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Update domain randomization wrapper to work with mujoco!=3.1.1 for some settings #585

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Update domain randomization wrapper to work with mujoco!=3.1.1 for some settings #585

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13 changes: 10 additions & 3 deletions robosuite/demos/demo_domain_randomization.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
Script to showcase domain randomization functionality.
"""

import mujoco
import time

import robosuite.macros as macros
from robosuite.utils.input_utils import *
Expand All @@ -12,7 +12,6 @@
macros.USING_INSTANCE_RANDOMIZATION = True

if __name__ == "__main__":
assert mujoco.__version__ == "3.1.1", "Script requires mujoco-py version 3.1.1 to run"
# Create dict to hold options that will be passed to env creation call
options = {}

Expand Down Expand Up @@ -57,10 +56,17 @@
control_freq=20,
hard_reset=False, # TODO: Not setting this flag to False brings up a segfault on macos or glfw error on linux
)
env = DomainRandomizationWrapper(env)
env = DomainRandomizationWrapper(
env,
randomize_color=False, # randomize_color currently only works for mujoco==3.1.1
randomize_camera=False, # less jarring when visualizing
randomize_dynamics=False,
)
env.reset()
env.viewer.set_camera(camera_id=0)

max_frame_rate = 20 # Set the desired maximum frame rate

# Get action limits
low, high = env.action_spec

Expand All @@ -69,3 +75,4 @@
action = np.random.uniform(low, high)
obs, reward, done, _ = env.step(action)
env.render()
time.sleep(1 / max_frame_rate)
5 changes: 5 additions & 0 deletions robosuite/wrappers/domain_randomization_wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
This file implements a wrapper for facilitating domain randomization over
robosuite environments.
"""
import mujoco
import numpy as np

from robosuite.utils.mjmod import CameraModder, DynamicsModder, LightingModder, TextureModder
Expand Down Expand Up @@ -154,6 +155,10 @@ def __init__(
self.modders = []

if self.randomize_color:
assert mujoco.__version__ == "3.1.1", (
"TextureModder requires mujoco version 3.1.1 to run. "
"Pending support for later versions. Alternatively, you can set randomize_color=False."
)
self.tex_modder = TextureModder(
sim=self.env.sim, random_state=self.random_state, **self.color_randomization_args
)
Expand Down