Skip to content

Commit 66d4988

Browse files
juelgjuelg
authored
refactor(envs)!: base environment is now platform based #274
Merge pull request #274 from RobotControlStack/juelg/refactor-platform-based-wrappers
2 parents 4864c53 + 7dc46b2 commit 66d4988

99 files changed

Lines changed: 876 additions & 579 deletions

File tree

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

‎README.md‎

Lines changed: 10 additions & 7 deletions

‎assets/fr3/mjcf/fr3_1.xml‎

Lines changed: 154 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,154 @@
1+
<mujoco>
2+
<worldbody>
3+
<frame quat="0 0 0 1" pos="1 0 0">
4+
<body name="base_1" childclass="fr3" gravcomp="1">
5+
<body name="fr3_link0_1" gravcomp="1">
6+
<geom mesh="fr3_link0_0" material="black" class="visual"/>
7+
<geom mesh="fr3_link0_1" material="white" class="visual"/>
8+
<geom mesh="fr3_link0_2" material="white" class="visual"/>
9+
<geom mesh="fr3_link0_3" material="white" class="visual"/>
10+
<geom mesh="fr3_link0_4" material="white" class="visual"/>
11+
<geom mesh="fr3_link0_5" material="red" class="visual"/>
12+
<geom mesh="fr3_link0_6" material="black" class="visual"/>
13+
<geom name="fr3_link0_collision_1" mesh="fr3_link0_coll" class="collision"/>
14+
<body name="fr3_link1_1" pos="0 0 0.333" gravcomp="1">
15+
<inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.999901 0.0021545 0.00429041 0.0132325" mass="2.92747"
16+
diaginertia="0.0186043 0.0181194 0.00538716"/>
17+
<joint name="fr3_joint1_1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
18+
<geom name="fr3_link1_collision_1" class="collision" mesh="fr3_link1_coll"/>
19+
<geom material="white" mesh="fr3_link1" class="visual"/>
20+
<body name="fr3_link2_1" quat="1 -1 0 0" gravcomp="1">
21+
<inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.356855 0.680818 -0.434812 0.469126" mass="2.93554"
22+
diaginertia="0.0299291 0.0299291 0.0299291"/>
23+
<joint name="fr3_joint2_1" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
24+
<geom material="white" mesh="fr3_link2" class="visual"/>
25+
<geom name="fr3_link2_collision_1" class="collision" mesh="fr3_link2_coll"/>
26+
<body name="fr3_link3_1" pos="0 -0.316 0" quat="1 1 0 0" gravcomp="1">
27+
<inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.950032 -0.148357 0.229935 0.150201" mass="2.2449"
28+
diaginertia="0.0140109 0.0140109 0.0140109"/>
29+
<joint name="fr3_joint3_1" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
30+
<geom mesh="fr3_link3_0" material="white" class="visual"/>
31+
<geom mesh="fr3_link3_1" material="black" class="visual"/>
32+
<geom name="fr3_link3_collision_1" class="collision" mesh="fr3_link3_coll"/>
33+
<body name="fr3_link4_1" pos="0.0825 0 0" quat="1 1 0 0" gravcomp="1">
34+
<inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.23761 0.892458 -0.00078702 0.383484"
35+
mass="2.6156" diaginertia="0.0206104 0.0206104 0.0206104"/>
36+
<joint name="fr3_joint4_1" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
37+
<geom mesh="fr3_link4_0" material="white" class="visual"/>
38+
<geom mesh="fr3_link4_1" material="black" class="visual"/>
39+
<geom name="fr3_link4_collision_1" class="collision" mesh="fr3_link4_coll"/>
40+
<body name="fr3_link5_1" pos="-0.0825 0.384 0" quat="1 -1 0 0" gravcomp="1">
41+
<inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.922285 0.098826 0.0982562 -0.360514"
42+
mass="2.32712" diaginertia="0.0182879 0.0182879 0.0182879"/>
43+
<joint name="fr3_joint5_1" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
44+
<geom mesh="fr3_link5_0" material="white" class="visual"/>
45+
<geom mesh="fr3_link5_1" material="white" class="visual"/>
46+
<geom mesh="fr3_link5_2" material="black" class="visual"/>
47+
<geom name="fr3_link5_collision_1" class="collision" mesh="fr3_link5_coll"/>
48+
<body name="fr3_link6_1" quat="1 1 0 0" gravcomp="1">
49+
<inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.593933 0.525442 0.520644 0.316361"
50+
mass="1.81704" diaginertia="0.00483538 0.00483538 0.00483538"/>
51+
<joint name="fr3_joint6_1" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
52+
<geom mesh="fr3_link6_0" material="button_green" class="visual"/>
53+
<geom mesh="fr3_link6_1" material="white" class="visual"/>
54+
<geom mesh="fr3_link6_2" material="white" class="visual"/>
55+
<geom mesh="fr3_link6_3" material="gray" class="visual"/>
56+
<geom mesh="fr3_link6_4" material="button_red" class="visual"/>
57+
<geom mesh="fr3_link6_5" material="white" class="visual"/>
58+
<geom mesh="fr3_link6_6" material="black" class="visual"/>
59+
<geom mesh="fr3_link6_7" material="button_blue" class="visual"/>
60+
<geom name="fr3_link6_collision_1" class="collision" mesh="fr3_link6_coll"/>
61+
<body name="fr3_link7_1" pos="0.088 0 0" quat="1 1 0 0" gravcomp="1">
62+
<inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.120255 0.394761 -0.799132 0.437139"
63+
mass="0.627143" diaginertia="3.076e-07 3.076e-07 3.076e-07"/>
64+
<joint name="fr3_joint7_1" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
65+
<geom mesh="fr3_link7_0" material="black" class="visual"/>
66+
<geom mesh="fr3_link7_1" material="white" class="visual"/>
67+
<geom mesh="fr3_link7_2" material="white" class="visual"/>
68+
<geom mesh="fr3_link7_3" material="black" class="visual"/>
69+
<geom name="fr3_link7_collision_1" class="collision" mesh="fr3_link7_coll"/>
70+
<site name="attachment_site_1" pos="0 0 0.107"/>
71+
<body name="hand_1" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834" gravcomp="1">
72+
<geom mesh="Panda_RealSenseD435_Camera_Mount" class="visual" pos="0.065 0.03 0" euler="1.57 3.142 0"/>
73+
<geom mesh="Panda_RealSenseD435_Camera_Mount" class="collision"/>
74+
<body name="d435i_1" childclass="d435i" pos="0.051 0 0.065" euler="0 0 -1.5707" gravcomp="1">
75+
<geom mesh="d435i_0" material="IR_Lens" class="visual_d435i"/>
76+
<geom mesh="d435i_1" material="IR_Emitter_Lens" class="visual_d435i"/>
77+
<geom mesh="d435i_2" material="IR_Rim" class="visual_d435i"/>
78+
<geom mesh="d435i_3" material="IR_Lens" class="visual_d435i"/>
79+
<geom mesh="d435i_4" material="Cameras_Gray" class="visual_d435i"/>
80+
<geom mesh="d435i_5" material="Black_Acrylic" class="visual_d435i"/>
81+
<geom mesh="d435i_6" material="Black_Acrylic" class="visual_d435i"/>
82+
<geom mesh="d435i_7" material="RGB_Pupil" class="visual_d435i"/>
83+
<geom mesh="d435i_8" mass="0.072" material="Metal_Casing" class="visual_d435i"/>
84+
<geom class="collision_d435i" type="capsule" mesh="d435i_8" name="d435i_collision_1"/>
85+
<camera name="wrist_1" mode="fixed" pos="0.1 0 0" quat="0 1 0 0" resolution="1920 1080"/>
86+
</body>
87+
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
88+
<geom mesh="franka_hand_0" material="white" class="visual"/>
89+
<geom mesh="franka_hand_1" material="black" class="visual"/>
90+
<geom mesh="franka_hand_2" material="black" class="visual"/>
91+
<geom mesh="franka_hand_3" material="white" class="visual"/>
92+
<geom mesh="franka_hand_4" material="white" class="visual"/>
93+
<geom mesh="franka_hand_coll" class="collision" name="hand_c_1"/>
94+
<site name="tcp_1" pos="0 0 0.1034" rgba="0 0 0 0.25"/>
95+
<body name="left_finger_1" pos="0 0 0.0584" gravcomp="1">
96+
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
97+
<joint name="finger_joint1_1" class="finger"/>
98+
<geom mesh="finger_0" material="white" class="visual"/>
99+
<geom mesh="finger_1" material="black" class="visual"/>
100+
<geom mesh="finger_0" class="collision" name="finger_0_left_1"/>
101+
<geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_left_1" friction="2 0.05 0.0001"/>
102+
<geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_2_left_1" friction="2 0.05 0.0001"/>
103+
<geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_3_left_1" friction="2 0.05 0.0001"/>
104+
<geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_4_left_1" friction="2 0.05 0.0001"/>
105+
<geom class="fingertip_pad_collision_5" name="fingertip_pad_collision_5_left_1" friction="2 0.05 0.0001"/>
106+
</body>
107+
<body name="right_finger_1" pos="0 0 0.0584" quat="0 0 0 1" gravcomp="1">
108+
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
109+
<joint name="finger_joint2_1" class="finger"/>
110+
<geom mesh="finger_0" material="white" class="visual"/>
111+
<geom mesh="finger_1" material="black" class="visual"/>
112+
<geom mesh="finger_0" class="collision" name="finger_0_right_1"/>
113+
<geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_right_1" friction="2 0.05 0.0001"/>
114+
<geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_2_right_1" friction="2 0.05 0.0001"/>
115+
<geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_3_right_1" friction="2 0.05 0.0001"/>
116+
<geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_4_right_1" friction="2 0.05 0.0001"/>
117+
<geom class="fingertip_pad_collision_5" name="fingertip_pad_collision_5_right_1" friction="2 0.05 0.0001"/>
118+
</body>
119+
</body>
120+
</body>
121+
</body>
122+
</body>
123+
</body>
124+
</body>
125+
</body>
126+
</body>
127+
</body>
128+
</body>
129+
</frame>
130+
</worldbody>
131+
132+
<tendon>
133+
<fixed name="split_1">
134+
<joint joint="finger_joint1_1" coef="0.5"/>
135+
<joint joint="finger_joint2_1" coef="0.5"/>
136+
</fixed>
137+
</tendon>
138+
139+
<equality>
140+
<joint joint1="finger_joint1_1" joint2="finger_joint2_1" solimp="0.95 0.99 0.001" solref="0.005 1"/>
141+
</equality>
142+
<actuator>
143+
<position class="fr3" name="fr3_joint1_1" joint="fr3_joint1_1" kp="4500" kv="450"/>
144+
<position class="fr3" name="fr3_joint2_1" joint="fr3_joint2_1" kp="4500" kv="450"/>
145+
<position class="fr3" name="fr3_joint3_1" joint="fr3_joint3_1" kp="3500" kv="350"/>
146+
<position class="fr3" name="fr3_joint4_1" joint="fr3_joint4_1" kp="3500" kv="350"/>
147+
<position class="fr3" name="fr3_joint5_1" joint="fr3_joint5_1" kp="2000" kv="200"/>
148+
<position class="fr3" name="fr3_joint6_1" joint="fr3_joint6_1" kp="2000" kv="200"/>
149+
<position class="fr3" name="fr3_joint7_1" joint="fr3_joint7_1" kp="2000" kv="200"/>
150+
<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
151+
<general class="fr3" name="actuator8_1" tendon="split_1" forcerange="-100 100" ctrlrange="0 255"
152+
gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
153+
</actuator>
154+
</mujoco>

‎assets/scenes/fr3_dual_arm/assets/Panda_RealSenseD435_Camera_Mount.obj‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/obj/Panda_RealSenseD435_Camera_Mount.obj

‎assets/scenes/fr3_dual_arm/assets/Panda_RealSenseD435_Camera_Mount.stl‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/stl/Panda_RealSenseD435_Camera_Mount.stl

‎assets/scenes/fr3_dual_arm/assets/bird_eye_cam_realsense_mount.stl‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/stl/bird_eye_cam_realsense_mount.stl

‎assets/scenes/fr3_dual_arm/assets/d435i_0.obj‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/obj/d435i_0.obj

‎assets/scenes/fr3_dual_arm/assets/d435i_1.obj‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/obj/d435i_1.obj

‎assets/scenes/fr3_dual_arm/assets/d435i_2.obj‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/obj/d435i_2.obj

‎assets/scenes/fr3_dual_arm/assets/d435i_3.obj‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/obj/d435i_3.obj

‎assets/scenes/fr3_dual_arm/assets/d435i_4.obj‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
../../../cameras/real_sense/obj/d435i_4.obj

0 commit comments

Comments
 (0)