holder_sites_1", 11),
("dishwasher/tray_mid_holder_sites_2", 11),
]
BASKET_BODY = "dishwasher/cuttlery_basket"
BASKET_SITES = [("dishwasher/cuttlery_basket", 6)]
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/dishwasher/dishwasher.xml"
def _post_init(self):
"""Init."""
self.door = DishwasherPart(
self._mojo, self.body, self.DOOR_BODY, self.DOOR_JOINT
)
self.tray_bottom = DishwasherPart(
self._mojo,
self.body,
self.TRAY_BOTTOM_BODY,
self.TRAY_BOTTOM_JOINT,
self.TRAY_BOTTOM_SITES,
)
self.tray_middle = DishwasherPart(
self._mojo,
self.body,
self.TRAY_MIDDLE_BODY,
self.TRAY_MIDDLE_JOINT,
self.TRAY_MIDDLE_SITES,
)
self.basket = DishwasherPart(
self._mojo, self.body, self.BASKET_BODY, site_sets=self.BASKET_SITES
)
def set_state(self, door: float, bottom_tray: float, middle_tray: float):
"""Set state of dishwasher joints."""
set_joint_position(self.door.joint, door, True)
set_joint_position(self.tray_bottom.joint, bottom_tray, True)
set_joint_position(self.tray_middle.joint, middle_tray, True)
def get_state(self) -> np.ndarray:
"""Get state of dishwasher joints."""
return np.array(
[
get_joint_position(self.door.joint, True),
get_joint_position(self.tray_bottom.joint, True),
get_joint_position(self.tray_middle.joint, True),
]
)
================================================
FILE: bigym/envs/props/holders.py
================================================
"""Utensil holder."""
from abc import ABC
from pathlib import Path
from mojo.elements import Geom
from bigym.const import ASSETS_PATH
from bigym.envs.props.prop import Prop
class _Holder(Prop, ABC):
"""Base Holder Prop."""
_CACHE_COLLIDERS = True
_CACHE_SITES = True
class CutleryTray(_Holder):
"""Cutlery tray."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/cutlery_tray/cutlery_tray.xml"
class DishDrainer(_Holder):
"""Dish Drainer."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/dish_drainer/dish_drainer.xml"
def _post_init(self):
self.holders_left: list[Geom] = self.colliders[0:7]
self.holders_right: list[Geom] = self.colliders[7:14]
================================================
FILE: bigym/envs/props/items.py
================================================
"""Different pickable items."""
from pathlib import Path
from typing import Any
from dm_control import mjcf
from mujoco_utils import mjcf_utils
from bigym.const import ASSETS_PATH
from bigym.envs.props.prop import KinematicProp
class Box(KinematicProp):
"""Box."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/box/box.xml"
class Cube(KinematicProp):
"""Cube."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/cube/cube.xml"
class Sandwich(KinematicProp):
"""Sandwich."""
_COLLIDER = "collider"
_COLLIDER_ROUNDED = "collider_rounded"
_NORMAL_MODEL = "sandwich.xml"
_TOASTED_MODEL = "sandwich_toasted.xml"
@property
def _model_path(self) -> Path:
model = self._TOASTED_MODEL if self.toasted else self._NORMAL_MODEL
return ASSETS_PATH / "props/sandwich" / model
def _parse_kwargs(self, kwargs: dict[str, Any]):
self.toasted = kwargs.get("toasted", False)
self.rounded_collider = kwargs.get("rounded_collider", False)
def _on_loaded(self, model: mjcf.RootElement):
collider_to_remove = (
self._COLLIDER if self.rounded_collider else self._COLLIDER_ROUNDED
)
mjcf_utils.safe_find(model, "geom", collider_to_remove).remove()
class Wine(KinematicProp):
"""Wine."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/wine/wine.xml"
class Detergent(KinematicProp):
"""Detergent."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/detergent/detergent.xml"
class Soap(KinematicProp):
"""Soap."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/soap/soap.xml"
class Beer(KinematicProp):
"""Beer."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/beer.xml"
class Cereals(KinematicProp):
"""Cereals."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/cereal.xml"
class Crisps(KinematicProp):
"""Crisps."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/crisps.xml"
class Ketchup(KinematicProp):
"""Ketchup."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/ketchup.xml"
class Mustard(KinematicProp):
"""Mustard."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/mustard.xml"
class Soda(KinematicProp):
"""Soda."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/groceries/soda.xml"
================================================
FILE: bigym/envs/props/kitchenware.py
================================================
"""Kitchenware."""
from pathlib import Path
from bigym.const import ASSETS_PATH
from bigym.envs.props.prop import KinematicProp
class Plate(KinematicProp):
"""Plate."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/plate/plate.xml"
class Mug(KinematicProp):
"""Mug."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/mug/mug.xml"
class Pan(KinematicProp):
"""Pan."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/pan/pan.xml"
class Saucepan(KinematicProp):
"""Saucepan."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/saucepan/saucepan.xml"
class ChoppingBoard(KinematicProp):
"""Chopping Board."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/board/board.xml"
================================================
FILE: bigym/envs/props/preset.py
================================================
"""Props Preset."""
from collections import defaultdict
from pathlib import Path
from typing import Optional, Callable, TypeVar, Type
import numpy as np
from mojo import Mojo
from yaml import safe_load
import bigym.envs.props as props_module
from bigym.envs.props.prop import Prop
from bigym.utils.shared import find_class_in_module
PT = TypeVar("PT", bound=Prop)
class Preset:
"""Props Preset."""
def __init__(self, mojo: Mojo, path: Optional[Path]):
"""Init."""
self._props: list[Prop] = []
self._props_lookup: dict[type[Prop], list[Prop]] = defaultdict(list)
if path is None:
return
with open(path) as f:
config = safe_load(f)
for include in config.get("include", []):
sub_layout = Preset(mojo, path.parent / include)
self._props.extend(sub_layout._props)
for prop_config in config.get("props", []):
prop_and_children = self._load_prop(prop_config, mojo)
self._props.extend(prop_and_children)
# Build props lookup table by prop type
for prop in self._props:
self._props_lookup[type(prop)].append(prop)
def get_props(self, prop_type: Optional[Type[PT]] = None) -> list[PT]:
"""Get preset props."""
if prop_type is None:
return self._props
else:
return self._props_lookup.get(prop_type, [])
def _load_prop(
self, config, mojo: Mojo, parent: Optional[Prop] = None
) -> list[Prop]:
loaded_props = []
# Parse config
prop_type = config.pop("type")
prop_cls: Optional[type[Prop]] = find_class_in_module(props_module, prop_type)
if not prop_cls:
return loaded_props
position = self._get_float_array(config.pop("position", None), 3)
euler = self._get_float_array(config.pop("euler", None), 3, np.deg2rad)
children = config.pop("children", [])
# Load prop
if parent is None:
prop = prop_cls(mojo, **config)
else:
parent_site_name = config.pop("parent_site")
parent_site = next(
(site for site in parent.sites if site.mjcf.name == parent_site_name),
None,
)
if parent_site is None:
raise ValueError(
f"Site with name '{parent_site_name}' not found in {parent}"
)
prop = prop_cls(mojo, parent=parent_site, **config)
loaded_props.append(prop)
# Set pose
if position is not None:
prop.body.set_position(position)
if euler is not None:
prop.body.set_euler(euler)
# Load children
for child_config in children:
loaded_props.extend(self._load_prop(child_config, mojo, prop))
return loaded_props
@staticmethod
def _get_float_array(
value: Optional[list],
target_length: int,
post_process: Optional[Callable[[np.ndarray], np.ndarray]] = None,
) -> Optional[np.ndarray]:
if value is None:
return None
if len(value) != target_length:
raise ValueError(
f"Incorrect array length: {value}, expected length: {target_length}"
)
result = np.array([float(item) for item in value])
if post_process:
result = post_process(result)
return result
================================================
FILE: bigym/envs/props/prop.py
================================================
"""Abstract prop."""
from abc import abstractmethod, ABC
from pathlib import Path
from typing import Union, Iterable, Optional, Any
import numpy as np
from dm_control import mjcf
from mojo import Mojo
from mojo.elements import Body, Geom, Site, MujocoElement
from pyquaternion import Quaternion
from bigym.utils.physics_utils import has_collided_collections, get_colliders
class Prop(ABC):
"""Base prop."""
_KINEMATIC = False
_CACHE_COLLIDERS = False
_CACHE_SITES = False
__HIDDEN_POSITION = np.array([0, 0, -100])
def __init__(
self,
mojo: Mojo,
kinematic: Optional[bool] = None,
cache_colliders: Optional[bool] = None,
cache_sites: Optional[bool] = None,
parent: Optional[MujocoElement] = None,
**kwargs,
):
"""Init."""
self._parse_kwargs(kwargs or {})
kinematic = kinematic or self._KINEMATIC
cache_colliders = cache_colliders or self._CACHE_COLLIDERS
cache_sites = cache_sites or self._CACHE_SITES
self._mojo = mojo
self.body: Body = self._mojo.load_model(
str(self._model_path),
on_loaded=self._on_loaded,
parent=parent,
)
# Cache colliders
self.colliders: list[Geom] = []
if cache_colliders:
self.colliders = self.get_body_colliders(self.body)
# Cache sites
self.sites: list[Site] = []
if cache_sites:
self.sites = self.get_body_sites(self.body, self._mojo)
# Set kinematic state
self.kinematic = kinematic
if self.kinematic:
self.body.set_kinematic(True)
# Cache original geom settings
self._geoms = self.body.geoms
self._geoms_settings_cache: dict[mjcf.Element, (int, int)] = {}
for geom in self._geoms:
self._geoms_settings_cache[geom.mjcf] = (
self._mojo.physics.bind(geom.mjcf).contype,
self._mojo.physics.bind(geom.mjcf).conaffinity,
)
self._post_init()
@property
@abstractmethod
def _model_path(self) -> Path:
raise NotImplementedError
def _parse_kwargs(self, kwargs: dict[str, Any]):
"""Process initialization kwargs."""
pass
def _on_loaded(self, model: mjcf.RootElement):
"""Callback to customize prop model."""
pass
def _post_init(self):
"""Customize prop initialization."""
pass
def get_pose(self) -> np.ndarray:
"""Get pose in the world space."""
return np.concatenate(
(self.body.get_position(), self.body.get_quaternion()),
axis=-1,
)
def set_pose(
self,
position: np.ndarray = np.zeros(3),
quat: np.ndarray = Quaternion().elements,
position_bounds: np.ndarray = np.zeros(3),
rotation_bounds: np.ndarray = np.zeros(3),
):
"""Set pose in the world space."""
offset_pos = np.random.uniform(-position_bounds, position_bounds)
pos = position + offset_pos
offset_rot = np.random.uniform(-rotation_bounds, rotation_bounds)
quat = (
Quaternion(quat)
* Quaternion(axis=[1, 0, 0], angle=offset_rot[0])
* Quaternion(axis=[0, 1, 0], angle=offset_rot[1])
* Quaternion(axis=[0, 0, 1], angle=offset_rot[2])
)
self.body.set_position(pos, True)
self.body.set_quaternion(quat.elements, True)
def disable(self):
"""Disable prop."""
for geom in self._geoms:
geom = self._mojo.physics.bind(geom.mjcf)
geom.contype = 0
geom.conaffinity = 0
if self.body.is_kinematic():
freejoint = self._mojo.physics.bind(self.body.mjcf.freejoint)
freejoint.damping = 10e6
self.body.set_position(self.__HIDDEN_POSITION, True)
def enable(self):
"""Enable prop."""
for geom in self._geoms:
contype, conaffinity = self._geoms_settings_cache[geom.mjcf]
geom = self._mojo.physics.bind(geom.mjcf)
geom.contype = contype
geom.conaffinity = conaffinity
if self.body.is_kinematic():
freejoint = self._mojo.physics.bind(self.body.mjcf.freejoint)
freejoint.damping = 0
def get_velocities(self) -> np.ndarray:
"""Get velocities of the free body."""
if self.kinematic:
return np.array(self._mojo.physics.bind(self.body.mjcf.freejoint).qvel)
else:
return np.zeros(0)
def is_static(self, atol_pos: float = 1.0e-3):
"""Check if object's position is static."""
velocities = self.get_velocities()
return np.allclose(velocities[:3], 0, atol=atol_pos)
def is_colliding(self, other: Union[Geom, Iterable[Geom], "Prop"]) -> bool:
"""Check collision between two props."""
other_colliders = get_colliders(other)
return has_collided_collections(
self._mojo.physics, self.colliders, other_colliders
)
@staticmethod
def get_body_colliders(body: Body) -> list[Geom]:
"""Get all colliders of the body."""
return [g for g in body.geoms if g.is_collidable()]
@staticmethod
def get_body_sites(body: Body, mojo: Mojo) -> list[Site]:
"""Get all sites of the body."""
sites = body.mjcf.find_all("site")
return [Site(mojo, site_mjcf) for site_mjcf in sites]
class CollidableProp(Prop, ABC):
"""Collidable prop."""
_CACHE_COLLIDERS = True
class KinematicProp(Prop, ABC):
"""Kinematic collidable prop."""
_KINEMATIC = True
_CACHE_COLLIDERS = True
================================================
FILE: bigym/envs/props/tables.py
================================================
"""Tables."""
from pathlib import Path
from bigym.const import ASSETS_PATH
from bigym.envs.props.prop import CollidableProp
class Table(CollidableProp):
"""Default Table."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/table/table.xml"
class SmallTable(CollidableProp):
"""Shorter version of the default table."""
@property
def _model_path(self) -> Path:
return ASSETS_PATH / "props/table_dishwasher/table_dishwasher.xml"
================================================
FILE: bigym/envs/reach_target.py
================================================
"""Set of reach target tasks."""
from abc import ABC
from dataclasses import dataclass, field
import numpy as np
from gymnasium import spaces
from mojo import Mojo
from mojo.elements import Body, Geom
from mojo.elements.consts import GeomType
from bigym.bigym_env import BiGymEnv
from bigym.const import HandSide
from bigym.robots.robot import Robot
@dataclass
class TargetConfig:
"""Target Config."""
target_hands: list[HandSide]
reset_position: np.ndarray = field(default_factory=lambda: np.zeros(3))
size: np.ndarray = field(default_factory=lambda: np.array([0.05, 0.05, 0.05]))
color_default: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 1]))
color_highlight: np.ndarray = field(default_factory=lambda: np.array([1, 0, 0, 1]))
class Target:
"""Target sphere."""
def __init__(self, mojo: Mojo, robot: Robot, config: TargetConfig):
"""Init."""
self._robot = robot
self._config = config
self.body = Body.create(mojo)
self.geom: Geom = Geom.create(
mojo,
parent=self.body,
geom_type=GeomType.SPHERE,
size=config.size,
color=config.color_default,
mass=0,
)
self.geom.set_collidable(False)
def reset_position(self, offset: np.ndarray = np.zeros(3)):
"""Reset position of the target."""
self.body.set_position(self._config.reset_position + offset)
def distance(self, pos: np.ndarray) -> float:
"""Get distance to target."""
return float(np.linalg.norm(self.body.get_position() - pos))
def is_reached(self, tolerance: float) -> bool:
"""Check if target is reached."""
for side in self._config.target_hands:
if side not in self._robot.grippers:
continue
hand_pos = self._robot.get_hand_pos(side)
is_reached = self.distance(hand_pos) <= tolerance
self.set_highlight(is_reached)
if is_reached:
return True
return False
def set_highlight(self, highlight: bool):
"""Toggle target highlight."""
self.geom.set_color(
self._config.color_highlight if highlight else self._config.color_default
)
class _ReachTargetEnv(BiGymEnv, ABC):
"""Base reach target environment."""
TARGET_CONFIGS = [
TargetConfig(
target_hands=[HandSide.LEFT, HandSide.RIGHT],
reset_position=np.array([0.5, 0, 1]),
color_default=np.array([0.3, 0, 0, 1]),
color_highlight=np.array([1, 0, 0, 1]),
)
]
POSITION_BOUNDS = np.array([0.1, 0.1, 0.1])
TOLERANCE = 0.1
def _initialize_env(self):
self.targets: list[Target] = []
for config in self.TARGET_CONFIGS:
self.targets.append(Target(self._mojo, self.robot, config))
def _on_reset(self):
for target in self.targets:
offset = np.random.uniform(-self.POSITION_BOUNDS, self.POSITION_BOUNDS)
target.reset_position(offset)
target.set_highlight(False)
def _success(self) -> bool:
for target in self.targets:
if not target.is_reached(self.TOLERANCE):
return False
return True
def _on_step(self):
"""Highlight spheres even in fast mode."""
self._success()
class ReachTarget(_ReachTargetEnv):
"""Reach the target with either left or right wrist."""
def _get_task_privileged_obs_space(self):
return {
"target_position": spaces.Box(
low=-np.inf, high=np.inf, shape=(3,), dtype=np.float32
)
}
def _get_task_privileged_obs(self):
return {
"target_position": np.array(
self.targets[0].body.get_position(), np.float32
).copy()
}
class ReachTargetSingle(ReachTarget):
"""Reach the target with specific wrist."""
TARGET_CONFIGS = [
TargetConfig(
target_hands=[HandSide.LEFT],
reset_position=np.array([0.5, 0, 1]),
color_default=np.array([0.3, 0, 0, 1]),
color_highlight=np.array([1, 0, 0, 1]),
)
]
class ReachTargetDual(_ReachTargetEnv):
"""Reach 2 targets, one with each arm."""
TARGET_CONFIGS = [
TargetConfig(
target_hands=[HandSide.LEFT],
reset_position=np.array([0.5, 0.2, 1]),
color_default=np.array([0.3, 0, 0, 1]),
color_highlight=np.array([1, 0, 0, 1]),
),
TargetConfig(
target_hands=[HandSide.RIGHT],
reset_position=np.array([0.5, -0.2, 1]),
color_default=np.array([0, 0.3, 0, 1]),
color_highlight=np.array([0, 1, 0, 1]),
),
]
def _get_task_privileged_obs_space(self):
return {
"target_position_left": spaces.Box(
low=-np.inf, high=np.inf, shape=(3,), dtype=np.float32
),
"target_position_right": spaces.Box(
low=-np.inf, high=np.inf, shape=(3,), dtype=np.float32
),
}
def _get_task_privileged_obs(self):
return {
"target_position_left": np.array(
self.targets[0].body.get_position(), np.float32
).copy(),
"target_position_right": np.array(
self.targets[1].body.get_position(), np.float32
).copy(),
}
================================================
FILE: bigym/envs/xmls/3D_MODELS_ATTRIBUTION.md
================================================
# 3D Models Attribution
This document provides the attribution details for the 3D models included in this repository. The models are used under various Creative Commons licenses and have been modified in some cases. Below are the details for each model:
## Table of Contents
- [Groceries](#groceries)
- [Kitchen Set](#kitchen-set)
- [Kitchen Utensils](#kitchen-utensils)
- [Cutlery](#cutlery)
- [Tables](#tables)
- [Plate](#plate)
- [Mug](#mug)
- [Cutlery Tray](#cutlery-tray)
---
## Groceries
- **Asset(s)**: [`bigym/envs/xmls/props/groceries/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/groceries/assets)
- **Author**: [tulex_art](https://sketchfab.com/CassioFernandes)
- **Source**: [Sketchfab](https://skfb.ly/6RCNy)
- **License**: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)
---
## Kitchen Set
- **Asset(s)**: [`bigym/envs/xmls/props/kitchen/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/kitchen/assets)
- **Author**: [RedKit](https://sketchfab.com/redkitpro)
- **Source**: [Sketchfab](https://skfb.ly/6SXBW)
- **License**: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)
---
## Kitchen Utensils
- **Asset(s)**:
- [`bigym/envs/xmls/props/board/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/board/assets)
- [`bigym/envs/xmls/props/pan/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/pan/assets)
- [`bigym/envs/xmls/props/saucepan/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/saucepan/assets)
- [`bigym/envs/xmls/props/spatula/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/spatula/assets)
- [`bigym/envs/xmls/props/groceries/detergent/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/groceries/detergent/assets)
- [`bigym/envs/xmls/props/groceries/soap/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/groceries/soap/assets)
- [`bigym/envs/xmls/props/groceries/wine/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/groceries/wine/assets)
- **Author**: [Nicolai Kilstrup](https://sketchfab.com/nkilstrup)
- **Source**: [Sketchfab](https://skfb.ly/oFoUn)
- **License**: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)
---
## Box
- **Asset(s)**: [`bigym/envs/xmls/props/box/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/box/assets)
- **Author**: [Pricey1600](https://sketchfab.com/Pricey1600)
- **Source**: [Sketchfab](https://skfb.ly/6ZWFF)
- **License**: [CC BY NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/)
---
## Cutlery
- **Asset(s)**:
- [`bigym/envs/xmls/props/cutlery/knife/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/cutlery/knife/assets)
- [`bigym/envs/xmls/props/cutlery/fork/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/cutlery/fork/assets)
- [`bigym/envs/xmls/props/cutlery/spoon/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/cutlery/spoon/assets)
- **Author**: [thebasemesh.com](https://thebasemesh.com)
- **Source**: [thebasemesh.com](https://thebasemesh.com)
- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)
---
## Tables
- **Asset(s)**:
- [`bigym/envs/xmls/props/table/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/table/assets)
- [`bigym/envs/xmls/props/table_dishwasher/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/table_dishwasher/assets)
- **Author**: [thebasemesh.com](https://thebasemesh.com)
- **Source**: [thebasemesh.com](https://thebasemesh.com)
- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)
---
## Plate
- **Asset(s)**: [`bigym/envs/xmls/props/plate/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/plate/assets)
- **Author**: [thebasemesh.com](https://thebasemesh.com)
- **Source**: [thebasemesh.com](https://thebasemesh.com)
- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)
---
## Mug
- **Asset(s)**: [`bigym/envs/xmls/props/mug/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/mug/assets)
- **Author**: [thebasemesh.com](https://thebasemesh.com)
- **Source**: [thebasemesh.com](https://thebasemesh.com)
- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)
---
## Cutlery Tray
- **Asset(s)**: [`bigym/envs/xmls/props/cutlery_tray/assets`](https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props/cutlery_tray/assets)
- **Author**: [thebasemesh.com](https://thebasemesh.com)
- **Source**: [thebasemesh.com](https://thebasemesh.com)
- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)
================================================
FILE: bigym/envs/xmls/google_robot/assets/link_base_v.obj
================================================
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g link_base
usemtl phong1SG
f 1/1/1 9/2/2 235/3/3
f 235/3/4 9/2/5 236/4/6
f 251/5/7 5/6/8 252/7/9
f 252/7/10 5/6/11 3/8/12
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f 101/161/457 102/162/458 100/160/459
f 100/160/460 102/162/461 143/163/462
f 103/143/463 101/164/464 94/141/465
f 94/141/466 101/164/467 92/165/468
f 103/143/469 238/153/470 101/164/471
f 101/164/472 238/153/473 102/152/474
f 141/166/475 153/167/476 94/168/477
f 94/168/478 153/167/479 268/169/480
f 66/89/481 106/91/482 107/170/483
f 107/170/484 106/91/485 108/171/486
f 110/172/487 113/173/488 107/174/489
f 107/174/490 113/173/491 111/175/492
f 107/174/493 111/175/494 66/97/495
f 66/97/496 111/175/497 120/95/498
f 112/176/499 114/177/500 113/178/501
f 112/176/502 113/178/503 110/179/504
f 154/180/505 155/181/506 260/182/507
f 112/176/508 110/179/509 109/183/510
f 109/183/511 118/184/512 112/176/513
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f 68/96/517 121/185/518 70/186/519
f 41/51/520 70/100/521 71/101/522
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_bicep_v.obj
================================================
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mtllib link_bicep.mtl
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g link_bicep
usemtl phong1SG
f 132/1/1 162/2/2 146/3/3
f 142/4/4 180/5/5 172/6/6
f 34/7/7 55/8/8 29/9/9
f 29/9/10 55/8/11 46/10/12
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f 128/18/37 143/21/38 107/19/39
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f 73/26/52 52/27/53 113/28/54
f 113/28/55 52/27/56 91/29/57
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f 37/88/235 40/71/236 51/74/237
f 33/89/238 34/90/239 16/86/240
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_elbow_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_elbow.mtl
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g link_elbow
usemtl phong1SG
f 228/1/1 202/2/2 200/3/3
f 200/3/4 202/2/5 164/4/6
f 233/5/7 238/6/8 207/7/9
f 207/7/10 238/6/11 198/8/12
f 282/9/13 297/10/14 269/11/15
f 269/11/16 297/10/17 264/12/18
f 185/13/19 198/8/20 174/14/21
f 174/14/22 198/8/23 178/15/24
f 141/16/25 138/17/26 121/18/27
f 121/18/28 138/17/29 103/19/30
f 138/17/31 141/16/32 178/15/33
f 178/15/34 141/16/35 153/20/36
f 248/21/37 228/1/38 200/3/39
f 239/22/40 280/23/41 268/24/42
f 257/25/43 253/26/44 247/27/45
f 247/27/46 253/26/47 238/6/48
f 138/17/49 90/28/50 103/19/51
f 103/19/52 90/28/53 79/29/54
f 90/28/55 76/30/56 79/29/57
f 79/29/58 76/30/59 42/31/60
f 76/30/61 30/32/62 42/31/63
f 126/33/64 117/34/65 140/35/66
f 164/4/67 171/36/68 117/34/69
f 117/34/70 171/36/71 140/35/72
f 164/4/73 202/2/74 171/36/75
f 268/24/76 248/21/77 239/22/78
f 239/22/79 248/21/80 200/3/81
f 257/25/82 279/37/83 253/26/84
f 253/26/85 279/37/86 269/11/87
f 269/11/88 279/37/89 282/9/90
f 178/15/91 153/20/92 174/14/93
f 76/30/94 48/38/95 30/32/96
f 30/32/97 48/38/98 26/39/99
f 239/22/100 264/12/101 280/23/102
f 280/23/103 264/12/104 287/40/105
f 238/6/106 233/5/107 247/27/108
f 185/13/109 207/7/110 198/8/111
f 33/41/112 26/39/113 48/38/114
f 48/38/115 50/42/116 33/41/117
f 33/41/118 50/42/119 45/43/120
f 264/12/121 297/10/122 287/40/123
f 77/44/124 56/45/125 50/42/126
f 50/42/127 56/45/128 45/43/129
f 77/44/130 86/46/131 56/45/132
f 117/34/133 126/33/134 77/44/135
f 77/44/136 126/33/137 86/46/138
f 195/47/139 240/48/140 217/49/141
f 282/50/142 293/51/143 297/52/144
f 295/53/145 287/54/146 297/52/147
f 295/53/148 280/55/149 287/54/150
f 232/56/151 228/57/152 248/58/153
f 151/59/154 171/60/155 202/61/156
f 293/51/157 303/62/158 301/63/159
f 293/51/157 301/63/159 297/52/160
f 297/52/160 301/63/159 295/53/161
f 301/63/159 292/64/162 295/53/161
f 292/64/162 256/65/163 295/53/161
f 295/53/161 256/65/163 275/66/164
f 275/66/165 268/67/166 280/55/167
f 275/66/168 280/55/169 295/53/170
f 288/68/171 304/69/172 266/70/173
f 303/62/158 309/71/174 304/69/172
f 301/63/159 304/69/172 288/68/171
f 288/68/171 266/70/173 256/65/163
f 256/65/163 266/70/173 267/72/175
f 267/72/175 234/73/176 235/74/177
f 235/75/177 234/76/176 184/77/178
f 256/65/163 267/72/175 235/74/177
f 206/78/179 235/79/177 184/80/178
f 206/78/179 184/80/178 150/81/180
f 303/62/158 304/69/172 301/63/159
f 301/63/159 288/68/171 292/64/162
f 292/64/162 288/68/171 256/65/163
f 268/67/181 275/66/182 251/82/183
f 251/82/184 275/66/164 256/65/163
f 251/82/184 256/65/163 232/83/151
f 232/83/151 256/65/163 235/74/177
f 232/56/151 235/79/177 218/84/185
f 218/84/185 235/79/177 206/78/179
f 218/84/185 206/78/179 193/85/186
f 184/77/178 152/86/187 150/87/180
f 206/88/179 150/87/180 173/89/188
f 206/78/179 173/90/188 149/91/189
f 173/89/188 150/87/180 142/92/190
f 173/90/188 142/93/190 149/91/189
f 248/94/153 251/82/184 232/83/151
f 228/57/152 232/56/151 202/61/191
f 202/61/191 232/56/151 218/84/185
f 202/61/191 218/84/185 151/59/192
f 151/59/192 218/84/185 193/85/186
f 151/59/192 193/85/186 148/95/193
f 149/91/189 148/95/193 193/85/186
f 149/91/189 193/85/186 206/78/179
f 251/82/194 248/94/195 268/67/196
f 262/96/197 230/97/198 242/98/199
f 242/99/199 230/100/198 231/101/200
f 231/101/200 230/100/198 215/102/201
f 231/101/200 215/102/201 203/103/202
f 215/102/201 191/104/203 203/103/202
f 203/103/202 191/104/203 192/105/204
f 203/103/202 192/105/204 205/106/205
f 192/105/204 191/104/203 183/107/206
f 192/105/204 183/107/206 172/108/207
f 310/109/208 305/110/209 311/111/210
f 289/112/211 277/113/212 281/114/213
f 281/114/214 277/113/215 262/96/216
f 310/109/208 296/115/217 305/110/209
f 305/110/209 296/115/217 289/112/218
f 289/112/219 296/115/220 277/113/221
f 309/71/174 303/62/158 308/116/222
f 305/110/209 309/71/174 311/111/210
f 299/117/223 305/110/209 289/112/218
f 299/117/223 289/112/218 281/114/224
f 299/117/223 266/70/173 304/69/172
f 299/117/223 304/69/172 305/110/209
f 266/70/173 299/117/223 265/118/225
f 266/70/173 265/118/225 244/119/226
f 299/117/223 281/114/224 265/118/225
f 265/118/225 281/114/224 242/98/199
f 265/118/225 242/98/199 244/119/226
f 281/114/224 262/96/197 242/98/199
f 244/120/226 242/99/199 231/101/200
f 244/120/226 231/101/200 205/106/205
f 205/106/205 231/101/200 203/103/202
f 172/108/207 152/86/187 192/105/204
f 267/72/175 244/119/226 205/121/205
f 234/76/176 205/106/205 192/105/204
f 184/77/178 192/105/204 152/86/187
f 309/71/174 305/110/209 304/69/172
f 267/72/175 266/70/173 244/119/226
f 267/122/175 205/106/205 234/76/176
f 234/76/176 192/105/204 184/77/178
f 15/123/227 4/124/228 18/125/229
f 53/126/230 29/127/231 37/128/232
f 29/127/233 15/123/234 27/129/235
f 125/130/236 140/131/237 133/132/238
f 125/130/236 126/133/239 140/131/237
f 45/134/240 56/135/241 68/136/242
f 26/137/243 33/138/244 23/139/245
f 9/140/246 16/141/247 26/137/243
f 96/142/248 122/143/249 72/144/250
f 72/144/250 122/143/249 93/145/251
f 72/146/250 93/147/251 63/148/252
f 63/148/252 93/147/251 82/149/253
f 94/150/254 93/151/251 123/152/255
f 143/153/256 142/92/190 150/87/180
f 143/153/256 150/87/180 152/86/187
f 62/154/257 82/149/253 93/147/251
f 62/154/257 93/147/251 94/155/254
f 93/151/251 142/92/190 123/152/255
f 123/152/255 142/92/190 143/153/256
f 133/132/238 142/93/190 122/143/249
f 93/145/251 122/143/249 142/93/190
f 72/146/250 68/136/242 56/135/241
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_finger_base_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_finger_base_simplified.mtl
g default
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s off
g link_finger_base_simplified whole_robot
usemtl link_finger_base_simplified:phong1SG
f 2/163/1 3/166/2 4/170/3
f 4/453/4 3/457/5 5/450/6
f 149/798/7 8/799/8 9/800/9
f 149/798/10 9/800/11 10/802/12
f 12/804/13 11/807/14 13/809/15
f 11/807/16 14/813/17 15/811/18
f 13/809/19 11/807/20 15/811/21
f 12/804/22 16/806/23 10/802/24
f 12/804/25 10/802/26 9/800/27
f 12/804/28 9/800/29 11/807/30
f 19/1526/31 18/1527/32 17/1528/33
f 18/1527/34 20/1532/35 152/1530/36
f 22/1534/37 21/1535/38 152/1530/39
f 22/1534/40 152/1530/41 20/1532/42
f 18/1527/43 19/1526/44 23/1529/45
f 18/1527/46 23/1529/47 24/1531/48
f 25/816/49 24/819/50 23/821/51
f 15/811/52 14/813/53 25/816/54
f 25/816/55 14/813/56 24/819/57
f 8/799/58 149/798/59 26/801/60
f 26/801/61 149/798/62 27/803/63
f 26/1537/64 27/1536/65 22/1534/66
f 22/1534/67 27/1536/68 21/1535/69
f 17/1528/70 18/1527/71 152/1530/72
f 17/1528/73 152/1530/74 28/1533/75
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f 120/871/128 46/869/129 132/864/130
f 132/864/131 46/869/132 47/867/133
f 132/864/134 47/867/135 42/859/136
f 44/860/137 144/862/138 48/857/139
f 44/860/140 48/857/141 42/859/142
f 42/859/143 48/857/144 49/858/145
f 136/866/146 45/868/147 50/870/148
f 50/1538/149 45/1539/150 51/1540/151
f 51/1540/152 45/1539/153 52/1541/154
f 51/1540/155 52/1541/156 53/1542/157
f 53/842/158 52/840/159 54/837/160
f 54/837/161 52/840/162 55/826/163
f 54/837/164 55/826/165 56/834/166
f 56/834/167 55/826/168 57/829/169
f 58/820/170 59/822/171 60/817/172
f 134/828/173 61/833/174 59/822/175
f 94/835/176 117/832/177 62/825/178
f 62/825/179 117/832/180 134/828/181
f 62/825/182 134/828/183 59/822/184
f 62/825/185 59/822/186 63/823/187
f 138/824/188 57/829/189 55/826/190
f 55/826/191 63/823/192 138/824/193
f 138/824/194 63/823/195 58/820/196
f 58/820/197 63/823/198 59/822/199
f 64/878/200 65/876/201 66/873/202
f 66/873/203 65/876/204 67/874/205
f 66/873/206 67/874/207 68/875/208
f 68/875/209 67/874/210 69/877/211
f 68/1543/212 69/1544/213 70/1545/214
f 70/1545/215 69/1544/216 71/1546/217
f 70/879/218 71/880/219 72/881/220
f 72/881/221 71/880/222 73/882/223
f 72/881/224 73/882/225 64/883/226
f 64/1547/227 73/1548/228 65/1549/229
f 39/14/230 74/22/231 75/26/232
f 75/26/233 74/22/234 76/32/235
f 77/35/236 76/32/237 78/39/238
f 77/35/239 75/26/240 76/32/241
f 79/47/242 109/48/243 153/49/244
f 153/49/245 80/52/246 79/47/247
f 79/47/248 81/56/249 82/61/250
f 79/47/251 80/52/252 81/56/253
f 16/806/254 12/804/255 142/808/256
f 16/806/257 142/808/258 83/810/259
f 16/806/260 83/810/261 84/812/262
f 84/812/263 83/810/264 85/814/265
f 85/814/266 58/820/267 60/817/268
f 85/814/269 60/817/270 84/812/271
f 49/858/272 48/857/273 86/856/274
f 86/856/275 48/857/276 87/855/277
f 86/856/278 87/855/279 88/854/280
f 35/852/281 34/850/282 145/853/283
f 145/853/284 34/850/285 88/854/286
f 145/853/287 88/854/288 87/855/289
f 120/871/290 89/872/291 46/869/292
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f 46/1552/296 90/1551/297 91/1553/298
f 90/1551/299 92/1554/300 91/1553/301
f 92/1554/302 93/1555/303 91/1553/304
f 91/843/305 93/841/306 94/835/307
f 93/841/308 95/838/309 94/835/310
f 117/832/311 94/835/312 95/838/313
f 96/889/314 97/887/315 98/884/316
f 98/884/317 97/887/318 99/885/319
f 98/884/320 99/885/321 100/886/322
f 100/886/323 99/885/324 101/888/325
f 100/1556/326 101/1557/327 102/1558/328
f 102/1558/329 101/1557/330 103/1559/331
f 102/890/332 103/891/333 104/892/334
f 104/892/335 103/891/336 105/893/337
f 104/892/338 105/893/339 96/894/340
f 96/1560/341 105/1561/342 97/1562/343
f 43/1563/344 47/1564/345 63/1565/346
f 63/1565/347 47/1564/348 62/1566/349
f 71/81/350 63/82/351 73/83/352
f 73/83/353 63/82/354 55/85/355
f 63/82/356 71/81/357 69/84/358
f 63/82/359 69/84/360 43/86/361
f 73/83/362 55/85/363 52/87/364
f 73/83/365 52/87/366 65/89/367
f 65/89/368 52/87/369 45/90/370
f 65/89/371 45/90/372 67/88/373
f 67/88/374 45/90/375 43/86/376
f 67/88/377 43/86/378 69/84/379
f 98/91/380 100/92/381 47/93/382
f 47/93/383 100/92/384 62/94/385
f 100/92/386 102/96/387 62/94/388
f 62/94/389 102/96/390 94/98/391
f 94/98/392 102/96/393 104/100/394
f 94/98/395 104/100/396 91/99/397
f 91/99/398 104/100/399 96/97/400
f 98/91/401 47/93/402 46/95/403
f 98/91/404 46/95/405 96/97/406
f 96/97/407 46/95/408 91/99/409
f 148/62/410 107/57/411 108/51/412
f 108/51/413 107/57/414 88/54/415
f 108/51/416 88/54/417 153/49/418
f 108/51/419 153/49/420 109/48/421
f 151/70/422 107/57/423 106/67/424
f 106/67/425 107/57/426 148/62/427
f 146/1567/428 135/1568/429 111/1569/430
f 112/1576/431 133/1575/432 113/1573/433
f 113/1573/434 133/1575/435 110/1574/436
f 113/1573/437 110/1574/438 114/1572/439
f 113/1573/440 114/1572/441 111/1569/442
f 111/1569/443 114/1572/444 115/1571/445
f 111/1569/446 115/1571/447 146/1567/448
f 105/101/449 103/102/450 116/103/451
f 116/103/452 117/105/453 105/101/454
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f 99/115/458 118/110/459 101/106/460
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f 101/106/470 121/104/471 103/102/472
f 103/102/473 121/104/474 116/103/475
f 99/115/476 120/120/477 119/118/478
f 99/115/479 119/118/480 118/110/481
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f 97/114/485 93/109/486 90/116/487
f 122/1579/488 130/1580/489 139/1581/490
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f 125/899/497 123/898/498 129/897/499
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f 68/123/509 129/124/510 66/125/511
f 66/125/512 129/124/513 128/127/514
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f 130/831/551 122/827/552 58/820/553
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_finger_tip_v.obj
================================================
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_forearm_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_forearm.mtl
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g link_forearm
usemtl phong1SG
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_gripper_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_gripper.mtl
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g link_gripper
usemtl phong1SG
f 125/1/1 126/2/2 248/3/3
f 126/2/4 243/4/5 248/3/6
f 248/3/7 250/5/8 125/1/9
f 125/1/9 250/5/8 127/6/10
f 250/5/11 249/7/12 127/6/13
f 127/6/14 249/7/15 132/8/16
f 142/9/17 239/10/18 143/11/19
f 275/12/20 266/13/21 291/14/22
f 266/15/23 275/16/24 239/10/25
f 243/4/26 126/2/27 136/17/28
f 136/17/29 140/18/30 246/19/31
f 143/11/32 239/10/33 246/20/34
f 143/11/35 246/20/36 140/21/37
f 239/10/38 275/16/39 246/20/40
f 245/22/41 243/4/42 136/17/43
f 243/4/44 245/22/45 258/23/46
f 245/22/47 136/17/48 246/19/49
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_head_pan_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_head_pan.mtl
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g link_head_pan
usemtl phong1SG
f 1/1/1 2/2/2 3/3/3
f 1/1/4 4/4/5 2/2/6
f 5/5/7 6/6/8 1/7/9
f 5/5/10 29/8/11 25/9/12
f 19/10/13 23/11/14 5/5/15
f 5/5/16 23/11/17 27/12/18
f 5/5/19 27/12/20 29/8/21
f 25/9/22 21/13/23 5/5/24
f 5/5/25 21/13/26 17/14/27
f 5/5/28 17/14/29 15/15/30
f 5/5/31 3/16/32 19/10/33
f 9/17/34 10/18/35 8/19/36
f 9/17/37 8/19/38 7/20/39
f 5/21/40 14/22/41 6/23/42
f 6/23/43 14/22/44 13/24/45
f 6/23/46 13/24/47 11/25/48
f 13/24/49 12/26/50 11/25/51
f 11/25/52 12/26/53 10/18/54
f 11/25/55 10/18/56 9/17/57
f 3/3/58 2/2/59 20/27/60
f 3/3/61 20/27/62 19/28/63
f 19/29/64 20/30/65 24/31/66
f 19/29/67 24/31/68 23/32/69
f 23/32/70 24/31/71 28/33/72
f 23/32/73 28/33/74 27/34/75
f 27/34/76 28/33/77 30/35/78
f 27/34/79 30/35/80 29/36/81
f 29/36/82 30/35/83 26/37/84
f 29/36/85 26/37/86 25/38/87
f 25/38/88 26/37/89 22/39/90
f 25/38/91 22/39/92 21/40/93
f 21/40/94 22/39/95 18/41/96
f 21/40/97 18/41/98 17/42/99
f 17/43/100 18/44/101 16/45/102
f 17/43/103 16/45/104 15/46/105
f 15/46/106 16/45/107 14/22/108
f 15/46/109 14/22/110 5/21/111
f 8/47/112 10/48/113 4/49/114
f 4/49/115 10/48/116 12/50/117
f 4/49/118 12/50/119 13/51/120
f 26/52/121 30/53/122 14/54/123
f 16/55/124 18/56/125 14/54/126
f 14/54/127 18/56/128 22/57/129
f 14/54/130 22/57/131 26/52/132
f 30/53/133 28/58/134 14/54/135
f 14/54/136 28/58/137 24/59/138
f 14/54/139 24/59/140 20/60/141
f 13/51/142 14/54/143 4/49/144
f 4/49/145 14/54/146 2/61/147
f 2/61/148 14/54/149 20/60/150
f 31/62/151 32/63/152 1/1/153
f 1/1/154 33/64/155 4/4/156
f 7/20/157 34/65/158 35/66/159
f 1/1/160 32/63/161 33/64/162
f 36/67/163 37/68/164 1/1/165
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f 39/70/169 40/71/170 41/72/171
f 58/73/172 62/74/173 59/75/174
f 66/76/175 41/72/176 62/74/177
f 62/74/178 41/72/179 63/77/180
f 62/74/181 63/77/182 59/75/183
f 50/78/184 54/79/185 51/80/186
f 58/73/187 59/75/188 54/79/189
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f 50/78/196 51/80/197 48/82/198
f 48/82/199 51/80/200 49/83/201
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f 90/86/211 87/87/212 4/4/213
f 4/4/214 87/87/215 84/88/216
f 4/4/217 84/88/218 81/89/219
f 81/89/220 78/90/221 4/4/222
f 4/4/223 78/90/224 74/91/225
f 4/4/226 74/91/227 72/92/228
f 40/93/229 71/94/230 72/95/231
f 67/96/232 70/97/233 97/98/234
f 97/98/235 70/97/236 75/99/237
f 97/98/238 75/99/239 73/100/240
f 73/100/241 75/99/242 79/101/243
f 73/100/244 79/101/245 77/102/246
f 77/102/247 79/101/248 82/103/249
f 77/102/250 82/103/251 36/104/252
f 36/104/253 82/103/254 85/105/255
f 36/104/256 85/105/257 37/106/258
f 37/107/259 85/108/260 88/109/261
f 37/107/262 88/109/263 38/110/264
f 38/110/265 88/109/266 91/111/267
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f 31/112/271 91/111/272 94/113/273
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f 32/114/277 94/113/278 96/115/279
f 32/114/280 96/115/281 33/116/282
f 33/116/283 96/115/284 95/117/285
f 33/116/286 95/117/287 93/118/288
f 93/118/289 95/117/290 92/119/291
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f 90/120/295 92/119/296 89/121/297
f 90/120/298 89/121/299 87/122/300
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f 72/95/334 68/134/335 40/93/336
f 40/93/337 68/134/338 65/135/339
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f 41/136/346 61/137/347 63/138/348
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f 48/152/388 45/153/389 50/154/390
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f 50/154/394 52/155/395 54/156/396
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f 54/156/400 56/157/401 58/158/402
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f 58/159/406 60/161/407 62/162/408
f 62/162/409 60/161/410 64/163/411
f 62/162/412 64/163/413 66/164/414
f 66/164/415 64/163/416 67/96/417
f 72/95/418 71/94/419 4/49/420
f 70/165/421 67/166/422 75/167/423
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f 64/168/427 60/169/428 75/167/429
f 60/169/430 56/170/431 75/167/432
f 56/170/433 52/171/434 75/167/435
f 52/171/436 45/172/437 75/167/438
f 45/172/439 43/173/440 75/167/441
f 43/173/442 42/174/443 75/167/444
f 42/174/445 44/175/446 75/167/447
f 44/175/448 46/176/449 75/167/450
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f 5/5/520 1/7/521 3/16/522
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_head_tilt_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_head_tilt.mtl
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g link_head
usemtl phong1SG
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_shoulder_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_shoulder.mtl
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g link_shoulder
usemtl phong1SG
f 86/1/1 109/2/2 118/3/3
f 55/4/4 40/5/5 36/6/6
f 74/7/7 91/8/8 133/9/9
f 162/10/10 169/11/11 207/12/12
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f 130/17/52 164/20/53 133/9/54
f 195/27/55 215/28/56 174/18/57
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f 286/33/97 278/30/98 237/29/99
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f 14/85/162 10/86/163 11/81/154
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f 11/81/154 9/87/164 5/84/161
f 63/66/136 46/65/138 53/78/151
f 35/88/165 25/89/166 45/90/167
f 22/91/168 35/88/169 27/92/170
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_torso_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_torso.mtl
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g link_torso
usemtl phong1SG
f 1/1/1 2/2/2 13/3/3
f 13/3/4 2/2/5 14/4/6
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f 14/4/10 3/5/11 15/6/12
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FILE: bigym/envs/xmls/google_robot/assets/link_wheel_v.obj
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# This file uses centimeters as units for non-parametric coordinates.
mtllib link_wheel.mtl
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g link_wheel
usemtl phong1SG
f 1/1/1 2/2/2 21/3/3
f 21/3/4 2/2/5 22/4/6
f 2/2/7 3/5/8 22/4/9
f 22/6/10 3/7/11 23/8/12
f 3/7/13 4/9/14 23/8/15
f 23/8/16 4/9/17 24/10/18
f 4/9/19 5/11/20 24/10/21
f 24/10/22 5/11/23 25/12/24
f 5/11/25 6/13/26 25/12/27
f 25/12/28 6/13/29 26/14/30
f 6/13/31 7/15/32 26/14/33
f 26/14/34 7/15/35 27/16/36
f 7/17/37 8/18/38 27/19/39
f 27/20/40 8/21/41 28/22/42
f 8/23/43 9/24/44 28/25/45
f 28/25/46 9/24/47 29/26/48
f 9/24/49 10/27/50 29/26/51
f 29/26/52 10/27/53 30/28/54
f 10/27/55 11/29/56 30/28/57
f 30/28/58 11/29/59 31/30/60
f 11/29/61 12/31/62 31/30/63
f 31/30/64 12/31/65 32/32/66
f 12/31/67 13/33/68 32/32/69
f 32/34/70 13/35/71 33/36/72
f 13/35/73 14/37/74 33/36/75
f 33/36/76 14/37/77 34/38/78
f 14/37/79 15/39/80 34/38/81
f 34/38/82 15/39/83 35/40/84
f 15/39/85 16/41/86 35/40/87
f 35/40/88 16/41/89 36/42/90
f 16/41/91 17/43/92 36/42/93
f 36/42/94 17/43/95 37/44/96
f 17/45/97 18/46/98 37/47/99
f 37/48/100 18/49/101 38/50/102
f 18/51/103 19/52/104 38/53/105
f 38/53/106 19/52/107 39/54/108
f 19/52/109 20/55/110 39/54/111
f 39/54/112 20/55/113 40/56/114
f 20/55/115 1/1/116 40/56/117
f 40/56/118 1/1/119 21/3/120
f 122/57/121 121/58/122 140/59/123
f 121/58/124 123/60/125 140/59/126
f 123/60/127 124/61/128 140/59/129
f 124/61/130 125/62/131 140/59/132
f 125/62/133 126/63/134 140/59/135
f 126/63/136 127/64/137 140/59/138
f 127/64/139 128/65/140 140/59/141
f 128/65/142 129/66/143 140/59/144
f 129/66/145 130/67/146 140/59/147
f 130/67/148 131/68/149 140/59/150
f 131/68/151 132/69/152 140/59/153
f 132/69/154 133/70/155 140/59/156
f 133/70/157 134/71/158 140/59/159
f 134/71/160 135/72/161 140/59/162
f 135/72/163 136/73/164 140/59/165
f 136/73/166 137/74/167 140/59/168
f 137/74/169 138/75/170 140/59/171
f 138/75/172 139/76/173 140/59/174
f 141/77/175 142/78/176 160/79/177
f 142/78/178 143/80/179 160/79/180
f 143/80/181 144/81/182 160/79/183
f 144/81/184 145/82/185 160/79/186
f 145/82/187 146/83/188 160/79/189
f 146/83/190 147/84/191 160/79/192
f 147/84/193 148/85/194 160/79/195
f 148/85/196 149/86/197 160/79/198
f 160/79/199 149/86/200 159/87/201
f 149/86/202 150/88/203 159/87/204
f 150/88/205 151/89/206 159/87/207
f 151/89/208 152/90/209 159/87/210
f 152/90/211 153/91/212 159/87/213
f 153/91/214 154/92/215 159/87/216
f 154/92/217 155/93/218 159/87/219
f 155/93/220 156/94/221 159/87/222
f 156/94/223 157/95/224 159/87/225
f 157/95/226 158/96/227 159/87/228
f 1/97/229 20/98/230 42/99/231
f 42/99/232 20/98/233 41/100/234
f 20/98/235 19/101/236 41/100/237
f 41/100/238 19/101/239 43/102/240
f 19/101/241 18/103/242 43/102/243
f 43/102/244 18/103/245 44/104/246
f 18/103/247 17/105/248 44/104/249
f 44/104/250 17/105/251 45/106/252
f 17/105/253 16/107/254 45/106/255
f 45/106/256 16/107/257 46/108/258
f 16/107/259 15/109/260 46/108/261
f 46/108/262 15/109/263 47/110/264
f 15/109/265 14/111/266 47/110/267
f 47/110/268 14/111/269 48/112/270
f 14/111/271 13/113/272 48/112/273
f 48/112/274 13/113/275 49/114/276
f 13/113/277 12/115/278 49/114/279
f 49/114/280 12/115/281 50/116/282
f 12/115/283 11/117/284 50/116/285
f 50/116/286 11/117/287 51/118/288
f 11/117/289 10/119/290 51/118/291
f 51/118/292 10/119/293 52/120/294
f 10/119/295 9/121/296 52/120/297
f 52/120/298 9/121/299 53/122/300
f 9/121/301 8/123/302 53/122/303
f 53/122/304 8/123/305 54/124/306
f 8/123/307 7/125/308 54/124/309
f 54/124/310 7/125/311 55/126/312
f 7/125/313 6/127/314 55/126/315
f 55/126/316 6/127/317 56/128/318
f 6/127/319 5/129/320 56/128/321
f 56/128/322 5/129/323 57/130/324
f 5/129/325 4/131/326 57/130/327
f 57/130/328 4/131/329 58/132/330
f 4/131/331 3/133/332 58/132/333
f 58/132/334 3/133/335 59/134/336
f 3/133/337 2/135/338 59/134/339
f 59/134/340 2/135/341 60/136/342
f 2/135/343 1/97/344 60/136/345
f 60/136/346 1/97/347 42/99/348
f 21/137/349 22/138/350 61/139/351
f 61/139/352 22/138/353 62/140/354
f 22/138/355 23/141/356 62/140/357
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================================================
FILE: bigym/envs/xmls/google_robot/assets/link_wrist_v.obj
================================================
# This file uses centimeters as units for non-parametric coordinates.
mtllib link_wrist.mtl
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g link_wrist
usemtl link_wrist:phong1SG
f 197/1/1 191/2/2 161/3/3
f 171/4/4 173/5/5 161/3/6
f 161/3/7 147/6/8 171/4/9
f 161/3/10 169/7/11 147/6/12
f 169/8/13 132/9/14 134/10/15
f 169/8/16 134/10/17 113/11/18
f 101/12/19 113/11/20 99/13/21
f 99/13/22 134/10/23 132/9/24
f 159/14/25 132/9/26 169/8/27
f 109/15/28 99/13/29 132/9/30
f 183/16/31 155/17/32 169/7/33
f 169/8/34 155/18/35 159/14/36
f 173/5/37 197/1/38 161/3/39
f 191/2/40 183/16/41 161/3/42
f 99/13/43 113/11/44 134/10/45
f 169/7/46 161/3/47 183/16/48
f 9/19/49 10/20/50 6/21/51
f 9/19/52 6/21/53 36/22/54
f 9/19/55 36/22/56 35/23/57
f 35/23/58 54/24/59 70/25/60
f 54/26/61 66/27/62 70/28/63
f 70/28/64 66/27/65 97/29/66
f 97/29/67 66/27/68 84/30/69
f 97/29/70 84/30/71 109/15/72
f 135/31/73 97/29/74 109/15/75
f 109/15/76 132/9/77 135/31/78
f 159/14/79 160/32/80 132/9/81
f 132/9/82 160/32/83 135/31/84
f 160/32/85 159/14/86 155/18/87
f 191/2/88 187/33/89 183/16/90
f 183/16/91 187/33/92 155/17/93
f 187/33/94 191/2/95 195/34/96
f 192/35/97 195/34/98 191/2/99
f 177/36/100 149/37/101 155/39/102
f 155/39/102 149/37/101 160/38/103
f 177/36/104 155/39/105 187/40/106
f 97/42/107 135/43/108 119/41/109
f 119/41/109 135/43/108 149/37/110
f 149/37/111 135/43/112 160/38/113
f 46/45/114 35/46/115 75/44/116
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f 75/44/118 70/47/119 119/41/120
f 119/41/120 70/47/119 97/42/121
f 187/40/122 195/48/123 177/36/124
f 177/36/124 195/48/123 156/49/125
f 156/49/126 195/48/127 184/50/128
f 48/52/129 30/53/130 38/51/131
f 38/51/131 30/53/130 18/54/132
f 18/54/133 30/53/134 10/55/135
f 18/54/136 10/55/137 46/45/138
f 46/45/138 10/55/137 9/56/139
f 46/45/140 9/56/141 35/46/142
f 117/57/143 86/58/144 80/59/145
f 86/58/146 73/60/147 80/59/148
f 80/59/148 73/60/147 38/51/149
f 38/51/150 73/60/151 48/52/152
f 156/49/153 184/50/154 114/62/155
f 114/62/155 184/50/154 158/61/156
f 114/62/157 158/61/158 128/63/159
f 114/62/160 128/63/161 80/59/162
f 80/59/162 128/63/161 117/57/163
f 102/64/164 101/12/165 88/65/166
f 83/66/167 133/67/168 44/68/169
f 57/69/170 59/70/171 85/71/172
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f 88/65/176 74/73/177 143/74/178
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FILE: bigym/envs/xmls/google_robot/robot.xml
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