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

.pre-commit-config.yaml

@@ -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/|
           )
@@ -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:
@@ -64,6 +69,7 @@ repos:
           - flake8-simplify
         exclude: |
           (?x)(
+            ^safety_gymnasium/tasks/safe_issac_gym/|
             ^examples/|
             ^tests/|
             ^docs/conf.py$
@@ -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
@@ -87,6 +94,7 @@ repos:
         require_serial: true
         exclude: |
           (?x)(
+            ^safety_gymnasium/tasks/safe_issac_gym/|
             ^examples/|
             ^tests/|
             ^setup.py$|

Makefile

@@ -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

docs/components_of_environments/tasks/task_example.rst

@@ -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):
@@ -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):

examples/env.py

@@ -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)

safety_gymnasium/__init__.py

@@ -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,
 )

safety_gymnasium/tasks/__init__.py

@@ -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

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.256442, -0.837097, -0.255704], "max": [0.270453, 0.997018, 0.270788]}

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/meta.json

@@ -0,0 +1 @@
+{"model_id": "f0a5f6d2cf8fcb72c12d8e00a78db6e2", "anno_id": "4064", "user_id": "zhouwenxian", "time_in_sec": "88", "version": "3", "model_cat": "Bottle"}

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/mobility.urdf

@@ -0,0 +1,111 @@
+<?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>

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/mobility_v2.json

@@ -0,0 +1 @@
+[{"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":{}}]

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/0.txt

@@ -0,0 +1 @@
+0 bottle Bottle

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/1.txt

@@ -0,0 +1 @@
+1 normal_bottle Normal Bottle

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/5.txt

@@ -0,0 +1 @@
+5 body Body

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/6.txt

@@ -0,0 +1 @@
+6 neck Neck

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render/7.txt

@@ -0,0 +1 @@
+7 lid Lid

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/0.txt

@@ -0,0 +1 @@
+0 bottle bottle

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/1.txt

@@ -0,0 +1 @@
+1 normal_bottle normal_bottle

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/2.txt

@@ -0,0 +1 @@
+2 body body

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/3.txt

@@ -0,0 +1 @@
+3 neck neck

safety_gymnasium/tasks/safe_issac_gym/assets/mjcf/bottle_cap/parts_render_after_merging/4.txt

@@ -0,0 +1 @@
+4 lid lid