update the color of robots and the background

safe_rl_envs/safe_rl_envs/envs/world.py

@@ -105,15 +105,23 @@ def build(self):
             equality['weld'] = []
 
         # Add asset section if missing
+
+        # <texture type="skybox" builtin="gradient" rgb1="0.527 0.582 0.906" rgb2="0.1 0.1 0.35"
+        #     width="800" height="800" markrgb="1 1 1" mark="random" random="0.001"/>
+
         asset = xmltodict.parse(f'''
             <asset>
                 <texture name="texplane" builtin="checker" height="100" width="100"
                     rgb1="0.7 0.7 0.7" rgb2="0.8 0.8 0.8" type="2d"/>
-                <texture type="skybox" builtin="gradient" rgb1="0.527 0.582 0.906" rgb2="0.1 0.1 0.35"
-                    width="800" height="800" markrgb="1 1 1" mark="random" random="0.001"/>
                 <material name="MatPlane" reflectance="0.1" shininess="0.1" specular="0.1"
                     texrepeat="10 10" texture="texplane"/>
-                    
+                <texture name="texplane2" builtin="checker" height="100" width="100"
+                    rgb1="0.8 0.8 0.8" rgb2="0.6 0.6 0.6" type="2d"/>
+                <texture name="my_texture" type="2d" file="xmls/image.png"/>
+                <texture type="skybox" builtin="gradient" rgb1="0.1 0.1 0.6" rgb2="0. 0. 0.2"
+                    width="800" height="800" markrgb="1 1 1" mark="random" random="0.0"/>
+                <material name="MatPlane2" reflectance="0.3" shininess=".1" specular=".1"
+                    texrepeat="2 2" texture="my_texture"/>
             </asset>
             ''')
         xml_path = os.path.dirname(os.path.join(BASE_DIR, self.robot_base))
@@ -166,7 +174,7 @@ def build(self):
         # Make sure floor renders the same for every world
         for g in worldbody['geom']:
             if g['@name'] == 'floor':
-                g.update({'@size': convert(self.floor_size), '@rgba': '1 1 1 1', '@material': 'MatPlane'})
+                g.update({'@size': convert(self.floor_size), '@rgba': '1 1 1 1', '@material': 'MatPlane2'})
 
         # Add cameras to the XML dictionary
         cameras = xmltodict.parse('''<b>

safe_rl_envs/safe_rl_envs/myTest.py

@@ -62,34 +62,34 @@ def run_random(env_name):
     #     }
     config = {
             # robot setting
-            'robot_base': 'xmls/drone.xml', 
+            'robot_base': 'xmls/ant.xml',  
 
             # task setting
-            'task': 'goal',
-            'goal_3D': True,
-            'goal_z_range': [0.5,1.5],
+            'task': 'chase',
             'goal_size': 0.5,
 
             # observation setting
-            'observe_goal_comp': True,  # Observe the goal with a lidar sensor
-            'observe_hazard3Ds': True,  # Observe the vector from agent to hazards
-            'compass_shape': 3,
+            'observe_robbers': False,  # Observe the goal with a lidar sensor
+            'observe_ghosts': True,  # Observe the vector from agent to hazards
             'sensors_obs': ['accelerometer', 'velocimeter', 'gyro', 'magnetometer',
-                            'touch_p1a', 'touch_p1b', 'touch_p2a', 'touch_p2b',
-                            'touch_p3a', 'touch_p3b', 'touch_p4a', 'touch_p4b'],
+                            'touch_ankle_1a', 'touch_ankle_2a', 'touch_ankle_3a', 'touch_ankle_4a',
+                            'touch_ankle_1b', 'touch_ankle_2b', 'touch_ankle_3b', 'touch_ankle_4b'],
+
 
             # constraint setting
-            'constrain_hazard3Ds': True,  # Constrain robot from being in hazardous areas
+            'constrain_ghosts': True,  # Constrain robot from being in hazardous areas
             'constrain_indicator': False,  # If true, all costs are either 1 or 0 for a given step. If false, then we get dense cost.
 
             # lidar setting
-            'lidar_num_bins': 10,
-            'lidar_num_bins3D': 6,
+            'lidar_num_bins': 16,
 
             # object setting
-            'hazard3Ds_num': 8,
-            'hazard3Ds_size': 0.3,
-            'hazard3Ds_z_range': [0.5, 1.5],
+            'ghosts_num': 8,
+            'ghosts_size': 0.3,
+            'ghosts_travel':2.5,
+            'ghosts_safe_dist': 1.5,
+            'robbers_num': 0,
+            'robbers_size': 0.3,
         }
     env = Engine(config)
     obs = env.reset()
@@ -204,9 +204,12 @@ def run_random(env_name):
             # import ipdb;ipdb.set_trace()
             o = env.reset()
             # import ipdb;ipdb.set_trace()
-        if cnt > 10000:
+        if cnt > 800:
+            import ipdb;ipdb.set_trace()
             break
+
         env.render()
+
     print("##", time.time() - t)
 
 if __name__ == '__main__':

safe_rl_envs/safe_rl_envs/xmls/ant.xml

@@ -3,7 +3,7 @@
   <size njmax="3000" nconmax="1000"/>
   <default>
     <joint armature="1" damping="1" limited="true"/>
-    <geom condim="6" density="5.0" friction="0.75 0.01 0.01"  margin="0.01" rgba="1 0 0 1"/>
+    <geom condim="6" density="5.0" friction="0.75 0.01 0.01"  margin="0.01" rgba="1 0.6 0 1"/>
     <motor  ctrllimited="true" ctrlrange="-1.0 1.0" gear="30"/>
     <site size="0.2" type="sphere" rgba="0 0 1 0"/>
   </default>

safe_rl_envs/safe_rl_envs/xmls/arm_3.xml

@@ -3,7 +3,7 @@
     <option gravity="0 0 0" timestep="0.002"/>
     <default>
         <joint limited="false" damping="5000" range="-180 180" />
-        <geom condim="6" size="0.032" rgba="1 0 0 0.5" type="capsule" density="0.01"/>
+        <geom condim="6" size="0.032" rgba="1 0.6 0 1" type="capsule" density="0.01"/>
         <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="3000"/>
         <site size="0.05" type="sphere" rgba="0 0 1 0"/>
     </default>

safe_rl_envs/safe_rl_envs/xmls/arm_6.xml

@@ -3,7 +3,7 @@
     <option gravity="0 0 0" timestep="0.002"/>
     <default>
         <joint limited="false" damping="5000" range="-180 180" />
-        <geom condim="6" size="0.032" rgba="1 0 0 0.5" type="capsule" density="0.01"/>
+        <geom condim="6" size="0.032" rgba="1 0.6 0 1" type="capsule" density="0.01"/>
         <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2000"/>
         <site size="0.05" type="sphere" rgba="0 0 1 1"/>
     </default>

safe_rl_envs/safe_rl_envs/xmls/car.xml

@@ -2,7 +2,7 @@
     <size njmax="3000" nconmax="1000"/>
     <option timestep="0.004"/>
     <default>
-        <geom condim="6" density="5" rgba="1 0 0 1" size=".05" type="sphere"/>
+        <geom condim="6" density="5" rgba="1 0.6 0 1" size=".05" type="sphere"/>
         <joint damping=".001"/>
         <motor ctrlrange="-1 1" ctrllimited="true" forcerange="-.02 .02" forcelimited="true"/>
         <site size="0.032" type="sphere"/>

safe_rl_envs/safe_rl_envs/xmls/doggo.xml

@@ -3,7 +3,7 @@
   <size njmax="3000" nconmax="1000"/>
   <default>
     <joint limited="true" stiffness="0.01"/>
-    <geom condim="6" size="0.032" rgba="1 0 0 1" type="capsule" density="5"/>
+    <geom condim="6" size="0.032" rgba="1 0.6 0 1" type="capsule" density="5"/>
     <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear=".0125"/>
     <site size="0.036" type="sphere" rgba="1 0 0 0"/>
   </default>

safe_rl_envs/safe_rl_envs/xmls/drone.xml

@@ -2,7 +2,7 @@
     <size njmax="3000" nconmax="1000"/>
     <option timestep="0.008"/>
     <default>
-        <geom condim="6" density="1" rgba="1 0 0 1" />
+        <geom condim="6" density="1" rgba="1 0.6 0 1" />
         <joint damping=".001"/>
         <motor ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>
         <velocity ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>

safe_rl_envs/safe_rl_envs/xmls/hopper.xml

@@ -2,7 +2,7 @@
   <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
   <default>
     <joint armature="1" damping="1" limited="true"/>
-    <geom conaffinity="1" condim="6" contype="1" margin="0.001" rgba="1 0 0 1" solimp=".8 .8 .01" solref=".02 1"/>
+    <geom conaffinity="1" condim="6" contype="1" margin="0.001" rgba="1 0.6 0 1" solimp=".8 .8 .01" solref=".02 1"/>
     <motor ctrllimited="true" ctrlrange="-.4 .4"/>
     <site size="0.2" type="sphere" rgba="0 0 1 0"/>
   </default>

safe_rl_envs/safe_rl_envs/xmls/humanoid.xml

@@ -2,7 +2,7 @@
     <compiler angle="degree" inertiafromgeom="true"/>
     <default>
         <joint armature="10" damping="1" limited="true"/>
-        <geom condim="6" rgba="1 0 0 1"/>
+        <geom condim="6" rgba="1 0.6 0 1"/>
         <motor ctrllimited="true" ctrlrange="-1.0 1.0"/>
         <site size="0.1" type="sphere" rgba="0 0 1 0"/>
     </default>
@@ -15,7 +15,7 @@
         <geom name="floor" size="5 5 0.1" type="plane" condim="6"/>
         <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
         <body name="robot" pos="0 0 1.28">
-            <site name="robot" rgba="1 0 0 .1"/>
+            <site name="robot" rgba="1 0 0 .0"/>
             <camera name="vision" pos=".125 0 .2" xyaxes="0 -1 0 .4 0 1" fovy="100"/>
             <!-- <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/> -->
             <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>

safe_rl_envs/safe_rl_envs/xmls/point.xml

@@ -2,7 +2,7 @@
     <size njmax="3000" nconmax="1000"/>
     <option timestep="0.002"/>
     <default>
-        <geom condim="6" density="1" rgba="1 0 0 1" />
+        <geom condim="6" density="1" rgba="1 0.6 0 1" />
         <joint damping=".001"/>
         <motor ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>
         <velocity ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>