File size: 2,167 Bytes
8ebd73b | 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 67 68 69 70 71 72 73 74 75 | import argparse
import numpy as np
import robosuite as suite
from robosuite.controllers import load_composite_controller_config
from robosuite.robots import ROBOT_CLASS_MAPPING
from robosuite.wrappers import VisualizationWrapper
def bimanual_check(robot):
bimanual_robots = ["Baxter", "Tiago", "GR1", "G1", "H1", "PR2", "Yumi", "Aloha"]
for br in bimanual_robots:
if br in robot:
return True
return False
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--environment", type=str, default="Lift")
parser.add_argument("--robots", type=str, nargs="+", default=ROBOT_CLASS_MAPPING.keys())
parser.add_argument("--controller", type=str, default="BASIC", help="Choice of controller. Can be 'ik' or 'osc'")
args = parser.parse_args()
for robot in args.robots:
print(f"{robot} demo...")
# Check if we're using a multi-armed environment
if "TwoArm" in args.environment and not bimanual_check(robot):
robots = [robot, robot]
else:
robots = [robot]
# Get controller config
controller_config = load_composite_controller_config(
controller=args.controller,
robot=robot,
)
# Create argument configuration
config = {
"env_name": args.environment,
"robots": robots,
"controller_configs": controller_config,
}
# Create environment
env = suite.make(
**config,
has_renderer=True,
has_offscreen_renderer=False,
renderer="mjviewer",
render_camera="free",
ignore_done=True,
use_camera_obs=False,
reward_shaping=True,
control_freq=20,
hard_reset=False,
)
# Wrap this environment in a visualization wrapper
env = VisualizationWrapper(env, indicator_configs=None)
env.reset()
low, high = env.action_spec
for i in range(200):
action = np.zeros(len(low))
env.step(action)
env.render()
env.close()
|