URIL Robosuite

Installation

1. Clone this repo
2. Install pip dependencies

pip install -r requirements.txt

1. Run the setup.py to install the robosuite package in develop mode (editable)

python setup.py develop

If you don’t want it to be editable package, just do regular install

python setup.py install 

Test your installation

Navigate outside of the URIL-Robosuite directory

Run the below test script to see if your installation worked.

import numpy as np
import robosuite as suite

# create environment instance
env = suite.make(
    env_name="Lift", # try with other tasks like "Stack" and "Door"
    robots="XArm7",  # try with other robots like "Panda", "Sawyer", and "Jaco"
    has_renderer=True,
    has_offscreen_renderer=False,
    use_camera_obs=False,
)

# reset the environment
env.reset()

for i in range(1000):
    action = np.random.randn(*env.action_spec[0].shape) * 0.1
    obs, reward, done, info = env.step(action)  # take action in the environment
    env.render()  # render on display

Customizations

Custom Camera Observation Angles

Sometimes, you may need to add custom angles not from the given list of camera in an environment.

To add your own custom camera angles, go to robosuite/models/assets/arenas/. This folder contains all the arena environment settings for any given task, which also contains a given arena’s camera configurations. For example, for the common table tap setting, edit table_arena.xml. At the bottom of the file are the camera definitions, you can add your own, like the following for a mirrored side camera:

<camera mode="fixed" name="sideviewmirrored" pos="-0.05651774593317116 -1.2761224129427358 1.4879572214102434" quat="0.843 0.537 0.0 0.0" />

The coordinate system is +y to the right of the front view, +x towards the front view camera, +z upwards. The rotation is defined by a quaternion.