Code

Full MuJoCo Grasping Environment#61

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Merged

mlaux1 merged 32 commits intodfki-ric:developmentdfki-ric/deformable_gym:developmentfrom xkiixkii:developmentxkiixkii/deformable_gym:developmentCopy head branch name to clipboardDec 2, 2024

+2,811-1,501

Commits

Commits on Oct 4, 2024

• Change relative body of equality constraints

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  f0c9def

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• Remove initial position

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• Add default position and orientation for pose

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• Refactor asset manager into modules

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• Add new robots

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• Support mocap body control

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• Add mocap body control

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• Load init pose from init_pose and add pillow object

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• Add mocap control and arm descriptions

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• Add new robots

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• Add mocap body and rotation utils

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• Set None as initial value of Pose

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• Use pose defined in mjcf if pos or quat is not specified in given pose

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• Change relative weld body

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• Register all mujoco grasp environments

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• Add mujoco environment scene base

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• Use gymnasium style render method

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• Adapt initial pose for UR5ShadowGraspPillow

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• Use only GraspEnv for all mujoco grasp environments

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• Reset equality constraint after reset mocap pose

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• Add tests for mocap control

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• Update README

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• Add mjSpec utils

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• Use native mujoco viewer for "human" render mode

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• Update dependencies

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• Fix annotation issue

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• Update dependencies

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• Set render mode to "human"

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• Update README

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• Update docstring

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• Add docstring

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• Update setup

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