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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| // Copyright 2022 DeepMind Technologies Limited | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include "mjpc/tasks/bimanual/reorient/reorient.h" | ||
|
|
||
| #include <string> | ||
|
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| #include <mujoco/mujoco.h> | ||
| #include "mjpc/utilities.h" | ||
|
|
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| namespace mjpc::aloha { | ||
| std::string Reorient::XmlPath() const { | ||
| return GetModelPath("bimanual/reorient/task.xml"); | ||
| } | ||
| std::string Reorient::Name() const { return "Bimanual Reorient"; } | ||
|
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| void Reorient::ResidualFn::Residual(const mjModel* model, const mjData* data, | ||
| double* residual) const { | ||
| int counter = 0; | ||
|
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| // reach | ||
| double* left_gripper = SensorByName(model, data, "left/gripper"); | ||
| double* box = SensorByName(model, data, "box"); | ||
| mju_sub3(residual + counter, left_gripper, box); | ||
| counter += 3; | ||
|
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| double* right_gripper = SensorByName(model, data, "right/gripper"); | ||
| mju_sub3(residual + counter, right_gripper, box); | ||
| counter += 3; | ||
|
|
||
| // bring | ||
| double* target = SensorByName(model, data, "target"); | ||
| mju_sub3(residual + counter, box, target); | ||
| counter += 3; | ||
|
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| // ---------- Cube orientation ---------- | ||
| double *cube_orientation = SensorByName(model, data, "cube_orientation"); | ||
| double *goal_cube_orientation = | ||
| SensorByName(model, data, "cube_goal_orientation"); | ||
| mju_normalize4(goal_cube_orientation); | ||
|
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| mju_subQuat(residual + counter, goal_cube_orientation, cube_orientation); | ||
| counter += 3; | ||
|
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| // ---------- Cube linear velocity ---------- | ||
| double *cube_linear_velocity = | ||
| SensorByName(model, data, "cube_linear_velocity"); | ||
|
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| mju_copy(residual + counter, cube_linear_velocity, 3); | ||
| counter += 3; | ||
|
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| CheckSensorDim(model, counter); | ||
| } | ||
|
|
||
| } // namespace mjpc::aloha |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,51 @@ | ||
| // Copyright 2024 DeepMind Technologies Limited | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef MJPC_MJPC_TASKS_BIMANUAL_REORIENT_REORIENT_H_ | ||
| #define MJPC_MJPC_TASKS_BIMANUAL_REORIENT_REORIENT_H_ | ||
|
|
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| #include <memory> | ||
| #include <string> | ||
|
|
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| #include <mujoco/mujoco.h> | ||
| #include "mjpc/task.h" | ||
|
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| namespace mjpc::aloha { | ||
| class Reorient : public Task { | ||
| public: | ||
| std::string Name() const override; | ||
| std::string XmlPath() const override; | ||
|
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||
| class ResidualFn : public BaseResidualFn { | ||
| public: | ||
| explicit ResidualFn(const Reorient* task) : BaseResidualFn(task) {} | ||
| void Residual(const mjModel* model, const mjData* data, | ||
| double* residual) const override; | ||
| }; | ||
|
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| Reorient() : residual_(this) {} | ||
|
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| protected: | ||
| std::unique_ptr<mjpc::ResidualFn> ResidualLocked() const override { | ||
| return std::make_unique<ResidualFn>(this); | ||
| } | ||
| ResidualFn* InternalResidual() override { return &residual_; } | ||
|
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| private: | ||
| ResidualFn residual_; | ||
| }; | ||
| } // namespace mjpc::aloha | ||
|
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|
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| #endif // MJPC_MJPC_TASKS_BIMANUAL_REORIENT_REORIENT_H_ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,78 @@ | ||
| <mujoco model="aloha"> | ||
| <include file="../../common.xml"/> | ||
|
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| <size memory="1M"/> | ||
|
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| <asset> | ||
| <texture name="groundplane" type="2d" builtin="flat" rgb1="0.20000000000000001 0.29999999999999999 0.40000000000000002" rgb2="0.10000000000000001 0.20000000000000001 0.29999999999999999" mark="edge" markrgb="0.50000000000000004 0.50000000000000004 0.50000000000000004" width="200" height="200"/> | ||
| <material name="groundplane" texture="groundplane" texrepeat="2 2" texuniform="true" reflectance="0.20000000000000001"/> | ||
| </asset> | ||
|
|
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| <custom> | ||
| <numeric name="agent_planner" data="0" /> | ||
| <numeric name="agent_horizon" data="1.0" /> | ||
| <numeric name="agent_timestep" data="0.01" /> | ||
| <numeric name="agent_sample_width" data="0.0025" /> | ||
| <numeric name="agent_policy_width" data="0.0035" /> | ||
| <numeric name="sampling_exploration" data="0.5" /> | ||
| <numeric name="sampling_trajectories" data="120"/> | ||
| <numeric name="sampling_spline_points" data="4" /> | ||
| <numeric name="gradient_spline_points" data="6" /> | ||
| </custom> | ||
|
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| <statistic extent="1.5" center="0.0 0.35 0.2"/> | ||
|
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| <visual> | ||
| <quality shadowsize="8192"/> | ||
| <global azimuth="90" elevation="-30"/> | ||
| <scale framelength=".3" framewidth=".03"/> | ||
| </visual> | ||
|
|
||
| <!-- since the included reorientation_cube brings its own sensors, the residuals must be specified first --> | ||
| <sensor> | ||
| <user name="Reach L" dim="3" user="2 0.1 0 .5 0.005"/> | ||
| <user name="Reach R" dim="3" user="2 0.1 0 .5 0.005"/> | ||
| <user name="Bring" dim="3" user="2 1 0 1 0.003"/> | ||
| <user name="Cube Orientation" dim="3" user="0 0.02 0 .2" /> | ||
| <user name="Cube Velocity" dim="3" user="0 .01 0 .2" /> | ||
| <framequat name="cube_goal_orientation" objtype="body" objname="goal"/> | ||
| <framepos name="left/gripper" objtype="site" objname="left/gripper"/> | ||
| <framepos name="right/gripper" objtype="site" objname="right/gripper"/> | ||
| <framepos name="box" objtype="body" objname="cube"/> | ||
| <framepos name="target" objtype="body" objname="box_goal_mocap"/> | ||
| <framepos name="trace0" objtype="body" objname="cube"/> | ||
| <framepos name="trace1" objtype="site" objname="left/gripper"/> | ||
| <framepos name="trace2" objtype="site" objname="right/gripper"/> | ||
| </sensor> | ||
|
|
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| <include file="../aloha_cartesian.xml"/> | ||
| <include file="../../common_assets/reorientation_cube.xml"/> | ||
|
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| <worldbody> | ||
| <light pos="0 -0.1 0.5" dir="0 0.2 -1" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3" | ||
| directional="true" castshadow="true"/> | ||
| <geom name="floor" pos="0 0 -0.75" size="0 0 0.05" type="plane" material="groundplane"/> | ||
| <body name="table" pos="0 0 -0.75"> | ||
| <geom name="table" pos="0 0 0.6509" size="0.61 0.37 0.1" type="box" class="collision"/> | ||
| <geom name="table_visual" pos="0 0 0.6509" size="0.61 0.37 0.1" type="box" rgba="0.4 0.4 0.4 1" conaffinity="0" contype="0"/> | ||
| </body> | ||
| <body mocap="true" name="box_goal_mocap"> | ||
| <geom group="2" size="0.02" rgba="1 0.4 0.4 1" conaffinity="0" contype="0"/> | ||
| </body> | ||
| <body name="goal" pos="0.325 0.17 0.0475"> | ||
| <joint type="ball" damping="0.001"/> | ||
| <geom type="box" size=".03 .03 .03" mass=".124" material="cube" contype="0" conaffinity="0"/> | ||
| </body> | ||
| </worldbody> | ||
| <keyframe> | ||
| <key name="home" qpos= | ||
| "0 -0.96 1.16 0 -0.3 0 0.002 0.002 | ||
| 0 -0.96 1.16 0 -0.3 0 0.002 0.002 | ||
| 0.02 0.02 0.075 1 0 0 0 | ||
| 1 0 0 0 | ||
| " | ||
| mpos="0 0 0.25" | ||
| act= "-0.1 0 0 0 0 0 0.03 0.1 0 0 0 0 0 0.03" | ||
| ctrl="-0.1 0 0 0 0 0 0.03 0.1 0 0 0 0 0 0.03"/> | ||
| </keyframe> | ||
| </mujoco> |
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