srl-ethz · Yasu31 · Oct 7, 2023 · Oct 7, 2023 · Oct 7, 2023 · Oct 7, 2023
diff --git a/assets/mjcf/simple_book.xml b/assets/mjcf/simple_book.xml
@@ -0,0 +1,22 @@
+<mujoco model="book">
+    <!-- A5 size book -->
+    <option timestep="0.002" gravity="0 0 -9.81" collision="predefined"/>
+    <default>
+        <joint type="hinge" pos="0 -0.2 0.007" axis="0 1 0" limited="true" damping="0.0 1"/>
+        <geom rgba="0.8 0.2 .2 1"/>
+    </default>
+    <worldbody>
+        <body name="simple_book">
+            <geom name="spine" type="cylinder" size="0.01" fromto="-0.074 -0.1049 0 -0.074 0.1049 0"/>
+            <geom name="pages" type="box" size="0.07 0.105 0.008" rgba="1 1 1 1"/>
+            <body name="front_cover">
+                <geom name="front_cover" type="box" size="0.074 0.105 0.002" pos="0 0 0.01"/>
+                <joint name="front_cover_joint" pos="-0.074 0 0" range="-150 0"/>
+            </body>
+            <body name="back_cover">
+                <geom name="back_cover" type="box" size="0.074 0.105 0.002" pos="0 0 -0.01"/>
+                <joint name="back_cover_joint" pos="-0.074 0 0" range="0 150"/>
+            </body>
+        </body>
+    </worldbody>
+</mujoco>
diff --git a/faive_gym/cfg/task/FaiveHandP0_book.yaml b/faive_gym/cfg/task/FaiveHandP0_book.yaml
@@ -0,0 +1,6 @@
+defaults:
+  - FaiveHandP0
+# a simple example of introducing an articulated object
+# doesn't learn any actual task, feel free to improve it...
+env:
+  object_type: ["simple_book"]
diff --git a/faive_gym/cfg/task/FaiveHandP0_crawl.yaml b/faive_gym/cfg/task/FaiveHandP0_crawl.yaml
@@ -0,0 +1,41 @@
+defaults:
+  - FaiveHandP0
+# use the Crawl class defined in tasks/crawl.py
+# see crawl.py for how to use
+# doesn't actually train, just an example of how to have a free base robot
+name: Crawl
+env:
+  hand_fix_base: False
+  hand_start_p: [0, 0, 0.1]
+  hand_start_r: [0, 0, 0, 1]
+
+  object_fix_base: True
+  object_start_offset: [0, 0, 1]  # move it to where it won't interfere with hand
+
+rewards:
+  scales:
+    action_penalty: 0.
+    dof_acc_penalty: 0.
+    dof_vel_penalty: 0.
+    dof_trq_penalty: -0.0025 
+    success: 0.
+    drop_penalty: 0.
+    simple_hand_flat: 0.0
+
+    reorienttask_obj_dist: 0.
+    reorienttask_obj_rot: 0.
+
+    crawl_forward_vel: 20.
+    crawl_penalty_upsidedown: -0.1
+
+  fall_dist_threshold: 10.  # practically disabled
+
+observations:
+  # change to include more stuff about body
+  actor_observations: ["dof_position", "dof_speed", "dof_force",
+                       "hand_quat", "hand_vel",
+                       "actions"]
+
+  obs_dims:
+    hand_quat: 4
+    hand_vel: 6
diff --git a/faive_gym/cfg/task/RobotHandDefault.yaml b/faive_gym/cfg/task/RobotHandDefault.yaml
@@ -29,9 +29,14 @@ env:
   object_start_offset: [0, 0, 0]  # position of object initial position, relative to the hand
   actuated_dof_range_override: None  # optionally use a smaller joint range of actuation, helpful if the real robot can't achieve the full range of motion
 
+  # whether to fix objects in the world, or let them loose
+  object_fix_base: False
+  hand_fix_base: True
+
   # hand start pose position (x, y, z)
   hand_start_p: [0, 0, 0.5]
-  # hand start pose quaternion (w, x, y, z)
+  # hand start pose quaternion (x, y, z, w)
+  # rotate 200 degrees around x axis to make palm face up, and slightly tilt it downwards
   hand_start_r: [0.9848078, 0, 0, -0.1736482]
 
 asset:

diff --git a/faive_gym/cfg/train/FaiveHandP0_bookPPO.yaml b/faive_gym/cfg/train/FaiveHandP0_bookPPO.yaml
@@ -0,0 +1,2 @@
+defaults:
+  - FaiveHandP0PPO
diff --git a/faive_gym/cfg/train/FaiveHandP0_crawlPPO.yaml b/faive_gym/cfg/train/FaiveHandP0_crawlPPO.yaml
@@ -0,0 +1,2 @@
+defaults:
+  - FaiveHandP0PPO