Adds new arm envs

README.md

@@ -67,7 +67,27 @@ from orca_sim import OrcaHandCombinedExtended
 env = OrcaHandCombinedExtended(version="v1")  # loads the v1 hand
 ```
 
-See our [`random_policy.py`](random_policy.py) example to see how to instantiate and interface an ORCA hand.
+See our [`random_policy.py`](random_policy.py) example to see how to instantiate and interface an ORCA hand through the Gymnasium API.
+If you want a lower-level demo built directly on the shared `orca_core` hand helpers, see [`hand_demo.py`](hand_demo.py).
+
+## Sample task: cube stacking
+
+Two cubes on a table, available with no robot, OrcaArm, or OrcaPanda:
+
+```python
+from orca_sim import CubeStackingTabletop, OrcaArmCubeStacking, OrcaPandaCubeStacking
+
+env = OrcaArmCubeStacking()
+obs, info = env.reset(seed=0)
+obs, reward, terminated, truncated, info = env.step(env.action_space.sample())
+```
+Or use the OrcaPanda robot in the same way:
+
+```python
+env = OrcaPandaCubeStacking()
+obs, info = env.reset(seed=0)
+# ...
+```
 
 ## Sample task: in-hand cube orientation
 
@@ -112,4 +132,3 @@ The implementation is intentionally split so it doubles as a porting template:
 - The task scene lives in [`src/orca_sim/scenes/v2/scene_right_cube_orientation.xml`](src/orca_sim/scenes/v2/scene_right_cube_orientation.xml) and composes the existing hand MJCF with a single task cube.
 - The nominal palm-up hand pose and in-palm cube spawn are now authored into the task-specific scene/model files, so opening the XML directly in MuJoCo shows the intended setup.
 - The task logic lives in [`src/orca_sim/task_envs.py`](src/orca_sim/task_envs.py), including reset-time cube randomization and optional hand-pose overrides for custom MJCF layouts.
-

hand_demo.py

@@ -0,0 +1,143 @@
+import argparse
+import logging
+
+from orca_core.demo_presets import DEMO_POSE_FRACTIONS, DEMO_SEQUENCES
+
+from orca_sim import SimOrcaHand
+
+
+SCENE_CHOICES = (
+    "scene_left.xml",
+    "scene_right.xml",
+    "scene_combined.xml",
+    "scene_left_extended.xml",
+    "scene_right_extended.xml",
+    "scene_combined_extended.xml",
+    "scene_right_cube_orientation.xml",
+)
+
+
+def _expand_fractions_bimanual(fractions: dict[str, float]) -> dict[str, float]:
+    """Prefix bare canonical joint fractions with both ``left_`` and ``right_``."""
+    return {
+        f"{side}_{joint}": value
+        for side in ("left", "right")
+        for joint, value in fractions.items()
+    }
+
+
+def run_demo(
+    hand: SimOrcaHand,
+    demo_name: str = "main",
+    cycles: int = 1,
+    num_steps: int = 25,
+    step_size: float = 0.05,
+    return_to_neutral: bool = True,
+) -> None:
+    """Run a named demo sequence on any scene, including combined (bimanual) ones.
+
+    For single-hand scenes this delegates directly to ``hand.run_demo``.  For
+    combined scenes the bare canonical joint names in the demo presets are
+    automatically expanded to ``left_*`` / ``right_*`` so both hands move in
+    sync.
+    """
+    is_bimanual = hand.config.type is None  # bimanual hand has no "left" or "right"type
+    if not is_bimanual:
+        return hand.run_demo(
+            demo_name=demo_name,
+            cycles=cycles,
+            num_steps=num_steps,
+            step_size=step_size,
+            return_to_neutral=return_to_neutral,
+        )
+
+    if demo_name not in DEMO_POSE_FRACTIONS:
+        available = ", ".join(sorted(DEMO_SEQUENCES))
+        raise ValueError(f"Unknown demo '{demo_name}'. Available demos: {available}.")
+
+    for name, fractions in DEMO_POSE_FRACTIONS[demo_name].items():
+        hand.register_position(
+            name,
+            hand.pose_from_fractions(_expand_fractions_bimanual(fractions)),
+        )
+
+    hand.play_named_positions(
+        DEMO_SEQUENCES[demo_name],
+        cycles=cycles,
+        num_steps=num_steps,
+        step_size=step_size,
+        return_to_neutral=return_to_neutral,
+    )
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="Play back orca_core demo presets on SimOrcaHand."
+    )
+    parser.add_argument(
+        "--scene-file",
+        choices=SCENE_CHOICES,
+        default="scene_right.xml",
+        help="Scene XML to load.",
+    )
+    parser.add_argument(
+        "--version",
+        default=None,
+        help="Embodiment version to load, e.g. 'v1' or 'v2'.",
+    )
+    parser.add_argument(
+        "--render-mode",
+        choices=["human", "rgb_array"],
+        default="human",
+        help="Use 'human' for the MuJoCo viewer or 'rgb_array' for offscreen rendering.",
+    )
+    parser.add_argument(
+        "--demo-name",
+        choices=list(DEMO_SEQUENCES),
+        default="main",
+        help="Which demo sequence to play.",
+    )
+    parser.add_argument(
+        "--cycles",
+        type=int,
+        default=10,
+        help="Number of times to repeat the demo sequence.",
+    )
+    parser.add_argument(
+        "--num-steps",
+        type=int,
+        default=25,
+        help="Interpolation steps between poses. More steps = smoother motion.",
+    )
+    parser.add_argument(
+        "--step-size",
+        type=float,
+        default=0.05,
+        help="Sleep in seconds between interpolation steps. Increase to slow down playback.",
+    )
+    args = parser.parse_args()
+
+    hand = SimOrcaHand(
+        scene_file=args.scene_file,
+        version=args.version,
+        render_mode=args.render_mode,
+    )
+    logging.info(f"scene={args.scene_file} version={hand.version} num_joints={len(hand.config.joint_ids)}")
+
+    try:
+        hand.reset()
+        run_demo(
+            hand,
+            demo_name=args.demo_name,
+            cycles=args.cycles,
+            num_steps=args.num_steps,
+            step_size=args.step_size,
+        )
+    except KeyboardInterrupt:
+        logging.info("Demo stopped by user.")
+    finally:
+        hand.close()
+
+
+if __name__ == "__main__":
+    main()

pyproject.toml

@@ -15,16 +15,35 @@ dependencies = [
   "gymnasium>=0.29",
   "mujoco>=3.1",
   "numpy>=1.26",
+  "orca_core @ git+https://github.com/orcahand/orca_core.git@91ef976cdf8206d2b937f765b1d1bce091b9e2c5",
 ]
 
 [project.optional-dependencies]
 dev = [
   "pytest>=8",
+  "pytest-mock>=3.14",
+]
+arm = [
+  "mani_skill @ git+https://github.com/fracapuano/ManiSkill.git@3dc8c0c52c71c2f41932eb9f0371ca340cf1b038",
+  "torch",
+  "sapien",
+  "transforms3d",
+  "imageio",
+  "imageio-ffmpeg",
+  "orca_arm",
+  "pin"
+]
+
+lerobot = [
+  "lerobot"
 ]
 
 [tool.pytest.ini_options]
 testpaths = ["tests"]
 addopts = "-ra"
+markers = [
+  "slow: long-running test intended primarily for CI",
+]
 
 [tool.setuptools]
 package-dir = {"" = "src"}
@@ -36,6 +55,7 @@ where = ["src"]
 [tool.setuptools.package-data]
 orca_sim = [
   "*.xml",
+  "scenes/*.xml",
   "scenes/*/*.xml",
   "assets/mjcf/*.xml",
   "assets/mjcf/*/*.xml",
@@ -45,5 +65,9 @@ orca_sim = [
   "assets/mjcf/right/collision/*.stl",
   "models/mjcf/*.mjcf",
   "models/*/*.mjcf",
+  "models/*/assets/*.xml",
+  "models/*/assets/*/*.stl",
+  "models/*/mjcf/*.xml",
+  "models/*/mjcf/*.mjcf",
   "models/*/assets/mjcf/*/*.stl",
 ]

src/orca_sim/__init__.py

@@ -2,25 +2,54 @@
     latest_version,
     list_versions,
 )
-from orca_sim.envs import (
-    OrcaHandCombined,
-    OrcaHandCombinedExtended,
-    OrcaHandLeft,
-    OrcaHandLeftExtended,
-    OrcaHandRight,
-    OrcaHandRightExtended,
-)
 from orca_sim.registry import register_envs
-from orca_sim.task_envs import OrcaHandRightCubeOrientation
+
+try:
+    from orca_sim.envs import (
+        OrcaHandCombined,
+        OrcaHandCombinedExtended,
+        OrcaHandLeft,
+        OrcaHandLeftExtended,
+        OrcaHandRight,
+        OrcaHandRightExtended,
+    )
+    from orca_sim.hand import SimOrcaHand, SimOrcaHandConfig
+    from orca_sim.task_envs import (
+        CubeStackingTabletop,
+        OrcaArmCubeStacking,
+        OrcaHandRightCubeOrientation,
+        OrcaPandaCubeStacking,
+    )
+except ModuleNotFoundError as exc:
+    if exc.name != "mujoco":
+        raise
+
+    CubeStackingTabletop = None
+    OrcaArmCubeStacking = None
+    OrcaHandCombined = None
+    OrcaHandCombinedExtended = None
+    OrcaHandLeft = None
+    OrcaHandLeftExtended = None
+    OrcaHandRight = None
+    OrcaHandRightCubeOrientation = None
+    OrcaHandRightExtended = None
+    OrcaPandaCubeStacking = None
+    SimOrcaHand = None
+    SimOrcaHandConfig = None
 
 __all__ = [
+    "CubeStackingTabletop",
+    "OrcaArmCubeStacking",
     "OrcaHandCombined",
     "OrcaHandCombinedExtended",
     "OrcaHandLeft",
     "OrcaHandLeftExtended",
     "OrcaHandRight",
     "OrcaHandRightCubeOrientation",
     "OrcaHandRightExtended",
+    "OrcaPandaCubeStacking",
+    "SimOrcaHand",
+    "SimOrcaHandConfig",
     "latest_version",
     "list_versions",
     "register_envs",

src/orca_sim/builders/__init__.py

@@ -0,0 +1,11 @@
+from orca_sim.builders.orcaarm_camera_mjcf import (
+    build_orcaarm_camera_mjcf,
+    camera_names,
+)
+from orca_sim.builders.orcapanda_mjcf import build_orcapanda_mjcf
+
+__all__ = [
+    "build_orcaarm_camera_mjcf",
+    "build_orcapanda_mjcf",
+    "camera_names",
+]

src/orca_sim/builders/build_orcaarm_camera_mjcf.py

@@ -0,0 +1,37 @@
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+from orca_sim.builders.orcaarm_camera_mjcf import build_orcaarm_camera_mjcf
+
+
+def default_output_path() -> Path:
+    return (
+        Path(__file__).resolve().parents[1]
+        / "scenes"
+        / "includes"
+        / "orcabot_with_cameras.xml"
+    )
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--debug-sites",
+        action="store_true",
+        help="Add visible marker sites for camera mounts and aim targets.",
+    )
+    parser.add_argument(
+        "--output",
+        type=Path,
+        default=default_output_path(),
+        help="Path to write the built MJCF include.",
+    )
+    args = parser.parse_args()
+
+    print(build_orcaarm_camera_mjcf(args.output, debug_sites=args.debug_sites))
+
+
+if __name__ == "__main__":
+    main()

src/orca_sim/builders/build_orcapanda_mjcf.py

@@ -0,0 +1,22 @@
+from __future__ import annotations
+
+from pathlib import Path
+
+from orca_sim.builders.orcapanda_mjcf import build_orcapanda_mjcf
+
+
+def default_output_path() -> Path:
+    return (
+        Path(__file__).resolve().parents[1]
+        / "scenes"
+        / "includes"
+        / "orcapanda_namespaced.xml"
+    )
+
+
+def main() -> None:
+    print(build_orcapanda_mjcf(default_output_path()))
+
+
+if __name__ == "__main__":
+    main()