Skip to content

Feat/new scene #47

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
gomi5353 wants to merge 6 commits into
base: main
Choose a base branch
from
Open

Feat/new scene #47

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
d17d76c
Add: ED305 scene
author31 Jul 1, 2026
292876a
fix: set the franka position & cups z-offset
author31 Jul 1, 2026
c1b8c3c
fix: evaluation settings to new env
author31 Jul 3, 2026
be81e1e
fix: Pink Cup scale down 0.9x
author31 Jul 3, 2026
7e55c7c
fix: longer moving blue to pink (also higher), lower & release, move …
author31 Jul 3, 2026
fb18c2a
fix: front camera settings. (now is on the left side of the franka arm)
author31 Jul 3, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions eval/cup_stacking_eval.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
TAG_TO_OBJECT: dict[int, str] = {1: "blue_cup", 2: "pink_cup"}
ANCHOR_TAG_ID: int = 0
ANCHOR_WORLD_POSE: tuple[float, float, float] = (0.0, 0.0, 0.0)
OBJECT_Z: float = 0.12
OBJECT_Z: float = 1.0
OBJECT_ROLL: float = 0.0
OBJECT_PITCH: float = 0.0

Expand All @@ -44,15 +44,15 @@ class CupStackingEvalSceneCfg(SingleArmFrankaTaskSceneCfg):
usd_path=str(KITCHEN_OBJECTS_ROOT / "BlueCup" / "BlueCup.usd"),
mass_props=MassPropertiesCfg(mass=0.1),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.36, -0.4, 0.12), rot=(1.0, 0.0, 0.0, 0.0)),
init_state=RigidObjectCfg.InitialStateCfg(pos=(9.0, 6.45, 1.0), rot=(1.0, 0.0, 0.0, 0.0)),
)
pink_cup: RigidObjectCfg = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Scene/pink_cup",
spawn=sim_utils.UsdFileCfg(
usd_path=str(KITCHEN_OBJECTS_ROOT / "PinkCup" / "PinkCup.usd"),
mass_props=MassPropertiesCfg(mass=0.1),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.46, -0.4, 0.12), rot=(1.0, 0.0, 0.0, 0.0)),
init_state=RigidObjectCfg.InitialStateCfg(pos=(9.2, 6.5, 1.0), rot=(1.0, 0.0, 0.0, 0.0)),
)


Expand Down Expand Up @@ -105,7 +105,7 @@ def __post_init__(self) -> None:
self.viewer.lookat = (0.4, -1.3, -0.2)
self.dynamic_reset_gripper_effort_limit = False

self.scene.robot.init_state.pos = (0.35, -0.74, 0.01)
self.scene.robot.init_state.pos = (9.0, 6.0, 0.9)
self.scene.robot.init_state.rot = (0.707, 0.0, 0.0, 0.707)
self.scene.robot.init_state.joint_pos = {
"panda_joint1": 0.0,
Expand Down
Binary file added packages/simulator/assets/scenes/kitchen/nycu_light_collider_wooden.usd
View file
Open in desktop
Binary file not shown.
Binary file modified packages/simulator/assets/scenes/kitchen/objects/PinkCup/PinkCup.usd
View file
Open in desktop
Binary file not shown.
2 changes: 1 addition & 1 deletion packages/simulator/src/simulator/assets/scenes/kitchen.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
"""Configuration for the Kitchen Scene"""
SCENES_ROOT = Path(ASSETS_ROOT) / "scenes"

KITCHEN_USD_PATH = str(SCENES_ROOT / "kitchen" / "scene.usd")
KITCHEN_USD_PATH = str(SCENES_ROOT / "kitchen" / "nycu_light_collider_wooden.usd")

KITCHEN_CFG = AssetBaseCfg(
spawn=sim_utils.UsdFileCfg(
Expand Down
10 changes: 6 additions & 4 deletions packages/simulator/src/simulator/datagen/state_machine/cup_stacking.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@

_HOVER_Z_OFFSET = 0.15
_GRASP_Z_OFFSET = 0.08
_LIFT_Z_OFFSET = 0.2
_LIFT_Z_OFFSET = 0.25
_RELEASE_Z_OFFSET = 0.09
_GRIPPER_DOWN_ROLL_W = math.pi
_GRIPPER_DOWN_PITCH_W = 0.0
Expand Down Expand Up @@ -133,9 +133,9 @@ def __init__(self) -> None:
80, # Phase 1: Approach down to the blue cup
20, # Phase 2: Close gripper to grasp
100, # Phase 3: Lift blue cup upward
85, # Phase 4: Move blue cup above the pink cup
35, # Phase 5: Lower/place and release
30, # Phase 6: Move up and away
120, # Phase 4: Move blue cup above the pink cup
40, # Phase 5: Lower/place and release
80, # Phase 6: Move up and away
]

# ------------------------------------------------------------------
Expand Down Expand Up @@ -250,11 +250,13 @@ def _phase_lift_blue(self, blue_cup_pos_w, num_envs, device):
def _phase_move_above_pink(self, pink_cup_pos_w, num_envs, device):
target_pos_w = pink_cup_pos_w.clone()
target_pos_w[:, 2] += _LIFT_Z_OFFSET
#target_pos_w[:, 1] += 0.01 # +y 1cm
return target_pos_w, _constant_gripper(num_envs, device, _GRIPPER_CLOSE)

def _phase_lower_to_release(self, pink_cup_pos_w, num_envs, device):
target_pos_w = pink_cup_pos_w.clone()
target_pos_w[:, 2] += _RELEASE_Z_OFFSET
#target_pos_w[:, 1] += 0.01 # +y 1cm
return target_pos_w, _constant_gripper(num_envs, device, _GRIPPER_CLOSE)

def _phase_lift_away(self, pink_cup_pos_w, num_envs, device):
Expand Down
4 changes: 2 additions & 2 deletions packages/simulator/src/simulator/tasks/cup_stacking/cup_stacking_env_cfg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
TAG_TO_OBJECT: dict[int, str] = {1: "blue_cup", 2: "pink_cup"}
ANCHOR_TAG_ID: int = 0
ANCHOR_WORLD_POSE: tuple[float, float, float] = (0.5, -0.2, 0.0)
OBJECT_Z: float = 0.12
OBJECT_Z: float = 1.0
OBJECT_ROLL: float = 0.0
OBJECT_PITCH: float = 0.0

Expand Down Expand Up @@ -109,7 +109,7 @@ def __post_init__(self) -> None:
self.viewer.lookat = (0.4, -1.3, -0.2)
self.dynamic_reset_gripper_effort_limit = False

self.scene.robot.init_state.pos = (0.35, -0.74, 0.01)
self.scene.robot.init_state.pos = (9.0, 6.0, 0.9)
self.scene.robot.init_state.rot = (0.707, 0.0, 0.0, 0.707)
self.scene.robot.init_state.joint_pos = {
"panda_joint1": 0.0,
Expand Down
14 changes: 11 additions & 3 deletions packages/simulator/src/simulator/tasks/template/single_arm_franka_cfg.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,13 @@ class SingleArmFrankaTaskSceneCfg(InteractiveSceneCfg):

wrist: TiledCameraCfg = TiledCameraCfg(
prim_path="{ENV_REGEX_NS}/Robot/panda_hand/wrist",
offset=TiledCameraCfg.OffsetCfg(pos=(0.04, 0.0, 0.0), rot=(0.707, 0, 0, 0.707), convention="ros"),
offset=TiledCameraCfg.OffsetCfg(pos=(0.04, 0.0, 0.0), rot=(0.707, 0, 0, 0.707), convention="ros"),

# rot=(0.707, 0, 0, 0.707)
# => wxyz=(0, 0.707, 0.707, 0)
# rot=(0, 0.707, 0, 0.707)
# => wxyz=(0.707, 0, 0.707, 0)

data_types=["rgb"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=24,
Expand All @@ -87,11 +93,13 @@ class SingleArmFrankaTaskSceneCfg(InteractiveSceneCfg):
front: TiledCameraCfg = TiledCameraCfg(
prim_path="/World/front_camera",
offset=TiledCameraCfg.OffsetCfg(
pos=(0.35, 1.1, 0.6), rot=(0.0, -0.0, -0.60182, -0.79864), convention="opengl"
# pos=(8.19043, 6.69887, 1.06662), rot=(0.459121, 0.459121, -0.53778, -0.53778), convention="opengl"
pos=(7.80362, 6.78599, 1.1197), rot=(0.37025, 0.37025, -0.60242, -0.60242), convention="opengl"
),
data_types=["rgb"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=55,
#focal_length=55,
focal_length=18.14756,
focus_distance=400.0,
horizontal_aperture=38.11,
clipping_range=(0.01, 50.0),
Expand Down