feat(safe isaac gym): upload heterogeneous freight_franka robot as ne…

…w agent (#71)

Co-authored-by: Gaiejj <[email protected]>

.pre-commit-config.yaml

@@ -13,6 +13,10 @@ repos:
       - id: check-symlinks
       - id: destroyed-symlinks
       - id: trailing-whitespace
+        exclude: |
+          (?x)(
+            ^safety_gymnasium/tasks/safe_isaac_gym/assets/|
+          )
       - id: end-of-file-fixer
       - id: check-yaml
       - id: check-toml
@@ -28,9 +32,17 @@ repos:
       - id: check-merge-conflict
         exclude: \.rst$
       - id: check-executables-have-shebangs
+        exclude: |
+          (?x)(
+            ^safety_gymnasium/tasks/safe_isaac_gym/assets/|
+          )
       - id: check-shebang-scripts-are-executable
       - id: detect-private-key
       - id: debug-statements
+        exclude: |
+          (?x)(
+            ^safety_gymnasium/tasks/safe_isaac_gym/envs/tasks/freight_franka_pick_and_place.py|
+          )
       - id: double-quote-string-fixer
   - repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.0.285
@@ -39,7 +51,7 @@ repos:
         args: [--fix, --exit-non-zero-on-fix]
         exclude: |
           (?x)(
-            ^safety_gymnasium/tasks/safe_issac_gym/
+            ^safety_gymnasium/tasks/safe_isaac_gym/
           )
   - repo: https://github.com/PyCQA/isort
     rev: 5.12.0
@@ -70,7 +82,7 @@ repos:
           - flake8-simplify
         exclude: |
           (?x)(
-            ^safety_gymnasium/tasks/safe_issac_gym/|
+            ^safety_gymnasium/tasks/safe_isaac_gym/|
             ^examples/|
             ^tests/|
             ^docs/conf.py$
@@ -82,7 +94,7 @@ repos:
         additional_dependencies: [".[toml]"]
         exclude: |
           (?x)(
-            ^safety_gymnasium/tasks/safe_issac_gym/assets/urdf/xarm_description/urdf/camera.gazebo.xacro$|
+            ^safety_gymnasium/tasks/safe_isaac_gym/|
             ^docs/spelling_wordlist.txt$
           )
   - repo: local
@@ -95,7 +107,7 @@ repos:
         require_serial: true
         exclude: |
           (?x)(
-            ^safety_gymnasium/tasks/safe_issac_gym/|
+            ^safety_gymnasium/tasks/safe_isaac_gym/|
             ^examples/|
             ^tests/|
             ^setup.py$|

Makefile

@@ -105,14 +105,14 @@ pylint: pylint-install
 	$(PYTHON) -m pylint $(PROJECT_PATH)
 
 flake8: flake8-install
-	$(PYTHON) -m flake8 --count --show-source --statistics --exclude=safety_gymnasium/tasks/safe_issac_gym
+	$(PYTHON) -m flake8 --count --show-source --statistics --exclude=safety_gymnasium/tasks/safe_isaac_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 --exclude=safety_gymnasium/tasks/safe_issac_gym/ .
+	$(PYTHON) -m ruff check --exclude=safety_gymnasium/tasks/safe_isaac_gym/ .
 
 ruff-fix: ruff-install
 	$(PYTHON) -m ruff check . --fix --exit-non-zero-on-fix
@@ -126,7 +126,21 @@ pre-commit: pre-commit-install
 # Documentation
 
 addlicense: addlicense-install
-	addlicense -c $(COPYRIGHT) -ignore tests/coverage.xml -l apache -y 2022-$(shell date +"%Y") -check $(SOURCE_FOLDERS)
+	addlicense -c $(COPYRIGHT) \
+	-ignore tests/coverage.xml \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/door.yaml \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/handle.yaml \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/tree_hier_after_merging.html \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/tree_hier.html \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/urdf/shadow_hand_description/meshes/convert_dae2obj.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/utils/util.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/utils/Logger.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/utils/process_sarl.py \
+	-ignore docs/_build/spelling/_sphinx_design_static/design-tabs.js \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/tasks/freight_franka_close_drawer.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/tasks/freight_franka_pick_and_place.py \
+	-ignore docs/_build/spelling/_sphinx_design_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css \
+	-l apache -y 2022-$(shell date +"%Y") $(SOURCE_FOLDERS)
 
 docstyle: docs-install
 	make -C docs clean
@@ -152,7 +166,21 @@ format: py-format-install ruff-install addlicense-install
 	$(PYTHON) -m isort --project $(PROJECT_PATH) $(PYTHON_FILES)
 	$(PYTHON) -m black $(PYTHON_FILES)
 	$(PYTHON) -m ruff check . --fix --exit-zero
-	addlicense -c $(COPYRIGHT) -ignore tests/coverage.xml -l apache -y 2022-$(shell date +"%Y") $(SOURCE_FOLDERS)
+	addlicense -c $(COPYRIGHT) \
+	-ignore tests/coverage.xml \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/door.yaml \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/handle.yaml \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/tree_hier_after_merging.html \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/tree_hier.html \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/assets/urdf/shadow_hand_description/meshes/convert_dae2obj.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/utils/util.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/utils/Logger.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/utils/process_sarl.py \
+	-ignore docs/_build/spelling/_sphinx_design_static/design-tabs.js \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/tasks/freight_franka_close_drawer.py \
+	-ignore safety_gymnasium/tasks/safe_isaac_gym/envs/tasks/freight_franka_pick_and_place.py \
+	-ignore docs/_build/spelling/_sphinx_design_static/design-style.1e8bd061cd6da7fc9cf755528e8ffc24.min.css \
+	-l apache -y 2022-$(shell date +"%Y") $(SOURCE_FOLDERS)
 
 clean-py:
 	find . -type f -name  '*.py[co]' -delete

safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.678542, -0.602699, -0.435181], "max": [0.758094, 0.577395, 0.450958]}

safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/door.yaml

@@ -0,0 +1,8 @@
+bounding_box:
+  xmax: -0.04847780242562294
+  xmin: -0.47048961520195004
+  ymax: 0.3996867179870605
+  ymin: 0.23507259488105772
+  zmax: 0.3066917032003402
+  zmin: -0.20885130465030669
+open_dir: 0

safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/handle.yaml

@@ -0,0 +1,5 @@
+has_handle: true
+pos:
+  x: -0.25948401871212023
+  y: 0.3173797114886702
+  z: 0.28837746821622795

safety_gymnasium/tasks/safe_isaac_gym/envs/assets/dataset/one_drawer_cabinet/40147_link_1/meta.json

@@ -0,0 +1 @@
+{"model_id": "3cdabe258ed67a144da5feafe6f1c8fc", "anno_id": "40147", "user_id": "face++tanlei", "time_in_sec": "736", "version": "3", "model_cat": "StorageFurniture"}