readme update + code cleanup

jrabary · Sep 2, 2024 · b4f1178 · b4f1178
1 parent a93a1ec
commit b4f1178
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diff --git a/bigym/envs/xmls/aloha/aloha_gripper.xml b/bigym/envs/xmls/aloha/aloha_gripper.xml
@@ -1,44 +1,3 @@
-<!-- <?xml version="1.0"?>
-<mujoco model="aloha_gripper">
-  <compiler angle="radian" meshdir="assets"/>
-  <asset>
-    <mesh file="vx300s_8_custom_finger_left.stl"/>
-    <mesh file="vx300s_8_custom_finger_right.stl"/>
-    <material name="black" rgba="0.1 0.1 0.1 1"/>
-  </asset>
-  <default>
-    <default class="gripper">
-      <joint type="slide" damping="40"/>
-      <position kp="2000" kv="124"/>
-      <geom material="black"/>
-    </default>
-
-
-  </default>
-  <worldbody>
-    <body name="gripper_base" euler="0 1.5 1.5">
-      <inertial pos="0.000182154 -0.0341589 -0.0106026" quat="0.435286 0.557074 -0.551539 0.442718"
-        mass="0.42158" diaginertia="0.00110438 0.000790537 0.000469727"/>
-      <body name="finger_left" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
-        <inertial pos="0.0143478 -0.0284791 0.0122897" quat="0.535486 0.458766 -0.450407 0.547651"
-          mass="0.0862937" diaginertia="5.86848e-05 4.46887e-05 1.8397e-05"/>
-        <joint name="finger_left_joint" class="gripper" axis="0 0 -1" range="0 0.041"/>
-        <geom type="mesh" mesh="vx300s_8_custom_finger_left" pos="0.0141637 0.0211727 0.06" quat="1 1 1 -1" material="black"/>
-        <site name="finger_left_site" pos="0.015 -0.06 0.02"/>
-      </body>
-      <body name="finger_right" pos="-0.0191 -0.0141637 0.0211727" quat="1 1 1 1">
-        <inertial pos="0.0143711 0.0284792 0.0121421" quat="0.461317 0.537615 -0.545478 0.447894"
-          mass="0.0862932" diaginertia="5.86828e-05 4.46887e-05 1.83949e-05"/>
-        <joint name="finger_right_joint" class="gripper" axis="0 0 -1" range="0 0.041"/>
-        <geom type="mesh" mesh="vx300s_8_custom_finger_right" pos="0.0141637 -0.0211727 0.0597067" quat="1 -1 -1 -1" material="black"/>
-        <site name="finger_right_site" pos="0.015 0.06 0.02"/>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <position name="gripper_actuator" joint="finger_left_joint" ctrlrange="0.002 0.037" kp="2000"/>
-  </actuator>
-</mujoco> -->
 
 <mujoco model="aloha_gripper">
   <compiler angle="radian" meshdir="assets"/>

diff --git a/examples/aloha_box.py b/examples/aloha_box.py
@@ -1,7 +1,4 @@
 """An example of using BiGym with pixels for the ALOHA Robot."""
-import numpy as np
-import time
-
 from bigym.action_modes import AlohaPositionActionMode
 from bigym.envs.pick_and_place import StoreBox, PickBox
 from bigym.utils.observation_config import ObservationConfig, CameraConfig

diff --git a/examples/aloha_cupboards.py b/examples/aloha_cupboards.py
@@ -1,7 +1,4 @@
 """An example of using BiGym with pixels for the ALOHA Robot."""
-import numpy as np
-import time
-
 from bigym.action_modes import AlohaPositionActionMode
 from bigym.envs.cupboards import WallCupboardOpen, WallCupboardClose, DrawerTopOpen, DrawerTopClose, DrawersAllOpen, DrawersAllClose
 from bigym.utils.observation_config import ObservationConfig, CameraConfig
@@ -35,8 +32,6 @@
 for i in range(1000):
     obs, reward, terminated, truncated, info = env.step(action)
     env.render()
-    time.sleep(0.01)
-
     if terminated or truncated:
         env.reset()
 

diff --git a/examples/aloha_cutlery.py b/examples/aloha_cutlery.py
@@ -1,7 +1,4 @@
 """An example of using BiGym with pixels for the ALOHA Robot."""
-import numpy as np
-import time
-
 from bigym.action_modes import AlohaPositionActionMode
 from bigym.envs.manipulation import FlipCutlery
 from bigym.utils.observation_config import ObservationConfig, CameraConfig
@@ -35,7 +32,6 @@
 for i in range(1000):
     obs, reward, terminated, truncated, info = env.step(action)
     env.render()
-    time.sleep(0.01)
 
     if terminated or truncated:
         env.reset()