diff --git a/.github/ISSUE_TEMPLATE/bug-report.yml b/.github/ISSUE_TEMPLATE/bug-report.yml new file mode 100644 index 0000000000000000000000000000000000000000..d9f0405f664e5fb698461c68037ad3f4fc52625b --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug-report.yml @@ -0,0 +1,53 @@ +name: "\U0001F41B Bug Report" +description: Help us improve Robosuite by submitting a bug report! +body: + - type: markdown + attributes: + value: | + Thanks submitting a bug report! + + - type: textarea + id: system-info + attributes: + label: System Info + description: Which version of Robosuite are you using? Which OS (e.g., Ubuntu, MacOS, Windows) are you using? If you think it'll help, you can also share the output of `pip list`. + render: Shell + placeholder: Robosuite version, OS. + validations: + required: true + + - type: textarea + id: information-scripts-examples + attributes: + label: Information + description: 'The problem arises when running ABC; the error message is XYZ' + placeholder: | + ``` + import robosuite + print(robosuite.__version__) + print("Tested script") + ``` + + - type: textarea + id: reproduction + validations: + required: true + attributes: + label: Reproduction + description: | + If possible, provide a minimal code sample or script that reproduces the problem you ran into. + Please use code tags to correctly format your code: https://help.github.com/en/github/writing-on-github/creating-and-highlighting-code-blocks#syntax-highlighting + Please avoid screenshots, as they don't allow copy-and-pasting. + + placeholder: | + Steps to reproduce the behavior: + 1. Run the above provided code-snippet `python example_script.py` + 2. ... + + - type: textarea + id: expected-behavior + validations: + required: false + attributes: + label: Expected behavior + description: "A clear and concise description of what you would expect to happen." diff --git a/.github/ISSUE_TEMPLATE/feature-request.yml b/.github/ISSUE_TEMPLATE/feature-request.yml new file mode 100644 index 0000000000000000000000000000000000000000..2de61de1a0c7d1d3265b2551b50006eb6ad6532c --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature-request.yml @@ -0,0 +1,38 @@ +--- +name: 🛠️ Feature Request +description: Suggest an idea to help us improve Robosuite! +title: "[Feature]: " +labels: + - "ty:feature" + +body: + - type: markdown + attributes: + value: > + **Thanks for taking the time to fill out this feature request report! :heart:** Please double check if an issue + [already exists](https://github.com/ARISE-Initiative/robosuite-dev/issues) for + your feature. + + We are also happy to accept contributions from our users. For more details see + [here](https://github.com/ARISE-Initiative/robosuite-dev/blob/master/CONTRIBUTING.md). + + - type: textarea + attributes: + label: Description + description: | + A clear and concise description of the feature you're interested in. + value: | + + validations: + required: true + + - type: textarea + attributes: + label: Suggested Solution + description: > + Describe the solution you'd like. A clear and concise description of what you want to happen. If you have + considered alternatives, please describe them. + value: | + + validations: + required: false diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000000000000000000000000000000000000..808ae1331272c35f7cf4f7e06698259fce8a8f1d --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,35 @@ +## What this does +Explain what this PR does. Feel free to tag your PR with the appropriate label(s). + +Examples: +| Title | Label | +|----------------------|-----------------| +| Fixes #[issue] | (🐛 Bug) | +| Optimizes something | (⚡️ Performance) | +| Adds a new feature | (✨ Feature) | + + +## How it was tested +Explain/show how you tested your changes. + +Examples: +- Added `test_something` in `tests/test_stuff.py`. +- Added `new_feature` and checked that training converges with policy X on dataset/environment Y. +- Optimized `some_function`, it now runs X times faster than previously. + +## How to checkout & try? (for the reviewer) +Provide a simple way for the reviewer to try out your changes. + +Examples: +```bash +DATA_DIR=tests/data pytest -sx tests/test_stuff.py::test_something +``` +```bash +python robosuite/scripts/train.py --some.option=true +``` + +## SECTION TO REMOVE BEFORE SUBMITTING YOUR PR +**Note**: Anyone in the community is free to review the PR once the tests have passed. Feel free to tag +members/contributors who may be interested in your PR. Try to avoid tagging more than 3 people. + +**Note**: Before submitting this PR, please read the [contributor guideline](https://github.com/ARISE-Initiative/robosuite/blob/master/CONTRIBUTING.md). \ No newline at end of file diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae7616913c104780096ba3fc07f69f014162ced3 --- /dev/null +++ b/.github/workflows/pre-commit.yaml @@ -0,0 +1,14 @@ +name: pre-commit + +on: + pull_request: + push: + branches: [master] + +jobs: + pre-commit: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: actions/setup-python@v3 + - uses: pre-commit/action@v3.0.0 \ No newline at end of file diff --git a/.github/workflows/run-tests.yaml b/.github/workflows/run-tests.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0d29d68690a570612afac12ed38d7720f0ff81b --- /dev/null +++ b/.github/workflows/run-tests.yaml @@ -0,0 +1,61 @@ +name: run-tests + +on: + push: + branches: [ "main", "master" ] + pull_request: + +permissions: + contents: read + +jobs: + build: + + runs-on: ubuntu-latest + + steps: + - uses: actions/checkout@v3 + - name: Set up Python 3.10 + uses: actions/setup-python@v3 + with: + python-version: "3.10" + - name: Install dependencies + run: | + sudo apt-cache search mesa + sudo apt update + sudo apt install -y libglx-mesa0 libgl1-mesa-dev libosmesa6-dev python3-opengl mesa-utils + + # check if OSMesa is installed + dpkg -L libosmesa6-dev + python -m pip install --upgrade pip + pip install flake8 pytest + + # Install the current repo. We explictly install mink as it's supposed to be in requirements-extra, but we need it for passing CI test. + - name: Install robosuite + run: | + pip install -e . + if [ -f requirements.txt ]; then + pip install -r requirements.txt + pip install mink==0.0.5 + fi + if [ -f requirements-extra.txt ]; then + pip install -r requirements-extra.txt + pip uninstall -y robosuite-models + fi + - name: Lint with flake8 + run: | + # stop the build if there are Python syntax errors or undefined names + flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics + # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide + flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics + + # Run the specified tests + # NOTE: custom environment variable MUJOCO_GL="osmesa" is used to run tests without a display + # https://github.com/google-deepmind/dm_control/issues/136 + # https://github.com/ARISE-Initiative/robosuite/issues/469 + - name: Test with pytest + run: | + export PYOPENGL_PLATFORM="osmesa" + export MUJOCO_GL="osmesa" + export NUMBA_DISABLE_JIT=1 + pytest diff --git a/.github/workflows/update-docs.yaml b/.github/workflows/update-docs.yaml new file mode 100644 index 0000000000000000000000000000000000000000..077e94c65b05d9a527534c85760188d1aa1ec5d2 --- /dev/null +++ b/.github/workflows/update-docs.yaml @@ -0,0 +1,63 @@ +name: Update Docs and Deploy + +on: + push: + branches: + - master + - main + - ci-docs + +jobs: + update-docs: + name: Generate and Deploy Docs + runs-on: ubuntu-latest + + steps: + # Checkout the repository + - name: Checkout Code + uses: actions/checkout@v3 + + # Set up Python environment + - name: Set up Python + uses: actions/setup-python@v4 + with: + python-version: '3.11' + + # Install dependencies + - name: Install Dependencies + run: | + python -m pip install --upgrade pip + pip install -r requirements.txt + pip install sphinx sphinx_book_theme sphinx_markdown_tables recommonmark nbsphinx sphinx_togglebutton hidapi + + # Build the documentation + - name: Build Docs + run: | + cd docs + make clean html + mv _build .. + + # Deploy to GitHub Pages + - name: Deploy to GitHub Pages + uses: peaceiris/actions-gh-pages@v3 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: _build/html + destination_dir: docs + + # Remove .nojekyll from root directory if it exists + - name: Remove .nojekyll file + run: | + git config --global user.name "github-actions[bot]" + git config --global user.email "github-actions[bot]@users.noreply.github.com" + git fetch origin gh-pages + git checkout gh-pages + if [ -f .nojekyll ]; then + rm .nojekyll + git add .nojekyll + git commit -m "Remove .nojekyll file" + git push origin gh-pages + echo ".nojekyll file removed" + else + echo ".nojekyll file does not exist, skipping." + fi diff --git a/.github/workflows/update-pypi.yaml b/.github/workflows/update-pypi.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dfb263546a44571e36a1e9279232cd3f022176a5 --- /dev/null +++ b/.github/workflows/update-pypi.yaml @@ -0,0 +1,63 @@ +name: Publish to PyPI + +on: + workflow_dispatch: + push: + branches: + - 'pypi-action' + release: + types: [published] + +permissions: + contents: read + +jobs: + build: + name: Build distribution + runs-on: ubuntu-latest + + steps: + # Checkout the repository + - name: Checkout code + uses: actions/checkout@v4 + + # Set up Python environment + - name: Set up Python + uses: actions/setup-python@v5 + with: + python-version: '3.x' + + # Install dependencies + - name: Build release distribution + run: | + python -m pip install --upgrade pip + python -m pip install build + python -m build + + - name: Store the distribution packages + uses: actions/upload-artifact@v4 + with: + name: release-dists + path: dist/ + + publish-to-pypi: + name: Publish Python distribution to PyPI + needs: + - build + runs-on: ubuntu-latest + + environment: + name: pypi + url: https://pypi.org/p/robosuite/ + + permissions: + id-token: write # IMPORTANT: mandatory for trusted publishing + + steps: + - name: Download the dists + uses: actions/download-artifact@v4 + with: + name: release-dists + path: dist/ + - name: Publish distribution to PyPI + uses: pypa/gh-action-pypi-publish@release/v1 diff --git a/objects/.DS_Store b/objects/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..75a8f350ee3a7d1374f5db93ed9c5d648509827d Binary files /dev/null and b/objects/.DS_Store differ diff --git a/objects/.gitattributes b/objects/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..0f5b67c8aa3cf1a2826a2f2f892f7f282170692e --- /dev/null +++ b/objects/.gitattributes @@ -0,0 +1,65 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text +# Model files +*.glb filter=lfs diff=lfs merge=lfs -text +*.obj filter=lfs diff=lfs merge=lfs -text +*.STL filter=lfs diff=lfs merge=lfs -text +*.stl filter=lfs diff=lfs merge=lfs -text +*.dae filter=lfs diff=lfs merge=lfs -text diff --git a/objects/.gitignore b/objects/.gitignore new file mode 100644 index 0000000000000000000000000000000000000000..8fda98ca1c4048dc3d2fda1ce4ad0df2aba4ac77 --- /dev/null +++ b/objects/.gitignore @@ -0,0 +1,6 @@ +**/decompose_cache/* +_script/* +/_copy_to.sh +/.vscode +/cube +/vis_box \ No newline at end of file diff --git a/objects/001_bottle/model_data0.json b/objects/001_bottle/model_data0.json new file mode 100644 index 0000000000000000000000000000000000000000..01d9678e8b8fd9610db764ac8c7f4953f63b83f0 --- /dev/null +++ b/objects/001_bottle/model_data0.json @@ -0,0 +1,367 @@ +{ + "center": [ + 0.00020988857525049896, + 0.9646134421466613, + 0.000265579558100103 + ], + "extents": [ + 0.7311879114607864, + 1.9300504196885258, + 0.7278375376112497 + ], + "scale": [ + 0.132, + 0.132, + 0.132 + ], + "target_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.9487648192335866 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "contact_points_pose": [ + [ + [ + 6.123233995736766e-17, + -1.0, + 0.0, + 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-0.7071067811865475, + 0.7071067811865476, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "functional_matrix": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 6.123233995736766e-17, + -1.0, + 0.9487648192335866 + ], + [ + 0.0, + 1.0, + 6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "orientation_point": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 1.8975296384671732 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "contact_points_group": [ + [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7 + ] + ], + "contact_points_mask": [ + true + ], + "contact_points_discription": [ + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle." + ], + "target_point_discription": [ + "The center of the bottle." + ], + "functional_point_discription": [ + "Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward." + ], + "stable": true +} \ No newline at end of file diff --git a/objects/001_bottle/model_data1.json b/objects/001_bottle/model_data1.json new file mode 100644 index 0000000000000000000000000000000000000000..234ae1b92d8acd835a03d0ae418801fd9954b28a --- /dev/null +++ b/objects/001_bottle/model_data1.json @@ -0,0 +1,367 @@ +{ + "center": [ + 0.00022719200238345953, + 0.9649126765114798, + 0.0008705590210578212 + ], + "extents": [ + 0.6916870569632476, + 1.9303529273203575, + 0.685585818778398 + ], + "scale": [ + 0.132, + 0.132, + 0.132 + ], + "target_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 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"id": 0, + "description": "At the bottom of the keyboard", + "usage": "Used for placing the keyboard on a surface." + } + ] +} \ No newline at end of file diff --git a/objects/120_plant/model_data0.json b/objects/120_plant/model_data0.json new file mode 100644 index 0000000000000000000000000000000000000000..e0addee33913a1c200a91b7db3afcfde1230ddda --- /dev/null +++ b/objects/120_plant/model_data0.json @@ -0,0 +1,80 @@ +{ + "center": [ + -0.055119174600301836, + 0.9245762504529675, + -0.09032233104510709 + ], + "extents": [ + 2.649625725503751, + 2.629885539755721, + 2.6662399888991146 + ], + "scale": [ + 0.08, + 0.08, + 0.08 + ], + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "target_pose": [], + "contact_points_pose": [], + "functional_matrix": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + -1.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "orientation_point": [], + "contact_points_group": [], + "contact_points_mask": [], + "target_point_discription": [], + "contact_points_discription": [], + "functional_point_discription": [], + "orientation_point_discription": [] +} \ No newline at end of file diff --git a/objects/120_plant/points_info.json b/objects/120_plant/points_info.json new file mode 100644 index 0000000000000000000000000000000000000000..ba5a0cf07d3f5815279066ca570307bb093377ff --- /dev/null +++ b/objects/120_plant/points_info.json @@ -0,0 +1,10 @@ +{ + "contact_points": [], + "functional_points": [ + { + "id": 0, + "description": "At the bottom of the plant", + "usage": "Used for placing the plant on a surface." + } + ] +} \ No newline at end of file diff --git a/objects/README.md b/objects/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c6cff32af24c5d0f93a0a5d65782407608569755 --- /dev/null +++ b/objects/README.md @@ -0,0 +1,11 @@ +--- +license: MIT License +--- + +RoboTwin2.0 模型资产仓库。 + + +#### 下载方法 +:modelscope-code[]{type="sdk"} +:modelscope-code[]{type="git"} + diff --git a/objects/requirement.txt b/objects/requirement.txt new file mode 100644 index 0000000000000000000000000000000000000000..4776bf9597ce61654e7916ca5204a4de03c07fde --- /dev/null +++ b/objects/requirement.txt @@ -0,0 +1,4 @@ +huggingface_hub +trimesh +urdfpy +coacd \ No newline at end of file diff --git a/objects/same.json b/objects/same.json new file mode 100644 index 0000000000000000000000000000000000000000..aef86e782749554c0848e586afc50773661717ee --- /dev/null +++ b/objects/same.json @@ -0,0 +1,323 @@ +{ + "bottle": [ + "001_bottle", + "114_bottle", + "068_boxdrink" + ], + "bowl": [ + "002_bowl" + ], + "brush": [ + "083_brush" + ], + "can": [ + "071_cans" + ], + "chip_can": [ + "025_chips-tub" + ], + "clock": [ + "046_alarm-clock" + ], + "drinkbox": [ + "068_boxdrink" + ], + "hammer": [ + "020_hammer" + ], + "marker": [ + "058_markpen" + ], + 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"061_battery": [], + "062_plasticbox": [ + "007_shoe_box", + "037_box", + "042_wooden_box" + ], + "063_tabletrashbin": [ + "011_dustbin" + ], + "068_boxdrink": [ + "drinkbox", + "bottle", + "001_bottle", + "114_bottle" + ], + "069_vagetables": [], + "070_paymentsign": [], + "071_cans": [ + "can" + ], + "072_electronicscale": [], + "073_rubikscube": [], + "074_displaystand": [ + "078_phonestand" + ], + "075_bread": [ + "054_baguette" + ], + "076_breadbasket": [ + "110_basket" + ], + "077_phone": [], + "078_phonestand": [ + "074_displaystand" + ], + "079_remotecontrol": [ + "remote" + ], + "080_pillbottle": [], + "081_playingcards": [], + "082_smallshovel": [], + "083_brush": [ + "brush" + ], + "084_woodenmallet": [], + "085_gong": [], + "086_woodenblock": [ + "004_fluted-block", + "108_block" + ], + "087_waterer": [], + "088_wineglass": [], + "089_globe": [], + "090_trophy": [], + "091_kettle": [ + "009_kettle" + ], + "092_notebook": [ + "notebook" + ], + "093_brush-pen": [], + "094_rest": [], + "095_glue": [], + "096_cleaner": [], + "097_screen": [], + "098_speaker": [ + "055_small-speaker" + ], + "099_fan": [], + "100_seal": [], + "101_milk-tea": [], + "103_fruits": [ + "035_apple" + ], + "104_board": [], + "105_sauce-can": [], + "106_skillet": [], + "108_block": [ + "004_fluted-block", + "086_woodenblock" + ], + "110_basket": [ + "076_breadbasket" + ], + "111_callbell": [ + "050_bell" + ], + "112_tea-box": [ + "113_coffee-box" + ], + "113_coffee-box": [ + "112_tea-box" + ], + "109_hydrating-oil": [], + "107_soap": [], + "102_roller": [], + "067_steamer": [], + "066_vinegar": [], + "065_soy-sauce": [], + "064_msg": [], + "060_kitchenpot": [ + "pot" + ], + "056_switch": [], + "044_microwave": [], + "038_milk-box": [], + "031_jam-jar": [], + "029_olive-oil": [], + "028_roll-paper": [], + "026_pet-collar": [], + "025_chips-tub": [ + "chip_can" + ], + "024_scanner": [], + "023_tissue-box": [ + "tissue" + ], + "018_microphone": [], + "017_calculator": [], + "016_oven": [], + "015_laptop": [], + "014_bookcase": [ + "036_cabinet", + "040_rack", + "013_dumbbell-rack" + ], + "013_dumbbell-rack": [ + "036_cabinet", + "040_rack", + "014_bookcase" + ], + "012_plant-pot": [], + "011_dustbin": [ + "063_tabletrashbin" + ], + "010_pen": [], + "009_kettle": [ + "091_kettle" + ], + "008_tray": [ + "019_coaster" + ], + "006_hamburg": [], + "005_french-fries": [], + "114_bottle": [ + "bottle", + "001_bottle", + "068_boxdrink" + ] +} \ No newline at end of file diff --git a/objects/sapien-block1/points_info.json b/objects/sapien-block1/points_info.json new file mode 100644 index 0000000000000000000000000000000000000000..37d98511ad7a067ee454877ea88804cadb0547a9 --- /dev/null +++ b/objects/sapien-block1/points_info.json @@ -0,0 +1,21 @@ +{ + "contact_points": [ + { + "id": [0, 1, 2, 3], + "description": "The center of block", + "usage": "Used for grabbing blocks from the top down." + } + ], + "functional_points": [ + { + "id": 0, + "description": "On the bottom of the block", + "usage": "Used to place the block on table or other surfaces." + }, + { + "id": 1, + "description": "On the top of the block", + "usage": "Used to indicate the position of other objects when they come into contact with the block." + } + ] +} \ No newline at end of file diff --git a/objects/trans.py b/objects/trans.py new file mode 100644 index 0000000000000000000000000000000000000000..ad62a5feaec1af665e89da8a670fec071327efc7 --- /dev/null +++ b/objects/trans.py @@ -0,0 +1,41 @@ +import json +import numpy as np +from pathlib import Path + +def trans(base_dict:dict): + extents = base_dict['extents'] + for name in ['target_pose', 'contact_points_pose', 'functional_matrix']: + for tmat in base_dict[name]: + tmat[1][3] += extents[1] / 2 + if len(base_dict['orientation_point']) > 0: + base_dict['orientation_point'][1][3] += extents[1] / 2 + return base_dict + +base = Path('.') +for dir in base.iterdir(): + if not dir.is_dir(): continue + try: + idx, name = dir.name.split('_', 1) + idx = int(idx) + except ValueError: + continue + + if int(idx) > 42: continue + # if idx != 1: continue + try: + for file in dir.iterdir(): + if file.suffix != '.json': continue + if not file.name.startswith('model_data'): continue + + print(f'Processing {file}') + with open(file, 'r') as f: + data = json.load(f) + + data = trans(data) + + with open(file, 'w') as f: + json.dump(data, f, indent=4) + print(f'Processed {file}') + except Exception as e: + print(f'Error processing {file}: {e}') + continue \ No newline at end of file diff --git a/tests/test_controllers/test_composite_controllers.py b/tests/test_controllers/test_composite_controllers.py new file mode 100644 index 0000000000000000000000000000000000000000..3e9b672ab24cbd9f7722d9ce67dabaea41721127 --- /dev/null +++ b/tests/test_controllers/test_composite_controllers.py @@ -0,0 +1,93 @@ +""" +Script to test composite controllers: + +$ pytest -s tests/test_controllers/test_composite_controllers.py +""" + +from typing import Dict, List, Union + +import mujoco +import numpy as np +import pytest + +import robosuite as suite +from robosuite.controllers import load_composite_controller_config +from robosuite.robots import ROBOT_CLASS_MAPPING + + +def is_robosuite_robot(robot: str) -> bool: + """ + robot is robosuite repo robot if can import robot class from robosuite.models.robots + """ + try: + module = __import__("robosuite.models.robots", fromlist=[robot]) + getattr(module, robot) + return True + except (ImportError, AttributeError): + return False + + +def create_and_test_env( + env: str, + robots: Union[str, List[str]], + controller_config: Dict, +): + + config = { + "env_name": env, + "robots": robots, + "controller_configs": controller_config, + } + + env = suite.make( + **config, + has_renderer=False, + has_offscreen_renderer=False, + ignore_done=True, + use_camera_obs=False, + reward_shaping=True, + control_freq=20, + ) + env.reset() + low, high = env.action_spec + low = np.clip(low, -1, 1) + high = np.clip(high, -1, 1) + + # Runs a few steps of the simulation as a sanity check + for i in range(10): + action = np.random.uniform(low, high) + obs, reward, done, _ = env.step(action) + + env.close() + + +@pytest.mark.parametrize("robot", ROBOT_CLASS_MAPPING.keys()) +@pytest.mark.parametrize("controller", [None, "BASIC", "WHOLE_BODY_IK"]) +def test_basic_controller_predefined_robots(robot, controller): + """ + Tests the basic controller with all predefined robots + (i.e., ALL_ROBOTS) and controller types. + """ + if robot == "SpotArm" and mujoco.__version__ <= "3.1.2": + pytest.skip( + "Skipping test for SpotArm because the robot's mesh only works for Mujoco version 3.1.3 and above" + "Spot arm xml and meshes were taken from: " + "https://github.com/google-deepmind/mujoco_menagerie/tree/main/boston_dynamics_spot" + ) + + if controller is None and not is_robosuite_robot(robot): + pytest.skip(f"Skipping test for non-robosuite robot {robot} with no specified controller.") + + # skip currently problematic robots + if robot == "GR1": + pytest.skip("Skipping GR1 for now due to error with the leg controller.") + + if robot == "Jaco": + pytest.skip("Skipping Jaco for now due to error with action formatting.") + + controller_config = load_composite_controller_config( + controller=controller, + robot=robot, + ) + + create_and_test_env(env="Lift", robots=robot, controller_config=controller_config) diff --git a/tests/test_controllers/test_linear_interpolator.py b/tests/test_controllers/test_linear_interpolator.py new file mode 100644 index 0000000000000000000000000000000000000000..e40b4a276d6d5833bd5bec489230ca51853d7d93 --- /dev/null +++ b/tests/test_controllers/test_linear_interpolator.py @@ -0,0 +1,195 @@ +""" +Test the linear interpolator on the Lift task with Sawyer arm environment as a test case. + +The linear interpolator is meant to increase the stability and overall safety of a robot arm's trajectory when reaching +a setpoint, "ramping up" the actual action command sent to a given controller from zero to the actual inputted action +over a fraction of the timesteps in betwteen each high-level input action (the "ramp ratio"). As a result, the +resulting trajectory should be smoother, proportional to the interpolator's ramp ratio setting. + +This test verifies that the linear interpolator works correctly on both the IK and OSC controller for both position and +orientation, and proceeds as follows: + + 1. Given a constant delta position action, and with the interpolator disabled, we will measure the sum of absolute + changes in joint torques between individual simulation timesteps + + 2. We will repeat Step 1, but this time with the interpolator enabled and with a ramp ratio of 1.0 (max value) + + 3. We expect the interpolated trajectories to experience a smaller overall magnitude of changes in torques, due to + the setpoints between controller timesteps being smoothed out over the ramp ratio. + +Note: As this is a qualitative test, it is up to the user to evaluate the output and determine the expected behavior of +the tested controllers. +""" + +import argparse +import json +import os + +import numpy as np + +import robosuite as suite +import robosuite.controllers.composite.composite_controller_factory as composite_controller_factory +import robosuite.utils.transform_utils as T + +# Define the threshold locations, delta values, and ratio # + +# Translation trajectory +pos_y_threshold = 0.1 +delta_pos_y = 0.01 +pos_action_osc = [0, delta_pos_y * 40, 0] +pos_action_ik = [0, delta_pos_y, 0] + +# Rotation trajectory +rot_r_threshold = np.pi / 2 +delta_rot_r = 0.01 +rot_action_osc = [delta_rot_r * 40, 0, 0] +rot_action_ik = [delta_rot_r * 5, 0, 0] + +# Concatenated thresholds and corresponding indexes (y = 1 in x,y,z; roll = 0 in r,p,y) +thresholds = [pos_y_threshold, rot_r_threshold] +indexes = [1, 0] + +# Threshold ratio +min_ratio = 1.10 + +# Define arguments for this test +parser = argparse.ArgumentParser() +parser.add_argument("--render", action="store_true", help="Whether to render tests or run headless") +args = parser.parse_args() + +# Setup printing options for numbers +np.set_printoptions(formatter={"float": lambda x: "{0:0.3f}".format(x)}) + + +# function to run the actual sim in order to receive summed absolute delta torques +def step(env, action, current_torques): + env.timestep += 1 + policy_step = True + summed_abs_delta_torques = np.zeros(7) + + for i in range(int(env.control_timestep / env.model_timestep)): + env.sim.forward() + env._pre_action(action, policy_step) + last_torques = current_torques + current_torques = env.robots[0].composite_controller.part_controllers["right"].torques + summed_abs_delta_torques += np.abs(current_torques - last_torques) + env.sim.step() + policy_step = False + + env.cur_time += env.control_timestep + out = env._post_action(action) + return out, summed_abs_delta_torques, current_torques + + +# Running the actual test # +def test_linear_interpolator(): + + for controller_name in [None, "BASIC"]: # None corresponds to robot's default controller + + for traj in ["pos", "ori"]: + + # Define counter to increment timesteps and torques for each trajectory + timesteps = [0, 0] + summed_abs_delta_torques = [np.zeros(7), np.zeros(7)] + + for interpolator in [None, "linear"]: + # Define numpy seed so we guarantee consistent starting pos / ori for each trajectory + np.random.seed(3) + + # load a composite controller + controller_config = composite_controller_factory.load_composite_controller_config( + controller=controller_name, + robot="Sawyer", + ) + + # Now, create a test env for testing the controller on + env = suite.make( + "Lift", + robots="Sawyer", + has_renderer=args.render, # by default, don't use on-screen renderer for visual validation + has_offscreen_renderer=False, + use_camera_obs=False, + horizon=10000, + control_freq=20, + controller_configs=controller_config, + ) + + # Reset the environment + env.reset() + + # Hardcode the starting position for sawyer + init_qpos = [-0.5538, -0.8208, 0.4155, 1.8409, -0.4955, 0.6482, 1.9628] + env.robots[0].set_robot_joint_positions(init_qpos) + env.robots[0].composite_controller.part_controllers["right"].update_initial_joints(init_qpos) + env.robots[0].composite_controller.part_controllers["right"].reset_goal() + + # Notify user a new trajectory is beginning + print( + "\nTesting controller {} with trajectory {} and interpolator={}...".format( + controller_name, traj, interpolator + ) + ) + + # If rendering, set controller to front view to get best angle for viewing robot movements + if args.render: + env.viewer.set_camera(camera_id=0) + + # Keep track of state of robot eef (pos, ori (euler)) and torques + current_torques = np.zeros(7) + initial_state = [env.robots[0]._hand_pos["right"], T.mat2quat(env.robots[0]._hand_orn["right"])] + dstate = [ + env.robots[0]._hand_pos["right"] - initial_state[0], + T.mat2euler( + T.quat2mat(T.quat_distance(T.mat2quat(env.robots[0]._hand_orn["right"]), initial_state[1])) + ), + ] + + # Define the uniform trajectory action + if traj == "pos": + pos_act = pos_action_osc + rot_act = np.zeros(3) + else: + pos_act = np.zeros(3) + rot_act = rot_action_osc + + # Compose the action + action = np.concatenate([pos_act, rot_act, [0]]) + + # Determine which trajectory we're executing + k = 0 if traj == "pos" else 1 + j = 0 if not interpolator else 1 + + # Run trajectory until the threshold condition is met + while abs(dstate[k][indexes[k]]) < abs(thresholds[k]): + _, summed_torques, current_torques = step(env, action, current_torques) + if args.render: + env.render() + + # Update torques, timestep count, and state + summed_abs_delta_torques[j] += summed_torques + timesteps[j] += 1 + dstate = [ + env.robots[0]._hand_pos["right"] - initial_state[0], + T.mat2euler( + T.quat2mat(T.quat_distance(T.mat2quat(env.robots[0]._hand_orn["right"]), initial_state[1])) + ), + ] + + # When finished, print out the timestep results + print( + "Completed trajectory. Avg per-step absolute delta torques: {}".format( + summed_abs_delta_torques[j] / timesteps[j] + ) + ) + + # Shut down this env before starting the next test + env.close() + + # Tests completed! + print() + print("-" * 80) + print("All linear interpolator testing completed.\n") + + +if __name__ == "__main__": + test_linear_interpolator() diff --git a/tests/test_controllers/test_variable_impedance.py b/tests/test_controllers/test_variable_impedance.py new file mode 100644 index 0000000000000000000000000000000000000000..36fbdbd8d2c5a29b86e17e265e110542416948b3 --- /dev/null +++ b/tests/test_controllers/test_variable_impedance.py @@ -0,0 +1,189 @@ +""" +Test the variable impedance feature of impedance-based controllers (OSC, Joint Position) on the Lift task with +Sawyer arm environment as a test case. + +The variable impedance feature allows per-action fine-grained control over the specific impedance gains when executing +impedance control (namely, "kp" and "damping" ratios). This allows a given controller to execute more complex and +potentially interactive trajectories by varying the net impedance of the controlled actuators over time. + +This (qualitative) test verifies that the variable impedance works correctly on both the OSC Pose / Position and +Joint Position controllers, and proceeds as follows: + + 1. Given a constant delta position action, and with the the kp values set to critically-damped, we will ramp up + the kp values to its max and then ramp down the values. We qualitatively expect the arm to accelerate as the kp + values are ramped, and then slow down as they are decreased. + + 2. The environment will then be reset. Given a constant delta position action, and with kp values set to its + default value, we will ramp up the damping values to its max and then ramp down the values. We qualitatively + expect the arm to slow down as the damping values are ramped, and then increase in speed as they are decreased. + + 3. We will repeat Step 1 and 2 for each of the tested controllers. + +Periodic prijntouts should verify the above patterns; conversely, running the script with the "--render" argument will +render the trajectories to allow for visual analysis of gains +""" + +import argparse + +import numpy as np + +import robosuite as suite +from robosuite.controllers.composite.composite_controller_factory import load_composite_controller_config + +# Define the rate of change when sweeping through kp / damping values +num_timesteps_per_change = 10 +percent_increase = 0.05 + +# Define delta values for trajectory +d = 0.05 + +# Define default values for fixing one of the two gains +kp_default = 150 +damping_default = 1 # critically damped + +# Define arguments for this test +parser = argparse.ArgumentParser() +parser.add_argument("--render", action="store_true", help="Whether to render tests or run headless") +args = parser.parse_args() + + +# Running the actual test # +def test_variable_impedance(): + + for controller_name in ["OSC_POSE", "OSC_POSITION", "JOINT_POSITION"]: + + # Define numpy seed so we guarantee consistent starting pos / ori for each trajectory + np.random.seed(3) + + composite_controller_config = load_composite_controller_config(controller=None, robot="Sawyer") + controller_config = composite_controller_config["body_parts"]["right"] + controller_config["type"] = controller_name + # Manually edit impedance settings + controller_config["impedance_mode"] = "variable" + controller_config["kp_limits"] = [0, 300] + controller_config["damping_limits"] = [0, 10] + + if controller_name == "OSC_POSITION": + controller_config["output_min"] = [0.05, 0.05, 0.05] + controller_config["output_max"] = [-0.05, -0.05, -0.05] + elif controller_name == "JOINT_POSITION": + controller_config["output_min"] = -1 + controller_config["output_max"] = 1 + + # Now, create a test env for testing the controller on + env = suite.make( + "Lift", + robots="Sawyer", + has_renderer=args.render, # by default, don't use on-screen renderer for visual validation + has_offscreen_renderer=False, + use_camera_obs=False, + horizon=10000, + control_freq=20, + controller_configs=composite_controller_config, + ) + + # Setup printing options for numbers + np.set_printoptions(formatter={"float": lambda x: "{0:0.3f}".format(x)}) + + # Get limits on kp and damping values + # Define control dim. Note that this is not the action space, but internal dimensionality of gains + control_dim = 6 if "OSC" in controller_name else 7 + low, high = env.action_spec + damping_low, kp_low = low[:control_dim], low[control_dim : 2 * control_dim] + damping_high, kp_high = high[:control_dim], high[control_dim : 2 * control_dim] + damping_range = damping_high - damping_low + kp_range = kp_high - kp_low + + # Get delta values for trajectory + if controller_name == "OSC_POSE": + delta = np.array([0, d, 0, 0, 0, 0]) + elif controller_name == "OSC_POSITION": + delta = np.array([0, d, 0]) + else: # JOINT_POSITION + delta = np.array([d, 0, 0, 0, 0, 0, 0]) + + # Get total number of steps each test should take (num steps ramping up + num steps ramping down) + total_steps = num_timesteps_per_change / percent_increase * 2 + + # Run a test for both kp and damping + gains = ["kp", "damping"] + + for gain in gains: + + # Reset the environment + env.reset() + + # Hardcode the starting position for sawyer + init_qpos = [-0.5538, -0.8208, 0.4155, 1.8409, -0.4955, 0.6482, 1.9628] + env.robots[0].set_robot_joint_positions(init_qpos) + env.robots[0].composite_controller.part_controllers["right"].update_initial_joints(init_qpos) + + # Notify user a new test is beginning + print("\nTesting controller {} while sweeping {}...".format(controller_name, gain)) + + # If rendering, set controller to front view to get best angle for viewing robot movements + if args.render: + env.viewer.set_camera(camera_id=0) + + # Keep track of relative changes in robot eef position + last_pos = env.robots[0]._hand_pos["right"] + + # Initialize gains + if gain == "kp": + kp = kp_low + damping = damping_default * np.ones(control_dim) + gain_val = kp # alias for kp + gain_range = kp_range + else: # "damping" + kp = kp_default * np.ones(control_dim) + damping = damping_low + gain_val = damping # alias for damping + gain_range = damping_range + + # Initialize counters + i = 0 + sign = 1.0 # Whether to increase or decrease gain + + # Run trajectory until the threshold condition is met + while i < total_steps: + # Create action (damping, kp, traj, gripper) + action = np.concatenate([damping, kp, sign * delta, [0]]) + + # Take an environment step + env.step(action) + if args.render: + env.render() + + # Update the current change in state + cur_pos = env.robots[0]._hand_pos["right"] + + # If we're at the end of the increase, switch direction of traj and gain changes + if i == int(num_timesteps_per_change / percent_increase): + sign *= -1.0 + + # Update gain if this is a changing step + if i % num_timesteps_per_change == 0: + # Compare delta, print out to user, and update last_pos + delta_pos = np.linalg.norm(cur_pos - last_pos) + print(" Magnitude eef distance change with {} = {}: {:.5f}".format(gain, gain_val[0], delta_pos)) + last_pos = cur_pos + # Update gain + gain_val += percent_increase * gain_range * sign + + # Update timestep count + i += 1 + + # When finished, print out the timestep results + print("Completed trajectory.") + + # Shut down this env before starting the next test + env.close() + + # Tests completed! + print() + print("-" * 80) + print("All variable impedance testing completed.\n") + + +if __name__ == "__main__": + test_variable_impedance() diff --git a/tests/test_environments/test_all_environments.py b/tests/test_environments/test_all_environments.py new file mode 100644 index 0000000000000000000000000000000000000000..19868b4dcacdac60b9c2a8603d52d8a86ac51847 --- /dev/null +++ b/tests/test_environments/test_all_environments.py @@ -0,0 +1,94 @@ +""" +Test all environments with random policies. + +This runs some basic sanity checks on the environment, namely, checking that: + - proprio-state exists in the obs, and is a flat array + - agentview_image exists and is of the correct shape + - no object-obs in state, because we are only using image observations + +Obviously, if an environment crashes during runtime, that is considered a failure as well. +""" +import numpy as np + +import robosuite as suite + + +def test_all_environments(): + + envs = sorted(suite.ALL_ENVIRONMENTS) + for env_name in envs: + # Create config dict + env_config = {"env_name": env_name} + for robot_name in ("Panda", "Sawyer", "Baxter", "GR1"): + # create an environment for learning on pixels + config = None + if "TwoArm" in env_name: + if robot_name == "GR1": + continue + if robot_name == "Baxter": + robots = robot_name + config = "bimanual" + else: + robots = [robot_name, robot_name] + config = "opposed" + # compile configuration specs + env_config["robots"] = robots + env_config["env_configuration"] = config + elif "Humanoid" in env_name: + if robot_name != "GR1": + continue + env_config["robots"] = robot_name + else: + if robot_name == "Baxter" or robot_name == "GR1": + continue + env_config["robots"] = robot_name + + # Notify user of which test we are currently on + print("Testing env: {} with robots {} with config {}...".format(env_name, env_config["robots"], config)) + + # Create environment + env = suite.make( + **env_config, + has_renderer=False, # no on-screen renderer + has_offscreen_renderer=True, # off-screen renderer is required for camera observations + ignore_done=True, # (optional) never terminates episode + use_camera_obs=True, # use camera observations + camera_heights=84, # set camera height + camera_widths=84, # set camera width + camera_names="agentview", # use "agentview" camera + use_object_obs=False, # no object feature when training on pixels + reward_shaping=True, # (optional) using a shaping reward + ) + + obs = env.reset() + + # get action range + action_min, action_max = env.action_spec + assert action_min.shape == action_max.shape + + # Get robot prefix + pr = env.robots[0].robot_model.naming_prefix + + # run 10 random actions + for _ in range(10): + + assert pr + "proprio-state" in obs + assert obs[pr + "proprio-state"].ndim == 1 + + assert "agentview_image" in obs + assert obs["agentview_image"].shape == (84, 84, 3) + + assert "object-state" not in obs + + action = np.random.uniform(action_min, action_max) + obs, reward, done, info = env.step(action) + + env.close() + + # Tests passed! + print("All environment tests passed successfully!") + + +if __name__ == "__main__": + + test_all_environments() diff --git a/tests/test_environments/test_camera_transforms.py b/tests/test_environments/test_camera_transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..6241d7375bb8ed6e59feb717a17ba5dcd0a919ac --- /dev/null +++ b/tests/test_environments/test_camera_transforms.py @@ -0,0 +1,93 @@ +""" +Test script for camera transforms. This test will read the ground-truth +object state in the Lift environment, transform it into a pixel location +in the camera frame, then transform it back to the world frame, and assert +that the values are close. +""" +import random + +import numpy as np + +import robosuite +import robosuite.utils.camera_utils as CU +from robosuite.controllers import load_composite_controller_config + + +def test_camera_transforms(): + # set seeds + random.seed(0) + np.random.seed(0) + + camera_name = "agentview" + camera_height = 120 + camera_width = 120 + env = robosuite.make( + "Lift", + robots=["Panda"], + controller_configs=load_composite_controller_config(controller="BASIC"), + has_renderer=False, + has_offscreen_renderer=True, + ignore_done=True, + use_object_obs=True, + use_camera_obs=True, + camera_names=[camera_name], + camera_depths=[True], + camera_heights=[camera_height], + camera_widths=[camera_width], + reward_shaping=True, + control_freq=20, + ) + obs_dict = env.reset() + sim = env.sim + + # ground-truth object position + obj_pos = obs_dict["object-state"][:3] + + # camera frame + image = obs_dict["{}_image".format(camera_name)][::-1] + + # unnormalized depth map + depth_map = obs_dict["{}_depth".format(camera_name)][::-1] + + depth_map = CU.get_real_depth_map(sim=env.sim, depth_map=depth_map) + + # get camera matrices + world_to_camera = CU.get_camera_transform_matrix( + sim=env.sim, + camera_name=camera_name, + camera_height=camera_height, + camera_width=camera_width, + ) + camera_to_world = np.linalg.inv(world_to_camera) + + # transform object position into camera pixel + obj_pixel = CU.project_points_from_world_to_camera( + points=obj_pos, + world_to_camera_transform=world_to_camera, + camera_height=camera_height, + camera_width=camera_width, + ) + + # transform from camera pixel back to world position + estimated_obj_pos = CU.transform_from_pixels_to_world( + pixels=obj_pixel, + depth_map=depth_map, + camera_to_world_transform=camera_to_world, + ) + + # the most we should be off by in the z-direction is 3^0.5 times the maximum half-size of the cube + max_z_err = np.sqrt(3) * 0.022 + z_err = np.abs(obj_pos[2] - estimated_obj_pos[2]) + assert z_err < max_z_err + + print("pixel: {}".format(obj_pixel)) + print("obj pos: {}".format(obj_pos)) + print("estimated obj pos: {}".format(estimated_obj_pos)) + print("z err: {}".format(z_err)) + + env.close() + + +if __name__ == "__main__": + + test_camera_transforms() diff --git a/tests/test_environments/test_env_determinism.py b/tests/test_environments/test_env_determinism.py new file mode 100644 index 0000000000000000000000000000000000000000..8a2359ec01dd6e75245bb957039368fb3cea8b28 --- /dev/null +++ b/tests/test_environments/test_env_determinism.py @@ -0,0 +1,119 @@ +""" +Test all environments with random policies. + +This runs some basic sanity checks on the environment, namely, checking that: + - proprio-state exists in the obs, and is a flat array + - agentview_image exists and is of the correct shape + - no object-obs in state, because we are only using image observations + +Obviously, if an environment crashes during runtime, that is considered a failure as well. +""" +import numpy as np + +import robosuite as suite + + +def qpos_idx_to_joint_name(sim, idx): + + model = sim.model + for name in model.joint_names: + addr = model.get_joint_qpos_addr(name) + if addr == idx: + return name + + return None + + +def test_environment_determinism(): + + envs = sorted(suite.ALL_ENVIRONMENTS) + for env_name in envs: + # use a new seed every time! + seed = np.random.randint(0, 10000) + # Create config dict + env_config = {"env_name": env_name} + for robot_name in ("Panda", "Sawyer", "Baxter", "GR1"): + # create an environment for learning on pixels + config = None + if "TwoArm" in env_name: + if robot_name == "GR1": + continue + if robot_name == "Baxter": + robots = robot_name + config = "bimanual" + else: + robots = [robot_name, robot_name] + config = "opposed" + # compile configuration specs + env_config["robots"] = robots + env_config["env_configuration"] = config + elif "Humanoid" in env_name: + if robot_name != "GR1": + continue + env_config["robots"] = robot_name + else: + if robot_name == "Baxter" or robot_name == "GR1": + continue + env_config["robots"] = robot_name + + # Notify user of which test we are currently on + print("Testing envs: {} with robots {} with config {}...".format(env_name, env_config["robots"], config)) + + # Create environment + env1 = suite.make( + **env_config, + has_renderer=False, # no on-screen renderer + has_offscreen_renderer=True, # off-screen renderer is required for camera observations + ignore_done=True, # (optional) never terminates episode + use_camera_obs=True, # use camera observations + camera_heights=84, # set camera height + camera_widths=84, # set camera width + camera_names="agentview", # use "agentview" camera + use_object_obs=False, # no object feature when training on pixels + reward_shaping=True, # (optional) using a shaping reward + seed=seed, # set seed for reproducibility + ) + env2 = suite.make( + **env_config, + has_renderer=False, # no on-screen renderer + has_offscreen_renderer=True, # off-screen renderer is required for camera observations + ignore_done=True, # (optional) never terminates episode + use_camera_obs=True, # use camera observations + camera_heights=84, # set camera height + camera_widths=84, # set camera width + camera_names="agentview", # use "agentview" camera + use_object_obs=False, # no object feature when training on pixels + reward_shaping=True, # (optional) using a shaping reward + seed=seed, # set seed for reproducibility + ) + + obs = env1.reset() + obs2 = env2.reset() + + env1_xml = env1.sim.model.get_xml() + env2_xml = env2.sim.model.get_xml() + env1_state = env1.sim.get_state().flatten() + env2_state = env2.sim.get_state().flatten() + + for st_idx in range(env1_state.shape[0]): + if env1_state[st_idx] != env2_state[st_idx]: + joint_name = qpos_idx_to_joint_name(env1.sim, st_idx) + if joint_name is not None: + print(f"Joint {joint_name} at index {st_idx} is different between env1 and env2.") + else: + print(f"State at index {st_idx} is different between env1 and env2.") + + if env1_xml != env2_xml: + print("Environment XMLs are not the same! xml1: {}, xml2: {}".format(env1_xml, env2_xml)) + assert False + assert np.allclose(env1_state, env2_state), "Environment states are not the same!" + env1.close() + env2.close() + + # Tests passed! + print("All environment tests passed successfully!") + + +if __name__ == "__main__": + + test_environment_determinism() diff --git a/tests/test_renderers/test_all_renderers.py b/tests/test_renderers/test_all_renderers.py new file mode 100644 index 0000000000000000000000000000000000000000..3b6201398967c8240a74172ee2bac6b6ff064387 --- /dev/null +++ b/tests/test_renderers/test_all_renderers.py @@ -0,0 +1,106 @@ +import os + +import numpy as np +import pytest + +import robosuite as suite +from robosuite.controllers import load_composite_controller_config + + +def is_display_available() -> bool: + return "DISPLAY" in os.environ or "WAYLAND_DISPLAY" in os.environ + + +@pytest.mark.skipif(not is_display_available(), reason="No display available for on-screen rendering.") +def test_mujoco_renderer(): + env = suite.make( + env_name="Lift", + robots="Panda", + controller_configs=load_composite_controller_config(controller="BASIC"), + has_renderer=True, + has_offscreen_renderer=False, + ignore_done=True, + use_camera_obs=False, + control_freq=20, + renderer="mujoco", + ) + + env.reset() + + low, high = env.action_spec + + for i in range(10): + action = np.random.uniform(low, high) + obs, reward, done, _ = env.step(action) + env.render() + + +@pytest.mark.skipif(not is_display_available(), reason="No display available for on-screen rendering.") +def test_multiple_mujoco_renderer(): + env = suite.make( + env_name="Lift", + robots="Panda", + controller_configs=load_composite_controller_config(controller="BASIC"), + has_renderer=True, + has_offscreen_renderer=False, + ignore_done=True, + use_camera_obs=False, + control_freq=20, + renderer="mujoco", + ) + + env.reset() + camera_name = ["agentview", "birdview"] + env.viewer.set_camera(camera_name=camera_name, width=1080, height=720) + low, high = env.action_spec + + for i in range(10): + action = np.random.uniform(low, high) + obs, reward, done, _ = env.step(action) + env.render() + + +@pytest.mark.skipif(not is_display_available(), reason="No display available for on-screen rendering.") +def test_mjviewer_renderer(): + env = suite.make( + env_name="Lift", + robots="Panda", + controller_configs=load_composite_controller_config(controller="BASIC"), + has_renderer=True, + has_offscreen_renderer=False, + ignore_done=True, + use_camera_obs=False, + control_freq=20, + renderer="mjviewer", + ) + + env.reset() + + low, high = env.action_spec + + for i in range(10): + action = np.random.uniform(low, high) + obs, reward, done, _ = env.step(action) + env.render() + + +def test_offscreen_renderer(): + env = suite.make( + env_name="Lift", + robots="Panda", + controller_configs=load_composite_controller_config(controller="BASIC"), + has_renderer=False, + has_offscreen_renderer=True, + ignore_done=True, + use_camera_obs=True, + control_freq=20, + ) + + env.reset() + + low, high = env.action_spec + + for i in range(10): + action = np.random.uniform(low, high) + obs, reward, done, _ = env.step(action) + assert obs["agentview_image"].shape == (256, 256, 3)