def __init__(
self,
table_full_size=(0.8, 0.8, 0.05),
table_friction=(1, 0.005, 0.0001),
table_offset=(0, 0, 0.8),
has_legs=True,
xml="arenas/table_arena.xml",
):
super().__init__(xml_path_completion(xml))
self.table_full_size = np.array(table_full_size)
self.table_half_size = self.table_full_size / 2
self.table_friction = table_friction
self.table_offset = table_offset
self.center_pos = self.bottom_pos + np.array(
[0, 0, -self.table_half_size[2]]) + self.table_offset
self.table_body = self.worldbody.find("./body[@name='table']")
self.table_collision = self.table_body.find(
"./geom[@name='table_collision']")
self.table_visual = self.table_body.find(
"./geom[@name='table_visual']")
self.table_top = self.table_body.find("./site[@name='table_top']")
self.has_legs = has_legs
self.table_legs_visual = [
self.table_body.find("./geom[@name='table_leg1_visual']"),
self.table_body.find("./geom[@name='table_leg2_visual']"),
self.table_body.find("./geom[@name='table_leg3_visual']"),
self.table_body.find("./geom[@name='table_leg4_visual']"),
]
self.configure_location()
def _init_floor(self, image):
"""
Intiailizes the floor
Args:
image (string): String for the file to use as an image for the floor
"""
floor_mesh = nvisii.mesh.create_plane(name="plane",
size=nvisii.vec2(3, 3))
floor_entity = nvisii.entity.create(
name="floor",
mesh=floor_mesh,
material=nvisii.material.create("plane"),
transform=nvisii.transform.create("plane"))
floor_entity.get_transform().set_scale(nvisii.vec3(1))
floor_entity.get_transform().set_position(nvisii.vec3(0, 0, 0))
texture_image = xml_path_completion("textures/" + image)
texture = nvisii.texture.create_from_file(name='floor_texture',
path=texture_image)
floor_entity.get_material().set_base_color_texture(texture)
floor_entity.get_material().set_roughness(0.4)
floor_entity.get_material().set_specular(0)
def _init_walls(self, image):
"""
Intiailizes the walls
Args:
image (string): String for the file to use as an image for the walls
"""
texture_image = xml_path_completion("textures/" + image)
texture = nvisii.texture.create_from_file(name='wall_texture',
path=texture_image)
for wall in self.env.model.mujoco_arena.worldbody.findall(
"./geom[@material='walls_mat']"):
name = wall.get('name')
size = [float(x) for x in wall.get('size').split(' ')]
pos, quat = self._get_orientation_geom(name)
wall_entity = nvisii.entity.create(
name=name,
mesh=nvisii.mesh.create_box(name=name,
size=nvisii.vec3(
size[0], size[1], size[2])),
transform=nvisii.transform.create(name),
material=nvisii.material.create(name))
wall_entity.get_transform().set_position(
nvisii.vec3(pos[0], pos[1], pos[2]))
wall_entity.get_transform().set_rotation(
nvisii.quat(quat[0], quat[1], quat[2], quat[3]))
wall_entity.get_material().set_base_color_texture(texture)
def __init__(self, name):
super().__init__(
xml_path_completion("objects/master_chef_can_visual.xml"),
name=name,
joints=None,
obj_type="visual",
duplicate_collision_geoms=True)
def __init__(self, name):
super().__init__(
xml_path_completion("objects/plate-with-hole.xml"),
name=name,
joints=None,
obj_type="all",
duplicate_collision_geoms=True,
)
def __init__(self, name):
super().__init__(
xml_path_completion("objects/square-nut.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
def __init__(self):
super().__init__(xml_path_completion("base.xml"))
# Modify the simulation timestep to be the requested value
options = find_elements(root=self.root,
tags="option",
attribs=None,
return_first=True)
options.set("timestep", convert_to_string(macros.SIMULATION_TIMESTEP))
def __init__(self, idn=0):
super().__init__(xml_path_completion("robots/panda/robot.xml"),
idn=idn)
# Set joint damping
self.set_joint_attribute(attrib="damping",
values=np.array(
(0.1, 0.1, 0.1, 0.1, 0.1, 0.01, 0.01)))
def __init__(self):
super().__init__(xml_path_completion("robots/hdt_angler/robot.xml"))
self.bottom_offset = np.array([0, 0, -0.913])
self.set_joint_damping()
self._model_name = "hdt"
# Careful of init_qpos -- certain init poses cause ik controller to go unstable (e.g: pi/4 instead of -pi/4
# for the final joint angle)
self._init_qpos = np.array([0., 0., 0., 0., 0., 0.])
def __init__(self, name):
super().__init__(
xml_path_completion(
"objects/o0001.xml"
), # currently this returns a path inside of my anaconda env...
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True)
def __init__(self, name=None, joints=None, friction=None, damping=None, lock=False):
xml_path = "objects/door.xml"
if lock:
xml_path = "objects/door_lock.xml"
super().__init__(xml_path_completion(xml_path), name=name, joints=joints)
self.lock = lock
self.friction = friction
self.damping = damping
if self.friction is not None:
self._set_door_friction(self.friction)
if self.damping is not None:
self._set_door_damping(self.damping)
def __init__(
self, bin1_pos=(0.1, -0.5, 0.8), table_full_size=(0.39, 0.49, 0.82), table_friction=(1, 0.005, 0.0001)
):
super().__init__(xml_path_completion("arenas/bins_arena.xml"))
self.table_full_size = np.array(table_full_size)
self.table_half_size = self.table_full_size / 2
self.table_friction = table_friction
self.bin1_body = self.worldbody.find("./body[@name='bin1']")
self.bin2_body = self.worldbody.find("./body[@name='bin2']")
self.table_top_abs = np.array(bin1_pos)
self.configure_location()
def __init__(self,
table_full_size=(0.39, 0.49, 0.82),
table_friction=(1, 0.005, 0.0001)):
"""
Args:
table_full_size: full dimensions of the table
friction: friction parameters of the table
"""
super().__init__(xml_path_completion("arenas/bin_packing_arena.xml"))
self.table_full_size = np.array(table_full_size)
self.table_half_size = self.table_full_size / 2
self.table_friction = table_friction
self.floor = self.worldbody.find("./geom[@name='floor']")
self.bin1_body = self.worldbody.find("./body[@name='bin1']")
self.bin2_body = self.worldbody.find("./body[@name='bin2']")
self.configure_location()
def __init__(
self,
table_friction=(1, 0.005, 0.0001),
xml="arenas/custom_table.xml",
mesh_file="/home/kj/robosuite/robosuite/models/assets/arenas/meshes/custom_table.stl",
mesh_scale=0.01,
):
with open(mesh_file, 'rb') as f:
self.mesh = trimesh.load(f, "stl")
self.mesh.apply_scale(mesh_scale)
# self.mesh.apply_translation(-self.mesh.center_mass)
self.table_full_size = self.mesh.bounds[1] - self.mesh.bounds[0]
# print(self.mesh.bounds)
self.table_half_size = self.table_full_size / 2
self.table_friction = table_friction
self.table_offset = np.array([0., 0., 0.])
super().__init__(xml_path_completion(xml))
self.floor = self.worldbody.find("./geom[@name='floor']")
def __init__(
self, table_full_size=(0.8, 0.8, 0.8), table_friction=(1, 0.005, 0.0001)
):
"""
Args:
table_full_size: full dimensions of the table
friction: friction parameters of the table
"""
assets_root = os.path.dirname(__file__)
super().__init__(xml_path_completion("{}/bin_arena.xml".format(assets_root)))
self.table_full_size = np.array(table_full_size)
self.table_half_size = self.table_full_size / 2
self.table_friction = table_friction
self.floor = self.worldbody.find("./geom[@name='floor']")
self.table_body = self.worldbody.find("./body[@name='table']")
self.table_collision = self.table_body.find("./geom[@name='table_collision']")
self.table_visual = self.table_body.find("./geom[@name='table_visual']")
self.table_top = self.table_body.find("./site[@name='table_top']")
self.configure_location()
def __init__(self, name, friction=None, damping=None, lock=False):
xml_path = "objects/door.xml"
if lock:
xml_path = "objects/door_lock.xml"
super().__init__(xml_path_completion(xml_path),
name=name,
joints=None,
obj_type="all",
duplicate_collision_geoms=True)
# Set relevant body names
self.door_body = self.naming_prefix + "door"
self.frame_body = self.naming_prefix + "frame"
self.latch_body = self.naming_prefix + "latch"
self.hinge_joint = self.naming_prefix + "hinge"
self.lock = lock
self.friction = friction
self.damping = damping
if self.friction is not None:
self._set_door_friction(self.friction)
if self.damping is not None:
self._set_door_damping(self.damping)
def __init__(self,
table_full_size=(0.8, 0.8, 0.8),
table_friction=(1, 0.005, 0.0001)):
"""
Args:
table_full_size: full dimensions of the table
friction: friction parameters of the table
"""
super().__init__(xml_path_completion("arenas/table_cabinet_arena.xml"))
self.table_full_size = np.array(table_full_size)
self.table_half_size = self.table_full_size / 2
self.table_friction = table_friction
self.floor = self.worldbody.find("./geom[@name='floor']")
self.table_body = self.worldbody.find("./body[@name='table']")
self.table_collision = self.table_body.find(
"./geom[@name='table_collision']")
self.table_visual = self.table_body.find(
"./geom[@name='table_visual']")
self.table_top = self.table_body.find("./site[@name='table_top']")
self.configure_location()
def __init__(self, name=None, joints=None):
super().__init__(xml_path_completion("objects/plate-with-hole.xml"), name=name, joints=joints)
def __init__(self, idn=0):
super().__init__(xml_path_completion("grippers/robotiq_gripper_s.xml"),
idn=idn)
def __init__(self, name):
super().__init__(xml_path_completion("objects/lemon.xml"),
name=name,
obj_type="all",
duplicate_collision_geoms=True)
def __init__(self, idn=0):
super().__init__(xml_path_completion("grippers/rethink_gripper.xml"),
idn=idn)
def __init__(self, idn=0):
super().__init__(xml_path_completion("robots/ur5e/robot.xml"), idn=idn)
def __init__(self, idn=0, path=None):
if path == None:
super().__init__(xml_path_completion("robots/ur5e/robot.xml"),
idn=idn)
else:
super().__init__(path, idn=idn)
def __init__(self, name=None, joints=None):
super().__init__(xml_path_completion("objects/half_cylinder_box.xml"), name=name, joints=joints)
def __init__(self, idn=0):
super().__init__(xml_path_completion('grippers/wiping_gripper.xml'),
idn=idn)
def __init__(self):
super().__init__(xml_path_completion("grippers/hdt_gripper.xml"))
def __init__(self, name=None, joints=None):
super().__init__(xml_path_completion("objects/bread.xml"), name=name, joints=joints)
def __init__(self, idn=0, bottom_offset=(0, 0, 0)):
super().__init__(xml_path_completion("robots/laikago/robot.xml"), idn=idn, bottom_offset=bottom_offset)
def __init__(self):
super().__init__(xml_path_completion("robots/jr2/jr2_with_arm.xml"))
self.bottom_offset = np.array([0, 0, 0])
def __init__(self):
super().__init__(xml_path_completion("arenas/walking_arena.xml"))
self.floor = self.worldbody.find("./geom[@name='floor']")