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Add bin picking environment #69

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c3d0428
Fix bugs for offscreen rendering (e.g. with examine_envs)
Mar 22, 2023
2a9b7df
[wip] Adding bin picking environment
Mar 22, 2023
ffaaa45
[wip] Corrected bin and object pose
Mar 22, 2023
54ab4b9
[wip] adding pos/vel limits to bin picking env
Mar 22, 2023
b4489e3
Complete bin picking env
Mar 23, 2023
252f462
Bin pick policy tested
Mar 23, 2023
2b803a4
Allow examine env to directly load a policy from a class
Mar 23, 2023
a4479f3
Add pushing envs
Mar 24, 2023
8675dcb
rebase to dev branch
May 1, 2023
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91 changes: 89 additions & 2 deletions robohive/envs/arms/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ def register_visual_envs(encoder_type):
'robot_site_name': "end_effector",
'object_site_name': "sugarbox",
'target_site_name': "target",
'target_xyz_range': {'high':[-.4, 0.5, 0.78], 'low':[-.4, 0.5, 0.78]}
'target_xyz_range': {'high':[0.5, 0.4, 0.78], 'low':[0.5, 0.4, 0.78]}
}
)

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

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

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

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

Expand Down Expand Up @@ -125,6 +197,21 @@ def register_visual_envs(encoder_type):
}
)

register(
id='FrankaBinPick-v0',
entry_point='robohive.envs.arms.bin_pick_v0:BinPickV0',
max_episode_steps=100, #50steps*40Skip*2ms = 4s
kwargs={
'model_path': curr_dir+'/franka/assets/franka_bin_pick_v0.xml',
'config_path': curr_dir+'/franka/assets/franka_bin_pick_v0.config',
'robot_site_name': "end_effector",
'object_site_name': "obj0",
'target_site_name': "drop_target",
'randomize': True,
'target_xyz_range': {'high':[0.5, 0.0, 1.1], 'low':[0.5, 0.0, 1.1]}
}

)

# FETCH =======================================================================
from robohive.envs.arms.reach_base_v0 import ReachBaseV0
Expand Down
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