editable table rgba for living room, study, kitchen scenes.

Lifelong-Robot-Learning · Jul 3, 2024 · 7ce6c1d · 7ce6c1d
1 parent 32fa42e
commit 7ce6c1d
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Showing 4 changed files with 11 additions and 2 deletions.
diff --git a/libero/libero/envs/arenas/kitchen_arena.py b/libero/libero/envs/arenas/kitchen_arena.py
@@ -30,13 +30,15 @@ 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=(0.5, 0.5, 0.5, 1),
         has_legs=True,
         xml="arenas/table_arena.xml",
         floor_style="light-gray",
         wall_style="light-gray-plaster",
     ):
         super().__init__(xml_path_completion(xml))
 
+        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 +87,7 @@ 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/arenas/living_room_arena.py b/libero/libero/envs/arenas/living_room_arena.py
@@ -1,5 +1,5 @@
 from robosuite.models.arenas import Arena
-from robosuite.utils.mjcf_utils import xml_path_completion
+from robosuite.utils.mjcf_utils import xml_path_completion, array_to_string
 import numpy as np
 
 from libero.libero.envs.arenas.style import get_texture_filename
@@ -33,6 +33,8 @@ def __init__(
             "./body[@name='living_room_table']"
         )
 
+        self.table_visual.set("rgba", array_to_string(self.table_rgba))
+
         texplane = self.asset.find("./texture[@name='texplane']")
         plane_file = texplane.get("file")
         plane_file = "/".join(

diff --git a/libero/libero/envs/arenas/study_arena.py b/libero/libero/envs/arenas/study_arena.py
@@ -30,13 +30,15 @@ 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=(0.5, 0.5, 0.5, 1),
         has_legs=True,
         xml="arenas/empty_arena.xml",
         floor_style="light-gray",
         wall_style="light-gray-plaster",
     ):
         super().__init__(xml_path_completion(xml))
 
+        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
@@ -73,6 +75,7 @@ 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(self.table_rgba))
         # self.table_visual.set("rgba", array_to_string([0, 0, 0, 0]))
 
         self.table_top.set(

diff --git a/libero/libero/envs/bddl_base_domain.py b/libero/libero/envs/bddl_base_domain.py
@@ -326,6 +326,7 @@ def _load_model(self):
             mujoco_arena = KitchenTableArena(
                 table_full_size=self.kitchen_table_full_size,
                 table_offset=self.workspace_offset,
+                table_rgba=self.table_rgba,
                 xml=self._arena_xml,
                 **self._arena_properties,
             )
@@ -364,6 +365,7 @@ def _load_model(self):
             )
             self.robots[0].robot_model.set_base_xpos(xpos)
             mujoco_arena = StudyTableArena(
+                table_rgba=self.table_rgba,
                 xml=self._arena_xml,
                 **self._arena_properties,
             )