srb 0.0.1__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (298) hide show
  1. srb/__init__.py +0 -0
  2. srb/__main__.py +1611 -0
  3. srb/_typing/__init__.py +14 -0
  4. srb/_typing/cfg.py +13 -0
  5. srb/_typing/enum.py +5 -0
  6. srb/_typing/step_return.py +25 -0
  7. srb/assets/__init__.py +3 -0
  8. srb/assets/object/__init__.py +20 -0
  9. srb/assets/object/asteroid.py +25 -0
  10. srb/assets/object/beneficiation_unit.py +29 -0
  11. srb/assets/object/debris.py +27 -0
  12. srb/assets/object/light/__init__.py +0 -0
  13. srb/assets/object/payload/__init__.py +1 -0
  14. srb/assets/object/payload/cargo_bay.py +22 -0
  15. srb/assets/object/peg_in_hole.py +93 -0
  16. srb/assets/object/rock.py +40 -0
  17. srb/assets/object/sample.py +28 -0
  18. srb/assets/object/shape.py +18 -0
  19. srb/assets/object/solar_panel.py +26 -0
  20. srb/assets/object/tool/__init__.py +4 -0
  21. srb/assets/object/tool/allegro_hand.py +65 -0
  22. srb/assets/object/tool/franka_hand.py +67 -0
  23. srb/assets/object/tool/scoop.py +29 -0
  24. srb/assets/object/tool/shadow_hand.py +93 -0
  25. srb/assets/robot/__init__.py +5 -0
  26. srb/assets/robot/manipulation/__init__.py +15 -0
  27. srb/assets/robot/manipulation/canadarm3.py +107 -0
  28. srb/assets/robot/manipulation/franka.py +115 -0
  29. srb/assets/robot/manipulation/kinova.py +306 -0
  30. srb/assets/robot/manipulation/unitree.py +96 -0
  31. srb/assets/robot/manipulation/universal_robots.py +740 -0
  32. srb/assets/robot/mobile/__init__.py +11 -0
  33. srb/assets/robot/mobile/agility.py +124 -0
  34. srb/assets/robot/mobile/anymal.py +233 -0
  35. srb/assets/robot/mobile/boston_dynamics.py +206 -0
  36. srb/assets/robot/mobile/crazyflie.py +100 -0
  37. srb/assets/robot/mobile/cubesat.py +51 -0
  38. srb/assets/robot/mobile/fictionlab.py +81 -0
  39. srb/assets/robot/mobile/gateway.py +50 -0
  40. srb/assets/robot/mobile/ingenuity.py +91 -0
  41. srb/assets/robot/mobile/mars_rover.py +123 -0
  42. srb/assets/robot/mobile/perseverance.py +124 -0
  43. srb/assets/robot/mobile/unitree.py +261 -0
  44. srb/assets/robot/mobile_manipulation/__init__.py +7 -0
  45. srb/assets/robot/mobile_manipulation/combined.py +58 -0
  46. srb/assets/robot/mobile_manipulation/generic_humanoid.py +145 -0
  47. srb/assets/robot/mobile_manipulation/unitree.py +266 -0
  48. srb/assets/scenery/__init__.py +3 -0
  49. srb/assets/scenery/gateway.py +15 -0
  50. srb/assets/scenery/ground_plane.py +11 -0
  51. srb/assets/scenery/planetary_surface.py +35 -0
  52. srb/core/__init__.py +0 -0
  53. srb/core/action/__init__.py +6 -0
  54. srb/core/action/action_group.py +53 -0
  55. srb/core/action/group/__init__.py +3 -0
  56. srb/core/action/group/common/__init__.py +11 -0
  57. srb/core/action/group/common/body.py +13 -0
  58. srb/core/action/group/common/joint.py +74 -0
  59. srb/core/action/group/manipulation/__init__.py +4 -0
  60. srb/core/action/group/manipulation/task_space.py +29 -0
  61. srb/core/action/group/mobile/__init__.py +3 -0
  62. srb/core/action/group/mobile/multi_copter.py +20 -0
  63. srb/core/action/group/mobile/non_holonomic.py +15 -0
  64. srb/core/action/group/mobile/wheeled.py +17 -0
  65. srb/core/action/term/__init__.py +4 -0
  66. srb/core/action/term/common/__init__.py +2 -0
  67. srb/core/action/term/common/body_vel.py +43 -0
  68. srb/core/action/term/common/dummy.py +40 -0
  69. srb/core/action/term/manipulation/__init__.py +4 -0
  70. srb/core/action/term/manipulation/differential_ik.py +82 -0
  71. srb/core/action/term/mobile/__init__.py +8 -0
  72. srb/core/action/term/mobile/multi_copter.py +123 -0
  73. srb/core/action/term/mobile/wheeled_rover.py +242 -0
  74. srb/core/action/term/mobile_manipulation/__init__.py +0 -0
  75. srb/core/actuator/__init__.py +1 -0
  76. srb/core/app/__init__.py +1 -0
  77. srb/core/asset/__init__.py +10 -0
  78. srb/core/asset/asset.py +302 -0
  79. srb/core/asset/asset_type.py +18 -0
  80. srb/core/asset/asset_variant.py +18 -0
  81. srb/core/asset/common/__init__.py +2 -0
  82. srb/core/asset/common/frame.py +8 -0
  83. srb/core/asset/common/transform.py +8 -0
  84. srb/core/asset/object/__init__.py +4 -0
  85. srb/core/asset/object/light.py +12 -0
  86. srb/core/asset/object/object.py +114 -0
  87. srb/core/asset/object/object_type.py +19 -0
  88. srb/core/asset/object/payload.py +12 -0
  89. srb/core/asset/object/tool.py +30 -0
  90. srb/core/asset/robot/__init__.py +5 -0
  91. srb/core/asset/robot/manipulation/__init__.py +3 -0
  92. srb/core/asset/robot/manipulation/manipulator.py +133 -0
  93. srb/core/asset/robot/manipulation/manipulator_type.py +16 -0
  94. srb/core/asset/robot/manipulation/serial_manipulator.py +15 -0
  95. srb/core/asset/robot/mobile/__init__.py +5 -0
  96. srb/core/asset/robot/mobile/aerial_robot.py +22 -0
  97. srb/core/asset/robot/mobile/ground_robot.py +29 -0
  98. srb/core/asset/robot/mobile/mobile_robot.py +131 -0
  99. srb/core/asset/robot/mobile/mobile_robot_type.py +18 -0
  100. srb/core/asset/robot/mobile/orbital_robot.py +16 -0
  101. srb/core/asset/robot/mobile_manipulation/__init__.py +7 -0
  102. srb/core/asset/robot/mobile_manipulation/combined/__init__.py +4 -0
  103. srb/core/asset/robot/mobile_manipulation/combined/_metaclass.py +33 -0
  104. srb/core/asset/robot/mobile_manipulation/combined/aerial_manipulator.py +26 -0
  105. srb/core/asset/robot/mobile_manipulation/combined/ground_manipulator.py +26 -0
  106. srb/core/asset/robot/mobile_manipulation/combined/orbital_manipulator.py +26 -0
  107. srb/core/asset/robot/mobile_manipulation/humanoid.py +29 -0
  108. srb/core/asset/robot/mobile_manipulation/mobile_manipulator.py +143 -0
  109. srb/core/asset/robot/mobile_manipulation/mobile_manipulator_type.py +19 -0
  110. srb/core/asset/robot/robot.py +120 -0
  111. srb/core/asset/robot/robot_type.py +18 -0
  112. srb/core/asset/scenery/__init__.py +6 -0
  113. srb/core/asset/scenery/extravehicular.py +16 -0
  114. srb/core/asset/scenery/intravehicular.py +16 -0
  115. srb/core/asset/scenery/scenery.py +120 -0
  116. srb/core/asset/scenery/scenery_type.py +19 -0
  117. srb/core/asset/scenery/subterrane.py +21 -0
  118. srb/core/asset/scenery/terrain.py +23 -0
  119. srb/core/controller/__init__.py +1 -0
  120. srb/core/domain.py +213 -0
  121. srb/core/env/__init__.py +60 -0
  122. srb/core/env/common/__init__.py +12 -0
  123. srb/core/env/common/base/__init__.py +6 -0
  124. srb/core/env/common/base/direct/__init__.py +2 -0
  125. srb/core/env/common/base/direct/cfg.py +21 -0
  126. srb/core/env/common/base/direct/impl.py +251 -0
  127. srb/core/env/common/base/direct_marl/__init__.py +2 -0
  128. srb/core/env/common/base/direct_marl/cfg.py +14 -0
  129. srb/core/env/common/base/direct_marl/impl.py +13 -0
  130. srb/core/env/common/base/env_cfg.py +693 -0
  131. srb/core/env/common/base/event_cfg.py +169 -0
  132. srb/core/env/common/base/managed/__init__.py +2 -0
  133. srb/core/env/common/base/managed/cfg.py +14 -0
  134. srb/core/env/common/base/managed/impl.py +13 -0
  135. srb/core/env/common/base/scene_cfg.py +24 -0
  136. srb/core/env/common/extension/__init__.py +1 -0
  137. srb/core/env/common/extension/visual/__init__.py +2 -0
  138. srb/core/env/common/extension/visual/cfg.py +59 -0
  139. srb/core/env/common/extension/visual/impl.py +77 -0
  140. srb/core/env/manipulation/__init__.py +7 -0
  141. srb/core/env/manipulation/env.py +147 -0
  142. srb/core/env/manipulation/visual_ext.py +52 -0
  143. srb/core/env/mobile/__init__.py +7 -0
  144. srb/core/env/mobile/aerial/__init__.py +2 -0
  145. srb/core/env/mobile/aerial/env.py +75 -0
  146. srb/core/env/mobile/aerial/visual_ext.py +39 -0
  147. srb/core/env/mobile/env.py +61 -0
  148. srb/core/env/mobile/ground/__init__.py +2 -0
  149. srb/core/env/mobile/ground/env.py +78 -0
  150. srb/core/env/mobile/ground/visual_ext.py +39 -0
  151. srb/core/env/mobile/orbital/__init__.py +7 -0
  152. srb/core/env/mobile/orbital/env.py +85 -0
  153. srb/core/env/mobile/orbital/visual_ext.py +26 -0
  154. srb/core/env/mobile_manipulation/__init__.py +3 -0
  155. srb/core/env/mobile_manipulation/aerial_manipulation/__init__.py +7 -0
  156. srb/core/env/mobile_manipulation/aerial_manipulation/env.py +60 -0
  157. srb/core/env/mobile_manipulation/aerial_manipulation/visual_ext.py +52 -0
  158. srb/core/env/mobile_manipulation/ground_manipulation/__init__.py +7 -0
  159. srb/core/env/mobile_manipulation/ground_manipulation/env.py +60 -0
  160. srb/core/env/mobile_manipulation/ground_manipulation/visual_ext.py +52 -0
  161. srb/core/env/mobile_manipulation/orbital_manipulation/__init__.py +7 -0
  162. srb/core/env/mobile_manipulation/orbital_manipulation/env.py +60 -0
  163. srb/core/env/mobile_manipulation/orbital_manipulation/visual_ext.py +39 -0
  164. srb/core/manager/__init__.py +4 -0
  165. srb/core/manager/action_manager.py +39 -0
  166. srb/core/marker/__init__.py +6 -0
  167. srb/core/marker/arrow.py +13 -0
  168. srb/core/marker/cone.py +11 -0
  169. srb/core/marker/cylinder.py +11 -0
  170. srb/core/marker/frame.py +4 -0
  171. srb/core/mdp/__init__.py +9 -0
  172. srb/core/mdp/events.py +502 -0
  173. srb/core/sensor/__init__.py +2 -0
  174. srb/core/sim/__init__.py +4 -0
  175. srb/core/sim/robot_setup/__init__.py +10 -0
  176. srb/core/sim/robot_setup/assembled_bodies.py +7 -0
  177. srb/core/sim/robot_setup/assembled_robot.py +11 -0
  178. srb/core/sim/robot_setup/robot_assembler.py +127 -0
  179. srb/core/sim/schemas/__init__.py +3 -0
  180. srb/core/sim/spawners/__init__.py +21 -0
  181. srb/core/sim/spawners/particles/__init__.py +11 -0
  182. srb/core/sim/spawners/particles/cfg.py +119 -0
  183. srb/core/sim/spawners/particles/impl.py +350 -0
  184. srb/core/sim/spawners/particles/utils.py +23 -0
  185. srb/core/sim/spawners/shapes/__init__.py +2 -0
  186. srb/core/sim/spawners/shapes/extras/__init__.py +1 -0
  187. srb/core/sim/spawners/shapes/extras/cfg.py +33 -0
  188. srb/core/sim/spawners/shapes/extras/impl.py +227 -0
  189. srb/core/sim/spawners/shapes/multi_shape/__init__.py +0 -0
  190. srb/core/sim/spawners/shapes/multi_shape/cfg.py +29 -0
  191. srb/core/sim/spawners/shapes/multi_shape/impl.py +80 -0
  192. srb/core/visuals/__init__.py +11 -0
  193. srb/core/visuals/cfg.py +128 -0
  194. srb/core/visuals/rtx_post.py +217 -0
  195. srb/integrations/__init__.py +0 -0
  196. srb/integrations/dreamer/__init__.py +0 -0
  197. srb/integrations/dreamer/driver.py +40 -0
  198. srb/integrations/dreamer/eval.py +91 -0
  199. srb/integrations/dreamer/main.py +232 -0
  200. srb/integrations/dreamer/selector.py +7 -0
  201. srb/integrations/dreamer/train.py +142 -0
  202. srb/integrations/dreamer/wrapper.py +227 -0
  203. srb/integrations/sb3/__init__.py +0 -0
  204. srb/integrations/sb3/exp_manager.py +99 -0
  205. srb/integrations/sb3/main.py +170 -0
  206. srb/integrations/sb3/wrapper.py +264 -0
  207. srb/integrations/sbx/__init__.py +0 -0
  208. srb/integrations/sbx/main.py +88 -0
  209. srb/integrations/skrl/__init__.py +0 -0
  210. srb/integrations/skrl/main.py +66 -0
  211. srb/integrations/skrl/wrapper.py +115 -0
  212. srb/interfaces/__init__.py +1 -0
  213. srb/interfaces/enums.py +69 -0
  214. srb/interfaces/interface/__init__.py +1 -0
  215. srb/interfaces/interface/base.py +12 -0
  216. srb/interfaces/interface/gui.py +94 -0
  217. srb/interfaces/interface/ros.py +1065 -0
  218. srb/interfaces/teleop/__init__.py +8 -0
  219. srb/interfaces/teleop/combined.py +199 -0
  220. srb/interfaces/teleop/haptic.py +229 -0
  221. srb/interfaces/teleop/keyboard.py +53 -0
  222. srb/interfaces/teleop/ros.py +132 -0
  223. srb/interfaces/teleop/spacemouse.py +109 -0
  224. srb/py.typed +0 -0
  225. srb/tasks/__init__.py +15 -0
  226. srb/tasks/manipulation/__init__.py +0 -0
  227. srb/tasks/manipulation/_manipulation/__init__.py +17 -0
  228. srb/tasks/manipulation/_manipulation/task.py +239 -0
  229. srb/tasks/manipulation/_manipulation/task_visual.py +29 -0
  230. srb/tasks/manipulation/debris_capture/__init__.py +17 -0
  231. srb/tasks/manipulation/debris_capture/asset.py +32 -0
  232. srb/tasks/manipulation/debris_capture/task.py +424 -0
  233. srb/tasks/manipulation/debris_capture/task_visual.py +29 -0
  234. srb/tasks/manipulation/peg_in_hole_assembly/__init__.py +26 -0
  235. srb/tasks/manipulation/peg_in_hole_assembly/asset.py +99 -0
  236. srb/tasks/manipulation/peg_in_hole_assembly/task.py +543 -0
  237. srb/tasks/manipulation/peg_in_hole_assembly/task_multi.py +604 -0
  238. srb/tasks/manipulation/peg_in_hole_assembly/task_visual.py +51 -0
  239. srb/tasks/manipulation/sample_collection/__init__.py +26 -0
  240. srb/tasks/manipulation/sample_collection/asset.py +98 -0
  241. srb/tasks/manipulation/sample_collection/task.py +423 -0
  242. srb/tasks/manipulation/sample_collection/task_multi.py +426 -0
  243. srb/tasks/manipulation/sample_collection/task_visual.py +51 -0
  244. srb/tasks/manipulation/solar_panel_assembly/__init__.py +17 -0
  245. srb/tasks/manipulation/solar_panel_assembly/asset.py +34 -0
  246. srb/tasks/manipulation/solar_panel_assembly/task.py +745 -0
  247. srb/tasks/manipulation/solar_panel_assembly/task_visual.py +29 -0
  248. srb/tasks/mobile/__init__.py +0 -0
  249. srb/tasks/mobile/_aerial/__init__.py +17 -0
  250. srb/tasks/mobile/_aerial/task.py +148 -0
  251. srb/tasks/mobile/_aerial/task_visual.py +29 -0
  252. srb/tasks/mobile/_ground/__init__.py +17 -0
  253. srb/tasks/mobile/_ground/task.py +148 -0
  254. srb/tasks/mobile/_ground/task_visual.py +29 -0
  255. srb/tasks/mobile/_orbital/__init__.py +17 -0
  256. srb/tasks/mobile/_orbital/task.py +148 -0
  257. srb/tasks/mobile/_orbital/task_visual.py +29 -0
  258. srb/tasks/mobile/locomotion_velocity_tracking/__init__.py +17 -0
  259. srb/tasks/mobile/locomotion_velocity_tracking/task.py +489 -0
  260. srb/tasks/mobile/locomotion_velocity_tracking/task_visual.py +32 -0
  261. srb/tasks/mobile/orbital_evasion/__init__.py +17 -0
  262. srb/tasks/mobile/orbital_evasion/asset.py +37 -0
  263. srb/tasks/mobile/orbital_evasion/task.py +252 -0
  264. srb/tasks/mobile/orbital_evasion/task_visual.py +29 -0
  265. srb/tasks/mobile_manipulation/__init__.py +0 -0
  266. srb/tasks/mobile_manipulation/excavation/__init__.py +17 -0
  267. srb/tasks/mobile_manipulation/excavation/task.py +188 -0
  268. srb/tasks/mobile_manipulation/excavation/task_visual.py +29 -0
  269. srb/tasks/mobile_manipulation/mobile_debris_capture/__init__.py +17 -0
  270. srb/tasks/mobile_manipulation/mobile_debris_capture/task.py +176 -0
  271. srb/tasks/mobile_manipulation/mobile_debris_capture/task_visual.py +29 -0
  272. srb/utils/__init__.py +0 -0
  273. srb/utils/cache.py +43 -0
  274. srb/utils/camera.py +1 -0
  275. srb/utils/cfg.py +540 -0
  276. srb/utils/dict.py +50 -0
  277. srb/utils/importer.py +42 -0
  278. srb/utils/io.py +60 -0
  279. srb/utils/isaacsim.py +42 -0
  280. srb/utils/logging.py +80 -0
  281. srb/utils/math.py +122 -0
  282. srb/utils/nucleus.py +19 -0
  283. srb/utils/path.py +24 -0
  284. srb/utils/registry.py +42 -0
  285. srb/utils/ros.py +65 -0
  286. srb/utils/sampling.py +85 -0
  287. srb/utils/spaces.py +1 -0
  288. srb/utils/str.py +33 -0
  289. srb/utils/subprocess.py +53 -0
  290. srb/utils/tracing.py +59 -0
  291. srb/utils/usd.py +1 -0
  292. srb/utils/version.py +12 -0
  293. srb-0.0.1.dist-info/METADATA +145 -0
  294. srb-0.0.1.dist-info/RECORD +298 -0
  295. srb-0.0.1.dist-info/WHEEL +4 -0
  296. srb-0.0.1.dist-info/entry_points.txt +3 -0
  297. srb-0.0.1.dist-info/licenses/LICENSE-APACHE +176 -0
  298. srb-0.0.1.dist-info/licenses/LICENSE-MIT +21 -0
srb/__init__.py ADDED
File without changes