Merge branch 'v1.5.0' of https://github.com/ARISE-Initiative/robosuite …

…into update-readme
ARISE-Initiative · Oct 29, 2024 · 7e5c234 · 7e5c234
2 parents 321375c + 785c5da
commit 7e5c234
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Showing 12 changed files with 26 additions and 15 deletions.
diff --git a/AUTHORS b/AUTHORS
@@ -10,10 +10,15 @@ Josiah Wong <[email protected]>
 Ajay Mandlekar <[email protected]>
 Roberto Martín-Martín <[email protected]>
 Abhishek Joshi <[email protected]>
+Kevin Lin <[email protected]>
 Soroush Nasiriany <[email protected]>
 Yifeng Zhu <[email protected]>
 
 Past Contributors
+Zhenyu Jiang <[email protected]>
+Yuqi Xie <[email protected]>
+Abhiram Maddukuri <[email protected]>
+You Liang Tan <[email protected]>
 Jiren Zhu <[email protected]>
 Jim (Linxi) Fan <[email protected]>
 Orien Zeng <[email protected]>

diff --git a/robosuite/controllers/composite/__init__.py b/robosuite/controllers/composite/__init__.py
@@ -1,4 +1,5 @@
 from .composite_controller import CompositeController, HybridMobileBase, WholeBodyIK
+from robosuite.examples.third_party_controller.mink_controller import WholeBodyMinkIK
 from .composite_controller import COMPOSITE_CONTROLLERS_DICT
 
 ALL_COMPOSITE_CONTROLLERS = COMPOSITE_CONTROLLERS_DICT.keys()
@@ -15,5 +16,7 @@ def composite_controller_factory(type, sim, robot_model, grippers):
         return HybridMobileBase(sim, robot_model, grippers)
     elif type == "WHOLE_BODY_IK":
         return WholeBodyIK(sim, robot_model, grippers)
+    elif type == "WHOLE_BODY_MINK_IK":
+        return WholeBodyMinkIK(sim, robot_model, grippers)
     else:
         return COMPOSITE_CONTROLLERS_DICT[type](sim, robot_model, grippers)
diff --git a/robosuite/controllers/config/robots/default_gr1_fixed_lower_body.json b/robosuite/controllers/config/robots/default_gr1_fixed_lower_body.json
@@ -1,5 +1,5 @@
 {
-    "type": "WHOLE_BODY_IK",
+    "type": "WHOLE_BODY_MINK_IK",
     "composite_controller_specific_configs": {
         "ref_name": ["gripper0_right_grip_site", "gripper0_left_grip_site"],
         "interpolation": null,

diff --git a/robosuite/devices/device.py b/robosuite/devices/device.py
@@ -181,7 +181,7 @@ def get_arm_action(self, robot, arm, norm_delta, goal_update_mode="target"):
         ]  # update next target either based on achieved pose or current target pose
 
         # TODO: ideally separate kinematics from controller to unify frame conversion logic
-        if robot.composite_controller_config["type"] == "WHOLE_BODY_IK":
+        if robot.composite_controller_config["type"] == "WHOLE_BODY_MINK_IK":
             site_names: List[str] = self.env.robots[0].composite_controller.joint_action_policy.site_names
             for site_name in site_names:
                 target_name_prefix = "right" if "right" in site_name else "left"  # hardcoded for now

diff --git a/robosuite/examples/third_party_controller/default_mink_ik_gr1.json b/robosuite/examples/third_party_controller/default_mink_ik_gr1.json
@@ -1,5 +1,5 @@
 {
-    "type": "WHOLE_BODY_IK",
+    "type": "WHOLE_BODY_MINK_IK",
     "composite_controller_specific_configs": {
         "ref_name": ["gripper0_right_grip_site", "gripper0_left_grip_site"],
         "interpolation": null,

diff --git a/robosuite/examples/third_party_controller/mink_controller.py b/robosuite/examples/third_party_controller/mink_controller.py
@@ -419,7 +419,7 @@ def _get_task_errors(self) -> List[float]:
 
 @register_composite_controller
 class WholeBodyMinkIK(WholeBody):
-    name = "WHOLE_BODY_IK"
+    name = "WHOLE_BODY_MINK_IK"
 
     def __init__(self, sim: MjSim, robot_model: RobotModel, grippers: Dict[str, GripperModel]):
         super().__init__(sim, robot_model, grippers)

diff --git a/robosuite/models/assets/robots/gr1/robot.xml b/robosuite/models/assets/robots/gr1/robot.xml
@@ -56,6 +56,7 @@
 		<camera mode="fixed" name="obs_hands" pos="0.3 0.000 1.535" xyaxes="0.000 1.000 0.000 -0.707 0.000 0.707" />
 		<geom name="floor" pos="0 0 -0.97" size="1 1 0.02" type="plane" material="grid" />
 		<body name="base">
+      		<freejoint/>
 			<inertial pos="-0.0508888 0.000109183 -0.0455794" quat="0.706855 0.707166 0.0123661 -0.0109307" mass="6.45117" diaginertia="0.0149302 0.0127972 0.00640923" />
 			<body name="whole_body">
 				<site name="pelvis" pos="0 0 0" size="0.06 0.06 0.06" rgba="1 0 0 0" type="sphere" group="1" />

diff --git a/robosuite/models/grippers/inspire_hands.py b/robosuite/models/grippers/inspire_hands.py
@@ -22,22 +22,22 @@ def format_action(self, action):
         # the more correct way is to add <equality> tag in the xml
         # however the tag makes finger movement laggy, so manually copy the value for finger joints
         # 0 is thumb rot, no copying. Thumb bend has 3 joints, so copy 3 times. Other fingers has 2 joints, so copy 2 times.
-        # TODO(YL): verify the correctness of the copied values
+        assert len(action) == self.dof
         action = np.array(action)
         indices = np.array([0, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5])
         return action[indices]
 
     @property
     def init_qpos(self):
-        return np.array([0.0] * self.dof)
+        return np.array([0.0] * 12)
 
     @property
     def speed(self):
         return 0.15
 
     @property
     def dof(self):
-        return 12
+        return 6
 
     @property
     def _important_geoms(self):
@@ -92,21 +92,22 @@ def format_action(self, action):
         # the more correct way is to add <equality> tag in the xml
         # however the tag makes finger movement laggy, so manually copy the value for finger joints
         # 0 is thumb rot, no copying. Thumb bend has 3 joints, so copy 3 times. Other fingers has 2 joints, so copy 2 times.
+        assert len(action) == self.dof
         action = np.array(action)
         indices = np.array([0, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5])
         return action[indices]
 
     @property
     def init_qpos(self):
-        return np.array([0.0] * self.dof)
+        return np.array([0.0] * 12)
 
     @property
     def speed(self):
         return 0.15
 
     @property
     def dof(self):
-        return 12
+        return 6
 
     @property
     def _important_geoms(self):

diff --git a/robosuite/models/robots/manipulators/manipulator_model.py b/robosuite/models/robots/manipulators/manipulator_model.py
@@ -92,7 +92,7 @@ def add_gripper(self, gripper: GripperModel, arm_name: Optional[str] = None):
             # Update cameras in this model
             self.cameras = self.get_element_names(self.worldbody, "camera")
 
-    def _update_joints(self):
+    def update_joints(self):
         """internal function to update joint lists"""
         for joint in self.all_joints:
             if "torso" in joint:
@@ -113,7 +113,7 @@ def _update_joints(self):
             ):
                 self._arms_joints.append(joint)
 
-    def _update_actuators(self):
+    def update_actuators(self):
         """internal function to update actuator lists"""
         for actuator in self.all_actuators:
             if "torso" in actuator:

diff --git a/robosuite/robots/robot.py b/robosuite/robots/robot.py
@@ -168,8 +168,8 @@ def load_model(self):
         else:
             self.robot_model.add_base(base=robot_base_factory(self.base_type, idn=self.idn))
 
-        self.robot_model._update_joints()
-        self.robot_model._update_actuators()
+        self.robot_model.update_joints()
+        self.robot_model.update_actuators()
         # Use default from robot model for initial joint positions if not specified
         if self.init_qpos is None:
             self.init_qpos = self.robot_model.init_qpos

diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py
@@ -215,7 +215,7 @@ def gather_demonstrations_as_hdf5(directory, out_dir, env_info):
         "--controller",
         type=str,
         default=None,
-        help="Choice of controller. Can be generic (eg. 'BASIC' or 'WHOLE_BODY_IK') or json file (see robosuite/controllers/config for examples)",
+        help="Choice of controller. Can be generic (eg. 'BASIC' or 'WHOLE_BODY_MINK_IK') or json file (see robosuite/controllers/config for examples)",
     )
     parser.add_argument("--device", type=str, default="keyboard")
     parser.add_argument("--pos-sensitivity", type=float, default=1.0, help="How much to scale position user inputs")
@@ -234,7 +234,7 @@ def gather_demonstrations_as_hdf5(directory, out_dir, env_info):
         robot=args.robots[0],
     )
 
-    if controller_config["type"] == "WHOLE_BODY_IK":
+    if controller_config["type"] == "WHOLE_BODY_MINK_IK":
         # mink-speicific import. requires installing mink
         from robosuite.examples.third_party_controller.mink_controller import WholeBodyMinkIK
 

diff --git a/tests/test_grippers/test_all_grippers.py b/tests/test_grippers/test_all_grippers.py
@@ -22,6 +22,7 @@ def _test_gripper(gripper):
     assert action is not None
 
     assert gripper.init_qpos is not None
+    assert len(gripper.init_qpos) == len(gripper.joints)
 
 
 if __name__ == "__main__":