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Add an ALOHA task to MJPC.
PiperOrigin-RevId: 604575665 Change-Id: I8565db95ee089a7c1a507c545b677452e5d2a00c
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‎mjpc/tasks/CMakeLists.txt‎

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@@ -60,6 +60,21 @@ add_custom_target(
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COMMAND ${CMAKE_COMMAND} -E copy_directory
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${menagerie_SOURCE_DIR}/shadow_hand/assets
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${CMAKE_CURRENT_BINARY_DIR}/cube/assets
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# ALOHA
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COMMAND ${CMAKE_COMMAND} -E copy_directory
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${menagerie_SOURCE_DIR}/aloha/assets
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${CMAKE_CURRENT_BINARY_DIR}/bimanual/assets
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COMMAND ${CMAKE_COMMAND} -E copy
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${menagerie_SOURCE_DIR}/aloha/aloha.xml
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${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
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COMMAND ${CMAKE_COMMAND} -E copy
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${menagerie_SOURCE_DIR}/aloha/integrated_cartesian_actuators.xml
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${CMAKE_CURRENT_BINARY_DIR}/bimanual/integrated_cartesian_actuators.xml
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COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
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${CMAKE_CURRENT_BINARY_DIR}/bimanual/aloha.xml
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<${CMAKE_CURRENT_SOURCE_DIR}/bimanual/aloha.patch
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COMMAND ${CMAKE_COMMAND} -E copy
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${menagerie_SOURCE_DIR}/robotis_op3/op3.xml
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${CMAKE_CURRENT_BINARY_DIR}/op3/op3.xml
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COMMAND patch -o ${CMAKE_CURRENT_BINARY_DIR}/op3/op3_modified.xml
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${CMAKE_CURRENT_BINARY_DIR}/op3/op3.xml
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<${CMAKE_CURRENT_SOURCE_DIR}/op3/op3.xml.patch
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COMMAND ${Python_EXECUTABLE}
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${CMAKE_CURRENT_BINARY_DIR}/manipulation/merge_panda_robotiq.py
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${CMAKE_CURRENT_BINARY_DIR}/manipulation/panda_robotiq.xml

‎mjpc/tasks/bimanual/aloha.patch‎

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diff --git a/aloha.xml b/aloha.xml
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--- a/aloha.xml
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+++ b/aloha.xml
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@@ -284,5 +285,5 @@
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<joint joint1="right/left_finger" joint2="right/right_finger" polycoef="0 1 0 0 0"/>
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</equality>
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- <include file="joint_position_actuators.xml"/>
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+ <include file="integrated_cartesian_actuators.xml"/>
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</mujoco>

‎mjpc/tasks/bimanual/bimanual.cc‎

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// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "mjpc/tasks/bimanual/bimanual.h"
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#include <string>
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#include <mujoco/mujoco.h>
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#include "mjpc/utilities.h"
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namespace mjpc {
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std::string Bimanual::XmlPath() const {
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return GetModelPath("bimanual/task.xml");
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}
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std::string Bimanual::Name() const { return "Bimanual"; }
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void Bimanual::ResidualFn::Residual(const mjModel* model, const mjData* data,
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double* residual) const {
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int counter = 0;
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// reach
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double* left_gripper = SensorByName(model, data, "left/gripper");
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double* box = SensorByName(model, data, "box");
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mju_sub3(residual + counter, left_gripper, box);
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counter += 3;
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double* right_gripper = SensorByName(model, data, "right/gripper");
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mju_sub3(residual + counter, right_gripper, box);
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counter += 3;
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// bring
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double* target = SensorByName(model, data, "target");
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mju_sub3(residual + counter, box, target);
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counter += 3;
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CheckSensorDim(model, counter);
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}
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void mjpc::Bimanual::TransitionLocked(mjModel* model, mjData* data) {
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data->mocap_pos[0] = -0.4;
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data->mocap_pos[1] = -0.2;
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data->mocap_pos[2] = 0.3;
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}
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} // namespace mjpc

‎mjpc/tasks/bimanual/bimanual.h‎

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// Copyright 2024 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MJPC_MJPC_TASKS_BIMANUAL_BIMANUAL_H_
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#define MJPC_MJPC_TASKS_BIMANUAL_BIMANUAL_H_
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#include <memory>
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#include <string>
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#include <mujoco/mujoco.h>
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#include "mjpc/task.h"
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namespace mjpc {
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class Bimanual : public Task {
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public:
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std::string Name() const override;
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std::string XmlPath() const override;
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class ResidualFn : public BaseResidualFn {
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public:
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explicit ResidualFn(const Bimanual* task) : BaseResidualFn(task) {}
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void Residual(const mjModel* model, const mjData* data,
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double* residual) const override;
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};
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Bimanual() : residual_(this) {}
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void TransitionLocked(mjModel* model, mjData* data) override;
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protected:
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std::unique_ptr<mjpc::ResidualFn> ResidualLocked() const override {
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return std::make_unique<ResidualFn>(this);
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}
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ResidualFn* InternalResidual() override { return &residual_; }
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private:
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ResidualFn residual_;
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};
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} // namespace mjpc
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#endif // MJPC_MJPC_TASKS_BIMANUAL_BIMANUAL_H_

‎mjpc/tasks/bimanual/task.xml‎

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<mujoco model="aloha">
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<include file="../common.xml"/>
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<size memory="1M"/>
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<asset>
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<texture name="groundplane" type="2d" builtin="flat" rgb1="0.20000000000000001 0.29999999999999999 0.40000000000000002" rgb2="0.10000000000000001 0.20000000000000001 0.29999999999999999" mark="edge" markrgb="0.50000000000000004 0.50000000000000004 0.50000000000000004" width="200" height="200"/>
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<material name="groundplane" texture="groundplane" texrepeat="2 2" texuniform="true" reflectance="0.20000000000000001"/>
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</asset>
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<custom>
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<numeric name="agent_planner" data="0" />
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<numeric name="agent_horizon" data="1.0" />
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<numeric name="agent_timestep" data="0.01" />
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<numeric name="agent_sample_width" data="0.0025" />
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<numeric name="agent_policy_width" data="0.0035" />
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<numeric name="sampling_exploration" data="0.5" />
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<numeric name="sampling_trajectories" data="100"/>
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<numeric name="sampling_spline_points" data="4" />
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<numeric name="gradient_spline_points" data="6" />
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</custom>
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<statistic extent="1.5" center="0.0 0.35 0.2"/>
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<visual>
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<quality shadowsize="8192"/>
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<global azimuth="90" elevation="-30"/>
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<scale framelength=".3" framewidth=".03"/>
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</visual>
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<include file="aloha_cartesian.xml"/>
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<worldbody>
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<light pos="0 -0.1 0.5" dir="0 0.2 -1" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3"
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directional="true" castshadow="true"/>
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<geom name="floor" pos="0 0 -0.75" size="0 0 0.05" type="plane" material="groundplane"/>
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<body name="table" pos="0 0 -0.75">
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<geom name="table" pos="0 0 0.6509" size="0.61 0.37 0.1" type="box" class="collision"/>
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</body>
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<body mocap="true" name="box_goal_mocap">
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<geom group="5" size="0.02" rgba="1 0.4 0.4 1" conaffinity="0" contype="0"/>
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</body>
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<body name="box">
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<freejoint/>
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<geom name="box" type="box" size="0.025 0.025 0.025" priority="1" condim="6"
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friction="1.5 .03 .003" rgba="0 1 0 1"/>
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</body>
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</worldbody>
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<keyframe>
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<key name="home" qpos=
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"0 -0.96 1.16 0 -0.3 0 0.002 0.002
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0 -0.96 1.16 0 -0.3 0 0.002 0.002
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0.1 0.2 0.3 1 0 0 0"
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act ="-0.1 0 0 0 0 0 0.01 0.1 0 0 0 0 0 0.01"
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ctrl="-0.1 0 0 0 0 0 0.01 0.1 0 0 0 0 0 0.01"/>
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</keyframe>
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<sensor>
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<user name="Reach L" dim="3" user="2 0.1 0 5 0.01"/>
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<user name="Reach R" dim="3" user="2 0.1 0 5 0.01"/>
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<user name="Bring" dim="3" user="2 1 0 1 0.003"/>
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<!-- <user name="arm_table_contact" dim="2" user="2 0.5 0 1 0.01"/>
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<user name="arm_arm_contact" dim="1" user="2 0.5 0 1 0.01"/> -->
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<framepos name="left/gripper" objtype="site" objname="left/gripper"/>
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<framepos name="right/gripper" objtype="site" objname="right/gripper"/>
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<framepos name="box" objtype="body" objname="box"/>
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<framepos name="target" objtype="body" objname="box_goal_mocap"/>
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<framepos name="trace0" objtype="site" objname="left/gripper"/>
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<framepos name="trace1" objtype="site" objname="right/gripper"/>
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</sensor>
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</mujoco>

‎mjpc/tasks/tasks.cc‎

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#include "mjpc/task.h"
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#include "mjpc/tasks/acrobot/acrobot.h"
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#include "mjpc/tasks/bimanual/bimanual.h"
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#include "mjpc/tasks/cube/solve.h"
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#include "mjpc/tasks/cartpole/cartpole.h"
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#include "mjpc/tasks/fingers/fingers.h"
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std::vector<std::shared_ptr<Task>> GetTasks() {
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return {
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std::make_shared<Acrobot>(),
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std::make_shared<Bimanual>(),
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std::make_shared<CubeSolve>(),
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std::make_shared<Cartpole>(),
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std::make_shared<Fingers>(),

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