Delete folder templates with huggingface_hub
Browse files- templates/problem_class_template.py +0 -211
- templates/scene_template.xml +0 -76
templates/problem_class_template.py
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from robosuite.utils.mjcf_utils import new_site
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from libero.libero.envs.bddl_base_domain import BDDLBaseDomain, register_problem
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from libero.libero.envs.robots import *
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from libero.libero.envs.objects import *
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from libero.libero.envs.predicates import *
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from libero.libero.envs.regions import *
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from libero.libero.envs.utils import rectangle2xyrange
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@register_problem
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class YOUR_CLASS_NAME(BDDLBaseDomain):
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def __init__(self, bddl_file_name, *args, **kwargs):
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# Configure the workspace
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self.workspace_name = "kitchen_table"
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self.visualization_sites_list = []
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self.kitchen_table_full_size = (1.0, 1.2, 0.05)
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self.kitchen_table_offset = (0.0, 0, 0.90)
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# For z offset of environment fixtures
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self.z_offset = 0.01 - self.kitchen_table_full_size[2]
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kwargs.update(
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{"robots": [f"Mounted{robot_name}" for robot_name in kwargs["robots"]]}
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)
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kwargs.update({"workspace_offset": self.kitchen_table_offset})
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kwargs.update({"arena_type": "kitchen"})
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# Specify the scene xml and scene properties. Specify the default here since not many people would need to change this actively.
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if "scene_xml" not in kwargs or kwargs["scene_xml"] is None:
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kwargs.update(
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{"scene_xml": "scenes/libero_kitchen_tabletop_base_style.xml"}
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)
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if "scene_properties" not in kwargs or kwargs["scene_properties"] is None:
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# The scene properties need to be specified in libero/envs/arenas/style.py.
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kwargs.update(
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{
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"scene_properties": {
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"floor_style": "gray-ceramic",
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"wall_style": "yellow-linen",
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}
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}
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)
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super().__init__(bddl_file_name, *args, **kwargs)
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def _load_fixtures_in_arena(self, mujoco_arena):
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"""Load the figures in this scene. If some extra process is required for the initial configurations, do it here."""
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for fixture_category in list(self.parsed_problem["fixtures"].keys()):
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if fixture_category == "kitchen_table":
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continue
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for fixture_instance in self.parsed_problem["fixtures"][fixture_category]:
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self.fixtures_dict[fixture_instance] = get_object_fn(fixture_category)(
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name=fixture_instance,
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joints=None,
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)
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def _load_objects_in_arena(self, mujoco_arena):
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"""Load the movable objects in this scene."""
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objects_dict = self.parsed_problem["objects"]
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for category_name in objects_dict.keys():
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for object_name in objects_dict[category_name]:
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self.objects_dict[object_name] = get_object_fn(category_name)(
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name=object_name
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)
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def _load_sites_in_arena(self, mujoco_arena):
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"""Load the sites in this part. Sites are used for either visualization purpose, or specifying the target region / containing region."""
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object_sites_dict = {}
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region_dict = self.parsed_problem["regions"]
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for object_region_name in list(region_dict.keys()):
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if "kitchen_table" in object_region_name:
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ranges = region_dict[object_region_name]["ranges"][0]
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assert ranges[2] >= ranges[0] and ranges[3] >= ranges[1]
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zone_size = ((ranges[2] - ranges[0]) / 2, (ranges[3] - ranges[1]) / 2)
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zone_centroid_xy = (
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(ranges[2] + ranges[0]) / 2 + self.workspace_offset[0],
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(ranges[3] + ranges[1]) / 2 + self.workspace_offset[1],
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)
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target_zone = TargetZone(
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name=object_region_name,
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rgba=region_dict[object_region_name]["rgba"],
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zone_size=zone_size,
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z_offset=self.workspace_offset[2],
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zone_centroid_xy=zone_centroid_xy,
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)
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object_sites_dict[object_region_name] = target_zone
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mujoco_arena.table_body.append(
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new_site(
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name=target_zone.name,
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pos=target_zone.pos + np.array([0.0, 0.0, -0.90]),
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quat=target_zone.quat,
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rgba=target_zone.rgba,
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size=target_zone.size,
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type="box",
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)
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)
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continue
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# Otherwise the processing is consistent
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for query_dict in [self.objects_dict, self.fixtures_dict]:
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for (name, body) in query_dict.items():
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try:
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if "worldbody" not in list(body.__dict__.keys()):
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# This is a special case for CompositeObject, we skip this as this is very rare in our benchmark
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continue
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except:
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continue
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for part in body.worldbody.find("body").findall(".//body"):
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sites = part.findall(".//site")
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joints = part.findall("./joint")
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if sites == []:
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break
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for site in sites:
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site_name = site.get("name")
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if site_name == object_region_name:
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object_sites_dict[object_region_name] = SiteObject(
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name=site_name,
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parent_name=body.name,
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joints=[joint.get("name") for joint in joints],
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size=site.get("size"),
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rgba=site.get("rgba"),
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site_type=site.get("type"),
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site_pos=site.get("pos"),
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site_quat=site.get("quat"),
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object_properties=body.object_properties,
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)
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self.object_sites_dict = object_sites_dict
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# Keep track of visualization objects
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for query_dict in [self.fixtures_dict, self.objects_dict]:
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for name, body in query_dict.items():
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if body.object_properties["vis_site_names"] != {}:
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self.visualization_sites_list.append(name)
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def _add_placement_initializer(self):
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"""Very simple implementation at the moment. Will need to upgrade for other relations later. Take a look at BDDLBaseDomain class, and modify the implementation logic accordingly based on your own need."""
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super()._add_placement_initializer()
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def _check_success(self):
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"""
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Check if the goal is achieved. Consider conjunction goals at the moment
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"""
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goal_state = self.parsed_problem["goal_state"]
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result = True
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for state in goal_state:
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result = self._eval_predicate(state) and result
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return result
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def _eval_predicate(self, state):
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"""Evaluate each predicate. For the moment, we only consider unary and binary predicates."""
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if len(state) == 3:
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# Checking binary logical predicates
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predicate_fn_name = state[0]
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object_1_name = state[1]
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object_2_name = state[2]
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return eval_predicate_fn(
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predicate_fn_name,
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self.object_states_dict[object_1_name],
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self.object_states_dict[object_2_name],
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)
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elif len(state) == 2:
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# Checking unary logical predicates
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predicate_fn_name = state[0]
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object_name = state[1]
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return eval_predicate_fn(
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predicate_fn_name, self.object_states_dict[object_name]
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)
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def _setup_references(self):
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"""Set up references for the objects. Add extra implementation here if the method in the parent class is not sufficient."""
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super()._setup_references()
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def _post_process(self):
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"""Post process the simulation step. Mainly for handling site visualization."""
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super()._post_process()
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self.set_visualization()
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def set_visualization(self):
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"""Set the visualization of the objects in the scene."""
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for object_name in self.visualization_sites_list:
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for _, (site_name, site_visible) in (
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self.get_object(object_name).object_properties["vis_site_names"].items()
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):
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vis_g_id = self.sim.model.site_name2id(site_name)
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if ((self.sim.model.site_rgba[vis_g_id][3] <= 0) and site_visible) or (
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(self.sim.model.site_rgba[vis_g_id][3] > 0) and not site_visible
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):
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# We toggle the alpha value
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self.sim.model.site_rgba[vis_g_id][3] = (
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1 - self.sim.model.site_rgba[vis_g_id][3]
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)
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def _setup_camera(self, mujoco_arena):
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"""Configure the camera as the workspace observation."""
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mujoco_arena.set_camera(
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camera_name="agentview",
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pos=[0.6586131746834771, 0.0, 1.6103500240372423],
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quat=[
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0.6380177736282349,
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0.3048497438430786,
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0.30484986305236816,
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0.6380177736282349,
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],
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)
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# For visualization purpose
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mujoco_arena.set_camera(
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camera_name="frontview", pos=[1.0, 0.0, 1.48], quat=[0.56, 0.43, 0.43, 0.56]
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)
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templates/scene_template.xml
DELETED
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<mujoco model="table_arena">
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<asset>
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<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
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<!-- floor texture and material-->
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<texture file="../textures/tile_grigia_caldera_porcelain_floor.png" type="2d" name="texplane"/>
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<material name="floorplane" reflectance="0.0" shininess="0.0"
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specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true"/>
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<!-- table texture and material -->
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<texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table"/>
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<material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
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<!-- table legs texture and material -->
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<texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs"/>
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<material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
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<!-- wall texture and material -->
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<texture file="../textures/smooth_light_gray_plaster.png" type="2d" name="tex-wall"/>
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<material name="walls_mat" reflectance="0.0" shininess="0.3" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
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<!-- added table texture and material for domain randomization -->
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<texture name="textable" builtin="flat" height="512" width="512" rgb1="0.8 0.8 0.8" rgb2="0.8 0.8 0.8"/>
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<material name="table_mat" texture="textable" />
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<!-- Specify your own scene texture, change it on your own. -->
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<texture file="kitchen_background/kitchen_background.png" name="tex-custom" type="2d"/>
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<material name="custom" reflectance="0.5" texrepeat="1 1" texture="tex-custom" texuniform="false"/>
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<mesh file="kitchen_background/visual/kitchen_background_vis.msh" name="custom_vis" scale="0.01 0.01 0.01"/>
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</asset>
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<worldbody>
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<!-- Floor -->
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<geom condim="3" group="1" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
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<geom pos="-1.65 0.0 0.0" quat="0 0 0 1" type="mesh" mesh="custom_vis" conaffinity="0" contype="0" group="1" material="custom"/>
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<light name="light_kitchen" diffuse=".8 .8 .8" dir="0 0 -1" directional="true" pos="-1.75 0 1.6" specular="0.8 0.8 0.8" castshadow="false"/>
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| 41 |
-
<geom pos="0.5 3 1.5" quat="0.7071 0.7071 0 0" size="2.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat"/>
|
| 42 |
-
<geom pos="0.5 -3 1.5" quat="0.7071 -0.7071 0 0" size="2.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_right_visual" material="walls_mat"/>
|
| 43 |
-
<geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
|
| 44 |
-
<geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
|
| 45 |
-
<!-- Table body -->
|
| 46 |
-
<body name="table" pos="0 0 0.4">
|
| 47 |
-
<geom pos="0 0 0" size="0.4 0.4 0.4" type="box" group="0" name="table_collision" friction="1 0.005 0.0001"/>
|
| 48 |
-
<geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="table_visual" material="table_texture"/>
|
| 49 |
-
<site pos="0 0 0.4" name="table_top" size="0.001 0.001 0.001" rgba="0 0 0 0"/>
|
| 50 |
-
<!-- Legs (visual only) -->
|
| 51 |
-
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg1_visual" material="table_legs"/>
|
| 52 |
-
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg2_visual" material="table_legs"/>
|
| 53 |
-
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg3_visual" material="table_legs"/>
|
| 54 |
-
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg4_visual" material="table_legs"/>
|
| 55 |
-
</body>
|
| 56 |
-
|
| 57 |
-
<!-- 固定障碍球，不会掉落 -->
|
| 58 |
-
<body name="obstacle_ball" pos="0.0 0.0 1.1">
|
| 59 |
-
<geom name="obstacle_collision" type="sphere" size="0.025"
|
| 60 |
-
rgba="1 0 0 1" group="4" contype="1" conaffinity="1" friction="1 0.1 0.01"/>
|
| 61 |
-
</body>
|
| 62 |
-
|
| 63 |
-
<light name="light1" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
|
| 64 |
-
<light name="light2" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
|
| 65 |
-
|
| 66 |
-
<!-- front view -->
|
| 67 |
-
<camera mode="fixed" name="frontview" pos="1.0 0 1.45" quat="0.56 0.43 0.43 0.56"/>
|
| 68 |
-
<!-- bird view -->
|
| 69 |
-
<camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
|
| 70 |
-
<!-- agent view -->
|
| 71 |
-
<camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
|
| 72 |
-
|
| 73 |
-
<!-- side view -->
|
| 74 |
-
<camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
|
| 75 |
-
</worldbody>
|
| 76 |
-
</mujoco>
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