├── .gitignore ├── CONTRIBUTORS ├── LICENSE ├── README.md ├── images ├── trifinger_vanilla_4.gif └── trifinger_vanilla_train.png ├── leibnizgym ├── __init__.py ├── dr │ └── __init__.py ├── envs │ ├── __init__.py │ ├── env_base.py │ └── trifinger │ │ ├── __init__.py │ │ ├── rewards.py │ │ ├── sample.py │ │ ├── trifinger_env.py │ │ └── utils.py ├── utils │ ├── __init__.py │ ├── config_utils.py │ ├── errors.py │ ├── helpers.py │ ├── mdp.py │ ├── message.py │ ├── rlg_train.py │ └── torch_utils.py └── wrappers │ ├── __init__.py │ └── vec_task.py ├── resources ├── assets │ └── trifinger │ │ ├── convert_stl2obj.py │ │ ├── convex_decomposition.py │ │ ├── objects │ │ ├── meshes │ │ │ ├── ball.obj │ │ │ ├── ball.stl │ │ │ ├── cube_multicolor.mtl │ │ │ └── cube_multicolor.obj │ │ └── urdf │ │ │ ├── ball.urdf │ │ │ ├── cube_goal_multicolor.urdf │ │ │ ├── cube_multicolor.urdf │ │ │ ├── cube_multicolor_rrc.urdf │ │ │ └── cube_multicolor_rrc_phase3.urdf │ │ ├── robot_properties_fingers │ │ ├── meshes │ │ │ ├── convex_SIM_BL_FINGER_TIP_LINK │ │ │ │ ├── convex_0.obj │ │ │ │ ├── convex_1.obj │ │ │ │ ├── convex_2.obj │ │ │ │ ├── convex_3.obj │ │ │ │ └── convex_4.obj │ │ │ ├── convex_Stage_simplified │ │ │ │ ├── convex_0.obj │ │ │ │ ├── convex_1.obj │ │ │ │ ├── convex_10.obj │ │ │ │ ├── convex_11.obj │ │ │ │ ├── convex_12.obj │ │ │ │ ├── convex_13.obj │ │ │ │ ├── convex_14.obj │ │ │ │ ├── convex_15.obj │ │ │ │ ├── convex_16.obj │ │ │ │ ├── convex_17.obj │ │ │ │ ├── convex_18.obj │ │ │ │ ├── convex_19.obj │ │ │ │ ├── convex_2.obj │ │ │ │ ├── convex_20.obj │ │ │ │ ├── convex_21.obj │ │ │ │ ├── convex_22.obj │ │ │ │ ├── convex_23.obj │ │ │ │ ├── convex_24.obj │ │ │ │ ├── convex_25.obj │ │ │ │ ├── convex_26.obj │ │ │ │ ├── convex_27.obj │ │ │ │ ├── convex_28.obj │ │ │ │ ├── convex_29.obj │ │ │ │ ├── convex_3.obj │ │ │ │ ├── convex_30.obj │ │ │ │ ├── convex_31.obj │ │ │ │ ├── convex_32.obj │ │ │ │ ├── convex_33.obj │ │ │ │ ├── convex_34.obj │ │ │ │ ├── convex_35.obj │ │ │ │ ├── convex_4.obj │ │ │ │ ├── convex_5.obj │ │ │ │ ├── convex_6.obj │ │ │ │ ├── convex_7.obj │ │ │ │ ├── convex_8.obj │ │ │ │ └── convex_9.obj │ │ │ ├── convex_table_boundary │ │ │ │ ├── convex_0.obj │ │ │ │ ├── convex_1.obj │ │ │ │ ├── convex_10.obj │ │ │ │ ├── convex_11.obj │ │ │ │ ├── convex_12.obj │ │ │ │ ├── convex_13.obj │ │ │ │ ├── convex_14.obj │ │ │ │ ├── convex_15.obj │ │ │ │ ├── convex_16.obj │ │ │ │ ├── convex_17.obj │ │ │ │ ├── convex_18.obj │ │ │ │ ├── convex_19.obj │ │ │ │ ├── convex_2.obj │ │ │ │ ├── convex_20.obj │ │ │ │ ├── convex_21.obj │ │ │ │ ├── convex_22.obj │ │ │ │ ├── convex_23.obj │ │ │ │ ├── convex_24.obj │ │ │ │ ├── convex_25.obj │ │ │ │ ├── convex_26.obj │ │ │ │ ├── convex_27.obj │ │ │ │ ├── convex_28.obj │ │ │ │ ├── convex_29.obj │ │ │ │ ├── convex_3.obj │ │ │ │ ├── convex_30.obj │ │ │ │ ├── convex_31.obj │ │ │ │ ├── convex_32.obj │ │ │ │ ├── convex_33.obj │ │ │ │ ├── convex_34.obj │ │ │ │ ├── convex_35.obj │ │ │ │ ├── convex_36.obj │ │ │ │ ├── convex_37.obj │ │ │ │ ├── convex_38.obj │ │ │ │ ├── convex_39.obj │ │ │ │ ├── convex_4.obj │ │ │ │ ├── convex_5.obj │ │ │ │ ├── convex_6.obj │ │ │ │ ├── convex_7.obj │ │ │ │ ├── convex_8.obj │ │ │ │ └── convex_9.obj │ │ │ ├── obj │ │ │ │ ├── BL-M_Table_ASM_big.obj │ │ │ │ ├── BL-M_Table_ASM_small.obj │ │ │ │ ├── BL_Finger_Holder_SIM.obj │ │ │ │ ├── Finger_Base.obj │ │ │ │ ├── SIM_BL_FINGER_TIP_LINK.obj │ │ │ │ ├── SIM__BL-Finger_Base.obj │ │ │ │ ├── SIM__BL-Finger_Intermediate.obj │ │ │ │ ├── SIM__BL-Finger_Proximal.obj │ │ │ │ ├── Stage_simplified.obj │ │ │ │ ├── Tip_link_Modular_SIM.obj │ │ │ │ ├── base_back.obj │ │ │ │ ├── base_front.obj │ │ │ │ ├── base_side_left.obj │ │ │ │ ├── base_side_right.obj │ │ │ │ ├── base_top.obj │ │ │ │ ├── edu │ │ │ │ │ ├── base_back.obj │ │ │ │ │ ├── base_back.stl │ │ │ │ │ ├── base_front.obj │ │ │ │ │ ├── base_front.stl │ │ │ │ │ ├── base_side_left.obj │ │ │ │ │ ├── base_side_left.stl │ │ │ │ │ ├── base_side_right.obj │ │ │ │ │ ├── base_side_right.stl │ │ │ │ │ ├── base_top.obj │ │ │ │ │ ├── base_top.stl │ │ │ │ │ ├── frame_wall.obj │ │ │ │ │ ├── frame_wall.stl │ │ │ │ │ ├── lower_link.obj │ │ │ │ │ ├── lower_link.stl │ │ │ │ │ ├── middle_link.obj │ │ │ │ │ ├── middle_link.stl │ │ │ │ │ ├── upper_link.obj │ │ │ │ │ └── upper_link.stl │ │ │ │ ├── finger_padding.obj │ │ │ │ ├── frame_wall.obj │ │ │ │ ├── high_table_boundary.obj │ │ │ │ ├── lower_link.obj │ │ │ │ ├── middle_link.obj │ │ │ │ ├── trifinger_table_without_border.obj │ │ │ │ ├── upper_link.obj │ │ │ │ └── upper_link2.obj │ │ │ └── stl │ │ │ │ ├── BL-M_Table_ASM_big.obj │ │ │ │ ├── BL-M_Table_ASM_big.stl │ │ │ │ ├── BL-M_Table_ASM_small.obj │ │ │ │ ├── BL-M_Table_ASM_small.stl │ │ │ │ ├── BL_Finger_Holder_SIM.obj │ │ │ │ ├── BL_Finger_Holder_SIM.stl │ │ │ │ ├── SIM_BL_FINGER_TIP_LINK.obj │ │ │ │ ├── SIM_BL_FINGER_TIP_LINK.stl │ │ │ │ ├── SIM_BL_FINGER_TIP_LINK_vhacd2.obj │ │ │ │ ├── SIM__BL-Finger_Base.obj │ │ │ │ ├── SIM__BL-Finger_Base.stl │ │ │ │ ├── SIM__BL-Finger_Intermediate.obj │ │ │ │ ├── SIM__BL-Finger_Intermediate.stl │ │ │ │ ├── SIM__BL-Finger_Proximal.obj │ │ │ │ ├── SIM__BL-Finger_Proximal.stl │ │ │ │ ├── Stage_simplified.obj │ │ │ │ ├── Stage_simplified.stl │ │ │ │ ├── Stage_simplified_vhacd2.obj │ │ │ │ ├── Tip_link_Modular_SIM.obj │ │ │ │ ├── Tip_link_Modular_SIM.stl │ │ │ │ ├── edu │ │ │ │ ├── base_back.stl │ │ │ │ ├── base_front.stl │ │ │ │ ├── base_side_left.stl │ │ │ │ ├── base_side_right.stl │ │ │ │ ├── base_top.stl │ │ │ │ ├── frame_wall.stl │ │ │ │ ├── lower_link.stl │ │ │ │ ├── middle_link.stl │ │ │ │ └── upper_link.stl │ │ │ │ ├── finger_padding.obj │ │ │ │ ├── finger_padding.stl │ │ │ │ ├── high_table_boundary.obj │ │ │ │ ├── high_table_boundary.stl │ │ │ │ ├── high_table_boundary_vhacd2.obj │ │ │ │ ├── pro │ │ │ │ ├── SIM__BL-Finger_Base.obj │ │ │ │ ├── SIM__BL-Finger_Base.stl │ │ │ │ ├── SIM__BL-Finger_Center.obj │ │ │ │ ├── SIM__BL-Finger_Center.stl │ │ │ │ ├── SIM__BL-Finger_Intermediate.obj │ │ │ │ ├── SIM__BL-Finger_Intermediate.stl │ │ │ │ ├── SIM__BL-Finger_Proximal.obj │ │ │ │ ├── SIM__BL-Finger_Proximal.stl │ │ │ │ ├── SIM__BL-Finger_Tip.obj │ │ │ │ ├── SIM__BL-Finger_Tip.stl │ │ │ │ ├── SIM__BL-Finger_Tip_actual_tip.obj │ │ │ │ ├── SIM__BL-Finger_Tip_actual_tip.stl │ │ │ │ ├── SIM__BL-Finger_Tip_decomposition │ │ │ │ │ ├── convex_0.obj │ │ │ │ │ ├── convex_1.obj │ │ │ │ │ └── convex_2.obj │ │ │ │ ├── SIM__BL-Finger_Tip_vhacd2.obj │ │ │ │ ├── SIM__BL-Finger_Tip_without_tip.obj │ │ │ │ └── SIM__BL-Finger_Tip_without_tip.stl │ │ │ │ ├── trifinger_stage.obj │ │ │ │ ├── trifinger_stage_vhacd2.obj │ │ │ │ ├── trifinger_table_without_border.obj │ │ │ │ └── trifinger_table_without_border.stl │ │ └── urdf │ │ │ ├── edu │ │ │ ├── fingeredu.urdf │ │ │ ├── trifingeredu.urdf │ │ │ ├── trifingeredu_stage.urdf │ │ │ └── trifingeredu_with_stage.urdf │ │ │ ├── finger.urdf │ │ │ ├── finger_macro.urdf │ │ │ ├── finger_with_stage.urdf │ │ │ ├── high_table_boundary.urdf │ │ │ ├── pro │ │ │ ├── fingerpro.urdf │ │ │ ├── trifingerpro.urdf │ │ │ └── trifingerpro_with_stage.urdf │ │ │ ├── stage.urdf │ │ │ ├── stage_composite.urdf │ │ │ ├── trifinger.urdf │ │ │ ├── trifinger_stage.urdf │ │ │ └── trifinger_with_stage.urdf │ │ └── split_objfile.py └── config │ ├── config.yaml │ └── rlg │ └── asymm.yaml ├── scripts ├── .gitignore ├── rlg_hydra.py └── trifinger_random_action.py ├── setup.py └── tests └── test_trifinger_env.py /.gitignore: -------------------------------------------------------------------------------- 1 | **/output/ 2 | **/logs/ 3 | **/nn/ 4 | **/runs/ 5 | **/multirun 6 | 7 | 8 | .idea/ 9 | .vscode/ 10 | 11 | # Byte-compiled / optimized / DLL files 12 | __pycache__/ 13 | *.py[cod] 14 | *$py.class 15 | 16 | # C extensions 17 | *.so 18 | 19 | # Distribution / packaging 20 | .Python 21 | build/ 22 | develop-eggs/ 23 | dist/ 24 | downloads/ 25 | eggs/ 26 | .eggs/ 27 | lib/ 28 | lib64/ 29 | parts/ 30 | sdist/ 31 | var/ 32 | wheels/ 33 | pip-wheel-metadata/ 34 | share/python-wheels/ 35 | *.egg-info/ 36 | .installed.cfg 37 | *.egg 38 | MANIFEST 39 | 40 | # PyInstaller 41 | # Usually these files are written by a python script from a template 42 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 43 | *.manifest 44 | *.spec 45 | 46 | # Installer logs 47 | pip-log.txt 48 | pip-delete-this-directory.txt 49 | 50 | # Unit test / coverage reports 51 | htmlcov/ 52 | .tox/ 53 | .nox/ 54 | .coverage 55 | .coverage.* 56 | .cache 57 | nosetests.xml 58 | coverage.xml 59 | *.cover 60 | *.py,cover 61 | .hypothesis/ 62 | .pytest_cache/ 63 | cover/ 64 | 65 | # Translations 66 | *.mo 67 | *.pot 68 | 69 | # Django stuff: 70 | *.log 71 | local_settings.py 72 | db.sqlite3 73 | db.sqlite3-journal 74 | 75 | # Flask stuff: 76 | instance/ 77 | .webassets-cache 78 | 79 | # Scrapy stuff: 80 | .scrapy 81 | 82 | # Sphinx documentation 83 | docs/_build/ 84 | 85 | # PyBuilder 86 | .pybuilder/ 87 | target/ 88 | 89 | # Jupyter Notebook 90 | .ipynb_checkpoints 91 | 92 | # IPython 93 | profile_default/ 94 | ipython_config.py 95 | 96 | # pyenv 97 | .python-version 98 | # For a library or package, you might want to ignore these files since the code is 99 | # intended to run in multiple environments; otherwise, check them in: 100 | # .python-version 101 | 102 | # pipenv 103 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 104 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 105 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 106 | # install all needed dependencies. 107 | #Pipfile.lock 108 | 109 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 110 | __pypackages__/ 111 | 112 | # Celery stuff 113 | celerybeat-schedule 114 | celerybeat.pid 115 | 116 | # SageMath parsed files 117 | *.sage.py 118 | 119 | # Environments 120 | .env 121 | .venv 122 | env/ 123 | venv/ 124 | ENV/ 125 | env.bak/ 126 | venv.bak/ 127 | 128 | # Spyder project settings 129 | .spyderproject 130 | .spyproject 131 | 132 | # Rope project settings 133 | .ropeproject 134 | 135 | # mkdocs documentation 136 | /site 137 | 138 | # mypy 139 | .mypy_cache/ 140 | .dmypy.json 141 | dmypy.json 142 | 143 | # Pyre type checker 144 | .pyre/ 145 | 146 | # pytype static type analyzer 147 | .pytype/ 148 | 149 | # Cython debug symbols 150 | cython_debug/ 151 | -------------------------------------------------------------------------------- /CONTRIBUTORS: -------------------------------------------------------------------------------- 1 | Arthur Allshire 2 | Mayank Mittal 3 | Viktor Makoviychuk 4 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2021, Leibnizgym Developers 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | 3. Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Leibniz Gym 2 | 3 | ![Python](https://img.shields.io/badge/python-3.7-blue.svg) 4 | ![Ubuntu 18.04](https://img.shields.io/badge/ubuntu-18.04-orange.svg) 5 | ![Ubuntu 20.04](https://img.shields.io/badge/ubuntu-20.04-orange.svg) 6 | 7 | This repository provides IsaacGym environment for the [TriFinger robot](https://sites.google.com/view/trifinger/home-page). However, 8 | the development work can be used to base other RL environments in IsaacGym as well. 9 | 10 | The project currently uses [RL-Games](https://github.com/Denys88/rl_games) for training agents. 11 | More support will follow based on demand. 12 | 13 | For list of contributors, check: [CONTRIBUTORS](CONTRIBUTORS). This code is released under [LICENSE](LICENSE). 14 | 15 | # Installation 16 | 17 | Details regarding installation of IsaacGym can be found [here](https://developer.nvidia.com/isaac-gym). We currently support the `Preview Release 2` version of IsaacGym. 18 | 19 | ### Pre-requisites 20 | 21 | The code has been tested on Ubuntu 20.04 with Python 3.7. The minimum recommended NVIDIA driver 22 | version for Linux is `460.32` (dictated by support of IsaacGym). 23 | 24 | It uses [Anaconda](https://www.anaconda.com/) to create virtual environments. 25 | To install Anaconda, follow instructions [here](https://docs.anaconda.com/anaconda/install/linux/). 26 | 27 | ### Install IsaacGym in a new conda environment 28 | 29 | Run the IsaacGym installation script provided in the downloaded IsaacGym zip): 30 | 31 | ```bash 32 | cd PATH/TO/isaacgym 33 | bash create_conda_env_rlgpu.sh 34 | ``` 35 | 36 | This will create a new conda env called `rlgpu`, which can be activated by running: 37 | 38 | ```bash 39 | conda activate rlgpu 40 | ``` 41 | 42 | ### Install Leibnizgym 43 | 44 | To install `leibnizgym` package and all its dependencies, run: 45 | ```bash 46 | cd PATH/TO/leibnizgym 47 | pip install -e . 48 | ``` 49 | 50 | ### Install RL toolbox (optional) 51 | 52 | Currently, we use [RL-Games](https://github.com/Denys88/rl_games) for reinforcement learning. 53 | 54 | **It should be downloaded automatically with the previous step.** 55 | 56 | However, if you want to try with a different branch, you can manually install it locally instead: 57 | 58 | ```bash 59 | # somewhere outside trifinger-manip 60 | git clone https://github.com/Denys88/rl_games.git 61 | pip install -e . 62 | ``` 63 | 64 | # Running 65 | 66 | ## Training 67 | 68 | We use [Hydra](https://hydra.cc/docs/intro/) to keep configuration of runs simple. You can view the main arguments to the scripts by looking in the file [`resources/config/config.yaml`](resources/config/config.yaml). 69 | 70 | You can also set the configuration parameters from terminal by doing `{config_variable_name}={value}`. The main ones to be aware of are: 71 | 72 | * **`gym`** (string): environment name to use. The current options are the different difficulty levels of trifinger: `trifinger_difficulty_{1,2,3,4}` 73 | * **`num_envs`** (int): number of environment instances to run. 74 | * **`headless`** (bool): whether to run the simulator with/without GUI. 75 | 76 | To train an agent on environment difficulty 2, 8192 environment instances and headless mode, run: 77 | 78 | ```bash 79 | python scripts/rlg_hydra.py gym=trifinger_difficulty_2 args.num_envs=8192 args.headless=True 80 | ``` 81 | 82 | 83 | ## Inference and Loading Checkpoints 84 | 85 | Trained checkpoints from RL-Games are saved within the `nn/` directory within the relevant output directory (`output//time` by default) 86 | 87 | To perform inference and see the results, you can run: 88 | 89 | ```bash 90 | python scripts/rlg_hydra.py args.num_envs= args.play=True args.checkpoint=/path/to/checkpoint.pth args.headless=False 91 | ``` 92 | 93 | where: 94 | - `play` tells it not to train 95 | - `checkpoint` is the path to load the checkpoint. 96 | 97 | If you want to start training from a trained checkpoint, then just don't specify `play` (or set it to `False`). Usually you'll only want a few environments (say, 256) to get smooth rendering performance during inference. 98 | 99 | 100 | ## Citing 101 | 102 | ``` 103 | @article{allshire2021transferring, 104 | title={Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger}, 105 | author={Allshire, Arthur and Mittal, Mayank and Lodaya, Varun and Makoviychuk, Viktor and Makoviichuk, Denys and Widmaier, Felix and W{\"u}thrich, Manuel and Bauer, Stefan and Handa, Ankur and Garg, Animesh}, 106 | journal={arXiv preprint arXiv:2108.09779}, 107 | year={2021} 108 | } 109 | ``` 110 | -------------------------------------------------------------------------------- /images/trifinger_vanilla_4.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pairlab/leibnizgym/2c1cb14fbfece09644445d58fe7ac28c41611e5f/images/trifinger_vanilla_4.gif -------------------------------------------------------------------------------- /images/trifinger_vanilla_train.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pairlab/leibnizgym/2c1cb14fbfece09644445d58fe7ac28c41611e5f/images/trifinger_vanilla_train.png -------------------------------------------------------------------------------- /leibnizgym/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pairlab/leibnizgym/2c1cb14fbfece09644445d58fe7ac28c41611e5f/leibnizgym/__init__.py -------------------------------------------------------------------------------- /leibnizgym/dr/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pairlab/leibnizgym/2c1cb14fbfece09644445d58fe7ac28c41611e5f/leibnizgym/dr/__init__.py -------------------------------------------------------------------------------- /leibnizgym/envs/__init__.py: -------------------------------------------------------------------------------- 1 | """ 2 | Submodule contarining all the environments and registers them. 3 | """ 4 | 5 | from .trifinger import TrifingerEnv 6 | 7 | # EOF 8 | -------------------------------------------------------------------------------- /leibnizgym/envs/trifinger/__init__.py: -------------------------------------------------------------------------------- 1 | from .trifinger_env import TrifingerEnv 2 | 3 | # EOF 4 | -------------------------------------------------------------------------------- /leibnizgym/envs/trifinger/sample.py: -------------------------------------------------------------------------------- 1 | """ 2 | @author Mayank Mittal 3 | @email mittalma@ethz.ch 4 | @brief Defines sampling stratergies. 5 | 6 | # TODO: These functions are generic. Can put in leibnizgym.utils.torch_utils module. 7 | """ 8 | 9 | # leibnizgym 10 | from leibnizgym.utils.torch_utils import quaternion_from_euler_xyz 11 | # python 12 | from typing import Union, List, Tuple 13 | import numpy as np 14 | import torch 15 | import torch.nn.functional 16 | 17 | """ 18 | Sampling of cuboidal object 19 | """ 20 | 21 | 22 | @torch.jit.script 23 | def random_xy(num: int, max_com_distance_to_center: float, device: str) -> Tuple[torch.Tensor, torch.Tensor]: 24 | """Returns sampled uniform positions in circle (https://stackoverflow.com/a/50746409)""" 25 | # sample radius of circle 26 | radius = torch.sqrt(torch.rand(num, dtype=torch.float, device=device)) 27 | radius *= max_com_distance_to_center 28 | # sample theta of point 29 | theta = 2 * np.pi * torch.rand(num, dtype=torch.float, device=device) 30 | # x,y-position of the cube 31 | x = radius * torch.cos(theta) 32 | y = radius * torch.sin(theta) 33 | 34 | return x, y 35 | 36 | 37 | @torch.jit.script 38 | def random_z(num: int, min_height: float, max_height: float, device: str) -> torch.Tensor: 39 | """Returns sampled height of the goal object.""" 40 | z = torch.rand(num, dtype=torch.float, device=device) 41 | z = (max_height - min_height) * z + min_height 42 | 43 | return z 44 | 45 | 46 | @torch.jit.script 47 | def default_orientation(num: int, device: str) -> torch.Tensor: 48 | """Returns identity rotation transform.""" 49 | quat = torch.zeros((num, 4,), dtype=torch.float, device=device) 50 | quat[..., -1] = 1.0 51 | 52 | return quat 53 | 54 | 55 | @torch.jit.script 56 | def random_orientation(num: int, device: str) -> torch.Tensor: 57 | """Returns sampled rotation in 3D as quaternion. 58 | Ref: https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.random.html 59 | """ 60 | # sample random orientation from normal distribution 61 | quat = torch.randn((num, 4,), dtype=torch.float, device=device) 62 | # normalize the quaternion 63 | quat = torch.nn.functional.normalize(quat, p=2., dim=-1, eps=1e-12) 64 | 65 | return quat 66 | 67 | @torch.jit.script 68 | def random_angular_vel(num: int, device: str, magnitude_stdev: float) -> torch.Tensor: 69 | """Samples a random angular velocity with standard deviation `magnitude_stdev`""" 70 | 71 | axis = torch.randn((num, 3,), dtype=torch.float, device=device) 72 | axis /= torch.norm(axis, p=2, dim=-1).view(-1, 1) 73 | magnitude = torch.randn((num, 1,), dtype=torch.float, device=device) 74 | magnitude *= magnitude_stdev 75 | return magnitude * axis 76 | 77 | @torch.jit.script 78 | def random_yaw_orientation(num: int, device: str) -> torch.Tensor: 79 | """Returns sampled rotation around z-axis.""" 80 | roll = torch.zeros(num, dtype=torch.float, device=device) 81 | pitch = torch.zeros(num, dtype=torch.float, device=device) 82 | yaw = 2 * np.pi * torch.rand(num, dtype=torch.float, device=device) 83 | 84 | return quaternion_from_euler_xyz(roll, pitch, yaw) 85 | 86 | # EOF 87 | -------------------------------------------------------------------------------- /leibnizgym/envs/trifinger/utils.py: -------------------------------------------------------------------------------- 1 | """ 2 | @author Mayank Mittal 3 | @email mittalma@ethz.ch 4 | @brief Dimensions for Trifinger robot. 5 | """ 6 | 7 | # python 8 | import enum 9 | from typing import Tuple, Union 10 | import numpy as np 11 | 12 | # ################### # 13 | # Dimensions of robot # 14 | # ################### # 15 | 16 | 17 | class TrifingerDimensions(enum.Enum): 18 | """ 19 | Dimensions of the tri-finger robot. 20 | 21 | Note: While it may not seem necessary for tri-finger robot since it is fixed base, for floating 22 | base systems having this dimensions class is useful. 23 | """ 24 | # general state 25 | # cartesian position + quaternion orientation 26 | PoseDim = 7, 27 | # linear velocity + angular velcoity 28 | VelocityDim = 6 29 | # state: pose + velocity 30 | StateDim = 13 31 | # force + torque 32 | WrenchDim = 6 33 | # for robot 34 | # number of fingers 35 | NumFingers = 3 36 | # for three fingers 37 | JointPositionDim = 9 38 | JointVelocityDim = 9 39 | JointTorqueDim = 9 40 | # generalized coordinates 41 | GeneralizedCoordinatesDim = JointPositionDim 42 | GeneralizedVelocityDim = JointVelocityDim 43 | # for objects 44 | ObjectPoseDim = 7 45 | ObjectVelocityDim = 6 46 | 47 | 48 | # ################# # 49 | # Different objects # 50 | # ################# # 51 | 52 | 53 | # readius of the area 54 | ARENA_RADIUS = 0.195 55 | 56 | 57 | class CuboidalObject: 58 | """ 59 | Fields for a cuboidal object. 60 | 61 | @note Motivation for this class is that if domain randomization is performed over the 62 | size of the cuboid, then its attributes are automatically updated as well. 63 | """ 64 | # 3D radius of the cuboid 65 | radius_3d: float 66 | # distance from wall to the center 67 | max_com_distance_to_center: float 68 | # minimum and mximum height for spawning the object 69 | min_height: float 70 | max_height = 0.1 71 | 72 | def __init__(self, size: Union[float, Tuple[float, float, float]]): 73 | """Initialize the cuboidal object. 74 | 75 | Args: 76 | size: The size of the object along x, y, z in meters. If a single float is provided, then it is assumed that 77 | object is a cube. 78 | """ 79 | # decide the size depedning on input type 80 | if isinstance(size, float): 81 | self._size = (size, size, size) 82 | else: 83 | self._size = size 84 | # compute remaning attributes 85 | self.__compute() 86 | 87 | """ 88 | Properties 89 | """ 90 | 91 | @property 92 | def size(self) -> Tuple[float, float, float]: 93 | """ 94 | Returns the dimensions of the cuboid object (x, y, z) in meters. 95 | """ 96 | return self._size 97 | 98 | """ 99 | Configurations 100 | """ 101 | 102 | @size.setter 103 | def size(self, size: Union[float, Tuple[float, float, float]]): 104 | """ Set size of the object. 105 | 106 | Args: 107 | size: The size of the object along x, y, z in meters. If a single float is provided, then it is assumed 108 | that object is a cube. 109 | """ 110 | # decide the size depedning on input type 111 | if isinstance(size, float): 112 | self._size = (size, size, size) 113 | else: 114 | self._size = size 115 | # compute attributes 116 | self.__compute() 117 | 118 | """ 119 | Private members 120 | """ 121 | 122 | def __compute(self): 123 | """Compute the attributes for the object. 124 | """ 125 | # compute 3D radius of the cuboid 126 | max_len = max(self._size) 127 | self.radius_3d = max_len * np.sqrt(3) / 2 128 | # compute distance from wall to the center 129 | self.max_com_distance_to_center = ARENA_RADIUS - self.radius_3d 130 | # minimum height for spawning the object 131 | self.min_height = self._size[2] / 2 132 | 133 | # EOF 134 | -------------------------------------------------------------------------------- /leibnizgym/utils/__init__.py: -------------------------------------------------------------------------------- 1 | from .message import * 2 | from .helpers import * 3 | 4 | # EOF 5 | -------------------------------------------------------------------------------- /leibnizgym/utils/errors.py: -------------------------------------------------------------------------------- 1 | """ 2 | @author Mayank Mittal 3 | @email mittalma@ethz.ch 4 | 5 | @brief Custom errors for simulation. 6 | """ 7 | 8 | 9 | class InvalidTaskNameError(Exception): 10 | """ 11 | Error for invalid task that has not been implemented. 12 | """ 13 | 14 | def __init__(self, task_name): 15 | """ Checks if a given task name exists or not in leibizgym. 16 | 17 | Args: 18 | task_name: Name of the task. 19 | """ 20 | # valid task names 21 | valid_tasks = ['Trifinger'] 22 | # create message 23 | msg = f"Unrecognized task: `{task_name}`. Task should be in: {valid_tasks}" 24 | super().__init__(msg) 25 | 26 | # EOF 27 | -------------------------------------------------------------------------------- /leibnizgym/utils/helpers.py: -------------------------------------------------------------------------------- 1 | """ 2 | @author Mayank Mittal 3 | @email mittalma@ethz.ch 4 | @brief General helper functions 5 | """ 6 | 7 | # python 8 | import collections.abc 9 | import os 10 | from typing import Union 11 | 12 | 13 | def get_resources_dir() -> Union[bytes, str]: 14 | """ 15 | :return: Returns path to the resources directory 16 | """ 17 | resources_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../resources') 18 | resources_dir = os.path.abspath(resources_dir) 19 | # check path exists 20 | assert os.path.exists(resources_dir), f"Resources directory not found: {resources_dir}" 21 | # return the path 22 | return resources_dir 23 | 24 | 25 | def update_dict(orig_dict: dict, new_dict: collections.abc.Mapping) -> dict: 26 | """Updates exisitng dictionary with values from a new dictionory. 27 | 28 | This function mimics the dict.update() function. However, it works for 29 | nested dictionories as well. 30 | 31 | Ref: https://stackoverflow.com/questions/3232943/update-value-of-a-nested-dictionary-of-varying-depth 32 | 33 | Args: 34 | orig_dict: The original dictionory to insert items to. 35 | new_dict: The new dictionory to insert items from. 36 | 37 | Returns: 38 | The updated dictionory. 39 | """ 40 | for keyname, value in new_dict.items(): 41 | if isinstance(value, collections.abc.Mapping): 42 | orig_dict[keyname] = update_dict(orig_dict.get(keyname, {}), value) 43 | else: 44 | orig_dict[keyname] = value 45 | return orig_dict 46 | 47 | # EOF 48 | -------------------------------------------------------------------------------- /leibnizgym/utils/mdp.py: -------------------------------------------------------------------------------- 1 | """ 2 | @author Mayank Mittal 3 | @email mittalma@ethz.ch 4 | @brief Custom datatypes to use. 5 | """ 6 | 7 | # python 8 | import torch 9 | 10 | 11 | class RewardTerm(torch.nn.Module): 12 | """ 13 | Class for defining various reward terms. 14 | """ 15 | name: str = '' 16 | weight: float = 0.0 17 | 18 | def __init__(self, name: str, activate: bool, weight: float, **kwargs): 19 | """Initialize the members of the reward term. 20 | 21 | Args: 22 | name: Name of the reward term. 23 | activate: Whether to use the reward term or not. 24 | weight: Weight of the reward term. 25 | **kwargs: Miscellaneous arguments for the reward. 26 | """ 27 | super(RewardTerm, self).__init__() 28 | self.name = name 29 | self.activate = activate 30 | self.weight = weight 31 | 32 | def __str__(self) -> str: 33 | if self.activate: 34 | return f"Reward name: {self.name}, enable: {self.activate}, weight: {self.weight}" 35 | else: 36 | return f"Reward name: {self.name}, enable: {self.activate}" 37 | 38 | """ 39 | Operations 40 | """ 41 | 42 | def compute(self, *args, **kwargs) -> torch.Tensor: 43 | """ 44 | Function to compute the reward term. 45 | 46 | Args: 47 | *args: Inputs to the computation function. 48 | **kwargs: Miscellaneous inputs to the computation function. 49 | 50 | Returns: 51 | The computed reward term. 52 | """ 53 | raise NotImplementedError 54 | 55 | def __call__(self, *args, **kwargs): 56 | """ 57 | Function to compute the reward term. 58 | 59 | Args: 60 | *args: Inputs to the computation function. 61 | **kwargs: Miscellaneous inputs to the computation function. 62 | 63 | Returns: 64 | The computed reward term. 65 | """ 66 | return self.compute(args, kwargs) 67 | 68 | # EOF 69 | -------------------------------------------------------------------------------- /leibnizgym/utils/message.py: -------------------------------------------------------------------------------- 1 | """ 2 | @author Mayank Mittal 3 | @email mittalma@ethz.ch 4 | 5 | @brief Defines message logging and console output. 6 | """ 7 | 8 | # python 9 | import time 10 | import inspect 11 | import os 12 | from termcolor import colored 13 | 14 | 15 | def __message(level, color, *msg): 16 | """Appends date-time to message and applies colored formatting.""" 17 | module = inspect.getmodule(inspect.stack()[2][0]) 18 | out = "[%s] [%s]: [%s]: " % (level, time.strftime("%Y.%m.%d::%H-%M-%S"), 19 | os.path.splitext(os.path.basename(module.__file__))[0]) 20 | for sub_msg in msg: 21 | out += f'{sub_msg[0]}' 22 | print(colored(out, color)) 23 | # TODO use python.logging to actually log messages and output them to appropriate files 24 | 25 | 26 | def print_info(*msg): 27 | """Output an INFO (general-purpose) message.""" 28 | __message("INFO", None, msg) 29 | 30 | 31 | def print_debug(*msg): 32 | """Output an DEBUG message. Useful for developers.""" 33 | __message("DEBUG", None, msg) 34 | 35 | 36 | def print_notify(*msg): 37 | """Output a NOTIFICATION message. Indicates correct operation, but should capture users attention.""" 38 | __message("NOTIFY", 'blue', msg) 39 | 40 | 41 | def print_warn(*msg): 42 | """Output a WARNING message. Indicates possible problem or misbehavior.""" 43 | __message("WARN", 'yellow', msg) 44 | 45 | 46 | def print_error(*msg): 47 | """Output an ERROR message.""" 48 | __message("ERROR", 'red', msg) 49 | 50 | 51 | def print_dict(val, nesting: int = -4, start: bool = True): 52 | """Outputs a nested dictionory.""" 53 | if type(val) == dict: 54 | if not start: 55 | print('') 56 | nesting += 4 57 | for k in val: 58 | print(nesting * ' ', end='') 59 | print(k, end=': ') 60 | print_dict(val[k], nesting, start=False) 61 | else: 62 | print(val) 63 | 64 | # EOF 65 | -------------------------------------------------------------------------------- /leibnizgym/utils/torch_utils.py: -------------------------------------------------------------------------------- 1 | """ 2 | @author Mayank Mittal 3 | @email mittalma@ethz.ch 4 | @brief Torch JIT utility functions. 5 | 6 | @note Some functions are taken from `isaacgym/python/torch_utils.py` for the sake of 7 | convinience. Documentation is added to these for better readability. 8 | """ 9 | 10 | # python 11 | import torch 12 | 13 | """ 14 | Normalization and Denormalization of Tensors 15 | """ 16 | 17 | 18 | @torch.jit.script 19 | def scale_transform(x: torch.Tensor, lower: torch.Tensor, upper: torch.Tensor) -> torch.Tensor: 20 | """ 21 | Normalizes a given input tensor to a range of [-1, 1]. 22 | 23 | @note It uses pytorch broadcasting functionality to deal with batched input. 24 | 25 | Args: 26 | x: Input tensor of shape (N, dims). 27 | lower: The minimum value of the tensor. Shape (dims,) 28 | upper: The maximum value of the tensor. Shape (dims,) 29 | 30 | Returns: 31 | Normalized transform of the tensor. Shape (N, dims) 32 | """ 33 | # default value of center 34 | offset = (lower + upper) * 0.5 35 | # return normalized tensor 36 | return 2 * (x - offset) / (upper - lower) 37 | 38 | 39 | @torch.jit.script 40 | def unscale_transform(x: torch.Tensor, lower: torch.Tensor, upper: torch.Tensor) -> torch.Tensor: 41 | """ 42 | Denormalizes a given input tensor from range of [-1, 1] to (lower, upper). 43 | 44 | @note It uses pytorch broadcasting functionality to deal with batched input. 45 | 46 | Args: 47 | x: Input tensor of shape (N, dims). 48 | lower: The minimum value of the tensor. Shape (dims,) 49 | upper: The maximum value of the tensor. Shape (dims,) 50 | 51 | Returns: 52 | Denormalized transform of the tensor. Shape (N, dims) 53 | """ 54 | # default value of center 55 | offset = (lower + upper) * 0.5 56 | # return normalized tensor 57 | return x * (upper - lower) * 0.5 + offset 58 | 59 | 60 | @torch.jit.script 61 | def saturate(x: torch.Tensor, lower: torch.Tensor, upper: torch.Tensor) -> torch.Tensor: 62 | """ 63 | Clamps a given input tensor to (lower, upper). 64 | 65 | @note It uses pytorch broadcasting functionality to deal with batched input. 66 | 67 | Args: 68 | x: Input tensor of shape (N, dims). 69 | lower: The minimum value of the tensor. Shape (dims,) 70 | upper: The maximum value of the tensor. Shape (dims,) 71 | 72 | Returns: 73 | Clamped transform of the tensor. Shape (N, dims) 74 | """ 75 | return torch.max(torch.min(x, upper), lower) 76 | 77 | 78 | """ 79 | Rotation conversions 80 | """ 81 | 82 | 83 | @torch.jit.script 84 | def quat_mul(a: torch.Tensor, b: torch.Tensor) -> torch.Tensor: 85 | """ 86 | Multiplies two quaternions. 87 | 88 | Args: 89 | a: first quaternion 90 | b: second quaternion 91 | Returns: 92 | Quaternion returning from the multiplication. 93 | """ 94 | assert a.shape == b.shape 95 | shape = a.shape 96 | a = a.reshape(-1, 4) 97 | b = b.reshape(-1, 4) 98 | 99 | x1, y1, z1, w1 = a[:, 0], a[:, 1], a[:, 2], a[:, 3] 100 | x2, y2, z2, w2 = b[:, 0], b[:, 1], b[:, 2], b[:, 3] 101 | ww = (z1 + x1) * (x2 + y2) 102 | yy = (w1 - y1) * (w2 + z2) 103 | zz = (w1 + y1) * (w2 - z2) 104 | xx = ww + yy + zz 105 | qq = 0.5 * (xx + (z1 - x1) * (x2 - y2)) 106 | w = qq - ww + (z1 - y1) * (y2 - z2) 107 | x = qq - xx + (x1 + w1) * (x2 + w2) 108 | y = qq - yy + (w1 - x1) * (y2 + z2) 109 | z = qq - zz + (z1 + y1) * (w2 - x2) 110 | 111 | quat = torch.stack([x, y, z, w], dim=-1).view(shape) 112 | 113 | return quat 114 | 115 | 116 | @torch.jit.script 117 | def quat_conjugate(a: torch.Tensor) -> torch.Tensor: 118 | """Computes the conjugate of a quaternion. 119 | 120 | Args: 121 | a: quaternion to compute conjugate of, shape (N, 4) 122 | Returns: 123 | Conjugated `a`, shape (N, 4) 124 | 125 | """ 126 | shape = a.shape 127 | a = a.reshape(-1, 4) 128 | return torch.cat((-a[:, :3], a[:, -1:]), dim=-1).view(shape) 129 | 130 | 131 | @torch.jit.script 132 | def quat_diff_rad(a: torch.Tensor, b: torch.Tensor) -> torch.Tensor: 133 | """ 134 | Get the difference in radians between two quaternions. 135 | 136 | Args: 137 | a: first quaternion, shape (N, 4) 138 | b: second quaternion, shape (N, 4) 139 | Returns: 140 | Difference in radians, shape (N,) 141 | """ 142 | b_conj = quat_conjugate(b) 143 | mul = quat_mul(a, b_conj) 144 | # 2 * torch.acos(torch.abs(mul[:, -1])) 145 | return 2.0 * torch.asin( 146 | torch.clamp( 147 | torch.norm( 148 | mul[:, 0:3], 149 | p=2, dim=-1), max=1.0) 150 | ) 151 | 152 | 153 | @torch.jit.script 154 | def quaternion_from_euler_xyz(roll: torch.Tensor, pitch: torch.Tensor, yaw: torch.Tensor) -> torch.Tensor: 155 | """ 156 | Convert rotations given as Euler angles in radians to Quaternions. 157 | 158 | @note: The euler angles are assumed in XYZ convention. 159 | 160 | Args: 161 | roll: Rotation around x-axis (in radians). Shape: [N,] 162 | pitch: Rotation around y-axis (in radians). Shape: [N,] 163 | yaw: Rotation around z-axis (in radians). Shape: [N,] 164 | 165 | Returns: 166 | Quaternion with real part in the end. Shape: [N, 4,] 167 | """ 168 | cy = torch.cos(yaw * 0.5) 169 | sy = torch.sin(yaw * 0.5) 170 | cr = torch.cos(roll * 0.5) 171 | sr = torch.sin(roll * 0.5) 172 | cp = torch.cos(pitch * 0.5) 173 | sp = torch.sin(pitch * 0.5) 174 | # compute quaternion 175 | qw = cy * cr * cp + sy * sr * sp 176 | qx = cy * sr * cp - sy * cr * sp 177 | qy = cy * cr * sp + sy * sr * cp 178 | qz = sy * cr * cp - cy * sr * sp 179 | 180 | return torch.stack([qx, qy, qz, qw], dim=-1) 181 | 182 | # EOF 183 | -------------------------------------------------------------------------------- /leibnizgym/wrappers/__init__.py: -------------------------------------------------------------------------------- 1 | """ 2 | Submodule containing all the wrappers around environment. 3 | """ 4 | 5 | from .vec_task import VecTaskPython 6 | 7 | # EOF 8 | -------------------------------------------------------------------------------- /resources/assets/trifinger/convert_stl2obj.py: -------------------------------------------------------------------------------- 1 | import os 2 | import argparse 3 | import glob 4 | 5 | parser = argparse.ArgumentParser() 6 | parser.add_argument('--folder', type=str, default="./") 7 | args = parser.parse_args() 8 | 9 | os.chdir(args.folder) 10 | 11 | for stl_fileName in glob.glob("*.stl"): 12 | conversion_command = "meshlab.meshlabserver -i " + stl_fileName + " -o " + stl_fileName[:-3] + "obj" 13 | os.system(conversion_command) 14 | 15 | for stl_fileName in glob.glob("*.STL"): 16 | conversion_command = "meshlab.meshlabserver -i " + stl_fileName + " -o " + stl_fileName[:-3] + "obj" 17 | os.system(conversion_command) 18 | -------------------------------------------------------------------------------- /resources/assets/trifinger/convex_decomposition.py: -------------------------------------------------------------------------------- 1 | import pybullet as p 2 | import pybullet_data as pd 3 | import os 4 | import argparse 5 | 6 | parser = argparse.ArgumentParser() 7 | parser.add_argument('infile', type=str) 8 | # parser.add_argument('outfile', type='str', default=None, required=False) 9 | args = parser.parse_args() 10 | 11 | p.connect(p.DIRECT) 12 | # name_in = os.path.join(pd.getDataPath(), "duck.obj") 13 | 14 | name_out = os.path.splitext(args.infile)[0] + "_vhacd2.obj" # if args.outfile is None else args.outfile 15 | name_log = "log.txt" 16 | p.vhacd(args.infile, name_out, name_log, alpha=0.04, resolution=1000000, concavity=0, maxNumVerticesPerCH=256) 17 | -------------------------------------------------------------------------------- /resources/assets/trifinger/objects/meshes/cube_multicolor.mtl: -------------------------------------------------------------------------------- 1 | newmtl red 2 | Ns 10.0 3 | Ka 1.0 1.0 1.0 4 | Kd 1.0 0.0 0.0 5 | Ks 0.125 0.125 0.125 6 | Ke 0.0 0.0 0.0 7 | Ni 1.0 8 | d 1.0 9 | illum 2 10 | 11 | newmtl green 12 | Ns 10.0 13 | Ka 1.0 1.0 1.0 14 | Kd 0.0 1.0 0.0 15 | Ks 0.125 0.125 0.125 16 | Ke 0.0 0.0 0.0 17 | Ni 1.0 18 | d 1.0 19 | illum 2 20 | 21 | newmtl blue 22 | Ns 10.0 23 | Ka 1.0 1.0 1.0 24 | Kd 0.0 0.0 1.0 25 | Ks 0.125 0.125 0.125 26 | Ke 0.0 0.0 0.0 27 | Ni 1.0 28 | d 1.0 29 | illum 2 30 | 31 | newmtl yellow 32 | Ns 10.0 33 | Ka 1.0 1.0 1.0 34 | Kd 1.0 1.0 0.0 35 | Ks 0.125 0.125 0.125 36 | Ke 0.0 0.0 0.0 37 | Ni 1.0 38 | d 1.0 39 | illum 2 40 | 41 | newmtl cyan 42 | Ns 10.0 43 | Ka 1.0 1.0 1.0 44 | Kd 0.0 1.0 1.0 45 | Ks 0.125 0.125 0.125 46 | Ke 0.0 0.0 0.0 47 | Ni 1.0 48 | d 1.0 49 | illum 2 50 | 51 | newmtl white 52 | Ns 10.0 53 | Ka 1.0 1.0 1.0 54 | Kd 1.0 1.0 1.0 55 | Ks 0.125 0.125 0.125 56 | Ke 0.0 0.0 0.0 57 | Ni 1.0 58 | d 1.0 59 | illum 2 60 | -------------------------------------------------------------------------------- /resources/assets/trifinger/objects/meshes/cube_multicolor.obj: -------------------------------------------------------------------------------- 1 | mtllib cube_multicolor.mtl 2 | 3 | v -0.5 -0.5 -0.5 4 | v -0.5 -0.5 0.5 5 | v -0.5 0.5 -0.5 6 | v -0.5 0.5 0.5 7 | v 0.5 -0.5 -0.5 8 | v 0.5 -0.5 0.5 9 | v 0.5 0.5 -0.5 10 | v 0.5 0.5 0.5 11 | 12 | vn -0.5 -0.5 0.5 13 | vn -0.5 -0.5 -0.5 14 | vn -0.5 0.5 -0.5 15 | vn -0.5 -0.5 -0.5 16 | vn 0.5 -0.5 -0.5 17 | vn -0.5 -0.5 -0.5 18 | 19 | usemtl red 20 | f 1//2 7//2 5//2 21 | f 1//2 3//2 7//2 22 | usemtl green 23 | f 1//6 4//6 3//6 24 | f 1//6 2//6 4//6 25 | usemtl blue 26 | f 3//3 8//3 7//3 27 | f 3//3 4//3 8//3 28 | usemtl yellow 29 | f 5//5 7//5 8//5 30 | f 5//5 8//5 6//5 31 | usemtl cyan 32 | f 1//4 5//4 6//4 33 | f 1//4 6//4 2//4 34 | usemtl white 35 | f 2//1 6//1 8//1 36 | f 2//1 8//1 4//1 37 | -------------------------------------------------------------------------------- /resources/assets/trifinger/objects/urdf/ball.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /resources/assets/trifinger/objects/urdf/cube_goal_multicolor.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /resources/assets/trifinger/objects/urdf/cube_multicolor.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /resources/assets/trifinger/objects/urdf/cube_multicolor_rrc.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /resources/assets/trifinger/objects/urdf/cube_multicolor_rrc_phase3.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_SIM_BL_FINGER_TIP_LINK/convex_1.obj: -------------------------------------------------------------------------------- 1 | o convex_1 2 | v -0.020510 -0.149683 -0.002766 3 | v -0.008421 -0.149348 0.002606 4 | v -0.008421 -0.149683 0.002606 5 | v -0.017822 -0.149683 0.006299 6 | v -0.017488 -0.139612 -0.005117 7 | v -0.017151 -0.139612 0.005292 8 | v -0.010773 -0.140285 -0.004780 9 | v -0.011780 -0.149683 -0.006459 10 | v -0.011109 -0.139612 0.004957 11 | v -0.011109 -0.149683 0.006299 12 | v -0.018829 -0.139612 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/resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_10.obj: -------------------------------------------------------------------------------- 1 | o convex_10 2 | v -0.169796 0.007834 0.087803 3 | v -0.183515 0.109350 0.150903 4 | v -0.186264 0.109350 0.150903 5 | v -0.136878 0.007834 0.150903 6 | v -0.123159 0.032537 0.148156 7 | v -0.183515 0.049003 0.082310 8 | v -0.183515 0.007834 0.087803 9 | v -0.186264 0.090132 0.150903 10 | v -0.164310 0.007834 0.120716 11 | v -0.123159 0.007834 0.150903 12 | v -0.175287 0.035280 0.082310 13 | v -0.186264 0.027042 0.082310 14 | v -0.180772 0.106588 0.148156 15 | v -0.125908 0.038022 0.148156 16 | f 13 2 14 17 | f 2 3 4 18 | f 3 2 6 19 | f 1 4 7 20 | f 4 3 8 21 | f 8 7 9 22 | f 7 4 9 23 | f 4 8 9 24 | f 2 4 10 25 | f 4 1 10 26 | f 1 5 10 27 | f 5 1 11 28 | f 3 6 12 29 | f 1 7 12 30 | f 8 3 12 31 | f 7 8 12 32 | f 11 1 12 33 | f 6 11 12 34 | f 6 2 13 35 | f 6 13 14 36 | f 2 10 14 37 | f 10 5 14 38 | f 5 11 14 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8 30 | f 5 4 8 31 | f 1 5 8 32 | f 7 1 8 33 | f 2 4 9 34 | f 5 2 9 35 | f 4 5 9 36 | f 12 3 10 37 | f 3 15 10 38 | f 15 6 10 39 | f 6 12 10 40 | f 12 6 11 41 | f 6 7 11 42 | f 7 8 11 43 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_12.obj: -------------------------------------------------------------------------------- 1 | o convex_12 2 | v -0.112202 0.079193 0.205780 3 | v -0.219188 0.166954 0.178339 4 | v -0.213680 0.158723 0.178339 5 | v -0.139639 0.169693 0.249671 6 | v -0.101232 0.175199 0.255162 7 | v -0.101232 0.054499 0.178339 8 | v -0.208195 0.175199 0.178339 9 | v -0.158842 0.090163 0.181089 10 | v -0.101232 0.164201 0.263387 11 | v -0.175273 0.166954 0.224980 12 | v -0.103969 0.035284 0.181089 13 | v -0.183507 0.175199 0.219497 14 | v -0.210943 0.166954 0.192073 15 | v -0.101232 0.035284 0.178339 16 | v -0.103969 0.175199 0.266137 17 | v -0.101232 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/resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_15.obj: -------------------------------------------------------------------------------- 1 | o convex_15 2 | v 0.090848 0.059978 -0.186582 3 | v 0.093603 0.166954 -0.268873 4 | v 0.186877 0.169693 -0.216756 5 | v 0.115544 0.057238 -0.189329 6 | v 0.134767 0.175199 -0.252408 7 | v 0.090848 0.169693 -0.255155 8 | v 0.217058 0.175199 -0.183835 9 | v 0.162169 0.101133 -0.186582 10 | v 0.167654 0.166954 -0.230466 11 | v 0.093603 0.043516 -0.192067 12 | v 0.200590 0.147739 -0.186582 13 | v 0.090848 0.035284 -0.186582 14 | v 0.090848 0.035284 -0.183835 15 | v 0.090848 0.175199 -0.260640 16 | v 0.137510 0.166954 -0.249669 17 | v 0.203332 0.175199 -0.183835 18 | f 15 4 10 19 | f 12 13 14 20 | f 14 13 1 21 | f 13 16 1 22 | f 12 14 2 23 | f 13 12 4 24 | f 14 16 5 25 | f 2 14 5 26 | f 15 2 5 27 | f 16 14 6 28 | f 14 1 6 29 | f 1 16 6 30 | f 16 13 7 31 | f 11 3 7 32 | f 5 16 7 33 | f 3 5 7 34 | f 3 11 8 35 | 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/resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_19.obj: -------------------------------------------------------------------------------- 1 | o convex_19 2 | v 0.195106 0.032527 -0.065848 3 | v 0.200595 0.007834 -0.032926 4 | v 0.173159 0.029779 -0.082297 5 | v 0.186881 0.007834 -0.079563 6 | v 0.203339 0.032527 -0.005487 7 | v 0.195106 0.032527 -0.005487 8 | v 0.175903 0.032527 -0.085054 9 | v 0.192361 0.007834 -0.005487 10 | v 0.173159 0.007834 -0.082297 11 | f 7 9 3 12 | f 6 5 7 13 | f 5 6 8 14 | f 7 4 9 15 | f 4 8 9 16 | f 7 5 1 17 | f 4 7 1 18 | f 8 4 2 19 | f 5 8 2 20 | f 1 5 2 21 | f 4 1 2 22 | f 6 7 3 23 | f 8 6 3 24 | f 9 8 3 25 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_2.obj: -------------------------------------------------------------------------------- 1 | o convex_2 2 | v -0.120440 0.007834 -0.164618 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-------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_20.obj: -------------------------------------------------------------------------------- 1 | o convex_20 2 | v 0.280162 0.169696 -0.054866 3 | v 0.175903 0.032527 -0.085054 4 | v 0.175903 0.032527 -0.082297 5 | v 0.206089 0.032527 -0.013720 6 | v 0.274663 0.175199 -0.005487 7 | v 0.258208 0.169696 -0.085054 8 | v 0.192368 0.038029 -0.085054 9 | v 0.195112 0.038029 -0.008237 10 | v 0.277407 0.153231 -0.005487 11 | v 0.269175 0.161470 -0.082297 12 | v 0.181401 0.046255 -0.082297 13 | v 0.206089 0.038029 -0.041158 14 | v 0.206089 0.032527 -0.005487 15 | v 0.271919 0.175199 -0.085054 16 | v 0.282906 0.175199 -0.005487 17 | v 0.197867 0.032527 -0.060357 18 | v 0.195112 0.032527 -0.005487 19 | f 13 5 17 20 | f 3 2 4 21 | f 2 6 7 22 | f 2 3 11 23 | f 5 6 11 24 | f 6 2 11 25 | f 3 8 11 26 | f 8 5 11 27 | f 1 9 12 28 | f 9 4 12 29 | f 10 1 12 30 | f 3 4 13 31 | f 9 5 13 32 | f 4 9 13 33 | f 6 5 14 34 | f 7 6 14 35 | f 1 10 14 36 | f 10 7 14 37 | f 5 9 15 38 | f 9 1 15 39 | f 1 14 15 40 | f 14 5 15 41 | f 4 2 16 42 | f 2 7 16 43 | f 7 10 16 44 | f 12 4 16 45 | f 10 12 16 46 | f 8 3 17 47 | f 5 8 17 48 | f 3 13 17 49 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_21.obj: -------------------------------------------------------------------------------- 1 | o convex_21 2 | v 0.236271 0.109341 0.008231 3 | v 0.192365 0.007834 -0.005487 4 | v 0.192365 0.007834 0.008231 5 | v 0.222551 0.007834 -0.005487 6 | v 0.274664 0.175199 -0.005487 7 | v 0.282906 0.164222 0.008231 8 | v 0.222551 0.007834 0.005485 9 | v 0.274664 0.128541 -0.005487 10 | v 0.195121 0.035275 -0.005487 11 | v 0.274664 0.175199 0.008231 12 | v 0.195121 0.035275 0.008231 13 | v 0.274664 0.128541 0.005485 14 | f 7 8 12 15 | f 3 2 4 16 | f 4 2 5 17 | f 1 3 6 18 | f 3 4 7 19 | f 6 3 7 20 | f 4 5 8 21 | f 5 6 8 22 | f 7 4 8 23 | f 2 3 9 24 | f 1 5 9 25 | f 5 2 9 26 | f 5 1 10 27 | f 1 6 10 28 | f 6 5 10 29 | f 3 1 11 30 | f 1 9 11 31 | f 9 3 11 32 | f 6 7 12 33 | f 8 6 12 34 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_22.obj: -------------------------------------------------------------------------------- 1 | o convex_22 2 | v 0.195111 0.103863 0.153646 3 | v 0.186877 0.032527 0.079567 4 | v 0.189633 0.032527 0.079567 5 | v 0.263697 0.175199 0.079567 6 | v 0.186877 0.117563 0.150891 7 | v 0.249977 0.166959 0.137171 8 | v 0.228047 0.175199 0.153646 9 | v 0.189633 0.057246 0.079567 10 | v 0.271931 0.166959 0.082315 11 | v 0.189633 0.059969 0.117970 12 | v 0.239004 0.175199 0.153646 13 | v 0.200606 0.049006 0.082315 14 | v 0.186877 0.098402 0.153646 15 | v 0.255463 0.164222 0.079567 16 | v 0.269176 0.169696 0.096035 17 | v 0.230761 0.153231 0.153646 18 | f 6 11 16 19 | f 3 2 4 20 | f 4 2 8 21 | f 2 5 8 22 | f 3 4 9 23 | f 2 3 10 24 | f 7 1 11 25 | f 4 7 11 26 | f 3 9 12 27 | f 10 3 12 28 | f 6 10 12 29 | f 5 2 13 30 | f 1 7 13 31 | f 7 5 13 32 | f 2 10 13 33 | f 10 1 13 34 | f 5 7 14 35 | f 7 4 14 36 | f 4 8 14 37 | f 8 5 14 38 | f 9 4 15 39 | f 11 6 15 40 | f 4 11 15 41 | f 12 9 15 42 | f 6 12 15 43 | f 1 10 16 44 | f 10 6 16 45 | f 11 1 16 46 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_23.obj: -------------------------------------------------------------------------------- 1 | o convex_23 2 | v -0.007924 0.024298 0.192058 3 | v 0.003051 0.175199 0.285343 4 | v -0.002437 0.175199 0.285343 5 | v 0.005792 0.007834 0.222255 6 | v 0.014025 0.038027 0.194815 7 | v 0.014025 0.175199 0.274367 8 | v -0.005178 0.007834 0.222255 9 | v -0.007924 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/resources/assets/trifinger/robot_properties_fingers/meshes/convex_Stage_simplified/convex_25.obj: -------------------------------------------------------------------------------- 1 | o convex_25 2 | v -0.021649 0.027048 -0.203031 3 | v -0.098461 0.087401 -0.200282 4 | v -0.098461 0.087401 -0.203027 5 | v -0.101209 0.007834 -0.175599 6 | v -0.098461 0.029790 -0.164625 7 | v -0.007924 0.027048 -0.192056 8 | v -0.049079 0.007834 -0.197541 9 | v -0.007924 0.007834 -0.192056 10 | v -0.007924 0.046247 -0.200286 11 | v -0.101209 0.068194 -0.203027 12 | v -0.101209 0.007834 -0.164625 13 | v -0.007924 0.007834 -0.200286 14 | v -0.007924 0.046247 -0.203031 15 | f 12 1 13 16 | f 6 5 8 17 | f 4 7 8 18 | f 3 2 9 19 | f 2 5 9 20 | f 5 6 9 21 | f 6 8 9 22 | f 3 1 10 23 | f 2 3 10 24 | f 7 4 10 25 | f 1 7 10 26 | f 5 2 11 27 | f 4 8 11 28 | f 8 5 11 29 | f 2 10 11 30 | f 10 4 11 31 | f 7 1 12 32 | f 8 7 12 33 | f 9 8 12 34 | f 9 12 13 35 | f 1 3 13 36 | f 3 9 13 37 | 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/resources/assets/trifinger/robot_properties_fingers/meshes/convex_table_boundary/convex_1.obj: -------------------------------------------------------------------------------- 1 | o convex_1 2 | v -0.170144 -0.086828 0.012500 3 | v -0.175702 -0.136815 -0.001389 4 | v -0.172921 -0.139599 -0.001389 5 | v -0.150714 -0.139599 0.031941 6 | v -0.134049 -0.136815 -0.001389 7 | v -0.175702 -0.084050 0.031941 8 | v -0.175702 -0.084050 -0.001389 9 | v -0.134049 -0.136815 0.029161 10 | v -0.175702 -0.106273 0.031941 11 | v -0.175702 -0.136815 0.006944 12 | v -0.134049 -0.139599 -0.001389 13 | f 8 4 11 14 | f 3 2 5 15 | f 1 5 7 16 | f 5 2 7 17 | f 2 6 7 18 | f 6 1 7 19 | f 5 1 8 20 | f 1 6 8 21 | f 6 4 8 22 | f 6 2 9 23 | f 4 6 9 24 | f 2 3 10 25 | f 3 4 10 26 | f 9 2 10 27 | f 4 9 10 28 | f 4 3 11 29 | f 3 5 11 30 | f 5 8 11 31 | -------------------------------------------------------------------------------- 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/resources/assets/trifinger/robot_properties_fingers/meshes/convex_table_boundary/convex_15.obj: -------------------------------------------------------------------------------- 1 | o convex_15 2 | v 0.182609 0.149256 0.081944 3 | v 0.271462 0.088157 0.176368 4 | v 0.265906 0.104821 0.173583 5 | v 0.190936 0.088157 0.037511 6 | v 0.129820 0.146473 0.040282 7 | v 0.232570 0.149256 0.176368 8 | v 0.257551 0.085374 0.170812 9 | v 0.174254 0.085374 0.037511 10 | v 0.246439 0.143697 0.168013 11 | v 0.143717 0.149256 0.031941 12 | v 0.177039 0.107598 0.031941 13 | v 0.271462 0.085374 0.168013 14 | v 0.260350 0.113150 0.165242 15 | v 0.127035 0.149256 0.031941 16 | v 0.229799 0.146473 0.173583 17 | v 0.185380 0.085374 0.031941 18 | v 0.243668 0.149256 0.176368 19 | v 0.213117 0.149256 0.123593 20 | v 0.165927 0.124256 0.031941 21 | v 0.243668 0.129802 0.151359 22 | v 0.260350 0.088157 0.176368 23 | v 0.171483 0.088157 0.031941 24 | v 0.268677 0.096486 0.168013 25 | f 4 13 23 26 | f 7 5 8 27 | 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-------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_table_boundary/convex_36.obj: -------------------------------------------------------------------------------- 1 | o convex_36 2 | v -0.247907 -0.059043 0.115252 3 | v -0.181261 -0.067375 0.034726 4 | v -0.181261 -0.070162 0.034726 5 | v -0.264574 -0.067375 0.173583 6 | v -0.270126 -0.009059 0.168013 7 | v -0.209052 -0.009059 0.037511 8 | v -0.284017 -0.022947 0.168013 9 | v -0.195162 -0.009059 0.037511 10 | v -0.197938 -0.070162 0.037511 11 | v -0.275678 -0.070162 0.168013 12 | v -0.284017 -0.009059 0.176368 13 | v -0.203490 -0.034060 0.031941 14 | v -0.281231 -0.009059 0.162457 15 | v -0.267350 -0.070162 0.176368 16 | v -0.184057 -0.067375 0.040282 17 | v -0.195162 -0.009059 0.031941 18 | v -0.275678 -0.050718 0.159686 19 | v -0.278454 -0.061825 0.176368 20 | v -0.197938 -0.059043 0.031941 21 | v -0.275678 -0.009059 0.176368 22 | f 11 14 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57 | f 7 12 21 58 | f 2 18 21 59 | f 18 7 21 60 | f 12 4 22 61 | f 4 19 22 62 | f 19 10 22 63 | f 10 21 22 64 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/convex_table_boundary/convex_39.obj: -------------------------------------------------------------------------------- 1 | o convex_39 2 | v 0.196484 -0.009059 0.040290 3 | v 0.285349 0.004828 0.173578 4 | v 0.282559 0.007606 0.176368 5 | v 0.221470 0.004828 0.009721 6 | v 0.193694 0.007606 0.034728 7 | v 0.282559 -0.009059 0.165226 8 | v 0.221470 -0.006281 0.009721 9 | v 0.268662 -0.009059 0.165226 10 | v 0.277015 0.004828 0.134690 11 | v 0.193694 -0.009059 0.009721 12 | v 0.202037 0.007606 0.009721 13 | v 0.268662 0.007606 0.165226 14 | v 0.277015 -0.006281 0.134690 15 | v 0.279769 0.007606 0.154134 16 | v 0.277015 -0.009059 0.176368 17 | f 12 8 15 18 | f 1 6 8 19 | f 7 4 9 20 | f 1 5 10 21 | f 6 1 10 22 | f 4 7 10 23 | f 7 6 10 24 | f 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64 60 141 | f 44 40 65 142 | f 65 40 39 143 | f 15 21 40 144 | f 41 31 33 145 | f 9 8 43 146 | f 3 2 44 147 | f 46 53 47 148 | f 34 48 19 149 | f 48 47 27 150 | f 19 48 27 151 | f 47 38 27 152 | f 27 16 49 153 | f 16 6 24 154 | f 49 16 24 155 | f 6 5 24 156 | f 49 42 19 157 | f 42 33 55 158 | f 19 42 55 159 | f 51 34 18 160 | f 18 26 51 161 | f 32 55 33 162 | f 19 18 34 163 | f 50 35 34 164 | f 52 50 51 165 | f 53 37 38 166 | f 54 62 55 167 | f 12 11 57 168 | f 40 41 42 169 | f 49 24 58 170 | f 40 42 49 171 | f 59 57 60 172 | f 57 36 60 173 | f 36 35 60 174 | f 35 50 25 175 | f 50 52 25 176 | f 25 17 60 177 | f 17 62 41 178 | f 41 62 31 179 | f 62 54 31 180 | f 41 40 17 181 | f 60 30 43 182 | f 40 60 17 183 | f 35 25 60 184 | # 105 faces, 0 coords texture 185 | 186 | # End of File 187 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/meshes/stl/trifinger_table_without_border.stl: 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-------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 16 | 17 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/urdf/stage.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /resources/assets/trifinger/robot_properties_fingers/urdf/trifinger_stage.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | -------------------------------------------------------------------------------- /resources/assets/trifinger/split_objfile.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | # -*- coding: utf-8 -*- 3 | 4 | """Split an OBJ file into separate files per named object 5 | 6 | Ignores vertex texture coordinates, polygon groups, parameter space vertices. 7 | The individual files are named as the object they contain. The material file 8 | (.mtl) is not split with the objects. 9 | 10 | Run: 11 | $ objsplit.py /input/dir/file.obj /output/dir 12 | 13 | Written by Balázs Dukai, https://github.com/balazsdukai 14 | From https://gist.github.com/balazsdukai/dca936c72bd7a596fea5e4a2bb34a912 15 | """ 16 | 17 | import re 18 | import os.path as p 19 | import sys 20 | from contextlib import contextmanager 21 | import os 22 | 23 | 24 | @contextmanager 25 | def suppress_stdout(): 26 | with open(os.devnull, "w") as devnull: 27 | old_stdout = sys.stdout 28 | sys.stdout = devnull 29 | try: 30 | yield 31 | finally: 32 | sys.stdout = old_stdout 33 | 34 | 35 | def main(file_in, dir_out): 36 | v_pat = re.compile(r"^v\s[\s\S]*") # vertex 37 | vn_pat = re.compile(r"^vn\s[\s\S]*") # vertex normal 38 | f_pat = re.compile(r"^f\s[\s\S]*") # face 39 | o_pat = re.compile(r"^o\s[\s\S]*") # named object 40 | ml_pat = re.compile(r"^mtllib[\s\S]*") # .mtl file 41 | mu_pat = re.compile(r"^usemtl[\s\S]*") # material to use 42 | s_pat = re.compile(r"^s\s[\s\S]*") # shading 43 | vertices = ['None'] # because OBJ has 1-based indexing 44 | v_normals = ['None'] # because OBJ has 1-based indexing 45 | objects = {} 46 | faces = [] 47 | mtllib = None 48 | usemtl = None 49 | shade = None 50 | o_id = None 51 | 52 | with open(file_in, 'r') as f_in: 53 | for line in f_in: 54 | v = v_pat.match(line) 55 | o = o_pat.match(line) 56 | f = f_pat.match(line) 57 | vn = vn_pat.match(line) 58 | ml = ml_pat.match(line) 59 | mu = mu_pat.match(line) 60 | s = s_pat.match(line) 61 | 62 | if v: 63 | vertices.append(v.group()) 64 | elif vn: 65 | v_normals.append(vn.group()) 66 | elif o: 67 | if o_id: 68 | objects[o_id] = {'faces': faces, 69 | 'usemtl': usemtl, 70 | 's': shade} 71 | o_id = o.group() 72 | faces = [] 73 | else: 74 | o_id = o.group() 75 | elif f: 76 | faces.append(f.group()) 77 | elif mu: 78 | usemtl = mu.group() 79 | elif s: 80 | shade = s.group() 81 | elif ml: 82 | mtllib = ml.group() 83 | else: 84 | # ignore vertex texture coordinates, polygon groups, parameter 85 | # space vertices 86 | pass 87 | 88 | if o_id: 89 | objects[o_id] = {'faces': faces, 90 | 'usemtl': usemtl, 91 | 's': shade} 92 | else: 93 | sys.exit("Cannot split an OBJ without named objects in it!") 94 | 95 | # vertex indices of a face 96 | fv_pat = re.compile(r"(?<= )\b[0-9]+\b", re.MULTILINE) 97 | # vertex normal indices of a face 98 | fn_pat = re.compile(r"(?<=\/)\b[0-9]+\b(?=\s)", re.MULTILINE) 99 | for o_id in objects.keys(): 100 | faces = ''.join(objects[o_id]['faces']) 101 | f_vertices = {int(v) for v in fv_pat.findall(faces)} 102 | f_vnormals = {int(vn) for vn in fn_pat.findall(faces)} 103 | # vertex mapping to a sequence starting with 1 104 | v_map = {str(v): str(e) for e, v in enumerate(f_vertices, start=1)} 105 | vn_map = {str(vn): str(e) for e, vn in enumerate(f_vnormals, start=1)} 106 | faces_mapped = re.sub(fv_pat, lambda x: v_map[x.group()], faces) 107 | faces_mapped = re.sub( 108 | fn_pat, lambda x: vn_map[x.group()], faces_mapped) 109 | 110 | objects[o_id]['vertices'] = f_vertices 111 | objects[o_id]['vnormals'] = f_vnormals 112 | # old vertex indices are not needed anymore 113 | objects[o_id]['faces'] = faces_mapped 114 | 115 | oid_pat = re.compile(r"(?<=o\s).+") 116 | with suppress_stdout(): 117 | for o_id in objects.keys(): 118 | fname = oid_pat.search(o_id).group() 119 | file_out = p.join(dir_out, fname + ".obj") 120 | with open(file_out, 'w', newline=None) as f_out: 121 | if mtllib: 122 | f_out.write(mtllib) 123 | 124 | f_out.write(o_id) 125 | 126 | for vertex in objects[o_id]['vertices']: 127 | print(vertex) 128 | f_out.write(vertices[int(vertex)]) 129 | 130 | for normal in objects[o_id]['vnormals']: 131 | f_out.write(v_normals[int(normal)]) 132 | 133 | if objects[o_id]['usemtl']: 134 | f_out.write(objects[o_id]['usemtl']) 135 | 136 | if objects[o_id]['s']: 137 | f_out.write(objects[o_id]['s']) 138 | 139 | f_out.write(objects[o_id]['faces']) 140 | 141 | 142 | if __name__ == '__main__': 143 | file_in = sys.argv[1] 144 | dir_out = sys.argv[2] 145 | main(file_in, dir_out) 146 | -------------------------------------------------------------------------------- /resources/config/config.yaml: -------------------------------------------------------------------------------- 1 | output_root: ./output 2 | hydra: 3 | run: 4 | dir: ${output_root}/${now:%Y-%m-%d}/${now:%H-%M-%S} 5 | defaults: 6 | # defined in the config 7 | - gym: trifinger_difficulty_1 8 | - rlg: asymm 9 | -------------------------------------------------------------------------------- /resources/config/rlg/asymm.yaml: -------------------------------------------------------------------------------- 1 | asymmetric_obs: True 2 | params: 3 | algo: 4 | name: a2c_continuous 5 | 6 | model: 7 | name: continuous_a2c_logstd 8 | 9 | network: 10 | separate: True 11 | name: actor_critic 12 | space: 13 | continuous: 14 | mu_activation: None 15 | sigma_activation: None 16 | mu_init: 17 | # name: default 18 | name: variance_scaling_initializer 19 | scale: 0.02 20 | sigma_init: 21 | name: const_initializer 22 | val: 0 23 | fixed_sigma: True 24 | 25 | mlp: 26 | units: [400, 200, 100] 27 | activation: elu 28 | d2rl: False 29 | 30 | initializer: 31 | name: default 32 | scale: 2 33 | regularizer: 34 | name: 'None' 35 | 36 | load_checkpoint: False 37 | load_path: nn/weights.pth 38 | 39 | config: 40 | name: 'trifinger' 41 | env_name: rlgpu 42 | ppo: True 43 | normalize_input: False 44 | reward_shaper: 45 | scale_value: 0.01 46 | normalize_advantage: True 47 | gamma: 0.99 48 | tau: 0.95 49 | learning_rate: 3e-4 50 | lr_schedule: adaptive 51 | lr_threshold: 0.008 52 | score_to_win : 1000000 53 | max_epochs: 100000 54 | save_best_after: 500 55 | save_frequency: 100 56 | preemption_checkpoint_freq: 500 57 | print_stats: True 58 | grad_norm: 1.0 59 | entropy_coef: 0.0 60 | truncate_grads: True 61 | e_clip: 0.2 62 | steps_num: 32 63 | minibatch_size: 8192 #16384 64 | mini_epochs: 4 65 | critic_coef: 4 66 | clip_value: False 67 | seq_len: 4 68 | bounds_loss_coef: 0.0001 69 | 70 | central_value_config: 71 | seq_length: 4 72 | minibatch_size: 8192 #16384 73 | mini_epochs: 4 74 | lr: 5e-4 75 | clip_value: False 76 | normalize_input: False 77 | grad_norm: 1.0 78 | truncate_grads: True 79 | network: 80 | name: actor_critic 81 | central_value: True 82 | mlp: 83 | units: [400, 200, 100] 84 | activation: elu 85 | d2rl: False 86 | initializer: 87 | #name: default 88 | name: variance_scaling_initializer 89 | scale: 2 90 | regularizer: 91 | name: 'None' -------------------------------------------------------------------------------- /scripts/.gitignore: -------------------------------------------------------------------------------- 1 | logs/** 2 | nn/** 3 | runs/** 4 | -------------------------------------------------------------------------------- /scripts/trifinger_random_action.py: -------------------------------------------------------------------------------- 1 | """ 2 | @brief Demo script for checking tri-finger environment. 3 | """ 4 | 5 | # leibnizgym 6 | from leibnizgym.utils import * 7 | from leibnizgym.envs import TrifingerEnv 8 | # python 9 | import torch 10 | 11 | if __name__ == '__main__': 12 | # configure the environment 13 | env_config = { 14 | 'num_instances': 8192, 15 | 'aggregrate_mode': True, 16 | 'control_decimation': 1, 17 | 'command_mode': 'torque', 18 | 'sim': { 19 | "use_gpu_pipeline": True, 20 | "physx": { 21 | "use_gpu": False 22 | } 23 | } 24 | } 25 | # create environment 26 | env = TrifingerEnv(config=env_config, device='cuda:0', verbose=True, visualize=False) 27 | _ = env.reset() 28 | print_info("Trifinger environment creation successful.") 29 | 30 | # sample run 31 | while True: 32 | # zero action agent 33 | action = 2 * torch.rand(env.get_action_shape(), dtype=torch.float, device=env.device) - 1 34 | # step through physics 35 | _, _, _, _ = env.step(action) 36 | # render environment 37 | env.render() 38 | 39 | # EOF 40 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | 2 | """Installation script for the 'leibnizgym' python package.""" 3 | 4 | from __future__ import absolute_import 5 | from __future__ import print_function 6 | from __future__ import division 7 | 8 | from setuptools import setup, find_packages 9 | 10 | 11 | # Minimum dependencies required prior to installation 12 | INSTALL_REQUIRES = [ 13 | # generic 14 | "numpy", 15 | "matplotlib", 16 | "tqdm", 17 | "scipy>=1.2.0", 18 | "termcolor", 19 | # I/O 20 | "pillow", 21 | "pyyaml", 22 | # RL 23 | "gym", 24 | "torch", 25 | "hydra-core>=1.1", 26 | "wandb", 27 | 'rl_games @ git+https://github.com/Denys88/rl_games' 28 | ] 29 | 30 | # Installation operation 31 | setup( 32 | name="leibnizgym", 33 | author="PAIR Lab", 34 | version="0.0.1", 35 | description="New interfaces and environments for high-speed robot learning in NVIDIA IsaacGym.", 36 | keywords=["robotics", "rl"], 37 | include_package_data=True, 38 | python_requires=">=3.6.*", 39 | install_requires=INSTALL_REQUIRES, 40 | packages=find_packages("."), 41 | classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"], 42 | zip_safe=False, 43 | ) 44 | 45 | # EOF 46 | --------------------------------------------------------------------------------