feat: add_burger and sausage #122
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zhizhe258
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| import argparse | |||
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what is this script for?
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To compute the new scene viewpoint. Customer can input the perspective info in Isaacsim GUI and get the relative viewpoint parameters.
| soft_joint_pos_limit_factor=1.0, | ||
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| SO101_KINFE_CFG = ArticulationCfg( |
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can we reuse the SO101_FOLLOWER_CFG, and just modify the usd_path
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| KITCHEN_WITH_HAMBURGER_USD_PATH = str(SCENES_ROOT / "kitchen_with_hamburger" / "scene.usd") | ||
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| KITCHEN_WITH_HAMBURGER_USD_PATH = str(SCENES_ROOT / "kitchen_with_burger" / "scene.usd") |
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recommend to align the name of the content and path, change to KITCHEN_WITH_BURGER_USD_PATH, or change to "kitchen_with_hamburger".
I recommend the latter.
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| from pathlib import Path | |||
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we already have this file in scenes/loft.py
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and do you use it in this PR?
| ranges = torch.tensor(range_list, device=env.device) | ||
| rand_samples = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(env_ids), 6), device=env.device) | ||
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| stage = omni.usd.get_context().get_stage() |
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can we get stage use env?
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| state = self._env.scene.get_state(is_relative=True) | ||
| state["cuttable_object"] = {} | ||
| for attr_name in dir(self._env): |
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refer to the impl of partcle_objects, use self._env.scene.cuttable_objects to manage cuttable objects. not str match.
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| import gymnasium as gym | |||
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can we complet this task use single arm?
| task_description: str = "Pick the beef patties and place it on the plate" | ||
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| # Simulation configuration | ||
| render_cfg: sim_utils.RenderCfg = sim_utils.RenderCfg(rendering_mode="quality", antialiasing_mode="FXAA") |
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quality control is in the teleoperation scripts --quality, not in task.
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| # Simulation configuration | ||
| render_cfg: sim_utils.RenderCfg = sim_utils.RenderCfg(rendering_mode="quality", antialiasing_mode="FXAA") | ||
| sim: SimulationCfg = SimulationCfg(dt=1 / 60, render_interval=1, render=render_cfg, use_fabric=True) |
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modify sim attribute in post__init()
| self.dynamic_reset_gripper_effort_limit = False | ||
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| # Add lighting | ||
| self.scene.light = AssetBaseCfg( |
| self.scene.right_arm.init_state.rot = (0.707, 0.0, 0.0, 0.707) | ||
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| self.decimation = 1 | ||
| self.dynamic_reset_gripper_effort_limit = False |
| # Sample common noise (velocity) | ||
| range_list_vel = [velocity_range.get(key, (0.0, 0.0)) for key in ["x", "y", "z", "roll", "pitch", "yaw"]] | ||
| ranges_vel = torch.tensor(range_list_vel, device=env.device) | ||
| rand_samples_vel = math_utils.sample_uniform( |
| # Render configuration - match manager-based env for proper material colors | ||
| render_cfg: sim_utils.RenderCfg = sim_utils.RenderCfg(rendering_mode="quality", antialiasing_mode="FXAA") | ||
| sim: SimulationCfg = SimulationCfg(dt=1 / 60, render_interval=1, render=render_cfg, use_fabric=True) | ||
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| # Add lighting | ||
| self.scene.light = AssetBaseCfg( | ||
| prim_path="{ENV_REGEX_NS}/Light", | ||
| spawn=sim_utils.DomeLightCfg(intensity=1000.0, color=(0.75, 0.75, 0.75)), | ||
| ) |
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| from .sausage_cut_bi_arm_env import SausageCutBiArmEnv, SausageCutBiArmEnvCfg | |||
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rename this task to cut_sausage to align to other tasks.
| # Render configuration with antialiasing enabled | ||
| render_cfg: sim_utils.RenderCfg = sim_utils.RenderCfg(rendering_mode="quality", antialiasing_mode="FXAA") | ||
| sim: SimulationCfg = SimulationCfg(dt=1 / 60, render_interval=1, render=render_cfg, use_fabric=False) |
| sim: SimulationCfg = SimulationCfg(dt=1 / 60, render_interval=1, render=render_cfg, use_fabric=False) | ||
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| # Disable IsaacLab UI window | ||
| ui_window_class_type: type | None = None |
| self.scene.light = AssetBaseCfg( | ||
| prim_path="{ENV_REGEX_NS}/Light", | ||
| spawn=sim_utils.DomeLightCfg(intensity=1000.0, color=(0.75, 0.75, 0.75)), | ||
| ) |
| cfg: SausageCutBiArmEnvCfg | ||
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| def _setup_scene(self): | ||
| super()._setup_scene() |
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refer to FoldClothBiArmEnv to manager cuttable_objects.
| self.cuttable_sausage.step() | ||
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| def _check_success(self) -> torch.Tensor: | ||
| return self.cuttable_sausage.check_success(min_count=2) |
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| import numpy as np | |||
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can move to cutable_object to manage
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| import os | |||
| ), | ||
| ) | ||
| setattr(env_cfg.scene, name, rigidcfg) | ||
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TODO: refactor code to remove duplicate here.
| matching_prims = sim_utils.find_matching_prim_paths(self.cfg.prim_path) | ||
| for prim_path in matching_prims: | ||
| self.cuttable_objects.append( | ||
| SingleCuttableObject( |
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| """Cuttable object asset for mesh cutting simulation.""" | |||
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can we use activate and deactivate to implement cutting object?
| """Subfix path to the mesh prim.""" | ||
| trigger_subfix: str = "Trigger/Cube" | ||
| """Subfix path to the trigger collision mesh.""" | ||
| knife_prim_path: str = "" |
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don't use name of knife
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