gym-aloha 0.1.0__tar.gz

gym_aloha-0.1.0/LICENSE

@@ -0,0 +1,228 @@
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+   Licensed under the Apache License, Version 2.0 (the "License");
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+
+## gym-aloha code is derived from ALOHA, which is subject to the following copyright notice:
+
+MIT License
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+Copyright (c) 2023 Tony Z. Zhao
+
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gym_aloha-0.1.0/PKG-INFO

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+Metadata-Version: 2.1
+Name: gym-aloha
+Version: 0.1.0
+Summary: A gym environment for ALOHA
+License: Apache-2.0
+Keywords: robotics,deep,reinforcement,learning,aloha,environment,gym,gymnasium,dm-control,mujoco
+Author: Rémi Cadène
+Author-email: re.cadene@gmail.com
+Requires-Python: >=3.10,<4.0
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Software Development :: Build Tools
+Provides-Extra: dev
+Provides-Extra: test
+Requires-Dist: debugpy (>=1.8.1,<2.0.0) ; extra == "dev"
+Requires-Dist: dm-control (==1.0.14)
+Requires-Dist: gymnasium (>=0.29.1,<0.30.0)
+Requires-Dist: imageio[ffmpeg] (>=2.34.0,<3.0.0)
+Requires-Dist: mujoco (>=2.3.7,<3.0.0)
+Requires-Dist: pre-commit (>=3.7.0,<4.0.0) ; extra == "dev"
+Requires-Dist: pytest (>=8.1.0,<9.0.0) ; extra == "test"
+Requires-Dist: pytest-cov (>=5.0.0,<6.0.0) ; extra == "test"
+Description-Content-Type: text/markdown
+
+# gym-aloha
+
+A gym environment for ALOHA
+
+<img src="http://remicadene.com/assets/gif/aloha_act.gif" width="50%" alt="ACT policy on ALOHA env"/>
+
+
+## Installation
+
+Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
+```bash
+conda create -y -n aloha python=3.10 && conda activate aloha
+```
+
+Install gym-aloha:
+```bash
+pip install gym-aloha
+```
+
+
+## Quickstart
+
+```python
+# example.py
+import imageio
+import gymnasium as gym
+import numpy as np
+import gym_aloha
+
+env = gym.make("gym_aloha/AlohaInsertion-v0")
+observation, info = env.reset()
+frames = []
+
+for _ in range(1000):
+    action = env.action_space.sample()
+    observation, reward, terminated, truncated, info = env.step(action)
+    image = env.render()
+    frames.append(image)
+
+    if terminated or truncated:
+        observation, info = env.reset()
+
+env.close()
+imageio.mimsave("example.mp4", np.stack(frames), fps=25)
+```
+
+
+## Description
+Aloha environment.
+
+Two tasks are available:
+- TransferCubeTask: The right arm needs to first pick up the red cube lying on the table, then place it inside the gripper of the other arm.
+- InsertionTask: The left and right arms need to pick up the socket and peg respectively, and then insert in mid-air so the peg touches the “pins” inside the socket.
+
+### Action Space
+The action space consists of continuous values for each arm and gripper, resulting in a 14-dimensional vector:
+- Six values for each arm's joint positions (absolute values).
+- One value for each gripper's position, normalized between 0 (closed) and 1 (open).
+
+### Observation Space
+Observations are provided as a dictionary with the following keys:
+
+- `qpos` and `qvel`: Position and velocity data for the arms and grippers.
+- `images`: Camera feeds from different angles.
+- `env_state`: Additional environment state information, such as positions of the peg and sockets.
+
+### Rewards
+- TransferCubeTask:
+    - 1 point for holding the box with the right gripper.
+    - 2 points if the box is lifted with the right gripper.
+    - 3 points for transferring the box to the left gripper.
+    - 4 points for a successful transfer without touching the table.
+- InsertionTask:
+    - 1 point for touching both the peg and a socket with the grippers.
+    - 2 points for grasping both without dropping them.
+    - 3 points if the peg is aligned with and touching the socket.
+    - 4 points for successful insertion of the peg into the socket.
+
+### Success Criteria
+Achieving the maximum reward of 4 points.
+
+### Starting State
+The arms and the items (block, peg, socket) start at a random position and angle.
+
+### Arguments
+
+```python
+>>> import gymnasium as gym
+>>> import gym_aloha
+>>> env = gym.make("gym_aloha/AlohaInsertion-v0", obs_type="pixels", render_mode="rgb_array")
+>>> env
+<TimeLimit<OrderEnforcing<PassiveEnvChecker<AlohaEnv<gym_aloha/AlohaInsertion-v0>>>>>
+```
+
+* `obs_type`: (str) The observation type. Can be either `pixels` or `pixels_agent_pos`. Default is `pixels`.
+
+* `render_mode`: (str) The rendering mode. Only `rgb_array` is supported for now.
+
+* `observation_width`: (int) The width of the observed image. Default is `640`.
+
+* `observation_height`: (int) The height of the observed image. Default is `480`.
+
+* `visualization_width`: (int) The width of the visualized image. Default is `640`.
+
+* `visualization_height`: (int) The height of the visualized image. Default is `480`.
+
+
+## Contribute
+
+Instead of using `pip` directly, we use `poetry` for development purposes to easily track our dependencies.
+If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
+
+Install the project with dev dependencies:
+```bash
+poetry install --all-extras
+```
+
+
+### Follow our style
+
+```bash
+# install pre-commit hooks
+pre-commit install
+
+# apply style and linter checks on staged files
+pre-commit
+```
+
+
+## Acknowledgment
+
+gym-aloha is adapted from [ALOHA](https://tonyzhaozh.github.io/aloha/)
+

gym_aloha-0.1.0/README.md

@@ -0,0 +1,132 @@
+# gym-aloha
+
+A gym environment for ALOHA
+
+<img src="http://remicadene.com/assets/gif/aloha_act.gif" width="50%" alt="ACT policy on ALOHA env"/>
+
+
+## Installation
+
+Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
+```bash
+conda create -y -n aloha python=3.10 && conda activate aloha
+```
+
+Install gym-aloha:
+```bash
+pip install gym-aloha
+```
+
+
+## Quickstart
+
+```python
+# example.py
+import imageio
+import gymnasium as gym
+import numpy as np
+import gym_aloha
+
+env = gym.make("gym_aloha/AlohaInsertion-v0")
+observation, info = env.reset()
+frames = []
+
+for _ in range(1000):
+    action = env.action_space.sample()
+    observation, reward, terminated, truncated, info = env.step(action)
+    image = env.render()
+    frames.append(image)
+
+    if terminated or truncated:
+        observation, info = env.reset()
+
+env.close()
+imageio.mimsave("example.mp4", np.stack(frames), fps=25)
+```
+
+
+## Description
+Aloha environment.
+
+Two tasks are available:
+- TransferCubeTask: The right arm needs to first pick up the red cube lying on the table, then place it inside the gripper of the other arm.
+- InsertionTask: The left and right arms need to pick up the socket and peg respectively, and then insert in mid-air so the peg touches the “pins” inside the socket.
+
+### Action Space
+The action space consists of continuous values for each arm and gripper, resulting in a 14-dimensional vector:
+- Six values for each arm's joint positions (absolute values).
+- One value for each gripper's position, normalized between 0 (closed) and 1 (open).
+
+### Observation Space
+Observations are provided as a dictionary with the following keys:
+
+- `qpos` and `qvel`: Position and velocity data for the arms and grippers.
+- `images`: Camera feeds from different angles.
+- `env_state`: Additional environment state information, such as positions of the peg and sockets.
+
+### Rewards
+- TransferCubeTask:
+    - 1 point for holding the box with the right gripper.
+    - 2 points if the box is lifted with the right gripper.
+    - 3 points for transferring the box to the left gripper.
+    - 4 points for a successful transfer without touching the table.
+- InsertionTask:
+    - 1 point for touching both the peg and a socket with the grippers.
+    - 2 points for grasping both without dropping them.
+    - 3 points if the peg is aligned with and touching the socket.
+    - 4 points for successful insertion of the peg into the socket.
+
+### Success Criteria
+Achieving the maximum reward of 4 points.
+
+### Starting State
+The arms and the items (block, peg, socket) start at a random position and angle.
+
+### Arguments
+
+```python
+>>> import gymnasium as gym
+>>> import gym_aloha
+>>> env = gym.make("gym_aloha/AlohaInsertion-v0", obs_type="pixels", render_mode="rgb_array")
+>>> env
+<TimeLimit<OrderEnforcing<PassiveEnvChecker<AlohaEnv<gym_aloha/AlohaInsertion-v0>>>>>
+```
+
+* `obs_type`: (str) The observation type. Can be either `pixels` or `pixels_agent_pos`. Default is `pixels`.
+
+* `render_mode`: (str) The rendering mode. Only `rgb_array` is supported for now.
+
+* `observation_width`: (int) The width of the observed image. Default is `640`.
+
+* `observation_height`: (int) The height of the observed image. Default is `480`.
+
+* `visualization_width`: (int) The width of the visualized image. Default is `640`.
+
+* `visualization_height`: (int) The height of the visualized image. Default is `480`.
+
+
+## Contribute
+
+Instead of using `pip` directly, we use `poetry` for development purposes to easily track our dependencies.
+If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
+
+Install the project with dev dependencies:
+```bash
+poetry install --all-extras
+```
+
+
+### Follow our style
+
+```bash
+# install pre-commit hooks
+pre-commit install
+
+# apply style and linter checks on staged files
+pre-commit
+```
+
+
+## Acknowledgment
+
+gym-aloha is adapted from [ALOHA](https://tonyzhaozh.github.io/aloha/)

gym_aloha-0.1.0/gym_aloha/__init__.py

@@ -0,0 +1,21 @@
+from gymnasium.envs.registration import register
+
+register(
+    id="gym_aloha/AlohaInsertion-v0",
+    entry_point="gym_aloha.env:AlohaEnv",
+    max_episode_steps=300,
+    # Even after seeding, the rendered observations are slightly different,
+    # so we set `nondeterministic=True` to pass `check_env` tests
+    nondeterministic=True,
+    kwargs={"obs_type": "pixels", "task": "insertion"},
+)
+
+register(
+    id="gym_aloha/AlohaTransferCube-v0",
+    entry_point="gym_aloha.env:AlohaEnv",
+    max_episode_steps=300,
+    # Even after seeding, the rendered observations are slightly different,
+    # so we set `nondeterministic=True` to pass `check_env` tests
+    nondeterministic=True,
+    kwargs={"obs_type": "pixels", "task": "transfer_cube"},
+)

gym_aloha-0.1.0/gym_aloha/assets/bimanual_viperx_end_effector_insertion.xml

@@ -0,0 +1,59 @@
+<mujoco>
+    <include file="scene.xml"/>
+    <include file="vx300s_dependencies.xml"/>
+
+    <equality>
+        <weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
+        <weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
+    </equality>
+
+
+    <worldbody>
+        <include file="vx300s_left.xml" />
+        <include file="vx300s_right.xml" />
+
+        <body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
+        </body>
+        <body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
+        </body>
+
+        <body name="peg" pos="0.2 0.5 0.05">
+            <joint name="red_peg_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" />
+        </body>
+
+        <body name="socket" pos="-0.2 0.5 0.05">
+            <joint name="blue_socket_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+<!--            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />-->
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" />
+        </body>
+
+    </worldbody>
+
+    <actuator>
+        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200"  user="1"/>
+
+        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200"  user="1"/>
+
+    </actuator>
+
+    <keyframe>
+        <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024  0 -0.96 1.16 0 -0.3 0 0.024 -0.024  0.2 0.5 0.05 1 0 0 0  -0.2 0.5 0.05 1 0 0 0"/>
+    </keyframe>
+
+
+</mujoco>

gym_aloha-0.1.0/gym_aloha/assets/bimanual_viperx_end_effector_transfer_cube.xml

@@ -0,0 +1,48 @@
+<mujoco>
+    <include file="scene.xml"/>
+    <include file="vx300s_dependencies.xml"/>
+
+    <equality>
+        <weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
+        <weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" />
+    </equality>
+
+
+    <worldbody>
+        <include file="vx300s_left.xml" />
+        <include file="vx300s_right.xml" />
+
+        <body mocap="true" name="mocap_left" pos="0.095 0.50 0.425">
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
+        </body>
+        <body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425">
+            <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/>
+            <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/>
+        </body>
+
+        <body name="box" pos="0.2 0.5 0.05">
+            <joint name="red_box_joint" type="free" frictionloss="0.01" />
+            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
+            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
+        </body>
+
+    </worldbody>
+
+    <actuator>
+        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200"  user="1"/>
+
+        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200"  user="1"/>
+        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200"  user="1"/>
+
+    </actuator>
+
+    <keyframe>
+        <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024  0 -0.96 1.16 0 -0.3 0 0.024 -0.024  0.2 0.5 0.05 1 0 0 0"/>
+    </keyframe>
+
+
+</mujoco>