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dm_robotics

Libraries, tools and tasks created and used at DeepMind Robotics.

https://github.com/google-deepmind/dm_robotics

Science Score: 44.0%

This score indicates how likely this project is to be science-related based on various indicators:

  • ✓
    CITATION.cff file
    Found CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
  • ✓
    .zenodo.json file
    Found .zenodo.json file
  • ○
    DOI references
  • ○
    Academic publication links
  • ○
    Committers with academic emails
  • ○
    Institutional organization owner
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (8.5%) to scientific vocabulary

Keywords from Contributors

jax reinforcement-learning mesh sequences interactive hacking network-simulation
Last synced: 7 months ago · JSON representation ·

Repository

Libraries, tools and tasks created and used at DeepMind Robotics.

Basic Info
  • Host: GitHub
  • Owner: google-deepmind
  • License: apache-2.0
  • Language: Python
  • Default Branch: main
  • Homepage:
  • Size: 91.7 MB
Statistics
  • Stars: 378
  • Watchers: 21
  • Forks: 41
  • Open Issues: 5
  • Releases: 0
Created almost 5 years ago · Last pushed 8 months ago
Metadata Files
Readme Contributing License Citation

README.md

dm_robotics: Libraries, tools, and tasks created and used for Robotics research at DeepMind.

Package overview

| 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 |

Installation

These libraries are distributed on PyPI, the packages are:

  • dm_robotics-transformations
  • dm_robotics-geometry
  • dm_robotics-vision
  • dm_robotics-agentflow
  • dm_robotics-manipulation
  • dm_robotics-moma
  • dm_robotics-controllers

Python versions 3.8, 3.9 and 3.10 are supported.

Dependencies

MoMa, Manipulation and Controllers depend on MuJoCo, the other packages do not. See the individual packages for more information on their dependencies.

Building

To build and test the libraries, run build.sh. This script assumes:

  • dm_control is installed.
  • cmake version >= 3.20.2 is installed.
  • Python 3.8, 3.9 or 3.10 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 cmake.

Tox's distshare mechanism is used to share the built source distribution packages between the packages.

Owner

  • Name: Google DeepMind
  • Login: google-deepmind
  • Kind: organization

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
  - family-names: Barker
    given-names: Dave
  - family-names: Blokzijl
    given-names: Michiel
  - family-names: Chen
    given-names: Jose Enrique
  - family-names: Fantacci
    given-names: Claudio
  - family-names: Jeong
    given-names: Rae
  - family-names: Khosid
    given-names: David
  - family-names: Laurens
    given-names: Antoine
  - family-names: Pevceviciute
    given-names: Rugile
  - family-names: Raju
    given-names: Akhil
  - family-names: Regli
    given-names: Jean-Baptiste
  - family-names: Scholz
    given-names: Jon
  - family-names: Sushkov
    given-names: Oleg
title: "dm\_robotics: Libraries, tools, and tasks created and used for robotics research at DeepMind"
version: 0.01
date-released: 2021-07-29
url: "https://github.com/deepmind/dm_robotics"

GitHub Events

Total
  • Watch event: 35
  • Push event: 3
  • Fork event: 6
Last Year
  • Watch event: 35
  • Push event: 3
  • Fork event: 6

Committers

Last synced: 10 months ago

All Time
  • Total Commits: 262
  • Total Committers: 24
  • Avg Commits per committer: 10.917
  • Development Distribution Score (DDS): 0.824
Past Year
  • Commits: 21
  • Committers: 7
  • Avg Commits per committer: 3.0
  • Development Distribution Score (DDS): 0.762
Top Committers
Name Email Commits
Default n****y@g****m 46
David Barker d****r@g****m 44
David Khosid d****d@g****m 29
Jon Scholz j****z@g****m 26
Antoine Laurens a****s@g****m 21
Akhil Raju a****u@g****m 20
Jose Enrique Chen j****f@g****m 18
Nimrod Gileadi n****d@g****m 10
Michiel Blokzijl m****l@g****m 9
Rebecca Chen r****n@g****m 8
Claudio Fantacci c****i@g****m 5
Rachel Sterneck s****k@g****m 4
JeanElsner j****r@g****m 4
Saran Tunyasuvunakool s****a@g****m 4
Francesco Romano f****o@g****m 3
Peter Hawkins p****s@g****m 2
Oleg Sushkov s****v@g****m 2
Alistair Muldal a****l@g****m 1
Antonio Sanchez c****s@g****m 1
Danila Sinopalnikov s****v@g****m 1
Paul Wohlhart w****t@g****m 1
Thomas Köppe t****e@g****m 1
Yilei Yang y****g@g****m 1
dependabot[bot] 4****] 1
Committer Domains (Top 20 + Academic)
google.com: 22

Issues and Pull Requests

Last synced: 9 months ago

All Time
  • Total issues: 20
  • Total pull requests: 4
  • Average time to close issues: about 2 months
  • Average time to close pull requests: 8 days
  • Total issue authors: 11
  • Total pull request authors: 3
  • Average comments per issue: 3.5
  • Average comments per pull request: 2.75
  • Merged pull requests: 2
  • Bot issues: 0
  • Bot pull requests: 1
Past Year
  • Issues: 1
  • Pull requests: 0
  • Average time to close issues: N/A
  • Average time to close pull requests: N/A
  • Issue authors: 1
  • Pull request authors: 0
  • Average comments per issue: 0.0
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • peterdavidfagan (3)
  • kevinzakka (3)
  • jangirrishabh (2)
  • AlexanderKhazatsky (2)
  • ikostrikov (2)
  • ava6969 (2)
  • JeanElsner (2)
  • alfaevc (1)
  • zhenbangt (1)
  • edwardjjj (1)
  • HomerW (1)
Pull Request Authors
  • JeanElsner (2)
  • dependabot[bot] (2)
  • iron76 (1)
Top Labels
Issue Labels
Pull Request Labels
dependencies (2) cla:yes (1)

Dependencies

cpp/requirements_external.txt pypi
  • dm_control ==1.0.1
  • mujoco >=2.1.3,<2.2.0
  • numpy >=1.16.0
  • pkginfo >=1.4.2
  • setuptools >=38.6.0
  • wheel >=0.31.0
py/agentflow/requirements.txt pypi
  • dm_robotics-geometry *
  • dm_robotics-transformations *
py/agentflow/requirements_external.txt pypi
  • attrs >=20.3.0
  • dm_control ==1.0.1
  • mujoco >=2.1.3,<2.2.0
  • numpy >=1.16.0
  • opencv-python >=3.4.0
  • pydot >=1.2.4
  • typing-extensions >=3.7.4
py/geometry/requirements.txt pypi
  • dm_robotics-transformations *
py/geometry/requirements_external.txt pypi
  • dm_control ==1.0.1
  • mujoco >=2.1.3,<2.2.0
  • numpy >=1.16.0
py/integration_test/requirements_external.txt pypi
  • jax >=0.2.17 test
  • tensorflow >=2.6.0 test
cpp/setup.py pypi
py/agentflow/setup.py pypi
py/geometry/setup.py pypi
py/manipulation/requirements.txt pypi
  • dm_robotics-agentflow *
  • dm_robotics-controllers *
  • dm_robotics-geometry *
  • dm_robotics-moma *
  • dm_robotics-transformations *
py/manipulation/requirements_external.txt pypi
  • absl-py >=0.9.0
  • dm_control ==1.0.15
  • mujoco ==3.0.0
  • numpy >=1.16.0
  • typing-extensions >=3.7.4
py/manipulation/requirements_test.txt pypi
  • pillow ==10.3.0 test
py/manipulation/setup.py pypi