dm_robotics: Libraries, tools, and tasks created and used for Robotics research at DeepMind.| Package | Summary |
|---|---|
| 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:
dm_robotics-transformationsdm_robotics-geometrydm_robotics-visiondm_robotics-agentflowdm_robotics-manipulationdm_robotics-momadm_robotics-controllersPython versions 3.8, 3.9 and 3.10 are supported.
MoMa, Manipulation and 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:
dm_control is installed.The Python libraries are tested with tox, the C++ code is built and tested
with cmake.
Tox's distshare mechanism is used to share the built source distribution
packages between the packages.