libero_long variations

Lifelong-Robot-Learning · Sep 19, 2024 · 86114c4 · 86114c4
1 parent 3e0633a
commit 86114c4
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Showing 8 changed files with 30 additions and 18 deletions.
diff --git a/libero/libero/assets/scenes/libero_kitchen_tabletop_reflection_style.xml b/libero/libero/assets/scenes/libero_kitchen_tabletop_reflection_style.xml
@@ -68,8 +68,8 @@
       <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="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"/>
+    <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"/>

diff --git a/libero/libero/assets/scenes/libero_living_room_tabletop_mix_style.xml b/libero/libero/assets/scenes/libero_living_room_tabletop_mix_style.xml
@@ -58,8 +58,8 @@
     <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
     <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
     <!-- Table 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"/>

diff --git a/libero/libero/assets/scenes/libero_living_room_tabletop_reflection_style.xml b/libero/libero/assets/scenes/libero_living_room_tabletop_reflection_style.xml
@@ -58,8 +58,8 @@
     <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
     <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
     <!-- Table 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="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"/>
+    <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"/>

diff --git a/libero/libero/assets/scenes/libero_living_room_tabletop_rgba2_style.xml b/libero/libero/assets/scenes/libero_living_room_tabletop_rgba2_style.xml
@@ -19,7 +19,7 @@
     <material name="table_mat" texture="textable" />
 
     <texture file="living_room_table/living_room_table_texture.png" name="tex-living_room_table" type="2d"/>
-    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" rgba="0.2 0.2 0.2 1"/>
+    <material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" rgba="0.2 0.8 0.2 1"/>
     <mesh file="living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5"/>
 
     <texture file="wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d"/>

diff --git a/libero/libero/assets/scenes/libero_study_mix_style.xml b/libero/libero/assets/scenes/libero_study_mix_style.xml
@@ -83,8 +83,8 @@
     <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
     <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
 
-    <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"/>

diff --git a/libero/libero/assets/scenes/libero_study_reflection_style.xml b/libero/libero/assets/scenes/libero_study_reflection_style.xml
@@ -83,8 +83,8 @@
     <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
     <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
 
-    <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"/>
+    <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"/>

diff --git a/libero/libero/assets/scenes/libero_study_rgba2_style.xml b/libero/libero/assets/scenes/libero_study_rgba2_style.xml
@@ -41,7 +41,7 @@
     <mesh file="living_room_table/visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.0 1.0 1.0"/> -->
 
     <texture file="desk/desk_texture.png" name="tex-desk" type="2d"/>
-    <material name="desk" reflectance="0.5" texrepeat="1 1" texture="tex-desk" texuniform="false" rgba="0.2 0.2 0.2 1"/>
+    <material name="desk" reflectance="0.5" texrepeat="1 1" texture="tex-desk" texuniform="false" rgba="0.2 0.8 0.2 1"/>
     <mesh file="desk/visual/desk_vis.msh" name="desk_vis" scale="1.0 1.0 1.0"/>
 
     <texture file="floor_lamp/lamp_texture.png" name="tex-floor_lamp" type="2d"/>

diff --git a/libero/libero/envs/bddl_base_domain.py b/libero/libero/envs/bddl_base_domain.py
@@ -77,15 +77,17 @@ def __init__(
             table_rgba: list = None,
             change_table_color1: bool = False,
             change_table_color2: bool = False,
-            light_refelction: bool = False,
+            light_reflection: bool = False,
+            all_mix: bool = False,
             **kwargs,
     ):
         if table_rgba is None:
             table_rgba = [0.5, 0.5, 0.5, 1]
         self.table_rgba = table_rgba
         self.change_table_color1 = change_table_color1
         self.change_table_color2 = change_table_color2
-        self.light_refelction = light_refelction
+        self.light_reflection = light_reflection
+        self.all_mix = all_mix
         t0 = time.time()
         # settings for table top (hardcoded since it's not an essential part of the environment)
         self.workspace_offset = workspace_offset
@@ -315,7 +317,7 @@ def _load_model(self):
                 self.table_full_size[0]
             )
             self.robots[0].robot_model.set_base_xpos(xpos)
-            if self.light_refelction:
+            if self.light_reflection or self.all_mix:
                 mujoco_arena = TableArena(
                     table_full_size=self.table_full_size,
                     table_offset=self.workspace_offset,
@@ -338,7 +340,7 @@ def _load_model(self):
             )
             self.robots[0].robot_model.set_base_xpos(xpos)
 
-            if self.light_refelction:
+            if self.light_reflection or self.all_mix:
                 mujoco_arena = KitchenTableArena(
                     table_full_size=self.kitchen_table_full_size,
                     table_offset=self.workspace_offset,
@@ -388,11 +390,16 @@ def _load_model(self):
                     xml=os.path.join(self.custom_asset_dir, "scenes/libero_living_room_tabletop_rgba2_style.xml"),
                     **self._arena_properties,
                 )
-            elif self.light_refelction:
+            elif self.light_reflection:
                 mujoco_arena = LivingRoomTableArena(
                     xml=os.path.join(self.custom_asset_dir, "scenes/libero_living_room_tabletop_reflection_style.xml"),
                     **self._arena_properties,
                 )
+            elif self.all_mix:
+                mujoco_arena = LivingRoomTableArena(
+                    xml=os.path.join(self.custom_asset_dir, "scenes/libero_living_room_tabletop_mix_style.xml"),
+                    **self._arena_properties,
+                )
             else:
                 mujoco_arena = LivingRoomTableArena(
                     xml=self._arena_xml,
@@ -415,11 +422,16 @@ def _load_model(self):
                     xml=os.path.join(self.custom_asset_dir, "scenes/libero_study_rgba2_style.xml"),
                     **self._arena_properties,
                 )
-            elif self.light_refelction:
+            elif self.light_reflection:
                 mujoco_arena = StudyTableArena(
                     xml=os.path.join(self.custom_asset_dir, "scenes/libero_study_reflection_style.xml"),
                     **self._arena_properties,
                 )
+            elif self.all_mix:
+                mujoco_arena = StudyTableArena(
+                    xml=os.path.join(self.custom_asset_dir, "scenes/libero_study_mix_style.xml"),
+                    **self._arena_properties,
+                )
             else:
                 mujoco_arena = StudyTableArena(
                     xml=self._arena_xml,