def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
super()._load_model()
# Adjust base pose accordingly
xpos = self.robots[0].robot_model.base_xpos_offset["table"](self.table_full_size[0])
self.robots[0].robot_model.set_base_xpos(xpos)
# load model for table top workspace
mujoco_arena = TableArena(
table_full_size=self.table_full_size,
table_offset=self.table_offset,
)
# Arena always gets set to zero origin
mujoco_arena.set_origin([0, 0, 0])
# Modify default agentview camera
mujoco_arena.set_camera(
camera_name="agentview",
pos=[0.5986131746834771, -4.392035683362857e-09, 1.5903500240372423],
quat=[0.6380177736282349, 0.3048497438430786, 0.30484986305236816, 0.6380177736282349]
)
# initialize objects of interest
self.door = DoorObject(
name="Door",
friction=0.0,
damping=0.1,
lock=self.use_latch,
)
# Create placement initializer
if self.placement_initializer is not None:
self.placement_initializer.reset()
self.placement_initializer.add_objects(self.door)
else:
self.placement_initializer = UniformRandomSampler(
name="ObjectSampler",
mujoco_objects=self.door,
x_range=[0.07, 0.09],
y_range=[-0.01, 0.01],
rotation=(-np.pi / 2. - 0.25, -np.pi / 2.),
rotation_axis='z',
ensure_object_boundary_in_range=False,
ensure_valid_placement=True,
reference_pos=self.table_offset,
)
# task includes arena, robot, and objects of interest
self.model = ManipulationTask(
mujoco_arena=mujoco_arena,
mujoco_robots=[robot.robot_model for robot in self.robots],
mujoco_objects=self.door,
)
def _load_model(self):
"""
Loads an xml model, puts it in self.model
"""
super()._load_model()
# Adjust base pose(s) accordingly
if self.env_configuration == "bimanual":
xpos = self.robots[0].robot_model.base_xpos_offset["table"](
self.table_full_size[0])
self.robots[0].robot_model.set_base_xpos(xpos)
else:
if self.env_configuration == "single-arm-opposed":
# Set up robots facing towards each other by rotating them from their default position
for robot, rotation, offset in zip(self.robots,
(np.pi / 2, -np.pi / 2),
(-0.25, 0.25)):
xpos = robot.robot_model.base_xpos_offset["table"](
self.table_full_size[0])
rot = np.array((0, 0, rotation))
xpos = T.euler2mat(rot) @ np.array(xpos)
xpos += np.array((0, offset, 0))
robot.robot_model.set_base_xpos(xpos)
robot.robot_model.set_base_ori(rot)
else: # "single-arm-parallel" configuration setting
# Set up robots parallel to each other but offset from the center
for robot, offset in zip(self.robots, (-0.6, 0.6)):
xpos = robot.robot_model.base_xpos_offset["table"](
self.table_full_size[0])
xpos = np.array(xpos) + np.array((0, offset, 0))
robot.robot_model.set_base_xpos(xpos)
# load model for table top workspace
mujoco_arena = TableArena(table_full_size=self.table_true_size,
table_friction=self.table_friction,
table_offset=self.table_offset)
# Arena always gets set to zero origin
mujoco_arena.set_origin([0, 0, 0])
# Modify default agentview camera
mujoco_arena.set_camera(camera_name="agentview",
pos=[
0.8894354364730311, -3.481824231498976e-08,
1.7383813133506494
],
quat=[
0.6530981063842773, 0.2710406184196472,
0.27104079723358154, 0.6530979871749878
])
# initialize objects of interest
self.hammer = HammerObject(name="hammer")
# Create placement initializer
if self.placement_initializer is not None:
self.placement_initializer.reset()
self.placement_initializer.add_objects(self.hammer)
else:
# Set rotation about y-axis if hammer starts on table else rotate about z if it starts in gripper
rotation_axis = 'y' if self.prehensile else 'z'
self.placement_initializer = UniformRandomSampler(
name="ObjectSampler",
mujoco_objects=self.hammer,
x_range=[-0.1, 0.1],
y_range=[-0.05, 0.05],
rotation=None,
rotation_axis=rotation_axis,
ensure_object_boundary_in_range=False,
ensure_valid_placement=True,
reference_pos=self.table_offset,
)
# task includes arena, robot, and objects of interest
self.model = ManipulationTask(
mujoco_arena=mujoco_arena,
mujoco_robots=[robot.robot_model for robot in self.robots],
mujoco_objects=self.hammer,
)
