haosulab · StoneT2000 · Jul 26, 2024 · Jul 13, 2024 · Jul 13, 2024 · Jul 16, 2024
diff --git a/docs/source/tasks/control/index.md b/docs/source/tasks/control/index.md
@@ -45,4 +45,46 @@ Use the Cartpole robot to swing up a pole on a cart.
 
 **Success Conditions:**
 - No specific success conditions. The task is considered successful if the pole is upright for the whole episode. We can threshold the episode accumulated reward to determine success.
+:::
+
+## MS-HopperHop-v1
+![dense-reward][reward-badge]
+
+:::{dropdown} Task Card
+:icon: note
+:color: primary
+
+**Task Description:**
+Hopper robot stays upright and moves in positive x direction with hopping motion
+
+
+**Supported Robots: Hopper**
+
+**Randomizations:**
+- Hopper robot is randomly rotated [-pi, pi] radians about y axis.
+- Hopper qpos are uniformly sampled within their allowed ranges
+
+**Success Conditions:**
+- No specific success conditions. The task is considered successful if the pole is upright for the whole episode. We can threshold the episode accumulated reward to determine success.
+:::
+
+## MS-HopperStand-v1
+![dense-reward][reward-badge]
+
+:::{dropdown} Task Card
+:icon: note
+:color: primary
+
+**Task Description:**
+Hopper robot stands upright
+
+
+**Supported Robots: Hopper**
+
+**Randomizations:**
+- Hopper robot is randomly rotated [-pi, pi] radians about y axis.
+- Hopper qpos are uniformly sampled within their allowed ranges
+
+**Success Conditions:**
+- No specific success conditions. We can threshold the episode accumulated reward to determine success.
 :::
diff --git a/mani_skill/envs/sapien_env.py b/mani_skill/envs/sapien_env.py
@@ -620,9 +620,14 @@ def _setup_sensors(self, options: dict):
         # Cameras for rendering only
         self._human_render_cameras = dict()
         for uid, camera_cfg in self._human_render_camera_configs.items():
+            if uid in self._agent_sensor_configs:
+                articulation = self.agent.robot
+            else:
+                articulation = None
             self._human_render_cameras[uid] = Camera(
                 camera_cfg,
                 self.scene,
+                articulation=articulation,
             )
 
         self.scene.sensors = self._sensors

diff --git a/mani_skill/envs/tasks/control/__init__.py b/mani_skill/envs/tasks/control/__init__.py
@@ -1 +1,2 @@
 from .cartpole import CartpoleBalanceEnv, CartpoleSwingUpEnv
+from .hopper import HopperHopEnv, HopperStandEnv
diff --git a/mani_skill/envs/tasks/control/assets/hopper.xml b/mani_skill/envs/tasks/control/assets/hopper.xml
@@ -0,0 +1,70 @@
+<mujoco model="planar hopper">
+  <include file="./common/skybox.xml"/>
+  <include file="./common/visual.xml"/>
+  <include file="./common/materials.xml"/>
+
+  <statistic extent="2" center="0 0 .5"/>
+
+  <default>
+    <default class="hopper">
+      <joint type="hinge" axis="0 1 0" limited="true" damping=".05" armature=".2"/>
+      <geom type="capsule" material="self"/>
+      <site type="sphere" size="0.05" group="3"/>
+    </default>
+    <default class="free">
+      <joint limited="false" damping="0" armature="0" stiffness="0"/>
+    </default>
+    <motor ctrlrange="-1 1" ctrllimited="true"/>
+  </default>
+
+  <option timestep="0.005"/>
+
+  <worldbody>
+    <camera name="cam0" pos="0 -2.8 0.8" euler="90 0 0" mode="trackcom"/>
+    <camera name="back" pos="-2 -.2 1.2" xyaxes="0.2 -1 0 .5 0 2" mode="trackcom"/>
+    <geom name="floor" type="plane" conaffinity="1" pos="48 0 0" size="50 1 .2" material="grid"/>
+    <body name="torso" pos="0 0 1" childclass="hopper">
+      <light name="top" pos="0 0 2" mode="trackcom"/>
+      <joint name="rootx" type="slide" axis="1 0 0" class="free"/>
+      <joint name="rootz" type="slide" axis="0 0 1" class="free"/>
+      <joint name="rooty" type="hinge" axis="0 1 0" class="free"/>
+      <geom name="torso" fromto="0 0 -.05 0 0 .2" size="0.0653"/>
+      <geom name="nose" fromto=".08 0 .13 .15 0 .14" size="0.03"/>
+      <body name="pelvis" pos="0 0 -.05">
+        <joint name="waist" range="-30 30"/>
+        <geom name="pelvis" fromto="0 0 0 0 0 -.15" size="0.065"/>
+        <body name="thigh" pos="0 0 -.2">
+          <joint name="hip" range="-170 10"/>
+          <geom name="thigh" fromto="0 0 0 0 0 -.33" size="0.04"/>
+          <body name="calf" pos="0 0 -.33">
+            <joint name="knee" range="5 150"/>
+            <geom name="calf" fromto="0 0 0 0 0 -.32" size="0.03"/>
+            <!-- foot slightly modified from original mjcf
+            split into heel and toe for force calculation convienence -->
+            <body name="foot_heel" pos="0 0 -.32">
+              <joint name="ankle" range="-45 45"/>
+              <geom name="foot_heel" fromto="-.08 0 0 .11 0 0" size="0.04"/>
+                <body name="foot_toe">
+                  <joint name="fix_toe2heel" type="fixed"/>
+                  <geom name="foot_toe" fromto=".11 0 0 .17 0 0" size="0.04"/>
+                </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <sensor>
+    <subtreelinvel name="torso_subtreelinvel" body="torso"/>
+    <touch name="touch_toe" site="touch_toe"/>
+    <touch name="touch_heel" site="touch_heel"/>
+  </sensor>
+
+  <actuator>
+    <motor name="waist" joint="waist" gear="30"/>
+    <motor name="hip" joint="hip" gear="40"/>
+    <motor name="knee" joint="knee" gear="30"/>
+    <motor name="ankle" joint="ankle" gear="10"/>
+  </actuator>
+</mujoco>