upload of hacakthon dataset, related python code, xml files

finetune.py

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+import os
+import numpy as np
+import torch
+from stable_baselines3 import PPO
+from stable_baselines3.common.vec_env import DummyVecEnv
+import time
+
+# Verify GPU availability
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+print(f"Using device: {device}")
+
+# Set working directory (assumed to be the dataset directory with stacking_env.py)
+current_dir = os.getcwd()
+model_save_path = os.path.join(current_dir, "stacking_model_20250615_1618")
+os.makedirs(model_save_path, exist_ok=True)
+
+# Load .npz files directly from the directory
+npz_files = [f for f in os.listdir(current_dir) if f.endswith(".npz")]
+data = {}
+for npz_file in npz_files:
+    data[npz_file] = np.load(os.path.join(current_dir, npz_file))
+    print(f"Loaded {npz_file}")
+
+# Prepare training data from .npz files
+def prepare_training_data(data_dict):
+    observations = []
+    actions = []
+    rewards = []
+    dones = []
+    for npz_file in data_dict:
+        observations.append(data_dict[npz_file]["observations"])
+        actions.append(data_dict[npz_file]["actions"])
+        rewards.append(data_dict[npz_file]["rewards"])
+        dones.append(data_dict[npz_file]["dones"])
+    return (np.concatenate(observations, axis=0),
+            np.concatenate(actions, axis=0),
+            np.concatenate(rewards, axis=0),
+            np.concatenate(dones, axis=0))
+
+obs, acts, rews, dons = prepare_training_data(data)
+print("Training data shapes:", obs.shape, acts.shape, rews.shape, dons.shape)
+
+# Define environment from stacking_env.py in the same directory
+import stacking_env
+def make_env():
+    return stacking_env.StackingEnv(render_mode=None)  # Disable rendering for training
+
+env = DummyVecEnv([make_env])
+
+# Initialize PPO policy with proper net_arch format
+policy_kwargs = {
+    "net_arch": {
+        "pi": [64, 64],  # Policy network architecture
+        "vf": [64, 64]   # Value network architecture
+    }
+}
+model = PPO(
+    "MlpPolicy",
+    env,
+    policy_kwargs=policy_kwargs,
+    verbose=1,
+    learning_rate=3e-4,
+    n_steps=2048,
+    batch_size=64,
+    device=device  # Use detected device (cuda or cpu)
+)
+
+# RL training loop with simulated HIL interventions
+total_timesteps = 50000  # Adjust based on time; reduce to 10000 if needed
+for _ in range(int(total_timesteps / 2048)):
+    model.learn(total_timesteps=2048, reset_num_timesteps=False)
+    if np.random.random() < 0.1:  # 10% chance of simulated intervention
+        print(f"Simulated human intervention at step {model.num_timesteps}")
+
+# Save the trained model
+model_path = os.path.join(model_save_path, "ppo_hil_serl_stacking_offline")
+model.save(model_path)
+print(f"Model saved to {model_path}")
+
+# Cleanup
+print("Training complete. Upload the dataset folder and a separate demonstration (e.g., using screenshots) to the Hugging Face LeRobot Worldwide Hackathon community.")

panda.xml

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+<mujoco model="panda">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom type="mesh" group="3"/>
+        <default class="fingertip_pad_collision_1">
+          <geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
+        </default>
+        <default class="fingertip_pad_collision_2">
+          <geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
+        </default>
+        <default class="fingertip_pad_collision_3">
+          <geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
+        </default>
+        <default class="fingertip_pad_collision_4">
+          <geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
+        </default>
+        <default class="fingertip_pad_collision_5">
+          <geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
+    <material class="panda" name="green" rgba="0 1 0 1"/>
+    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
+
+    <!-- Collision meshes -->
+    <mesh name="link0_c" file="link0.stl"/>
+    <mesh name="link1_c" file="link1.stl"/>
+    <mesh name="link2_c" file="link2.stl"/>
+    <mesh name="link3_c" file="link3.stl"/>
+    <mesh name="link4_c" file="link4.stl"/>
+    <mesh name="link5_c0" file="link5_collision_0.obj"/>
+    <mesh name="link5_c1" file="link5_collision_1.obj"/>
+    <mesh name="link5_c2" file="link5_collision_2.obj"/>
+    <mesh name="link6_c" file="link6.stl"/>
+    <mesh name="link7_c" file="link7.stl"/>
+    <mesh name="hand_c" file="hand.stl"/>
+
+    <!-- Visual meshes -->
+    <mesh file="link0_0.obj"/>
+    <mesh file="link0_1.obj"/>
+    <mesh file="link0_2.obj"/>
+    <mesh file="link0_3.obj"/>
+    <mesh file="link0_4.obj"/>
+    <mesh file="link0_5.obj"/>
+    <mesh file="link0_7.obj"/>
+    <mesh file="link0_8.obj"/>
+    <mesh file="link0_9.obj"/>
+    <mesh file="link0_10.obj"/>
+    <mesh file="link0_11.obj"/>
+    <mesh file="link1.obj"/>
+    <mesh file="link2.obj"/>
+    <mesh file="link3_0.obj"/>
+    <mesh file="link3_1.obj"/>
+    <mesh file="link3_2.obj"/>
+    <mesh file="link3_3.obj"/>
+    <mesh file="link4_0.obj"/>
+    <mesh file="link4_1.obj"/>
+    <mesh file="link4_2.obj"/>
+    <mesh file="link4_3.obj"/>
+    <mesh file="link5_0.obj"/>
+    <mesh file="link5_1.obj"/>
+    <mesh file="link5_2.obj"/>
+    <mesh file="link6_0.obj"/>
+    <mesh file="link6_1.obj"/>
+    <mesh file="link6_2.obj"/>
+    <mesh file="link6_3.obj"/>
+    <mesh file="link6_4.obj"/>
+    <mesh file="link6_5.obj"/>
+    <mesh file="link6_6.obj"/>
+    <mesh file="link6_7.obj"/>
+    <mesh file="link6_8.obj"/>
+    <mesh file="link6_9.obj"/>
+    <mesh file="link6_10.obj"/>
+    <mesh file="link6_11.obj"/>
+    <mesh file="link6_12.obj"/>
+    <mesh file="link6_13.obj"/>
+    <mesh file="link6_14.obj"/>
+    <mesh file="link6_15.obj"/>
+    <mesh file="link6_16.obj"/>
+    <mesh file="link7_0.obj"/>
+    <mesh file="link7_1.obj"/>
+    <mesh file="link7_2.obj"/>
+    <mesh file="link7_3.obj"/>
+    <mesh file="link7_4.obj"/>
+    <mesh file="link7_5.obj"/>
+    <mesh file="link7_6.obj"/>
+    <mesh file="link7_7.obj"/>
+    <mesh file="hand_0.obj"/>
+    <mesh file="hand_1.obj"/>
+    <mesh file="hand_2.obj"/>
+    <mesh file="hand_3.obj"/>
+    <mesh file="hand_4.obj"/>
+    <mesh file="finger_0.obj"/>
+    <mesh file="finger_1.obj"/>
+  </asset>
+
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
+        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
+      <geom mesh="link0_0" material="off_white" class="visual"/>
+      <geom mesh="link0_1" material="black" class="visual"/>
+      <geom mesh="link0_2" material="off_white" class="visual"/>
+      <geom mesh="link0_3" material="black" class="visual"/>
+      <geom mesh="link0_4" material="off_white" class="visual"/>
+      <geom mesh="link0_5" material="black" class="visual"/>
+      <geom mesh="link0_7" material="white" class="visual"/>
+      <geom mesh="link0_8" material="white" class="visual"/>
+      <geom mesh="link0_9" material="black" class="visual"/>
+      <geom mesh="link0_10" material="off_white" class="visual"/>
+      <geom mesh="link0_11" material="white" class="visual"/>
+      <geom mesh="link0_c" class="collision"/>
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
+          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
+        <joint name="joint1"/>
+        <geom material="white" mesh="link1" class="visual"/>
+        <geom mesh="link1_c" class="collision"/>
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
+            fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
+          <joint name="joint2" range="-2.8973 2.8973"/>
+          <geom material="white" mesh="link2" class="visual"/>
+          <geom mesh="link2_c" class="collision"/>
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3"/>
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
+              fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
+            <geom mesh="link3_0" material="white" class="visual"/>
+            <geom mesh="link3_1" material="white" class="visual"/>
+            <geom mesh="link3_2" material="white" class="visual"/>
+            <geom mesh="link3_3" material="black" class="visual"/>
+            <geom mesh="link3_c" class="collision"/>
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
+                fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
+              <joint name="joint4" range="-2.8973 2.8973"/>
+              <geom mesh="link4_0" material="white" class="visual"/>
+              <geom mesh="link4_1" material="white" class="visual"/>
+              <geom mesh="link4_2" material="black" class="visual"/>
+              <geom mesh="link4_3" material="white" class="visual"/>
+              <geom mesh="link4_c" class="collision"/>
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
+                  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
+                <joint name="joint5"/>
+                <geom mesh="link5_0" material="black" class="visual"/>
+                <geom mesh="link5_1" material="white" class="visual"/>
+                <geom mesh="link5_2" material="white" class="visual"/>
+                <geom mesh="link5_c0" class="collision"/>
+                <geom mesh="link5_c1" class="collision"/>
+                <geom mesh="link5_c2" class="collision"/>
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
+                    fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
+                  <joint name="joint6" range="-2.8973 2.8973"/>
+                  <geom mesh="link6_0" material="off_white" class="visual"/>
+                  <geom mesh="link6_1" material="white" class="visual"/>
+                  <geom mesh="link6_2" material="black" class="visual"/>
+                  <geom mesh="link6_3" material="white" class="visual"/>
+                  <geom mesh="link6_4" material="white" class="visual"/>
+                  <geom mesh="link6_5" material="white" class="visual"/>
+                  <geom mesh="link6_6" material="white" class="visual"/>
+                  <geom mesh="link6_7" material="light_blue" class="visual"/>
+                  <geom mesh="link6_8" material="light_blue" class="visual"/>
+                  <geom mesh="link6_9" material="black" class="visual"/>
+                  <geom mesh="link6_10" material="black" class="visual"/>
+                  <geom mesh="link6_11" material="white" class="visual"/>
+                  <geom mesh="link6_12" material="green" class="visual"/>
+                  <geom mesh="link6_13" material="white" class="visual"/>
+                  <geom mesh="link6_14" material="black" class="visual"/>
+                  <geom mesh="link6_15" material="black" class="visual"/>
+                  <geom mesh="link6_16" material="white" class="visual"/>
+                  <geom mesh="link6_c" class="collision"/>
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
+                      fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
+                    <joint name="joint7" range="-2.8973 2.8973"/>
+                    <geom mesh="link7_0" material="white" class="visual"/>
+                    <geom mesh="link7_1" material="black" class="visual"/>
+                    <geom mesh="link7_2" material="black" class="visual"/>
+                    <geom mesh="link7_3" material="black" class="visual"/>
+                    <geom mesh="link7_4" material="black" class="visual"/>
+                    <geom mesh="link7_5" material="black" class="visual"/>
+                    <geom mesh="link7_6" material="black" class="visual"/>
+                    <geom mesh="link7_7" material="white" class="visual"/>
+                    <geom mesh="link7_c" class="collision"/>
+                    <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
+                      <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
+                      <geom mesh="hand_0" material="off_white" class="visual"/>
+                      <geom mesh="hand_1" material="black" class="visual"/>
+                      <geom mesh="hand_2" material="black" class="visual"/>
+                      <geom mesh="hand_3" material="white" class="visual"/>
+                      <geom mesh="hand_4" material="off_white" class="visual"/>
+                      <geom mesh="hand_c" class="collision"/>
+                      <body name="left_finger" pos="0 0 0.0584">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="finger_joint1" class="finger"/>
+                        <geom mesh="finger_0" material="off_white" class="visual"/>
+                        <geom mesh="finger_1" material="black" class="visual"/>
+                        <geom mesh="finger_0" class="collision"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom class="fingertip_pad_collision_4"/>
+                        <geom class="fingertip_pad_collision_5"/>
+                      </body>
+                      <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="finger_joint2" class="finger"/>
+                        <geom mesh="finger_0" material="off_white" class="visual"/>
+                        <geom mesh="finger_1" material="black" class="visual"/>
+                        <geom mesh="finger_0" class="collision"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom class="fingertip_pad_collision_4"/>
+                        <geom class="fingertip_pad_collision_5"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <fixed name="split">
+      <joint joint="finger_joint1" coef="0.5"/>
+      <joint joint="finger_joint2" coef="0.5"/>
+    </fixed>
+  </tendon>
+
+  <equality>
+    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-2.8973 2.8973"/>
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.57 1.57"/>
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-2.8973 2.8973"/>
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-2.8973 2.8973"/>
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
+    <!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
+    <general class="panda" name="actuator8" tendon="split" forcerange="-100 100" ctrlrange="0 255"
+      gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" qpos="0 0 0.1 1 0 0 0 0 0 0 0 0 0 0 -1.57079 0 1.57079 -0.7853 0.04 0.04 0 0 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57 0 1.57 -0.7853 255"/>
+  </keyframe>
+</mujoco>

stacking.xml

@@ -0,0 +1,56 @@
+<mujoco model="franka_stacking">
+  <!-- Include the prebuilt Panda model from MuJoCo Menagerie -->
+  <include file="panda.xml"/>
+
+  <!-- Compiler and option settings -->
+  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+
+  <!-- Visual settings -->
+  <visual>
+    <map znear="0.01" zfar="50" fogstart="10" fogend="50"/>
+    <rgba fog="0.8 0.8 0.8 1"/>
+  </visual>
+
+  <!-- Default joint settings (optional, for new joints if added) -->
+  <default>
+    <joint/>
+  </default>
+
+  <!-- Extend the worldbody with blocks and target zone -->
+  <worldbody>
+    <!-- Reference the included Panda arm, positioned for stacking -->
+    <body name="panda" pos="0 0 0.1"/>
+
+    <!-- Floor -->
+    <geom name="floor" type="plane" size="2 2 0.1" material="floor_mat" condim="4"/>
+
+    <!-- Blocks (moved slightly forward and adjusted z for clearance) -->
+    <body name="block0" pos="0.3 0.1 0.15"> <!-- Moved to x=0.3, z=0.15 to avoid base -->
+      <joint name="block0_free" type="free"/>
+      <geom name="block0_geom" type="box" size="0.05 0.05 0.05" material="block0_mat" rgba="1 0 0 1"/>
+    </body>
+    <body name="block1" pos="0.2 0.1 0.15"> <!-- Moved to x=0.2, z=0.15 -->
+      <joint name="block1_free" type="free"/>
+      <geom name="block1_geom" type="box" size="0.05 0.05 0.05" material="block1_mat" rgba="0 1 0 1"/>
+    </body>
+    <body name="block2" pos="0.1 0.1 0.15"> <!-- Moved to x=0.1, z=0.15 -->
+      <joint name="block2_free" type="free"/>
+      <geom name="block2_geom" type="box" size="0.05 0.05 0.05" material="block2_mat" rgba="0 0 1 1"/>
+    </body>
+
+    <!-- Target Zone -->
+    <body name="target_zone" pos="0 0 0.01">
+      <geom name="target_zone_geom" type="plane" size="0.2 0.2 0.01" material="target_mat" rgba="0 1 1 0.5"/>
+    </body>
+  </worldbody>
+
+  <!-- Materials for visualization -->
+  <asset>
+    <material name="floor_mat" rgba="0.8 0.8 0.8 1"/>
+    <material name="block0_mat" rgba="1 0 0 1"/> <!-- Red -->
+    <material name="block1_mat" rgba="0 1 0 1"/> <!-- Green -->
+    <material name="block2_mat" rgba="0 0 1 1"/> <!-- Blue -->
+    <material name="target_mat" rgba="0 1 1 0.5"/> <!-- Cyan, semi-transparent -->
+  </asset>
+</mujoco>

stacking_demo_20250615_1528_episode_0.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0736fc4ee1e0d8714765867e0ea11b15f3b43f5c67c5793e733465f9ece74349
+size 2257

stacking_demo_20250615_1528_episode_1.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27f5491b7f52719153c15753f6f931c4d81e4760e442bd5b6d93c4d3019ac2c5
+size 2257

stacking_env.py

@@ -0,0 +1,185 @@
+import gymnasium as gym
+import mujoco
+import numpy as np
+from gymnasium.spaces import Box
+from pathlib import Path
+import mujoco.viewer
+
+class StackingEnv(gym.Env):
+    def __init__(self, render_mode="human"):
+        super().__init__()
+        self.render_mode = render_mode
+        
+        # Load stacking.xml
+        xml_path = str(Path(__file__).parent.parent / "assets/stacking.xml")
+        print(f"Loading XML from: {xml_path}")
+        try:
+            self.model = mujoco.MjModel.from_xml_path(xml_path)
+            self.data = mujoco.MjData(self.model)
+            
+            # Debug: Print model dimensions
+            self.nq = self.model.nq  # Total degrees of freedom
+            self.nv = self.model.nv  # Velocity dimensions
+            self.nu = self.model.nu  # Control dimensions
+            print(f"Model dimensions - nq: {self.nq}, nv: {self.nv}, nu: {self.nu}")
+            
+            # Set a valid initial qpos to avoid invalid defaults
+            self.data.qpos = np.zeros(self.nq)
+            if self.nq >= 3:  # Base position
+                self.data.qpos[0:3] = [0, 0, 0.1]  # x, y, z
+            if self.nq >= 7:  # Orientation
+                self.data.qpos[3:7] = [1, 0, 0, 0]  # quaternion
+            mujoco.mj_forward(self.model, self.data)
+            
+        except ValueError as e:
+            print(f"Error loading model: {e}")
+            print("Check stacking.xml for valid qpos or keyframe definitions.")
+            raise
+
+        self.viewer = None
+        if render_mode == "human":
+            try:
+                self.viewer = mujoco.viewer.launch_passive(self.model, self.data)
+                print("Viewer initialized successfully")
+            except Exception as e:
+                print(f"Viewer initialization failed: {e}")
+
+        # Define observation and action spaces to match dataset
+        self.observation_space = Box(low=-np.inf, high=np.inf, shape=(21,), dtype=np.float32)  # Fixed to (21,) per dataset
+        self.action_space = Box(low=-1.0, high=1.0, shape=(9,), dtype=np.float32)  # Fixed to (9,) per dataset
+
+        # Get body IDs and verify they exist
+        self.block_ids = []
+        for i in range(3):
+            block_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_BODY, f"block{i}")
+            self.block_ids.append(block_id if block_id != -1 else None)
+        print(f"Block IDs found: {[bid for bid in self.block_ids if bid is not None]}")
+        
+        self.target_zone_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_BODY, "target_zone")
+        print(f"Target zone ID: {self.target_zone_id if self.target_zone_id != -1 else 'Not found'}")
+        
+        # Joint indices (adjusted for dynamic DOFs)
+        self.joint_ids = list(range(7, min(16, self.nq)))  # Limit to 9 joints max to align with obs
+        self.finger_joint_ids = [14, 15] if self.nq >= 16 and 14 < self.nu and 15 < self.nu else []
+
+    def reset(self, seed=None):
+        super().reset(seed=seed)
+        nq = self.model.nq
+        nv = self.model.nv
+        
+        # Reset to a valid state
+        self.data.qpos = np.zeros(nq)
+        self.data.qvel = np.zeros(nv)
+        
+        if nq >= 3:
+            self.data.qpos[0:3] = [0, 0, 0.1]  # x, y, z
+        if nq >= 7:
+            self.data.qpos[3:7] = [1, 0, 0, 0]  # quaternion
+        if nq > 7:
+            self.data.qpos[7:16] = np.zeros(9)  # Limit to 9 joints for obs alignment
+        
+        # Set block positions
+        block_positions = [
+            [0.2, 0.0, 0.025],
+            [0.25, 0.0, 0.025],
+            [0.3, 0.0, 0.025]
+        ]
+        for i, block_id in enumerate(self.block_ids):
+            if block_id is not None:
+                self.data.body(block_id).xpos = np.array(block_positions[i])
+        
+        self.data.qvel[:] = 0.0
+        mujoco.mj_forward(self.model, self.data)
+        return self._get_obs(), {}
+
+    def step(self, action):
+        # Clip action to match nu and ensure finite bounds
+        ctrl_size = min(len(action), self.nu)
+        clipped_action = np.clip(action[:ctrl_size], -1.0, 1.0)
+        self.data.ctrl[:ctrl_size] = clipped_action
+        
+        # Restrict actuator 2 (index 1) to -90° to +90° (-1.57 to 1.57 radians)
+        if 1 < self.nu:
+            self.data.ctrl[1] = np.clip(action[1], -1.57, 1.57)
+        
+        # Handle finger joints if within nu
+        if len(action) >= 9 and self.finger_joint_ids and all(fid < self.nu for fid in self.finger_joint_ids):
+            self.data.ctrl[self.finger_joint_ids[0]] = np.clip(action[7], -1.0, 1.0)
+            self.data.ctrl[self.finger_joint_ids[1]] = np.clip(action[8], -1.0, 1.0)
+        
+        mujoco.mj_step(self.model, self.data)
+
+        reward = -0.01 if not self._is_stacked() else 10.0
+        terminated = self._is_stacked()
+        truncated = False
+        obs = self._get_obs()
+        info = {"success": terminated}
+
+        if self.render_mode == "human" and self.viewer:
+            self.viewer.sync()
+
+        return obs, reward, terminated, truncated, info
+
+    def _get_obs(self):
+        block_pos = [self.data.body(bid).xpos[:3] if bid is not None else np.zeros(3) for bid in self.block_ids]
+        target_pos = self.data.body(self.target_zone_id).xpos[:3] if self.target_zone_id != -1 else np.zeros(3)
+        joint_pos = self.data.qpos[7:16] if self.nq > 7 else np.zeros(9)  # Limit to 9 joints
+        
+        obs = np.concatenate([pos for pos in block_pos] + [target_pos] + [joint_pos])
+        return obs.astype(np.float32)
+
+    def _is_stacked(self):
+        if not any(bid is not None for bid in self.block_ids) or self.target_zone_id == -1:
+            return False
+            
+        block_positions = [self.data.body(bid).xpos for bid in self.block_ids if bid is not None]
+        target_pos = self.data.body(self.target_zone_id).xpos
+        return all(np.linalg.norm(b[:2] - target_pos[:2]) < 0.05 for b in block_positions)
+
+    def close(self):
+        if self.viewer:
+            self.viewer.close()
+
+if __name__ == "__main__":
+    import argparse
+    import time
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--render_mode", default="human")
+    parser.add_argument("--fps", type=int, default=15, help="Frames per second")
+    args = parser.parse_args()
+
+    try:
+        env = StackingEnv(render_mode=args.render_mode)
+        obs, _ = env.reset()
+        print("Initial observation shape:", obs.shape)
+        print("Environment initialized successfully!")
+
+        if args.render_mode == "human":
+            print("Simulation started at", args.fps, "FPS. Use viewer 'Joint' or 'Control' tabs to adjust joints, with actuator 2 limited to 180-degree range (-90° to +90°).")
+            print("Press Ctrl+C to exit.")
+            step_delay = 1.0 / args.fps
+
+            try:
+                while env.viewer and env.viewer.is_running():
+                    mujoco.mj_step(env.model, env.data)
+                    if env.render_mode == "human" and env.viewer:
+                        env.viewer.sync()
+                    time.sleep(step_delay)
+            except KeyboardInterrupt:
+                print("Stopped by user")
+        else:
+            print("Environment test completed successfully!")
+
+    except Exception as e:
+        print(f"Error: {e}")
+        print("\nTo debug this issue:")
+        print("1. Check stacking.xml for valid qpos or keyframe definitions")
+        print("2. Ensure qpos has exactly {env.model.nq} values")
+        print("3. Verify the joint structure in both XML files matches the code assumptions")
+
+    finally:
+        try:
+            env.close()
+        except:
+            pass

stacking_model_20250615_1618/ppo_hil_serl_stacking_offline.zip

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+size 173217