dodox/fancy_gym
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Working Beerpong and TableTennis with MPWrapper

Browse Source
This commit is contained in:
Marcel
2021-11-05 11:08:42 +01:00
parent ac969d490a
commit 598a7d5512
37 changed files with 1261 additions and 149 deletions
Download Patch File Download Diff File Expand all files Collapse all files
alr_envs/alr/mujoco/table_tennis/xml/include_7_motor_actuator.xml
+12
View File
@@ -0,0 +1,12 @@
<mujocoinclude>
<actuator>
<motor name="wam/base_motor" joint="wam/base_yaw_joint_right" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0"/>
<motor name="wam/shoulder_pitch_motor" joint='wam/shoulder_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="125.0"/>
<motor name="wam/shoulder_yaw_motor" joint='wam/shoulder_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="40.0"/>
<motor name="wam/elbow_pitch_motor" joint='wam/elbow_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="60.0"/>
<motor name="wam/wrist_yaw_motor" joint='wam/wrist_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
<motor name="wam/wrist_pitch_motor" joint='wam/wrist_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
<motor name="wam/palm_yaw_motor" joint='wam/palm_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0"/>
</actuator>
</mujocoinclude>
alr_envs/alr/mujoco/table_tennis/xml/include_barrett_wam_7dof_right.xml
+103
View File
@@ -0,0 +1,103 @@
<mujocoinclue>
<body name="wam/base_link_right" pos="2.1 0 2.0" quat="0 0 1 0" childclass="wam" >
<inertial pos="0 0 0" mass="1" diaginertia="0.1 0.1 0.1"/>
<geom name="base_link_fine" class="viz" mesh="base_link_fine" rgba="0.5 0.5 0.5 0"/>
<geom name="base_link_convex" class="col" mesh="base_link_convex" rgba="0.5 0.5 0.5 1"/>
<body name="wam/shoulder_yaw_link_right" pos="0 0 0.346">
<inertial pos="-0.00443422 -0.00066489 -0.128904" quat="0.69566 0.716713 -0.0354863 0.0334839" mass="5"
diaginertia="0.135089 0.113095 0.0904426"/>
<!-- control 0: 1.6-->
<joint name="wam/base_yaw_joint_right" range="-2.6 2.6" damping="1.98"/>
<geom name="shoulder_link_fine" class="viz" mesh="shoulder_link_fine" rgba="1 1 1 0"/>
<geom name="shoulder_link_convex_decomposition_p1" class="col"
mesh="shoulder_link_convex_decomposition_p1"/>
<geom name="shoulder_link_convex_decomposition_p2" class="col"
mesh="shoulder_link_convex_decomposition_p2"/>
<geom name="shoulder_link_convex_decomposition_p3" class="col"
mesh="shoulder_link_convex_decomposition_p3"/>
<body name="wam/shoulder_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.961794 0.273112 -0.0169316 0.00866592"
mass="3.87494" diaginertia="0.0214195 0.0167127 0.0126452"/> <!--seems off-->
<!-- control 1: 0-->
<joint name="wam/shoulder_pitch_joint_right" range="-2 2" damping="0.55"/>
<geom name="shoulder_pitch_link_fine" class="viz" mesh="shoulder_pitch_link_fine" rgba="1 1 1 0"/>
<geom name="shoulder_pitch_link_convex" class="col" mesh="shoulder_pitch_link_convex"/>
<body name="wam/upper_arm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
<inertial pos="0.00683259 3.309e-005 0.392492" quat="0.647136 0.0170822 0.0143038 0.762049"
mass="2.20228" diaginertia="0.0592718 0.0592207 0.00313419"/>
<!-- control 2: 0-->
<joint name="wam/shoulder_yaw_joint_right" range="-2.8 2.8" damping="1.65"/>
<geom name="upper_arm_link_fine" class="viz" mesh="upper_arm_link_fine" rgba="1 1 1 0"/>
<geom name="upper_arm_link_convex_decomposition_p1" class="col"
mesh="upper_arm_link_convex_decomposition_p1" rgba="0.094 0.48 0.804 1"/>
<geom name="upper_arm_link_convex_decomposition_p2" class="col"
mesh="upper_arm_link_convex_decomposition_p2" rgba="0.094 0.48 0.804 1"/>
<body name="wam/forearm_link_right" pos="0.045 0 0.55" quat="0.707107 -0.707107 0 0">
<inertial pos="-0.0400149 -0.142717 -0.00022942"
quat="0.704281 0.706326 0.0180333 0.0690353" mass="0.500168"
diaginertia="0.0151047 0.0148285 0.00275805"/>
<!-- control 3: 2.4-->
<joint name="wam/elbow_pitch_joint_right" range="-0.9 3.1" damping="0.88"/>
<geom name="elbow_link_fine" class="viz" mesh="elbow_link_fine" rgba="1 1 1 0"/>
<geom name="elbow_link_convex" class="col" mesh="elbow_link_convex"/>
<geom name="forearm_link_fine" class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0"
euler="1.57 0 0" rgba="1 1 1 0"/>
<geom name="forearm_link_convex_decomposition_p1" class="col"
mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0"
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
<geom name="forearm_link_convex_decomposition_p2" class="col"
mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0"
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
<body name="wam/wrist_yaw_link_right" pos="-0.045 -0.3 0" quat="0.707107 0.707107 0 0">
<inertial pos="8.921e-005 0.00435824 -0.00511217"
quat="0.630602 0.776093 0.00401969 -0.002372" mass="1.05376"
diaginertia="0.000555168 0.00046317 0.000234072"/> <!--this is an approximation-->
<!-- control 4: 0-->
<joint name="wam/wrist_yaw_joint_right" range="-4.8 1.3" damping="0.55"/>
<geom name="wrist_yaw_link_fine" class="viz" mesh="wrist_yaw_link_fine" rgba="1 1 1 0"/>
<geom name="wrist_yaw_link_convex_decomposition_p1" class="col"
mesh="wrist_yaw_link_convex_decomposition_p1"/>
<geom name="wrist_yaw_link_convex_decomposition_p2" class="col"
mesh="wrist_yaw_link_convex_decomposition_p2"/>
<body name="wam/wrist_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
<inertial pos="-0.00012262 -0.0246834 -0.0170319"
quat="0.630602 0.776093 0.00401969 -0.002372" mass="0.517974"
diaginertia="0.000555168 0.00046317 0.000234072"/>
<!-- control 5: 0-->
<joint name="wam/wrist_pitch_joint_right" range="-1.6 1.6" damping="0.11"/>
<geom name="wrist_pitch_link_fine" class="viz" mesh="wrist_pitch_link_fine"
rgba="1 1 1 0"/>
<geom name="wrist_pitch_link_convex_decomposition_p1" rgba="1 0.5 0.313 1"
class="col" mesh="wrist_pitch_link_convex_decomposition_p1"/>
<geom name="wrist_pitch_link_convex_decomposition_p2" rgba="1 0.5 0.313 1"
class="col" mesh="wrist_pitch_link_convex_decomposition_p2"/>
<geom name="wrist_pitch_link_convex_decomposition_p3" rgba="1 0.5 0.313 1"
class="col" mesh="wrist_pitch_link_convex_decomposition_p3"/>
<body name="wam/wrist_palm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
<inertial pos="0 0 0.055" quat="0.707107 0 0 0.707107" mass="0.0828613"
diaginertia="0.00020683 0.00010859 0.00010851"/>
<!-- control 6: 1.8-->
<joint name="wam/palm_yaw_joint_right" range="-2.2 2.2" damping="0.11"/>
<geom name="wrist_palm_link_fine" class="viz" mesh="wrist_palm_link_fine"
rgba="1 1 1 0"/>
<geom name="wrist_palm_link_convex" class="col" mesh="wrist_palm_link_convex"/>
<!-- EE=wam/paddle, configure name to the end effector name-->
<body name="EE" pos="0 0 0.26" childclass="contact_geom">
<geom name="bat" type="cylinder" size="0.075 0.005" rgba="1 0 0 1"
quat="0.71 0 0.71 0"/>
<geom name="bat_back" type="cylinder" size="0.0749 0.0025" rgba="0 1 0 1"
quat="0.71 0 0.71 0" pos="-0.0026 0 0"/>
<geom name="wam/paddle_handle" type="box" size="0.005 0.01 0.05" pos="0 0 -0.08"
rgba="1 1 1 1"/>
<!-- Extract information for sampling goals.-->
<site name="wam/paddle_center" pos="0 0 0" rgba="1 1 1 1" size="0.00001"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</mujocoinclue>
alr_envs/alr/mujoco/table_tennis/xml/include_table.xml
+30
View File
@@ -0,0 +1,30 @@
<mujocoinclude>
<body name="table_tennis_table" pos="0 0 0">
<geom class="viz" name="table_base_1" pos="1 0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
<geom class="viz" name="table_base_2" pos="1 -0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
<geom class="viz" name="table_base_3" pos="-1 -0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
<geom class="viz" name="table_base_4" pos="-1 0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
<body name="table_top" pos="0 0 0.76">
<geom class="contact_geom" name="table_tennis_table" pos="0 0 0" rgba="0 0 0.5 1" size="1.37 .7625 .01" type="box" />
<site name="left_up_corner" pos="-1.37 .7625 0.01" rgba="1 1 1 1" size="0.00001" />
<site name="middle_up_corner" pos="0 .7625 0.01" rgba="1 1 1 1" size="0.00001" />
<site name="left_down_corner" pos="-1.37 -0.7625 0.01" rgba="1 1 1 1" size="0.00001" />
<site name="middle_down_corner" pos="0 -.7625 0.01" rgba="1 1 1 1" size="0.00001" />
<geom class="contact_geom" material="floor_plane" name="table_te_context_spacennis_net" pos="0 0 0.08625" rgba="0 0 1 0.5" size="0.01 0.915 0.07625" type="box" />
<geom class="viz" name="left_while_line" pos="0 -0.7425 0.01" rgba="1 1 1 1" size="1.37 .02 .001" type="box" />
<geom class="viz" name="center_while_line" pos="0 0 0.01" rgba="1 1 1 1" size="1.37 .01 .001" type="box" />
<geom class="viz" name="right_while_line" pos="0 0.7425 0.01" rgba="1 1 1 1" size="1.37 .02 .001" type="box" />
<geom class="viz" name="right_side_line" pos="1.35 0 0.01" rgba="1 1 1 1" size="0.02 .7625 .001" type="box" />
<geom class="viz" name="left_side_line" pos="-1.35 0 0.01" rgba="1 1 1 1" size="0.02 .7625 .001" type="box" />
</body>
<body name="achieved_pos" pos="0 0 0.5">
<geom class="viz" name="achieved_point_geom" pos="0 0 0" rgba="0 1 0 1" size="0.02 0.001" type="cylinder" />
</body>
<body name="right_achieved_pos" pos="0 0 0.5">
<geom class="viz" name="hitting_achieved_point_geom" pos="0 0 0" rgba="1 0 0 1" size="0.02 0.001" type="cylinder" />
</body>
<body name="target_point" pos="0 0 0.5">
<geom class="viz" name="target_point_geom" pos="0 0 0" rgba="1 1 0 1" size="0.02 0.001" type="cylinder" />
</body>
</body>
</mujocoinclude>
alr_envs/alr/mujoco/table_tennis/xml/include_target_ball.xml
+10
View File
@@ -0,0 +1,10 @@
<mujocoinclude>
<body name="target_ball" pos="0 0 0">
<joint axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
<joint axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
<joint axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="target_ball_contact" rgba="1 1 0 1" mass="0.1"
friction="0.1 0.1 0.1" solimp="0.9 0.95 0.001 0.5 2" solref="0.1 0.03" priority="1"/>
<site name="target_ball" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
</body>
</mujocoinclude>
alr_envs/alr/mujoco/table_tennis/xml/right_arm_actuator.xml
+47
View File
@@ -0,0 +1,47 @@
<mujocoinclude>
<actuator>
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" />-->
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="162.0" />-->
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="100.0" />-->
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="122.0" />-->
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" />-->
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="102.0" />-->
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" />-->
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="151.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="125.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="121.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="600.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="500.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
<position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="800.0" ctrllimited="true"/>
<position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="800.0" ctrllimited="true"/>
<position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>
<position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="800.0" ctrllimited="true"/>
<position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>
<position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="1000.0" ctrllimited="true"/>
<position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="1600.0" ctrllimited="true"/>-->
<!--&lt;!&ndash; <velocity ctrlrange="-50 50" joint="wam/base_yaw_joint_right" kv="100" ctrllimited="true"/>&ndash;&gt;-->
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="1200.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
</actuator>
</mujocoinclude>
alr_envs/alr/mujoco/table_tennis/xml/shared.xml
+46
View File
@@ -0,0 +1,46 @@
<mujocoinclude>
<default>
<default class="wam">
<joint type="hinge" limited="true" pos="0 0 0" axis="0 0 1"/>
</default>
<default class="viz">
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1"/>
</default>
<default class="col">
<geom type="mesh" contype="0" conaffinity="1" group="0" rgba="1 1 1 1"/>
</default>
<default class="contact_geom">
<geom condim="4" friction="0.1 0.1 0.1" margin="0" solimp="1 1 0" solref="0.1 0.03"/>
</default>
</default>
<asset>
<mesh file="base_link_fine.stl"/>
<mesh file="base_link_convex.stl"/>
<mesh file="shoulder_link_fine.stl"/>
<mesh file="shoulder_link_convex_decomposition_p1.stl"/>
<mesh file="shoulder_link_convex_decomposition_p2.stl"/>
<mesh file="shoulder_link_convex_decomposition_p3.stl"/>
<mesh file="shoulder_pitch_link_fine.stl"/>
<mesh file="shoulder_pitch_link_convex.stl"/>
<mesh file="upper_arm_link_fine.stl"/>
<mesh file="upper_arm_link_convex_decomposition_p1.stl"/>
<mesh file="upper_arm_link_convex_decomposition_p2.stl"/>
<mesh file="elbow_link_fine.stl"/>
<mesh file="elbow_link_convex.stl"/>
<mesh file="forearm_link_fine.stl"/>
<mesh file="forearm_link_convex_decomposition_p1.stl"/>
<mesh file="forearm_link_convex_decomposition_p2.stl"/>
<mesh file="wrist_yaw_link_fine.stl"/>
<mesh file="wrist_yaw_link_convex_decomposition_p1.stl"/>
<mesh file="wrist_yaw_link_convex_decomposition_p2.stl"/>
<mesh file="wrist_pitch_link_fine.stl"/>
<mesh file="wrist_pitch_link_convex_decomposition_p1.stl"/>
<mesh file="wrist_pitch_link_convex_decomposition_p2.stl"/>
<mesh file="wrist_pitch_link_convex_decomposition_p3.stl"/>
<mesh file="wrist_palm_link_fine.stl"/>
<mesh file="wrist_palm_link_convex.stl"/>
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d"
width="512"/>
<material name="floor_plane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
</asset>
</mujocoinclude>
alr_envs/alr/mujoco/table_tennis/xml/table_tennis_env.xml
+18
View File
@@ -0,0 +1,18 @@
<mujoco model="table_tennis(v0.1)">
<compiler angle="radian" coordinate="local" meshdir="../../meshes/wam" />
<option gravity="0 0 -9.81" timestep="0.002">
<flag warmstart="enable" />
</option>
<custom>
<numeric data="0 0 0 0 0 0 0" name="START_ANGLES" />
</custom>
<include file="shared.xml" />
<worldbody>
<light cutoff="60" diffuse="1 1 1" dir="-.1 -.2 -1.3" directional="true" exponent="1" pos=".1 .2 1.3" specular=".1 .1 .1" />
<geom conaffinity="1" contype="1" material="floor_plane" name="floor" pos="0 0 0" size="10 5 1" type="plane" />
<include file="include_table.xml" />
<include file="include_barrett_wam_7dof_right.xml" />
<include file="include_target_ball.xml" />
</worldbody>
<include file="include_7_motor_actuator.xml" />
</mujoco>