Add six new environments: BlocksRanking, StackCups, StackBlocksTwo, MatchObjectContainer, and PlaceObjectDrawer

configs/gym/blocks_ranking_rgb/cobot_magic_3cam.json

@@ -0,0 +1,277 @@
+{   
+    "id": "BlocksRankingRGB-v1",
+    "max_episodes": 5,
+    "env": {
+        "events": {
+            "random_light": {
+                "func": "randomize_light",
+                "mode": "interval",
+                "interval_step": 10,
+                "params": {
+                    "entity_cfg": {"uid": "light_1"},
+                    "position_range": [[-0.5, -0.5, 2], [0.5, 0.5, 2]],
+                    "color_range": [[0.6, 0.6, 0.6], [1, 1, 1]],
+                    "intensity_range": [50.0, 100.0]
+                }
+            },
+            "init_block_1_pose": {
+                "func": "randomize_rigid_object_pose",
+                "mode": "reset",
+                "params": {
+                    "entity_cfg": {"uid": "block_1"},
+                    "position_range": [[0.445, -0.08, 0.86], [1.005, 0.05, 0.86]],
+                    "rotation_range": [[0, 0, -43.0], [0, 0, 43.0]],
+                    "relative_position": false
+                }
+            },
+            "init_block_2_pose": {
+                "func": "randomize_rigid_object_pose",
+                "mode": "reset",
+                "params": {
+                    "entity_cfg": {"uid": "block_2"},
+                    "position_range": [[0.445, -0.08, 0.86], [1.005, 0.05, 0.86]],
+                    "rotation_range": [[0, 0, -43.0], [0, 0, 43.0]],
+                    "relative_position": false
+                }
+            },
+            "init_block_3_pose": {
+                "func": "randomize_rigid_object_pose",
+                "mode": "reset",
+                "params": {
+                    "entity_cfg": {"uid": "block_3"},
+                    "position_range": [[0.445, -0.08, 0.86], [1.005, 0.05, 0.86]],
+                    "rotation_range": [[0, 0, -43.0], [0, 0, 43.0]],
+                    "relative_position": false
+                }
+            },
+            "init_block_sizes": {
+                "func": "randomize_rigid_objects_scale",
+                "mode": "reset",
+                "params": {
+                    "entity_cfgs": [
+                        {"uid": "block_1"},
+                        {"uid": "block_2"},
+                        {"uid": "block_3"}
+                    ],
+                    "scale_factor_range": [[0.75], [1.25]],
+                    "same_scale_all_axes": true,
+                    "shared_sample": true
+                }
+            },
+            "set_block_1_color": {
+                "func": "set_rigid_object_visual_material",
+                "mode": "startup",
+                "params": {
+                    "entity_cfg": {"uid": "block_1"},
+                    "base_color": [1.0, 0.0, 0.0, 1.0],
+                    "metallic": 0.0,
+                    "roughness": 0.5,
+                    "uid": "red_block_mat"
+                }
+            },
+            "set_block_2_color": {
+                "func": "set_rigid_object_visual_material",
+                "mode": "startup",
+                "params": {
+                    "entity_cfg": {"uid": "block_2"},
+                    "base_color": [0.0, 1.0, 0.0, 1.0],
+                    "metallic": 0.0,
+                    "roughness": 0.5,
+                    "uid": "green_block_mat"
+                }
+            },
+            "set_block_3_color": {
+                "func": "set_rigid_object_visual_material",
+                "mode": "startup",
+                "params": {
+                    "entity_cfg": {"uid": "block_3"},
+                    "base_color": [0.0, 0.0, 1.0, 1.0],
+                    "metallic": 0.0,
+                    "roughness": 0.5,
+                    "uid": "blue_block_mat"
+                }
+            }
+        },
+        "observations": {
+            "norm_robot_eef_joint": {
+                "func": "normalize_robot_joint_data",
+                "mode": "modify",
+                "name": "robot/qpos",
+                "params": {
+                    "joint_ids": [12, 13, 14, 15]
+                }
+            },
+            "block_1_pose": {
+                "func": "get_rigid_object_pose",
+                "mode": "add",
+                "name": "block_1_pose",
+                "params": {
+                    "entity_cfg": {"uid": "block_1"}
+                }
+            },
+            "block_2_pose": {
+                "func": "get_rigid_object_pose",
+                "mode": "add",
+                "name": "block_2_pose",
+                "params": {
+                    "entity_cfg": {"uid": "block_2"}
+                }
+            },
+            "block_3_pose": {
+                "func": "get_rigid_object_pose",
+                "mode": "add",
+                "name": "block_3_pose",
+                "params": {
+                    "entity_cfg": {"uid": "block_3"}
+                }
+            }
+        }
+    },
+    "robot": {
+        "uid": "CobotMagic",
+        "robot_type": "CobotMagic",
+        "init_pos": [0.0, 0.0, 0.7775],
+        "init_qpos": [-0.3,0.3,1.0,1.0,-1.2,-1.2,0.0,0.0,0.6,0.6,0.0,0.0,0.05,0.05,0.05,0.05]
+    },
+    "sensor": [
+        {
+            "sensor_type": "StereoCamera",
+            "uid": "cam_high",
+            "width": 960,
+            "height": 540,
+            "enable_mask": true,
+            "enable_depth": true,
+            "left_to_right_pos": [0.059684025824163614, 0, 0],
+            "intrinsics": [453.851402686215, 453.8347628855552, 469.827725021235, 258.6656181845155],
+            "intrinsics_right": [453.4536601653505, 453.3306024582175, 499.13697412367776, 297.7176248477935],
+            "extrinsics": {
+                "eye": [0.35368482807598, 0.014695524383058989, 1.4517046071614774],
+                "target": [0.7186357573287919, -0.054534732904795505, 0.5232553674540066],
+                "up": [0.9306678549330372, -0.0005600064212467153, 0.3658647703553347]
+            }
+        },
+        {
+            "sensor_type": "Camera",
+            "uid": "cam_right_wrist",
+            "width": 640,
+            "height": 480,
+            "enable_mask": true,
+            "intrinsics": [488.1665344238281, 488.1665344238281, 322.7323303222656, 213.17434692382812],
+            "extrinsics": {
+                "parent": "right_link6",
+                "pos": [-0.08, 0.0, 0.04],
+                "quat": [0.15304635, 0.69034543, -0.69034543, -0.15304635]
+            }
+        },
+        {
+            "sensor_type": "Camera",
+            "uid": "cam_left_wrist",
+            "width": 640,
+            "height": 480,
+            "enable_mask": true,
+            "intrinsics": [488.1665344238281, 488.1665344238281, 322.7323303222656, 213.17434692382812],
+            "extrinsics": {
+                "parent": "left_link6",
+                "pos": [-0.08, 0.0, 0.04],
+                "quat": [0.15304635, 0.69034543, -0.69034543, -0.15304635]
+            }
+        }
+    ],
+    "light": {
+        "direct": [
+            {
+                "uid": "light_1",
+                "light_type": "point",
+                "color": [1.0, 1.0, 1.0],
+                "intensity": 50.0,
+                "init_pos": [2, 0, 2],
+                "radius": 10.0
+            }
+        ]
+    },
+    "background": [
+        {
+            "uid": "table",
+            "shape": {
+                "shape_type": "Mesh",
+                "fpath": "CircleTableSimple/circle_table_simple.ply"
+            },
+            "attrs" : {
+                "mass": 10.0,
+                "static_friction": 0.95,
+                "dynamic_friction": 0.9,
+                "restitution": 0.01
+            },
+            "body_scale": [1, 1, 1],
+            "body_type": "kinematic",
+            "init_pos": [0.725, 0.0, 0.825],
+            "init_rot": [0, 90, 0]
+        }
+    ],
+    "rigid_object": [
+        {
+            "uid":"block_1",
+            "shape": {
+                "shape_type": "Cube",
+                "size": [0.04, 0.04, 0.04]
+            },
+            "attrs" : {
+                "mass": 0.05,
+                "static_friction": 0.5,
+                "dynamic_friction": 0.5,
+                "restitution": 0.0,
+                "contact_offset": 0.003,
+                "rest_offset": 0.001,
+                "max_depenetration_velocity": 1e1,
+                "min_position_iters": 32,
+                "min_velocity_iters": 8
+            },
+            "init_pos": [0.725, -0.015, 0.86],
+            "body_scale":[1, 1, 1],
+            "max_convex_hull_num": 1
+        },
+        {
+            "uid":"block_2",
+            "shape": {
+                "shape_type": "Cube",
+                "size": [0.04, 0.04, 0.04]
+            },
+            "attrs" : {
+                "mass": 0.05,
+                "static_friction": 0.5,
+                "dynamic_friction": 0.5,
+                "restitution": 0.0,
+                "contact_offset": 0.003,
+                "rest_offset": 0.001,
+                "max_depenetration_velocity": 1e1,
+                "min_position_iters": 32,
+                "min_velocity_iters": 8
+            },
+            "init_pos": [0.725, -0.015, 0.86],
+            "body_scale":[1, 1, 1],
+            "max_convex_hull_num": 1
+        },
+        {
+            "uid":"block_3",
+            "shape": {
+                "shape_type": "Cube",
+                "size": [0.04, 0.04, 0.04]
+            },
+            "attrs" : {
+                "mass": 0.05,
+                "static_friction": 0.5,
+                "dynamic_friction": 0.5,
+                "restitution": 0.0,
+                "contact_offset": 0.003,
+                "rest_offset": 0.001,
+                "max_depenetration_velocity": 1e1,
+                "min_position_iters": 32,
+                "min_velocity_iters": 8
+            },
+            "init_pos": [0.725, -0.015, 0.86],
+            "body_scale":[1, 1, 1],
+            "max_convex_hull_num": 1
+        }
+    ]
+}
+