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feat(environments): update safe issac gym environments #65

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merged 11 commits into from
Jul 21, 2023
Merged

feat(environments): update safe issac gym environments #65

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203dcb0
upload safe issac gym
muchvo Jul 14, 2023
d870fc4
ignore safe_isaac gym in makefile for ruff
muchvo Jul 20, 2023
520727a
ignore safe isaac in flake8
muchvo Jul 20, 2023
6b20bcc
update license
muchvo Jul 20, 2023
975d587
Merge branch 'main' into safe_issac
muchvo Jul 20, 2023
a9ab95b
Merge branch 'main' of https://github.com/OmniSafeAI/safety-gymnasium…
muchvo Jul 20, 2023
7639cb8
update file layer and version
muchvo Jul 20, 2023
3d55859
Merge branch 'safe_issac' of https://github.com/muchvo/Safety-Gymnasi…
muchvo Jul 20, 2023
b4d4f24
wip
muchvo Jul 20, 2023
c7d4a7d
fix
muchvo Jul 20, 2023
a596f57
update placements
muchvo Jul 21, 2023
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8 changes: 8 additions & 0 deletions .pre-commit-config.yaml
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Expand Up @@ -20,6 +20,7 @@ repos:
- id: check-added-large-files
exclude: |
(?x)(
^safety_gymnasium/tasks/safe_issac_gym/assets/|
^safety_gymnasium/assets/meshes/|
^safety_gymnasium/assets/textures/|
)
Expand All @@ -35,6 +36,10 @@ repos:
hooks:
- id: ruff
args: [--fix, --exit-non-zero-on-fix]
exclude: |
(?x)(
^safety_gymnasium/tasks/safe_issac_gym/
)
- repo: https://github.com/PyCQA/isort
rev: 5.12.0
hooks:
Expand Down Expand Up @@ -64,6 +69,7 @@ repos:
- flake8-simplify
exclude: |
(?x)(
^safety_gymnasium/tasks/safe_issac_gym/|
^examples/|
^tests/|
^docs/conf.py$
Expand All @@ -75,6 +81,7 @@ repos:
additional_dependencies: [".[toml]"]
exclude: |
(?x)(
^safety_gymnasium/tasks/safe_issac_gym/assets/urdf/xarm_description/urdf/camera.gazebo.xacro$|
^docs/spelling_wordlist.txt$
)
- repo: local
Expand All @@ -87,6 +94,7 @@ repos:
require_serial: true
exclude: |
(?x)(
^safety_gymnasium/tasks/safe_issac_gym/|
^examples/|
^tests/|
^setup.py$|
Expand Down
4 changes: 2 additions & 2 deletions Makefile
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Expand Up @@ -104,14 +104,14 @@ pylint: pylint-install
$(PYTHON) -m pylint $(PROJECT_PATH)

flake8: flake8-install
$(PYTHON) -m flake8 --count --show-source --statistics
$(PYTHON) -m flake8 --count --show-source --statistics --exclude=safety_gymnasium/tasks/safe_issac_gym

py-format: py-format-install
$(PYTHON) -m isort --project $(PROJECT_PATH) --check $(PYTHON_FILES) && \
$(PYTHON) -m black --check $(PYTHON_FILES)

ruff: ruff-install
$(PYTHON) -m ruff check .
$(PYTHON) -m ruff check --exclude=safety_gymnasium/tasks/safe_issac_gym/ .

ruff-fix: ruff-install
$(PYTHON) -m ruff check . --fix --exit-non-zero-on-fix
Expand Down
4 changes: 2 additions & 2 deletions docs/components_of_environments/tasks/task_example.rst
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Expand Up @@ -91,7 +91,7 @@ Goal1
from safety_gymnasium.assets.geoms import Hazards
from safety_gymnasium.assets.objects import Vases
# Inherit the previous difficulty
from safety_gymnasium.tasks.goal.goal_level0 import GoalLevel0
from safety_gymnasium.tasks.safe_navigation.goal.goal_level0 import GoalLevel0


class GoalLevel1(GoalLevel0):
Expand Down Expand Up @@ -120,7 +120,7 @@ Goal2
"""Goal level 2."""

# Inherit the previous difficulty
from safety_gymnasium.tasks.goal.goal_level1 import GoalLevel1
from safety_gymnasium.tasks.safe_navigation.goal.goal_level1 import GoalLevel1


class GoalLevel2(GoalLevel1):
Expand Down
2 changes: 1 addition & 1 deletion examples/env.py
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Expand Up @@ -44,6 +44,6 @@ def run_random(env_name):

if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--env', default='SafetyDoggoRace2-v0')
parser.add_argument('--env', default='SafetyAntVelocity-v0')
args = parser.parse_args()
run_random(args.env)
24 changes: 12 additions & 12 deletions safety_gymnasium/__init__.py
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Expand Up @@ -173,80 +173,80 @@ def __combine(tasks, agents, max_episode_steps):

__register_helper(
env_id='SafetyHalfCheetahVelocity-v0',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_half_cheetah_velocity_v0:SafetyHalfCheetahVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_half_cheetah_velocity_v0:SafetyHalfCheetahVelocityEnv',
max_episode_steps=1000,
reward_threshold=4800.0,
)

__register_helper(
env_id='SafetyHopperVelocity-v0',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_hopper_velocity_v0:SafetyHopperVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_hopper_velocity_v0:SafetyHopperVelocityEnv',
max_episode_steps=1000,
reward_threshold=3800.0,
)

__register_helper(
env_id='SafetySwimmerVelocity-v0',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_swimmer_velocity_v0:SafetySwimmerVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_swimmer_velocity_v0:SafetySwimmerVelocityEnv',
max_episode_steps=1000,
reward_threshold=360.0,
)

__register_helper(
env_id='SafetyWalker2dVelocity-v0',
max_episode_steps=1000,
entry_point='safety_gymnasium.tasks.safety_velocity.safety_walker2d_velocity_v0:SafetyWalker2dVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_walker2d_velocity_v0:SafetyWalker2dVelocityEnv',
)

__register_helper(
env_id='SafetyAntVelocity-v0',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_ant_velocity_v0:SafetyAntVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_ant_velocity_v0:SafetyAntVelocityEnv',
max_episode_steps=1000,
reward_threshold=6000.0,
)

__register_helper(
env_id='SafetyHumanoidVelocity-v0',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_humanoid_velocity_v0:SafetyHumanoidVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_humanoid_velocity_v0:SafetyHumanoidVelocityEnv',
max_episode_steps=1000,
)

__register_helper(
env_id='SafetyHalfCheetahVelocity-v1',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_half_cheetah_velocity_v1:SafetyHalfCheetahVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_half_cheetah_velocity_v1:SafetyHalfCheetahVelocityEnv',
max_episode_steps=1000,
reward_threshold=4800.0,
)

__register_helper(
env_id='SafetyHopperVelocity-v1',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_hopper_velocity_v1:SafetyHopperVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_hopper_velocity_v1:SafetyHopperVelocityEnv',
max_episode_steps=1000,
reward_threshold=3800.0,
)

__register_helper(
env_id='SafetySwimmerVelocity-v1',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_swimmer_velocity_v1:SafetySwimmerVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_swimmer_velocity_v1:SafetySwimmerVelocityEnv',
max_episode_steps=1000,
reward_threshold=360.0,
)

__register_helper(
env_id='SafetyWalker2dVelocity-v1',
max_episode_steps=1000,
entry_point='safety_gymnasium.tasks.safety_velocity.safety_walker2d_velocity_v1:SafetyWalker2dVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_walker2d_velocity_v1:SafetyWalker2dVelocityEnv',
)

__register_helper(
env_id='SafetyAntVelocity-v1',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_ant_velocity_v1:SafetyAntVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_ant_velocity_v1:SafetyAntVelocityEnv',
max_episode_steps=1000,
reward_threshold=6000.0,
)

__register_helper(
env_id='SafetyHumanoidVelocity-v1',
entry_point='safety_gymnasium.tasks.safety_velocity.safety_humanoid_velocity_v1:SafetyHumanoidVelocityEnv',
entry_point='safety_gymnasium.tasks.safe_velocity.safety_humanoid_velocity_v1:SafetyHumanoidVelocityEnv',
max_episode_steps=1000,
)
47 changes: 28 additions & 19 deletions safety_gymnasium/tasks/__init__.py
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Expand Up @@ -14,22 +14,31 @@
# ==============================================================================
"""Tasks in Safety-Gymnasium."""

from safety_gymnasium.tasks.button.button_level0 import ButtonLevel0
from safety_gymnasium.tasks.button.button_level1 import ButtonLevel1
from safety_gymnasium.tasks.button.button_level2 import ButtonLevel2
from safety_gymnasium.tasks.circle.circle_level0 import CircleLevel0
from safety_gymnasium.tasks.circle.circle_level1 import CircleLevel1
from safety_gymnasium.tasks.circle.circle_level2 import CircleLevel2
from safety_gymnasium.tasks.fading.fading_level0 import FadingEasyLevel0, FadingHardLevel0
from safety_gymnasium.tasks.fading.fading_level1 import FadingEasyLevel1, FadingHardLevel1
from safety_gymnasium.tasks.fading.fading_level2 import FadingEasyLevel2, FadingHardLevel2
from safety_gymnasium.tasks.goal.goal_level0 import GoalLevel0
from safety_gymnasium.tasks.goal.goal_level1 import GoalLevel1
from safety_gymnasium.tasks.goal.goal_level2 import GoalLevel2
from safety_gymnasium.tasks.push.push_level0 import PushLevel0
from safety_gymnasium.tasks.push.push_level1 import PushLevel1
from safety_gymnasium.tasks.push.push_level2 import PushLevel2
from safety_gymnasium.tasks.race.race_level0 import RaceLevel0
from safety_gymnasium.tasks.race.race_level1 import RaceLevel1
from safety_gymnasium.tasks.race.race_level2 import RaceLevel2
from safety_gymnasium.tasks.run.run import RunLevel0
from safety_gymnasium.tasks.safe_navigation.button.button_level0 import ButtonLevel0
from safety_gymnasium.tasks.safe_navigation.button.button_level1 import ButtonLevel1
from safety_gymnasium.tasks.safe_navigation.button.button_level2 import ButtonLevel2
from safety_gymnasium.tasks.safe_navigation.circle.circle_level0 import CircleLevel0
from safety_gymnasium.tasks.safe_navigation.circle.circle_level1 import CircleLevel1
from safety_gymnasium.tasks.safe_navigation.circle.circle_level2 import CircleLevel2
from safety_gymnasium.tasks.safe_navigation.goal.goal_level0 import GoalLevel0
from safety_gymnasium.tasks.safe_navigation.goal.goal_level1 import GoalLevel1
from safety_gymnasium.tasks.safe_navigation.goal.goal_level2 import GoalLevel2
from safety_gymnasium.tasks.safe_navigation.push.push_level0 import PushLevel0
from safety_gymnasium.tasks.safe_navigation.push.push_level1 import PushLevel1
from safety_gymnasium.tasks.safe_navigation.push.push_level2 import PushLevel2
from safety_gymnasium.tasks.safe_navigation.run.run import RunLevel0
from safety_gymnasium.tasks.safe_vision.fading.fading_level0 import (
FadingEasyLevel0,
FadingHardLevel0,
)
from safety_gymnasium.tasks.safe_vision.fading.fading_level1 import (
FadingEasyLevel1,
FadingHardLevel1,
)
from safety_gymnasium.tasks.safe_vision.fading.fading_level2 import (
FadingEasyLevel2,
FadingHardLevel2,
)
from safety_gymnasium.tasks.safe_vision.race.race_level0 import RaceLevel0
from safety_gymnasium.tasks.safe_vision.race.race_level1 import RaceLevel1
from safety_gymnasium.tasks.safe_vision.race.race_level2 import RaceLevel2
1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/bounding_box.json
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{"min": [-0.256442, -0.837097, -0.255704], "max": [0.270453, 0.997018, 0.270788]}
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1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/meta.json
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{"model_id": "f0a5f6d2cf8fcb72c12d8e00a78db6e2", "anno_id": "4064", "user_id": "zhouwenxian", "time_in_sec": "88", "version": "3", "model_cat": "Bottle"}
111 changes: 111 additions & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/mobility.urdf
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<?xml version="1.0" ?>
<robot name="partnet_f0a5f6d2cf8fcb72c12d8e00a78db6e2">
<link name="base"/>
<link name="link_0">
<visual name="lid-7">
<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
<geometry>
<mesh filename="textured_objs/original-7.obj" scale="0.15 0.15 0.15"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
<geometry>
<mesh filename="textured_objs/original-7.obj" scale="0.15 0.15 0.15"/>
</geometry>
</collision>
</link>
<joint name="joint_0" type="continuous">
<origin xyz="0.0 0 0.0"/>
<axis xyz="0 1 0"/>
<child link="link_0"/>
<parent link="link_0_helper"/>
</joint>
<link name="link_1">
<visual name="body-5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-4.obj" scale="0.15 0.15 0.15"/>
</geometry>
</visual>
<visual name="body-5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-3.obj" scale="0.15 0.15 0.15"/>
</geometry>
</visual>
<visual name="body-5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-8.obj" scale="0.15 0.15 0.15"/>
</geometry>
</visual>
<visual name="body-5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-6.obj" scale="0.15 0.15 0.15"/>
</geometry>
</visual>
<visual name="body-5">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-2.obj" scale="0.15 0.15 0.15"/>
</geometry>
</visual>
<visual name="neck-6">
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-5.obj" scale="0.15 0.15 0.15"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-4.obj" scale="0.15 0.15 0.15"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-3.obj" scale="0.15 0.15 0.15"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-8.obj" scale="0.15 0.15 0.15"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-6.obj" scale="0.15 0.15 0.15"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-2.obj" scale="0.15 0.15 0.15"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-5.obj" scale="0.15 0.15 0.15"/>
</geometry>
</collision>
</link>
<joint name="joint_1" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_1"/>
<parent link="base"/>
</joint>
<link name="link_0_helper"/>
<joint name="joint_2" type="prismatic">
<origin xyz="0.007005959241653967 0 0.007542109902568375"/>
<axis xyz="0 1 0"/>
<child link="link_0_helper"/>
<parent link="link_1"/>
<limit lower="0" upper="0.06400000000000006"/>
</joint>
</robot>
1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/mobility_v2.json
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[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":7,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.007005959241653967,0,0.007542109902568375],"direction":[0,1,0]},"limit":{"a":0,"b":0.06400000000000006,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":5,"name":"body","children":[]},{"id":6,"name":"neck","children":[]}],"jointData":{}}]
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1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/0.txt
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0 bottle Bottle
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1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/1.txt
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1 normal_bottle Normal Bottle
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1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/5.txt
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5 body Body
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1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/6.txt
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6 neck Neck
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1 change: 1 addition & 0 deletions safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/7.txt
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7 lid Lid
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1 change: 1 addition & 0 deletions ...ty_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/0.txt
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0 bottle bottle
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1 change: 1 addition & 0 deletions ...ty_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/1.txt
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1 normal_bottle normal_bottle
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1 change: 1 addition & 0 deletions ...ty_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/2.txt
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2 body body
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1 change: 1 addition & 0 deletions ...ty_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/3.txt
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3 neck neck
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1 change: 1 addition & 0 deletions ...ty_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/4.txt
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4 lid lid
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