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Randomized Desk + New Views from R3M #32

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Randomized Desk + New Views from R3M #32

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d63dc11
saving the original env state in env info
Mar 9, 2022
ff600cd
Adding desk randomization
Mar 9, 2022
804de21
Adding several new camera views for environments
Mar 9, 2022
4da4ab8
removing unnecessary edit
Mar 10, 2022
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5 changes: 5 additions & 0 deletions mj_envs/envs/hand_manipulation_suite/assets/DAPG_door.xml
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Expand Up @@ -25,6 +25,11 @@
<camera name="fixed" pos="0 -0.7 0.7" quat="0.92388 0.382683 0 0" />
<!-- Camera for the VIL paper -->
<camera name="vil_camera" pos="0 -1.2 1.2" quat="0.92388 0.382683 0 0" />
<camera name="view_1" pos="-0.8 -0.8 0.8" euler="0.785 -0.785 -0.785" />
<camera name="view_2" pos="0 0.5 0.2" euler="-1.57 0 3.14" />
<camera name="view_3" pos="0 0.2 -0.2" euler="-2.35 0 3.14" />
<camera name="view_4" pos="0.8 -0.8 0.8" euler="0.785 0.785 0.785" />
<camera name="view_5" pos="0 -0.25 -0.4" euler="-3.2 0 3.14" />
<camera name="top" pos="0 0 1.5" euler="0 0 3.14" />

<!-- ======= TABLE ======= -->
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5 changes: 5 additions & 0 deletions mj_envs/envs/hand_manipulation_suite/assets/DAPG_hammer.xml
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Expand Up @@ -42,6 +42,11 @@
<camera name="fixed" pos="0 -0.7 0.7" quat="0.92388 0.382683 0 0" />
<!-- Camera for the VIL paper -->
<camera name="vil_camera" pos="0 -1.2 1.2" quat="0.92388 0.382683 0 0" />
<camera name="view_1" pos="-0.8 -0.8 0.8" euler="0.785 -0.785 -0.785" />
<camera name="view_2" pos="0 0.5 0.2" euler="-1.57 0 3.14" />
<camera name="view_3" pos="0 0.2 -0.2" euler="-2.35 0 3.14" />
<camera name="view_4" pos="0.8 -0.8 0.8" euler="0.785 0.785 0.785" />
<camera name="view_5" pos="0 -0.25 -0.4" euler="-3.2 0 3.14" />
<camera name="top" pos="0 0 1.1" euler="0 0 3.14" />
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<!-- ======= TABLE ======= -->
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1 change: 1 addition & 0 deletions mj_envs/envs/hand_manipulation_suite/assets/DAPG_pen.xml
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Expand Up @@ -30,6 +30,7 @@
<camera name="view_3" pos="0 0.2 -0.2" euler="-2.35 0 3.14" />
<camera name="view_4" pos="0.8 -0.8 0.8" euler="0.785 0.785 0.785" />
<camera name="view_5" pos="0 -0.25 -0.4" euler="-3.2 0 3.14" />
<camera name="top" pos="0 0 1.5" euler="0 0 3.14" />

<!-- ======= TABLE ======= -->
<body name="table">
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6 changes: 6 additions & 0 deletions mj_envs/envs/hand_manipulation_suite/assets/DAPG_relocate.xml
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Expand Up @@ -25,6 +25,12 @@
<camera name="fixed" pos="0 -0.7 0.7" quat="0.92388 0.382683 0 0" />
<!-- Camera for the VIL paper -->
<camera name="vil_camera" pos="0 -1.2 1.2" quat="0.92388 0.382683 0 0" />
<camera name="view_1" pos="-0.8 -0.8 0.8" euler="0.785 -0.785 -0.785" />
<camera name="view_2" pos="0 0.5 0.2" euler="-1.57 0 3.14" />
<camera name="view_3" pos="0 0.2 -0.2" euler="-2.35 0 3.14" />
<camera name="view_4" pos="0.8 -0.8 0.8" euler="0.785 0.785 0.785" />
<camera name="view_5" pos="0 -0.25 -0.4" euler="-3.2 0 3.14" />
<camera name="top" pos="0 0 1.5" euler="0 0 3.14" />

<!-- ======= TABLE ======= -->
<body name="table">
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1 change: 1 addition & 0 deletions mj_envs/envs/relay_kitchen/__init__.py
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Expand Up @@ -155,6 +155,7 @@
DEMO_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFrankaDemo"
RANDOM_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFrankaRandom"
FIXED_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFranka"
RANDOM_DESK_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFrankaRandomDesk"

# Kitchen
register(
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4 changes: 3 additions & 1 deletion mj_envs/envs/relay_kitchen/assets/franka_kitchen.xml
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Expand Up @@ -6,7 +6,7 @@
Details :: https://github.com/vikashplus/furniture_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<size njmax='1000' nconmax='1000'/>
<size njmax='4000' nconmax='4000'/>

<include file="../../../sims/scene_sim/basic_scene.xml"/>
<include file="../../../sims/franka_sim/assets/assets.xml"/>
Expand Down Expand Up @@ -49,6 +49,8 @@

<site name='target' pos='0 0 0' size='0.1' rgba='0 2 0 .2'/>
<camera name='left_cap' pos='-1.2 -0.5 1.8' quat='0.78 0.49 -0.22 -0.32' />
<camera name='left_cap2' mode='targetbody' target='knob 1' pos='-1.4 -1.0 1.8'/>
<camera name='right_cap2' mode='targetbody' target='microwave' pos='1.3 -0.7 3.4'/>
<camera name='right_cap' pos='1.2 -0.5 1.8' quat='0.76 0.5 0.21 0.35'/>

<!-- Robot -->
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16 changes: 16 additions & 0 deletions mj_envs/envs/relay_kitchen/kitchen_multitask_v2.py
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Expand Up @@ -318,3 +318,19 @@ def reset(self, reset_qpos=None, reset_qvel=None):
* (self.robot_ranges[:, 1] - self.robot_ranges[:, 0])
)
return super().reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel)

class KitchenFrankaRandomDesk(KitchenFrankaFixed):
def reset(self, reset_qpos=None, reset_qvel=None):
if reset_qpos is None:
reset_qpos = self.init_qpos.copy()
reset_qpos[self.robot_dofs] += (
0.05
* (self.np_random.uniform(size=len(self.robot_dofs)) - 0.5)
* (self.robot_ranges[:, 1] - self.robot_ranges[:, 0])
)
ncon = 10
while ncon > 4:
self.sim.model.body_pos[14] = np.array([-0.1, 0.75, 0.0]) + np.random.uniform(-0.1, 0.1, (3,))
self.sim.step()
ncon = self.sim.data.ncon
return super().reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel)