Add Tiago robot, configs and examples

gibson2/envs/env_base.py

@@ -7,6 +7,8 @@
 from gibson2.robots.freight_robot import Freight
 from gibson2.robots.fetch_robot import Fetch
 from gibson2.robots.locobot_robot import Locobot
+from gibson2.robots.tiago_single_robot import Tiago_Single
+from gibson2.robots.tiago_dual_robot import Tiago_Dual
 from gibson2.simulator import Simulator
 from gibson2.scenes.empty_scene import EmptyScene
 from gibson2.scenes.stadium_scene import StadiumScene
@@ -174,6 +176,9 @@ def load(self):
             if first_n != -1:
                 scene._set_first_n_objects(first_n)
             self.simulator.import_ig_scene(scene)
+        else:
+            raise Exception(
+                'Unknown scene type: {}'.format(self.config['scene']))
 
         if self.config['robot'] == 'Turtlebot':
             robot = Turtlebot(self.config)
@@ -193,9 +198,13 @@ def load(self):
             robot = Fetch(self.config)
         elif self.config['robot'] == 'Locobot':
             robot = Locobot(self.config)
+        elif self.config['robot'] == 'Tiago_Single':
+            robot = Tiago_Single(self.config)
+        elif self.config['robot'] == 'Tiago_Dual':
+            robot = Tiago_Dual(self.config)
         else:
             raise Exception(
-                'unknown robot type: {}'.format(self.config['robot']))
+                'Unknown robot type: {}'.format(self.config['robot']))
 
         self.scene = scene
         self.robots = [robot]

gibson2/examples/configs/tiago_dual_point_nav.yaml

@@ -0,0 +1,83 @@
+# scene
+scene: gibson
+scene_id: Rs
+#scene: igibson
+#scene_id: Rs_int
+is_interactive: false
+build_graph: true
+load_texture: true
+trav_map_resolution: 0.1
+trav_map_erosion: 3
+
+# robot
+robot: Tiago_Dual
+is_discrete: false
+wheel_velocity: 1.0
+torso_lift_velocity: 1.0
+head_velocity: 0.8
+arm_left_velocity: 0.9
+arm_right_velocity: 0.9
+gripper_velocity: 1.0
+hand_velocity: 0.5
+
+# task, observation and action
+#task: pointgoal # pointgoal|objectgoal|areagoal|reaching
+#target_dist_min: 1.0
+#target_dist_max: 10.0
+#initial_pos_z_offset: 0.1
+#additional_states_dim: 4
+task: point_nav_random
+target_dist_min: 1.0
+target_dist_max: 10.0
+goal_format: polar
+task_obs_dim: 4
+
+# reward
+reward_type: geodesic
+success_reward: 10.0
+slack_reward: -0.01
+potential_reward_weight: 1.0
+collision_reward_weight: -0.1
+collision_ignore_link_a_ids: [0, 1, 2]  # ignore collisions with these robot links
+
+# discount factor
+discount_factor: 0.99
+
+# termination condition
+dist_tol: 0.5  # body width
+max_step: 500
+max_collisions_allowed: 500
+goal_format: polar
+
+# sensor spec
+#output: [sensor, rgb, depth, scan]
+output: [task_obs, rgb, depth, scan, occupancy_grid]
+# image
+# Primesense Carmine 1.09 short-range RGBD sensor
+# http://xtionprolive.com/primesense-carmine-1.09
+fisheye: false
+image_width: 160
+image_height: 120
+vertical_fov: 45
+# depth
+depth_low: 0.35
+depth_high: 3.0
+# scan
+# SICK TIM571 scanning range finder
+# https://docs.fetchrobotics.com/robot_hardware.html
+# n_horizontal_rays is originally 661, sub-sampled 1/3
+n_horizontal_rays: 220
+n_vertical_beams: 1
+laser_linear_range: 25.0
+laser_angular_range: 220.0
+min_laser_dist: 0.05
+laser_link_name: base_laser_link
+
+# sensor noise
+depth_noise_rate: 0.0
+scan_noise_rate: 0.0
+
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: false
+

gibson2/examples/configs/tiago_reaching.yaml

@@ -0,0 +1,84 @@
+# scene
+scene: igibson
+scene_id: Rs_int
+build_graph: true
+load_texture: true
+pybullet_load_texture: true
+trav_map_type: no_obj
+trav_map_resolution: 0.1
+trav_map_erosion: 3
+should_open_all_doors: true
+
+# domain randomization
+texture_randomization_freq: null
+object_randomization_freq: null
+
+# robot
+robot: Tiago_Dual
+wheel_velocity: 0.8
+torso_lift_velocity: 0.8
+arm_velocity: 0.8
+
+# task
+task: grasp_task 
+load_object_categories: [
+  bottom_cabinet,
+  bottom_cabinet_no_top,
+  top_cabinet,
+  dishwasher,
+  fridge,
+  microwave,
+  oven,
+  washer
+  dryer,
+]
+
+
+# reward
+reward_type: l2
+success_reward: 10.0
+potential_reward_weight: 1.0
+collision_reward_weight: -0.1
+
+# discount factor
+discount_factor: 0.99
+
+# termination condition
+dist_tol: 0.36  # body width
+max_step: 500
+max_collisions_allowed: 500
+
+# misc config
+initial_pos_z_offset: 0.1
+collision_ignore_link_a_ids: [0, 1, 2]  # ignore collisions with these robot links
+
+# sensor spec
+output: [task_obs, rgb, depth, seg, scan, occupancy_grid]
+# image
+# Primesense Carmine 1.09 short-range RGBD sensor
+# http://xtionprolive.com/primesense-carmine-1.09
+fisheye: false
+image_width: 640
+image_height: 480
+vertical_fov: 45
+# depth
+depth_low: 0.35
+depth_high: 3.0
+# scan
+# SICK TIM571 scanning range finder
+# https://docs.fetchrobotics.com/robot_hardware.html
+# n_horizontal_rays is originally 661, sub-sampled 1/3
+n_horizontal_rays: 220
+n_vertical_beams: 1
+laser_linear_range: 25.0
+laser_angular_range: 220.0
+min_laser_dist: 0.05
+laser_link_name: base_laser_link
+
+# sensor noise
+depth_noise_rate: 0.0
+scan_noise_rate: 0.0
+
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: false

gibson2/examples/configs/tiago_single_point_nav.yaml

@@ -0,0 +1,73 @@
+# scene
+scene: stadium
+model_id: Rs
+is_interactive: false
+build_graph: true
+load_texture: true
+trav_map_resolution: 0.1
+trav_map_erosion: 3
+
+# robot
+robot: Tiago_Single
+is_discrete: false
+wheel_velocity: 1.0
+torso_lift_velocity: 1.0
+head_velocity: 0.8
+arm_velocity: 0.9
+gripper_velocity: 1.0
+
+# task, observation and action
+task: pointgoal # pointgoal|objectgoal|areagoal|reaching
+target_dist_min: 1.0
+target_dist_max: 10.0
+initial_pos_z_offset: 0.1
+additional_states_dim: 4
+
+# reward
+reward_type: geodesic
+success_reward: 10.0
+slack_reward: -0.01
+potential_reward_weight: 1.0
+collision_reward_weight: -0.1
+collision_ignore_link_a_ids: [0, 1, 2]  # ignore collisions with these robot links
+
+# discount factor
+discount_factor: 0.99
+
+# termination condition
+dist_tol: 0.5  # body width
+max_step: 500
+max_collisions_allowed: 500
+goal_format: polar
+
+# sensor spec
+output: [sensor, rgb, depth, scan]
+# image
+# Primesense Carmine 1.09 short-range RGBD sensor
+# http://xtionprolive.com/primesense-carmine-1.09
+fisheye: false
+image_width: 160
+image_height: 120
+vertical_fov: 45
+# depth
+depth_low: 0.35
+depth_high: 3.0
+# scan
+# SICK TIM571 scanning range finder
+# https://docs.fetchrobotics.com/robot_hardware.html
+# n_horizontal_rays is originally 661, sub-sampled 1/3
+n_horizontal_rays: 220
+n_vertical_beams: 1
+laser_linear_range: 25.0
+laser_angular_range: 220.0
+min_laser_dist: 0.05
+laser_link_name: laser_link
+
+# sensor noise
+depth_noise_rate: 0.0
+scan_noise_rate: 0.0
+
+# visual objects
+visual_object_at_initial_target_pos: true
+target_visual_object_visible_to_agent: false
+