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z=Ra3ZJhlJe6aM4eKd=1$gKOcZ!hf8nUGIkuzqT}8eo67$4o#Qe)zoiTKm4pA> z&d+?(;{C1{O_$&G_<2Or<);$Af75jNU5}qfG+llw@%uMTm*4gHdGv3u%OC9{@=u^Y zegE6@{fXz#hcv!FEAr!*rpv#$F8?m~EiIpTMH>63wO9UK^!%gWo4oLC^sC?IpQg({ zxXw>=_>Y}2psTgraDJ}wAJdlqF$X!_{Ji6M7y?0#uwIU+NF@G^&cI`z|dz^&Ww>^!_E^AygmK~5AL z!Oh#w-POZ&UIQx>UrA9BPw=-?eh)#I4=_KOJDSA(Z|6J%+}%-3FJD(DPk;R4e}68( z)6pxy+ug|y#kNBMQTF_O1DsH-KSZ~qIJx`V|IO^`>F?z0?d3k795VlL4PV6g3s6y> v7#jMcjPdR1#edtU?a>sVDL_+zrT|R=ngTQhXbR92peaC8fTqCzoC5y`zPMpC literal 0 HcmV?d00001 diff --git a/robosuite/scripts/browse_mjcf_model.py b/robosuite/scripts/browse_mjcf_model.py index e8b55dfd32..14998ad066 100644 --- a/robosuite/scripts/browse_mjcf_model.py +++ b/robosuite/scripts/browse_mjcf_model.py @@ -9,9 +9,12 @@ import argparse import os -from mujoco_py import MjSim, MjViewer, load_model_from_path +# from mujoco import MjSim, MjViewer, load_model_from_path +import mujoco import robosuite as suite +from robosuite.utils import OpenCVRenderer +from robosuite.utils.binding_utils import MjRenderContext, MjSim if __name__ == "__main__": @@ -21,9 +24,11 @@ parser.add_argument("--filepath", type=str, default=arena_file) args = parser.parse_args() - model = load_model_from_path(args.filepath) + model = mujoco.MjModel.from_xml_path(args.filepath) sim = MjSim(model) - viewer = MjViewer(sim) + render_context = MjRenderContext(sim) + sim.add_render_context(render_context) + viewer = OpenCVRenderer(sim) print("Press ESC to exit...") while True: diff --git a/robosuite/scripts/compile_mjcf_model.py b/robosuite/scripts/compile_mjcf_model.py index b8037cb0fa..b5b9334a00 100644 --- a/robosuite/scripts/compile_mjcf_model.py +++ b/robosuite/scripts/compile_mjcf_model.py @@ -11,7 +11,7 @@ import sys from shutil import copyfile -from mujoco_py import load_model_from_path +import mujoco def print_usage(): @@ -31,7 +31,7 @@ def print_usage(): tempfile = os.path.join(input_folder, ".robosuite_temp_model.xml") copyfile(input_file, tempfile) - model = load_model_from_path(tempfile) + model = mujoco.MjModel.from_xml_path(tempfile) xml_string = model.get_xml() with open(output_file, "w") as f: f.write(xml_string) From c173eef39dcd4e2d8fb9ad948e1505bdf98bc5bf Mon Sep 17 00:00:00 2001 From: Yuke Zhu Date: Sat, 26 Nov 2022 16:19:50 -0600 Subject: [PATCH 2/3] remove unnecessary comments and fix documentation --- robosuite/scripts/browse_mjcf_model.py | 3 +-- robosuite/scripts/collect_human_demonstrations.py | 6 ++---- robosuite/scripts/playback_demonstrations_from_hdf5.py | 2 +- 3 files changed, 4 insertions(+), 7 deletions(-) diff --git a/robosuite/scripts/browse_mjcf_model.py b/robosuite/scripts/browse_mjcf_model.py index 14998ad066..02f87f6eda 100644 --- a/robosuite/scripts/browse_mjcf_model.py +++ b/robosuite/scripts/browse_mjcf_model.py @@ -3,13 +3,12 @@ Loads MJCF XML models from file and renders it on screen. Example: - $ python browse_arena_model.py --filepath ../models/assets/arenas/table_arena.xml + $ python browse_mjcf_model.py --filepath ../models/assets/arenas/table_arena.xml """ import argparse import os -# from mujoco import MjSim, MjViewer, load_model_from_path import mujoco import robosuite as suite diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py index cd47782fb3..bce59432f8 100644 --- a/robosuite/scripts/collect_human_demonstrations.py +++ b/robosuite/scripts/collect_human_demonstrations.py @@ -1,9 +1,7 @@ """ -A script to collect a batch of human demonstrations that can be used -to generate a learning curriculum (see `demo_learning_curriculum.py`). +A script to collect a batch of human demonstrations. -The demonstrations can be played back using the `playback_demonstrations_from_pkl.py` -script. +The demonstrations can be played back using the `playback_demonstrations_from_hdf5.py` script. """ import argparse diff --git a/robosuite/scripts/playback_demonstrations_from_hdf5.py b/robosuite/scripts/playback_demonstrations_from_hdf5.py index ad375e59fc..bbdf4d6966 100644 --- a/robosuite/scripts/playback_demonstrations_from_hdf5.py +++ b/robosuite/scripts/playback_demonstrations_from_hdf5.py @@ -59,7 +59,7 @@ while True: print("Playing back random episode... (press ESC to quit)") - # # select an episode randomly + # select an episode randomly ep = random.choice(demos) # read the model xml, using the metadata stored in the attribute for this episode From d50e224bd50b89a21e074e238c95d9e584809e29 Mon Sep 17 00:00:00 2001 From: Abhishek Joshi Date: Mon, 28 Nov 2022 18:34:54 -0600 Subject: [PATCH 3/3] fixes for tune_joins and playback_demo scripts --- .../{1668629592_9559019 => lift}/demo.hdf5 | Bin .../scripts/playback_demonstrations_from_hdf5.py | 2 +- robosuite/scripts/tune_joints.py | 2 +- 3 files changed, 2 insertions(+), 2 deletions(-) rename robosuite/models/assets/demonstrations/{1668629592_9559019 => lift}/demo.hdf5 (100%) diff --git a/robosuite/models/assets/demonstrations/1668629592_9559019/demo.hdf5 b/robosuite/models/assets/demonstrations/lift/demo.hdf5 similarity index 100% rename from robosuite/models/assets/demonstrations/1668629592_9559019/demo.hdf5 rename to robosuite/models/assets/demonstrations/lift/demo.hdf5 diff --git a/robosuite/scripts/playback_demonstrations_from_hdf5.py b/robosuite/scripts/playback_demonstrations_from_hdf5.py index ad375e59fc..f4217d7fcc 100644 --- a/robosuite/scripts/playback_demonstrations_from_hdf5.py +++ b/robosuite/scripts/playback_demonstrations_from_hdf5.py @@ -10,7 +10,7 @@ --visualize-gripper (optional): If set, will visualize the gripper site Example: - $ python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/SawyerPickPlace/ + $ python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/lift/ """ import argparse diff --git a/robosuite/scripts/tune_joints.py b/robosuite/scripts/tune_joints.py index 47f162e3bf..09dedbd5fb 100644 --- a/robosuite/scripts/tune_joints.py +++ b/robosuite/scripts/tune_joints.py @@ -180,7 +180,7 @@ def _toggle_arm(self): Toggle between arms in the environment to set as current active arm """ if isinstance(self.active_robot, SingleArm): - self.active_robot_num = (self.active_robot_num + 1) // self.num_robots + self.active_robot_num = (self.active_robot_num + 1) % self.num_robots robot = self.active_robot_num else: # Bimanual case self.active_arm = "left" if self.active_arm == "right" else "right"