Added RGBD diffusion policy implementation as well as Draw Triangle task #643
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| MP_SOLUTIONS = {"DrawTriangle-v1": solveDrawTriangle} | ||
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| def parse_args(args=None): |
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thanks for adding this file.
we might want to consider having a more unified motion planning interface for all robots with some base classes and run scripts etc., this should be fine for now though!
mani_skill/utils/wrappers/flatten.py
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| @@ -50,7 +51,12 @@ def observation(self, observation: Dict): | |||
| if self.include_rgb and not self.include_depth: | |||
| ret["rgb"] = images | |||
| elif self.include_rgb and self.include_depth: | |||
| ret["rgbd"] = images | |||
| # todo: might not be the best way or the right place to perform this | |||
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remove the todo. I think this is fine. I normally myself wouldn't merge rgb and depth but this is just for compatibility with a lot of old code from MS2 that assumed "rgbd" as a key.
| @@ -0,0 +1,330 @@ | |||
| import math | |||
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Is it possible to make the outline 1. not transparent and 2. just be below the dots/ink? instead of over it. Looks a bit strange here
| to create their own drawing type tasks. | ||
| """ | ||
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| MAX_DOTS = 1010 |
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reduce this down significantly, maybe to 300. and max episode steps should be down to 300
| vis=vis, | ||
| base_pose=env.unwrapped.agent.robot.pose, | ||
| visualize_target_grasp_pose=vis, | ||
| print_env_info=False, |
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can you lower the max allowed joint velocities? Right now the result drawings are a bit too fast (dots are too spread out).
maybe lets tune it so that the typical solve time is about the 200-250 steps mark
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| def make_eval_envs(env_id, num_envs: int, sim_backend: str, env_kwargs: dict, other_kwargs: dict, video_dir: Optional[str] = None, wrappers: list[gym.Wrapper] = []): | ||
| class DictFrameStack(GymFrameStack): |
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can this not just inherit the maniskill frame stack wrapper?
I purposely didn't use the original framestack wrapper from gymnasium since it was not properly GPU parallelized.
DrawTriangle: #638
Diff policy RGBD: #616