def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
super()._load_model()
self.mujoco_robot.set_base_xpos([0, 0, 0])
# load model for table top workspace
self.mujoco_arena = TableArena(table_full_size=self.table_full_size,
table_friction=self.table_friction)
if self.use_indicator_object:
self.mujoco_arena.add_pos_indicator()
# The panda robot has a pedestal, we want to align it with the table
self.mujoco_arena.set_origin(
[0.16 + self.table_full_size[0] / 2, 0, 0])
# initialize objects of interest
cube = BoxObject(
size_min=[0.020, 0.020, 0.020], # [0.015, 0.015, 0.015],
size_max=[0.022, 0.022, 0.022], # [0.018, 0.018, 0.018])
rgba=[1, 0, 0, 1],
)
self.mujoco_objects = OrderedDict([("cube", cube)])
# task includes arena, robot, and objects of interest
self.model = TableTopTask(
self.mujoco_arena,
self.mujoco_robot,
self.mujoco_objects,
initializer=self.placement_initializer,
)
self.model.place_objects()
def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
super()._load_model()
self.mujoco_robot.set_base_xpos([0, 0, 0])
# load model for table top workspace
self.mujoco_arena = TableArena(table_full_size=self.table_full_size,
table_friction=self.table_friction)
if self.use_indicator_object:
self.mujoco_arena.add_pos_indicator()
# The sawyer robot has a pedestal, we want to align it with the table
self.mujoco_arena.set_origin(
[0.16 + self.table_full_size[0] / 2, 0, 0])
self.mujoco_objects = OrderedDict([])
# task includes arena, robot, and objects of interest
self.model = TableTopTask(
self.mujoco_arena,
self.mujoco_robot,
self.mujoco_objects,
initializer=self.placement_initializer,
)
self.model.place_objects()
def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
super()._load_model()
self.mujoco_robot.set_base_xpos([0, 0, 0])
# load model for table top workspace
self.mujoco_arena = TableArena(table_full_size=self.table_full_size,
table_friction=self.table_friction)
if self.use_indicator_object:
self.mujoco_arena.add_pos_indicator()
# The panda robot has a pedestal, we want to align it with the table
self.mujoco_arena.set_origin(
[0.16 + self.table_full_size[0] / 2, 0, 0])
# initialize objects of interest
# in original robosuite, a simple domain randomization is included in BoxObject implementation, and called here. We choose to discard that implementation.
cube = FullyFrictionalBoxObject(
size=self.boxobject_size,
friction=self.boxobject_friction,
density=self.boxobject_density,
rgba=[1, 0, 0, 1],
)
self.mujoco_objects = OrderedDict([("cube", cube)])
# task includes arena, robot, and objects of interest
self.model = TableTopTask(
self.mujoco_arena,
self.mujoco_robot,
self.mujoco_objects,
initializer=self.placement_initializer,
)
self.model.place_objects()
def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
super()._load_model()
self.mujoco_robot.set_base_xpos([0, 0, 0])
# load model for table top workspace
self.mujoco_arena = TableCabinetArena(
table_full_size=self.table_full_size, table_friction=self.table_friction
)
if self.use_indicator_object:
self.mujoco_arena.add_pos_indicator()
# The panda robot has a pedestal, we want to align it with the table
self.mujoco_arena.set_origin([0.16 + self.table_full_size[0] / 2, 0, 0])
# initialize objects of interest
# cube = FullyFrictionalBoxObject(
# size=self.boxobject_size,
# friction=self.boxobject_friction,
# density=self.boxobject_density,
# rgba=[1, 0, 0, 1],
# )
# self.mujoco_cube = cube
# goal = CylinderObject(
# size=[0.03, 0.001],
# rgba=[0, 1, 0, 1],
# )
# self.mujoco_goal = goal
# self.mujoco_objects = OrderedDict([("cube", cube), ("goal", goal)])
self.mujoco_objects = None
# task includes arena, robot, and objects of interest
self.model = TableTopTask(
self.mujoco_arena,
self.mujoco_robot,
self.mujoco_objects,
initializer=self.placement_initializer,
visual_objects=[],
)
if self.mujoco_objects is not None:
self.model.place_objects()
def _load_model(self):
"""
Loads the arena and pot object.
"""
super()._load_model()
self.mujoco_robot.set_base_xpos([0, 0, 0])
# load model for table top workspace
self.mujoco_arena = TableArena(table_full_size=self.table_full_size,
table_friction=self.table_friction)
if self.use_indicator_object:
self.mujoco_arena.add_pos_indicator()
# The sawyer robot has a pedestal, we want to align it with the table
self.mujoco_arena.set_origin(
[0.45 + self.table_full_size[0] / 2, 0, 0])
# task includes arena, robot, and objects of interest
self.model = TableTopTask(
self.mujoco_arena,
self.mujoco_robot,
self.mujoco_objects,
self.object_initializer,
)
def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
super()._load_model()
self.mujoco_robot.set_base_xpos([0, 0, 0])
# load model for table top workspace
self.mujoco_arena = TableArena(
table_full_size=self.table_full_size, table_friction=self.table_friction
)
if self.use_indicator_object:
self.mujoco_arena.add_pos_indicator()
# The sawyer robot has a pedestal, we want to align it with the table
self.mujoco_arena.set_origin([0.16 + self.table_full_size[0] / 2, 0, 0])
# initialize objects of interest
if self.target_object == 'cube':
cube = BoxObject(
size_min=[0.05, 0.010, 0.05], # [0.015, 0.015, 0.015],
size_max=[0.15, 0.015, 0.08], # [0.018, 0.018, 0.018])
rgba=[1, 0, 0, 1],
friction=20,
density=50,
)
else:
cube = BoxObject(
size=BOX_TEST_OBJECTS[self.target_object]['size'],
rgba=[1, 0, 0, 1],
friction=20,
density=50,
)
# if self.target_object == 'cylinder':
# cube = CylinderObject(
# size_min=[0.015, 0.01],
# size_max=[0.025, 0.05],
# rgba=[1, 0, 0, 1],
# )
# elif self.target_object == 'ball':
# cube = BallObject(
# size_min=[0.01],
# size_max=[0.02],
# rgba=[1, 0, 0, 1],
# )
self.object = cube
# if self.target_object == 'can':
# cube = CanObject()
# elif self.target_object == 'bottle':
# cube = BottleObject()
# elif self.target_object == 'milk':
# cube = MilkObject()
# elif self.target_object == 'cereal':
# cube = CerealObject()
# elif self.target_object == 'lemon':
# cube = LemonObject()
self.mujoco_objects = OrderedDict([("cube", cube)])
# task includes arena, robot, and objects of interest
self.model = TableTopTask(
self.mujoco_arena,
self.mujoco_robot,
self.mujoco_objects,
initializer=self.placement_initializer,
)
self.model.place_objects()
