def __init__(self,
table_full_size=(0.8, 0.8, 0.8),
table_friction=(1, 0.005, 0.0001),
num_squares=(10, 10)):
"""
Args:
table_full_size: full dimensions of the table
friction: friction parameters of the table
num_squares: number of squares in each dimension of the table top
"""
super().__init__(xml_path_completion("arenas/tactile_table_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.num_squares = np.array(num_squares)
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,
table_height_full_size=(0.8, 0.8, 0.8, 0.8),
table_friction=(1, 0.005, 0.0001)):
"""
Args:
table_full_size: full dimensions of the table height: x, y, height scale over the surface, box depth from the min
friction: friction parameters of the table
"""
super().__init__(xml_path_completion("arenas/height_table_arena.xml"))
self.table_height_full_size = np.array(table_height_full_size)
self.table_half_size = np.array([
self.table_height_full_size[0], self.table_height_full_size[1],
self.table_height_full_size[3]
]) / 2
self.table_friction = table_friction
self.floor = self.worldbody.find("./geom[@name='floor']")
self.table_body = self.worldbody.find("./geom[@name='table_hf_geom']")
self.table_top_abs = self.worldbody.find(
"./geom[@name='table_hf_geom']")
self.table_asset = self.asset.find("./hfield[@name='table_hf']")
self.sensor_sites = {}
self.configure_location()
def __init__(self, xml_path="robots/panda/robot.xml"):
super().__init__(xml_path_completion(xml_path))
self.bottom_offset = np.array([0, 0, -0.913])
self.set_joint_damping()
self._model_name = "panda"
# 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, np.pi / 16.0, 0.00, -np.pi / 2.0 - np.pi / 3.0, 0.00,
np.pi - 0.2, -np.pi / 4
])
def __init__(self,
table_full_size=(0.8, 0.8, 0.8),
table_friction=(0.01, 0.005, 0.0001),
num_squares=(10, 10),
prob_sensor=1.0,
rotation_x=0,
rotation_y=0,
draw_line=True,
num_sensors=10,
table_friction_std=0,
line_width=0.02,
two_clusters=False):
"""
Args:
table_full_size: full dimensions of the table
friction: friction parameters of the table
num_squares: number of squares in each dimension of the table top
"""
super().__init__(
xml_path_completion("arenas/wipe_force_table_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.table_friction_std = table_friction_std
self.line_width = line_width
self.num_squares = np.array(num_squares)
self.sensor_names = []
self.sensor_site_names = {}
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.coverage_factor = 1.0 #How much of the table surface we cover
self.prob_sensor = prob_sensor
self.rotation_x = rotation_x
self.rotation_y = rotation_y
self.draw_line = draw_line
self.num_sensors = num_sensors
self.two_clusters = two_clusters
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/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.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):
super().__init__(xml_path_completion("objects/door_small.xml"))
def __init__(self):
super().__init__(xml_path_completion("objects/round-nut.xml"))
def __init__(self):
super().__init__(xml_path_completion("objects/bread.xml"))
def __init__(self):
super().__init__(
xml_path_completion("objects/plate-with-round-hole.xml"))
def __init__(self):
super().__init__(xml_path_completion("grippers/panda_vices_gripper.xml"))
def configure_location(self):
self.bottom_pos = np.array([0, 0, 0])
self.floor.set("pos", array_to_string(self.bottom_pos))
self.center_pos = self.bottom_pos + np.array(
[0, 0, 2 * self.table_half_size[2]])
self.table_body.set("pos", array_to_string(self.center_pos))
self.table_asset.set("size",
array_to_string(self.table_height_full_size))
self.table_body.set("friction", array_to_string(self.table_friction))
height_img = imageio.imread(xml_path_completion(
self.table_asset.get("file")),
as_gray=True)
total_pixels = height_img.shape[0] * height_img.shape[1]
#TODO: the number of sensors affects the performance. Do not increse over 500
#800 sensors -> mujoco steps up to 0.25sec per policy step!
num_sensors = min(500, total_pixels)
sample_rate = np.floor(total_pixels / num_sensors)
#Random Sampling:
used_pairs = []
sensor_counter = 0
while sensor_counter < num_sensors:
i = np.random.randint(0, high=height_img.shape[0])
j = np.random.randint(0, high=height_img.shape[1])
if (
i, j
) not in used_pairs: # We could add additional constraints like that sensors should be appart from each other
self.mujoco_objects = OrderedDict()
square = BallObject(size=[0.01],
rgba=[0, 0, 1, 1],
density=500,
friction=0.05)
square_name = 'contact_' + str(i) + "_" + str(j)
collision_b = square.get_collision(name=square_name, site=True)
x_pos = 0
if height_img.shape[0] % 2 == 0:
x_pos = -(np.floor(height_img.shape[0] / 2) - 0.5 -
i) * 2 * self.table_height_full_size[
0] / height_img.shape[0]
else:
x_pos = (i - np.floor(height_img.shape[0] / 2)
) * 2 * self.table_height_full_size[
0] / height_img.shape[0]
y_pos = 0
if height_img.shape[1] % 2 == 0:
y_pos = -(np.floor(height_img.shape[1] / 2) - 0.5 -
j) * 2 * self.table_height_full_size[
1] / height_img.shape[1]
else:
y_pos = (j - np.floor(height_img.shape[1] / 2)
) * 2 * self.table_height_full_size[
1] / height_img.shape[1]
#Compute mean of pixel value and neighbors -> better for low dim images
acc = 0
mean_ctr = 1
pixel_value = height_img[i, j]
# DO NOT DELETE! The following code helps for low dimensional pictures because the interpolation "buries" some sensors
# if i+1< height_img.shape[0]:
# if height_img[i+1,j] > pixel_value:
# acc += height_img[i+1,j]
# mean_ctr += 1
# if i-1<=0:
# if height_img[i-1,j] > pixel_value:
# acc += height_img[i-1,j]
# mean_ctr += 1
# if j+1< height_img.shape[0]:
# if height_img[i,j+1] > pixel_value:
# acc += height_img[i,j+1]
# mean_ctr += 1
# if j-1<=0:
# if height_img[i,j-1] > pixel_value:
# acc += height_img[i,j-1]
# mean_ctr += 1
acc += height_img[i, j]
z_pos = self.table_height_full_size[
3] + self.table_height_full_size[2] * (
acc / float(mean_ctr)) / np.max(height_img) + 0.005
position_sensor = [y_pos, x_pos, z_pos]
position_sensor[1] = -position_sensor[1]
collision_b.find("site").set("pos",
array_to_string(position_sensor))
self.worldbody.append(collision_b.find("site"))
self.sensor_sites[sensor_counter] = position_sensor
# Add this pixel to the list of used pixels
used_pairs += [(i, j)]
# Add sensor linked to the sensor site
ET.SubElement(self.sensor,
"touch",
attrib={
"name": square_name + "_sensor",
"site": square_name
}) # + "_site"})
sensor_counter += 1
def __init__(self):
super().__init__(
xml_path_completion("grippers/left_two_finger_gripper.xml"))
def __init__(self):
super().__init__(xml_path_completion("arenas/empty_arena.xml"))
self.floor = self.worldbody.find("./geom[@name='floor']")
def __init__(self):
super().__init__(xml_path_completion("base.xml"))
def __init__(self):
super().__init__(xml_path_completion("objects/cereal-visual.xml"))
def __init__(self):
super().__init__(xml_path_completion("grippers/robotiq_gripper.xml"))
def __init__(self):
super().__init__(xml_path_completion('grippers/wiping_gripper.xml'))
