Add StackBlocksTwo environment #45
Conversation
yuecideng
added
the
task
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| # RoboTwin check if grippers are open | ||
| # This requires checking robot gripper state, which may need to be implemented | ||
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| # Compute angle and check if fallen | ||
| angle = torch.arccos(dot_product) | ||
| return angle >= torch.pi / 4 |
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话说这里你有可视化过你load 进去的block的pose吗？是否是z轴朝上还是朝哪里？
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def draw_axis(env, pose):
from embodichain.lab.sim.cfg import MarkerCfg
marker_cfg = MarkerCfg(
name='test',
marker_type="axis",
axis_xpos=pose,
axis_size=0.01,
axis_len=0.2,
arena_index=-1, # All arenas
)
env.sim.draw_marker(cfg=marker_cfg)
env.sim.update()
可以用这个方程可视化一些他们的pose。
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没有，因为在config里orientation我已经确定是z朝上了，然后我现在做了下可视化(蓝色是z轴）。
我当时用了这个_is_fall是觉得，方块应该是z轴始终朝上的，就需要检测方块的orientation。但是robotwin里方块哪一面朝上都可以（因为它没有判断最后的orientation），这点差别应该没关系吧?
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| # Check if block2 is within tolerance of expected position | ||
| position_diff = torch.abs(block2_pos - expected_block2_pos) # (num_envs, 3) | ||
| within_tolerance = torch.all( |
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这里这样check是合理的吗？我感觉是不是应该check bolck_1和block_2的delta x 以及 delta y不超过eps，然后block_2的 z 比bolck_1高。还是robotwin是这么做的？
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我这里是按照robotwin里来的。
def check_success(self):
block1_pose = self.block1.get_pose().p
block2_pose = self.block2.get_pose().p
eps = [0.025, 0.025, 0.012]
return (np.all(abs(block2_pose - np.array(block1_pose[:2].tolist() + [block1_pose[2] + 0.05])) < eps)
and self.is_left_gripper_open() and self.is_right_gripper_open())其实也是check 了delta x和delta y还有delta z。
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我看相比于pour_water的gym_config少了很多东西，要不把他们补上。
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原先我只添加了一些基础配置，pour_water里多了一些和动作规划有关的东西，还有几个多的camera，因为我看scope_ice里也就是只有一些基础配置，我也就没加。我觉得可以补上，说不定以后用会用到。
3 participants
Description
Added
StackBlocksTwo-v1environment - a manipulation task where two blocks need to be stacked on top of each other.Changes
StackBlocksTwoEnvclassReference
Based on
stack_blocks_twotask from RoboTwin.How to Run
Testing
Environment tested and verified to work correctly.
