From 32fa42e7d995f6c0b4eb7c527568ef8fd3285559 Mon Sep 17 00:00:00 2001
From: bowenxxxx <bowen.xing1998@gmail.com>
Date: Sat, 25 May 2024 21:32:07 +0200
Subject: [PATCH] LIBERO change

---
 libero/libero/assets/scenes/libero_floor_coffee_style.xml  | 2 +-
 libero/libero/assets/scenes/libero_tabletop_blue_style.xml | 4 ++--
 libero/libero/envs/arenas/table_arena.py                   | 6 +++++-
 libero/libero/envs/bddl_base_domain.py                     | 5 +++++
 4 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/libero/libero/assets/scenes/libero_floor_coffee_style.xml b/libero/libero/assets/scenes/libero_floor_coffee_style.xml
index c51d3aaf..b9db2936 100644
--- a/libero/libero/assets/scenes/libero_floor_coffee_style.xml
+++ b/libero/libero/assets/scenes/libero_floor_coffee_style.xml
@@ -20,7 +20,7 @@
 
     <texture file="coffee_table_seats/FabricLeatherBuffaloRustic001_COL_VAR1_4K.png" name="tex-coffee_table_seats" type="2d"/>
     <material name="coffee_table_seats" reflectance="0.5" texrepeat="1 1" texture="tex-coffee_table_seats" texuniform="false"/>
-    <mesh file="coffee_table_seats/visual/coffee_table_seats_vis.msh" name="coffee_table_seats_vis" scale="1.0 1.0 1.0"/>
+    <mesh file="coffee_table_seats/visual/coffee_table_seats_vis.msh" name="coffee_table_seats_vis" scale="0.8 0.4 0.1"/>
 
   </asset>
   <worldbody>
diff --git a/libero/libero/assets/scenes/libero_tabletop_blue_style.xml b/libero/libero/assets/scenes/libero_tabletop_blue_style.xml
index 663bf66b..f7247919 100644
--- a/libero/libero/assets/scenes/libero_tabletop_blue_style.xml
+++ b/libero/libero/assets/scenes/libero_tabletop_blue_style.xml
@@ -46,8 +46,8 @@
       <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"/>
       <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"/>
     </body>
-    <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"/>
-    <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"/>
+    <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="true"/>
+    <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="true"/>
     <!-- front view -->
     <camera mode="fixed" name="frontview" pos="1.0 0 1.45" quat="0.56 0.43 0.43 0.56"/>
     <!-- bird view -->
diff --git a/libero/libero/envs/arenas/table_arena.py b/libero/libero/envs/arenas/table_arena.py
index bc7a93ea..09f4e5bf 100644
--- a/libero/libero/envs/arenas/table_arena.py
+++ b/libero/libero/envs/arenas/table_arena.py
@@ -30,6 +30,7 @@ def __init__(
         table_full_size=(0.8, 0.8, 0.05),
         table_friction=(1, 0.005, 0.0001),
         table_offset=(0, 0, 0.8),
+        table_rgba=None,
         has_legs=True,
         xml="arenas/table_arena.xml",
         floor_style="light-gray",
@@ -37,6 +38,9 @@ def __init__(
     ):
         super().__init__(xml_path_completion(xml))
 
+        if table_rgba is None:
+            table_rgba = [0.5, 0.5, 0.5, 1]
+        self.table_rgba = table_rgba
         self.table_full_size = np.array(table_full_size)
         self.table_half_size = self.table_full_size / 2
         self.table_friction = table_friction
@@ -85,7 +89,7 @@ def configure_location(self):
         self.table_collision.set("size", array_to_string(self.table_half_size))
         self.table_collision.set("friction", array_to_string(self.table_friction))
         self.table_visual.set("size", array_to_string(self.table_half_size))
-        # self.table_visual.set("rgba", array_to_string([0, 0, 0, 0]))
+        self.table_visual.set("rgba", array_to_string(self.table_rgba))
 
         self.table_top.set(
             "pos", array_to_string(np.array([0, 0, self.table_half_size[2]]))
diff --git a/libero/libero/envs/bddl_base_domain.py b/libero/libero/envs/bddl_base_domain.py
index 0aa0f0c2..5e002375 100644
--- a/libero/libero/envs/bddl_base_domain.py
+++ b/libero/libero/envs/bddl_base_domain.py
@@ -75,8 +75,12 @@ def __init__(
         arena_type="table",
         scene_xml="scenes/libero_base_style.xml",
         scene_properties={},
+        table_rgba: list=None,
         **kwargs,
     ):
+        if table_rgba is None:
+            table_rgba = [0.5, 0.5, 0.5, 1]
+        self.table_rgba = table_rgba
         t0 = time.time()
         # settings for table top (hardcoded since it's not an essential part of the environment)
         self.workspace_offset = workspace_offset
@@ -310,6 +314,7 @@ def _load_model(self):
                 table_full_size=self.table_full_size,
                 table_offset=self.workspace_offset,
                 table_friction=(0.6, 0.005, 0.0001),
+                table_rgba=self.table_rgba,
                 xml=self._arena_xml,
                 **self._arena_properties,
             )