Loading vagen/env/primitive_skill/env.py +1 −1 Original line number Diff line number Diff line Loading @@ -108,7 +108,7 @@ class PrimitiveSkillEnv(BaseEnv): def _render(self,info,init_obs=False,valid_actions=None): new_info=handle_info(info.copy(),mask_success=self.config.mask_success) new_info=handle_info(info.copy(),mask_success=self.config.mask_success,env=self.env) object_positions=new_info['obj_positions'] other_information=new_info['other_info'] instruction=self.env.instruction() Loading vagen/env/primitive_skill/maniskill/env/align_two_cube.py +1 −0 Original line number Diff line number Diff line Loading @@ -21,6 +21,7 @@ class AlignTwoCubeEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] skill_config=None vlm_info_keys=[] def __init__(self, stage=0,*args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwargs): self.stage=stage Loading vagen/env/primitive_skill/maniskill/env/place_two_cube.py +1 −0 Original line number Diff line number Diff line Loading @@ -22,6 +22,7 @@ class PlaceTwoCubeEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] skill_config=None vlm_info_keys=[] def __init__(self, stage=0,*args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwargs): self.stage=stage Loading vagen/env/primitive_skill/maniskill/env/put_apple_in_drawer.py +1 −1 Original line number Diff line number Diff line Loading @@ -21,7 +21,7 @@ from collections import defaultdict class PutAppleInDrawerEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] vlm_info_keys=["drawer_open_value"] # Asset configuration and constants DRAWER_ASSET_ID = "partnet_mobility_cabinet" handle_types = ["prismatic"] # We are interested in prismatic joints (drawers) Loading vagen/env/primitive_skill/maniskill/env/stack_three_cube.py +3 −1 Original line number Diff line number Diff line Loading @@ -22,6 +22,7 @@ class StackThreeCubeEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] skill_config=None vlm_info_keys=['cube_size'] def __init__(self, stage=0,*args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwargs): self.stage=stage Loading Loading @@ -145,7 +146,8 @@ class StackThreeCubeEnv(BaseEnv): def stage3_success(info): purple_not_grasped = ~info["is_purple_cube_grasped"] purple_on_red = (torch.linalg.norm(info["purple_cube_pos"][:2] - info["red_cube_pos"][:2]) < self.cube_size/2) and (info["purple_cube_pos"][2] > (info["red_cube_pos"][2] + self.cube_size/2)) return purple_on_red and purple_not_grasped return purple_on_red and purple_not_grasped and stage1_success(info) info["stage0_success"] = stage0_success(info) info["stage1_success"] = stage1_success(info) Loading Loading
vagen/env/primitive_skill/env.py +1 −1 Original line number Diff line number Diff line Loading @@ -108,7 +108,7 @@ class PrimitiveSkillEnv(BaseEnv): def _render(self,info,init_obs=False,valid_actions=None): new_info=handle_info(info.copy(),mask_success=self.config.mask_success) new_info=handle_info(info.copy(),mask_success=self.config.mask_success,env=self.env) object_positions=new_info['obj_positions'] other_information=new_info['other_info'] instruction=self.env.instruction() Loading
vagen/env/primitive_skill/maniskill/env/align_two_cube.py +1 −0 Original line number Diff line number Diff line Loading @@ -21,6 +21,7 @@ class AlignTwoCubeEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] skill_config=None vlm_info_keys=[] def __init__(self, stage=0,*args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwargs): self.stage=stage Loading
vagen/env/primitive_skill/maniskill/env/place_two_cube.py +1 −0 Original line number Diff line number Diff line Loading @@ -22,6 +22,7 @@ class PlaceTwoCubeEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] skill_config=None vlm_info_keys=[] def __init__(self, stage=0,*args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwargs): self.stage=stage Loading
vagen/env/primitive_skill/maniskill/env/put_apple_in_drawer.py +1 −1 Original line number Diff line number Diff line Loading @@ -21,7 +21,7 @@ from collections import defaultdict class PutAppleInDrawerEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] vlm_info_keys=["drawer_open_value"] # Asset configuration and constants DRAWER_ASSET_ID = "partnet_mobility_cabinet" handle_types = ["prismatic"] # We are interested in prismatic joints (drawers) Loading
vagen/env/primitive_skill/maniskill/env/stack_three_cube.py +3 −1 Original line number Diff line number Diff line Loading @@ -22,6 +22,7 @@ class StackThreeCubeEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "xmate3_robotiq", "fetch"] agent: Union[Panda, Xmate3Robotiq, Fetch] skill_config=None vlm_info_keys=['cube_size'] def __init__(self, stage=0,*args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwargs): self.stage=stage Loading Loading @@ -145,7 +146,8 @@ class StackThreeCubeEnv(BaseEnv): def stage3_success(info): purple_not_grasped = ~info["is_purple_cube_grasped"] purple_on_red = (torch.linalg.norm(info["purple_cube_pos"][:2] - info["red_cube_pos"][:2]) < self.cube_size/2) and (info["purple_cube_pos"][2] > (info["red_cube_pos"][2] + self.cube_size/2)) return purple_on_red and purple_not_grasped return purple_on_red and purple_not_grasped and stage1_success(info) info["stage0_success"] = stage0_success(info) info["stage1_success"] = stage1_success(info) Loading
