Libraries, tools and tasks created and used at DeepMind Robotics.
|Transformations||Rigid body transformations|
|Geometry||Scene and Robot geometry primitives|
|Vision||Visual blob detection and tracking|
|AgentFlow||Reinforcement Learning agent composition library|
|Manipulation||"RGB" object meshes for manipulation tasks|
|MoMa||Manipulation environment definition library, for simulated and real robots|
|Controllers||QP-optimization based cartesian controller|
|Controller Bindings||Python bindings for the controller|
|Least Squares QP||QP task definition and solver|
These libraries are distributed on PyPI, the packages are:
Controllers depend on MuJoCo, the other packages do not. See the individual packages for more information on their dependencies.
To build and test the libraries, run
build.sh. This script assumes:
- MuJoCo is installed and licensed.
- dm_control is installed.
- cmake version >= 3.20.2 is installed.
- Python 3.6 ,3.7 or 3.8 and system headers are installed.
- GCC version 9 or later is installed.
- numpy is installed.
The Python libraries are tested with
tox, the C++ code is built and tested with
distshare mechanism is used to share the built source distribution packages between the packages.