A tutorial for creating new in env in RoboHive

[vikashplus]

No description provided.

[tattrongvu]

Hi, I would like to ask where can i find 'obj_goal' key list for franka_kitchen_v2:FrankaKitchen environments? I tried 'microwave' but it keep saying keyerror! Thanks in advance!

[vikashplus]

@tattrongvu -- The latest version of FrankaKitchen environments is v4.

• Please see here for the latest version of these environments.
• you can also follow the change log to understand the differences

[tattrongvu]

Dear @vikashplus , thanks for your instruction. So i'm trying to get the render image from envs with this code bellow but not working. Since this environments base on mujoco_py so i tried to use MjViewer as in your tutorial https://github.com/vikashplus/robohive/blob/main/robohive/tutorials/render_cams.py
but it show error as described bellow:

env = gym.make('FK1_MicroOpenRandom-v4')
for i in range(50):
env.reset()
step=0
while True:
a = env.action_space.sample() # Sample an action
obs, reward, done, info = env.step(a)
img=env.sim.render(camera_name='topview', width=512, height=512, depth=False,mode='offscreen')
#above line raise: 'MjPySimScene' object has no attribute 'render'
#env.render() #this also not work, raise NotImplementedError
step+=1
print(step)
if done or step==200:
break

Could you point me how could i do it. Thank you very much!

[tattrongvu]

Hi, after digging to your code i found two ways:
1, img= env.sim.sim.render(camera_name='left_cam', width=512, height=512, depth=False,mode='offscreen')
2, img= env.sim.renderer.render_offscreen(camera_id='left_cam', width=512, height=512)
But I noticed that it has very low FPS. Is this the correct way to get an RGB image from your environment (FrankaKitchen)?

[vikashplus]

1. You can render camera views from an env and random policy with

python utils/examine_env.py --env_name FK1_MicroOpenRandom-v4 --num_episodes 1 --camera_name top_cam --render offscreen

2. Rending speed depends on the hardware that you have access to. You can use following to check if mujoco_py is compiled with hardware support

python -c "import mujoco_py as mj; print(mj.cymj)"