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envs robotics - touch sensors - Shadow Hand #1299

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merged 15 commits into from
Feb 9, 2019
Merged

envs robotics - touch sensors - Shadow Hand #1299

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0f5cf75
extending robotics shadow hand with touch sensors
ndrwmlnk Dec 26, 2018
b0c1911
extending robotics shadow hand with touch sensors
ndrwmlnk Dec 26, 2018
38d36e4
extending robotics shadow hand with touch sensors
ndrwmlnk Dec 26, 2018
6ab5ba3
extending robotics shadow hand with touch sensors
ndrwmlnk Dec 26, 2018
f057864
extending robotics shadow hand with touch sensors
ndrwmlnk Dec 27, 2018
23cad75
extending robotics shadow hand with touch sensors
ndrwmlnk Dec 28, 2018
a0a108b
extending robotics shadow hand with touch sensors
ndrwmlnk Jan 9, 2019
66cd750
add touch sensors layout
ndrwmlnk Jan 28, 2019
2055802
add touch sensors layout
ndrwmlnk Jan 28, 2019
7898285
extending robotics shadow hand with touch sensors
ndrwmlnk Jan 28, 2019
a03d977
extending robotics shadow hand with touch sensors
ndrwmlnk Jan 28, 2019
dd09c81
add touch sensors layout
ndrwmlnk Jan 28, 2019
b91c402
update touch sensors layout 85
ndrwmlnk Feb 1, 2019
91e0b23
add manipulate_egg_touch_sensors_85.xml & manipulate_pen_touch_sensor…
ndrwmlnk Feb 1, 2019
0d71b27
add shared_touch_sensors_92.xml; solve pytest . failure
ndrwmlnk Feb 3, 2019
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21 changes: 21 additions & 0 deletions gym/envs/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -377,6 +377,13 @@ def _merge(a, b):
max_episode_steps=100,
)

register(
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id='HandManipulateBlockTouchSensors{}-v0'.format(suffix),
entry_point='gym.envs.robotics:HandBlockTouchSensorsEnv',
kwargs=_merge({'target_position': 'random', 'target_rotation': 'xyz'}, kwargs),
max_episode_steps=100,
)

register(
id='HandManipulateEggRotate{}-v0'.format(suffix),
entry_point='gym.envs.robotics:HandEggEnv',
Expand All @@ -399,6 +406,13 @@ def _merge(a, b):
max_episode_steps=100,
)

register(
id='HandManipulateEggTouchSensors{}-v0'.format(suffix),
entry_point='gym.envs.robotics:HandEggTouchSensorsEnv',
kwargs=_merge({'target_position': 'random', 'target_rotation': 'xyz'}, kwargs),
max_episode_steps=100,
)

register(
id='HandManipulatePenRotate{}-v0'.format(suffix),
entry_point='gym.envs.robotics:HandPenEnv',
Expand All @@ -421,6 +435,13 @@ def _merge(a, b):
max_episode_steps=100,
)

register(
id='HandManipulatePenTouchSensors{}-v0'.format(suffix),
entry_point='gym.envs.robotics:HandPenTouchSensorsEnv',
kwargs=_merge({'target_position': 'random', 'target_rotation': 'xyz'}, kwargs),
max_episode_steps=100,
)

# Atari
# ----------------------------------------

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4 changes: 4 additions & 0 deletions gym/envs/robotics/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,3 +8,7 @@
from gym.envs.robotics.hand.manipulate import HandBlockEnv
from gym.envs.robotics.hand.manipulate import HandEggEnv
from gym.envs.robotics.hand.manipulate import HandPenEnv

from gym.envs.robotics.hand.manipulate_touch_sensors import HandBlockTouchSensorsEnv
from gym.envs.robotics.hand.manipulate_touch_sensors import HandEggTouchSensorsEnv
from gym.envs.robotics.hand.manipulate_touch_sensors import HandPenTouchSensorsEnv
42 changes: 42 additions & 0 deletions gym/envs/robotics/assets/hand/manipulate_block_touch_sensors.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
<option timestep="0.002" iterations="20" apirate="200">
<flag warmstart="enable"></flag>
</option>

<include file="shared.xml"></include>
<include file="shared_touch_sensors_92.xml"></include>

<asset>
<include file="shared_asset.xml"></include>

<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
</asset>

<worldbody>
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1 1 0"></body>

<include file="robot_touch_sensors_92.xml"></include>

<body name="object" pos="1 0.87 0.2">
<geom name="object" type="box" size="0.025 0.025 0.025" material="material:object" condim="4" density="567"></geom>
<geom name="object_hidden" type="box" size="0.024 0.024 0.024" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
<joint name="object:joint" type="free" damping="0.01"></joint>
</body>
<body name="target" pos="1 0.87 0.2">
<geom name="target" type="box" size="0.025 0.025 0.025" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
<joint name="target:joint" type="free" damping="0.01"></joint>
</body>

<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light>
</worldbody>
</mujoco>
1 change: 1 addition & 0 deletions gym/envs/robotics/assets/hand/manipulate_egg.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@

<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
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42 changes: 42 additions & 0 deletions gym/envs/robotics/assets/hand/manipulate_egg_touch_sensors.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
<option timestep="0.002" iterations="20" apirate="200">
<flag warmstart="enable"></flag>
</option>

<include file="shared.xml"></include>
<include file="shared_touch_sensors_92.xml"></include>

<asset>
<include file="shared_asset.xml"></include>

<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
</asset>

<worldbody>
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1 1 0"></body>

<include file="robot_touch_sensors_92.xml"></include>

<body name="object" pos="1 0.87 0.2">
<geom name="object" type="ellipsoid" size="0.03 0.03 0.04" material="material:object" condim="4"></geom>
<geom name="object_hidden" type="ellipsoid" size="0.029 0.029 0.03" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
<joint name="object:joint" type="free" damping="0.01"></joint>
</body>
<body name="target" pos="1 0.87 0.2">
<geom name="target" type="ellipsoid" size="0.03 0.03 0.04" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
<joint name="target:joint" type="free" damping="0.01"></joint>
</body>

<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light>
</worldbody>
</mujoco>
41 changes: 41 additions & 0 deletions gym/envs/robotics/assets/hand/manipulate_pen_touch_sensors.xml
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@@ -0,0 +1,41 @@
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
<option timestep="0.002" iterations="20" apirate="200">
<flag warmstart="enable"></flag>
</option>

<include file="shared.xml"></include>
<include file="shared_touch_sensors_92.xml"></include>

<asset>
<include file="shared_asset.xml"></include>

<material name="material:object" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 1.0"></material>
<material name="material:target" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 0.5"></material>
</asset>

<worldbody>
<geom name="floor0" pos="1 1 -0.2" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1 1 0"></body>

<include file="robot_touch_sensors_92.xml"></include>

<body name="object" pos="1 0.87 0.2" euler="-1 1 0">
<geom name="object" type="capsule" size="0.008 0.1" material="material:object" condim="4"></geom>
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
<site name="object:top" pos="0 0 0.1" rgba="1 0 0 1" size="0.0081"></site>
<site name="object:bottom" pos="0 0 -0.1" rgba="0 1 0 1" size="0.0081"></site>
<joint name="object:joint" type="free" damping="0.01"></joint>
</body>
<body name="target" pos="1 0.87 0.2" euler="-1 1 0">
<geom name="target" type="capsule" size="0.008 0.1" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
<site name="target:top" pos="0 0 0.1" rgba="1 0 0 0.5" size="0.0081"></site>
<site name="target:bottom" pos="0 0 -0.1" rgba="0 1 0 0.5" size="0.0081"></site>
<joint name="target:joint" type="free" damping="0.01"></joint>
</body>

<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light>
</worldbody>
</mujoco>
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