[(Small) Feature]: small build util changes, extra humanoid keyframes + attrs

mani_skill/agents/robots/unitree_g1/g1.py

@@ -19,8 +19,25 @@ class UnitreeG1(BaseAgent):
     keyframes = dict(
         standing=Keyframe(
             pose=sapien.Pose(p=[0, 0, 0.755]),
-            qpos=np.array([0.0] * 37) * 1,
-        )
+            # fmt: off
+            qpos=np.array(
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, -0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9, 0.9, 0.0, 0.0, 0.0, 0.0, 0.0, -0.77, -0.77, 0.0, 0.77, 0.77, 0.1, -0.92, -0.92, -0.1, 0.92, 0.92, 0.92, -0.92]
+            ),
+        ),
+        right_knee_up=Keyframe(
+            pose=sapien.Pose(p=[0, 0, 0.755]),
+            # fmt: off
+            qpos=np.array(
+                [0.0, -1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, -0.2, 0.0, 1.5, 0.0, 0.0, 0.0, 0.0, 0.9, 0.9, 0.0, 0.0, 0.0, 0.0, 0.0, -0.77, -0.77, 0.0, 0.77, 0.77, 0.1, -0.92, -0.92, -0.1, 0.92, 0.92, 0.92, -0.92]
+            ),
+        ),
+        left_knee_up=Keyframe(
+            pose=sapien.Pose(p=[0, 0, 0.755]),
+            # fmt: off
+            qpos=np.array(
+                [-1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, -0.2, 1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9, 0.9, 0.0, 0.0, 0.0, 0.0, 0.0, -0.77, -0.77, 0.0, 0.77, 0.77, 0.1, -0.92, -0.92, -0.1, 0.92, 0.92, 0.92, -0.92]
+            ),
+        ),
     )
 
     body_joints = [
@@ -66,6 +83,52 @@ class UnitreeG1(BaseAgent):
     body_damping = 1
     body_force_limit = 100
 
+    lower_body_joints = [
+        "left_hip_pitch_joint",
+        "right_hip_pitch_joint",
+        "left_hip_roll_joint",
+        "right_hip_roll_joint",
+        "left_hip_yaw_joint",
+        "right_hip_yaw_joint",
+        "left_knee_joint",
+        "right_knee_joint",
+        "left_ankle_pitch_joint",
+        "right_ankle_pitch_joint",
+        "left_ankle_roll_joint",
+        "right_ankle_roll_joint",
+    ]
+    upper_body_joints = [
+        "torso_joint",
+        "left_shoulder_pitch_joint",
+        "right_shoulder_pitch_joint",
+        "left_shoulder_roll_joint",
+        "right_shoulder_roll_joint",
+        "left_shoulder_yaw_joint",
+        "right_shoulder_yaw_joint",
+        "left_elbow_pitch_joint",
+        "right_elbow_pitch_joint",
+        "left_elbow_roll_joint",
+        "right_elbow_roll_joint",
+    ]
+    left_hand_joints = [
+        "left_zero_joint",
+        "left_three_joint",
+        "left_five_joint",
+        "left_one_joint",
+        "left_four_joint",
+        "left_six_joint",
+        "left_two_joint",
+    ]
+    right_hand_joints = [
+        "right_zero_joint",
+        "right_three_joint",
+        "right_five_joint",
+        "right_one_joint",
+        "right_four_joint",
+        "right_six_joint",
+        "right_two_joint",
+    ]
+
     @property
     def _controller_configs(self):
         body_pd_joint_pos = PDJointPosControllerConfig(

mani_skill/utils/building/actors/common.py

@@ -2,15 +2,29 @@
 Common utilities for adding primitive prebuilt shapes to a scene
 """
 
+from typing import Optional, Union
+
 import numpy as np
 import sapien
 import sapien.render
 
 from mani_skill.envs.scene import ManiSkillScene
 from mani_skill.utils.building.actor_builder import ActorBuilder
+from mani_skill.utils.structs.pose import Pose
+from mani_skill.utils.structs.types import Array
 
 
-def _build_by_type(builder: ActorBuilder, name, body_type):
+def _build_by_type(
+    builder: ActorBuilder,
+    name,
+    body_type,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
+):
+    if scene_idxs is not None:
+        builder.set_scene_idxs(scene_idxs)
+    if initial_pose is not None:
+        builder.set_initial_pose(initial_pose)
     if body_type == "dynamic":
         actor = builder.build(name=name)
     elif body_type == "static":
@@ -30,6 +44,8 @@ def build_cube(
     name: str,
     body_type: str = "dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     builder = scene.create_actor_builder()
     if add_collision:
@@ -42,7 +58,7 @@ def build_cube(
             base_color=color,
         ),
     )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
 
 
 def build_box(
@@ -52,6 +68,8 @@ def build_box(
     name: str,
     body_type: str = "dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     builder = scene.create_actor_builder()
     if add_collision:
@@ -64,7 +82,7 @@ def build_box(
             base_color=color,
         ),
     )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
 
 
 def build_cylinder(
@@ -75,6 +93,8 @@ def build_cylinder(
     name: str,
     body_type: str = "dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     builder = scene.create_actor_builder()
     if add_collision:
@@ -89,7 +109,7 @@ def build_cylinder(
             base_color=color,
         ),
     )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
 
 
 def build_sphere(
@@ -99,6 +119,8 @@ def build_sphere(
     name: str,
     body_type: str = "dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     builder = scene.create_actor_builder()
     if add_collision:
@@ -111,7 +133,7 @@ def build_sphere(
             base_color=color,
         ),
     )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
 
 
 def build_red_white_target(
@@ -121,6 +143,8 @@ def build_red_white_target(
     name: str,
     body_type: str = "dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     TARGET_RED = np.array([194, 19, 22, 255]) / 255
     builder = scene.create_actor_builder()
@@ -170,7 +194,7 @@ def build_red_white_target(
             radius=radius * 1 / 5,
             half_length=thickness / 2 + 4e-5,
         )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
 
 
 def build_twocolor_peg(
@@ -182,6 +206,8 @@ def build_twocolor_peg(
     name: str,
     body_type="dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     builder = scene.create_actor_builder()
     if add_collision:
@@ -202,7 +228,7 @@ def build_twocolor_peg(
             base_color=color_2,
         ),
     )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
 
 
 RED_COLOR = [220 / 255, 12 / 255, 12 / 255, 1]
@@ -221,6 +247,8 @@ def build_fourcolor_peg(
     color_4=[1, 1, 1, 1],
     body_type="dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     """
     A peg with four sections and four different colors. Useful for visualizing every possible rotation without any symmetries
@@ -258,7 +286,7 @@ def build_fourcolor_peg(
             base_color=color_4,
         ),
     )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
 
 
 def build_colorful_cube(
@@ -268,6 +296,8 @@ def build_colorful_cube(
     name: str,
     body_type: str = "dynamic",
     add_collision: bool = True,
+    scene_idxs: Optional[Array] = None,
+    initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
 ):
     builder = scene.create_actor_builder()
 
@@ -286,4 +316,4 @@ def build_colorful_cube(
             base_color=color,
         ),
     )
-    return _build_by_type(builder, name, body_type)
+    return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)

mani_skill/utils/building/ground.py

@@ -1,6 +1,7 @@
 """
 Useful utilities for creating the ground of a scene
 """
+
 from __future__ import annotations
 
 import os.path as osp
@@ -24,16 +25,18 @@ def build_ground(
     texture_file=osp.join(osp.dirname(__file__), "assets/grid_texture.png"),
     texture_square_len=4,
     mipmap_levels=4,
+    add_collision=True,
 ):
     """Procedurally creates a checkered floor given a floor width in meters.
 
     Note that this function runs slower as floor width becomes larger, but in general this function takes no more than 0.05s to run
     and usually is never run more than once as it is for building a scene, not loading.
     """
     ground = scene.create_actor_builder()
-    ground.add_plane_collision(
-        sapien.Pose(p=[0, 0, altitude], q=[0.7071068, 0, -0.7071068, 0]),
-    )
+    if add_collision:
+        ground.add_plane_collision(
+            sapien.Pose(p=[0, 0, altitude], q=[0.7071068, 0, -0.7071068, 0]),
+        )
     ground.initial_pose = sapien.Pose(p=[0, 0, 0], q=[1, 0, 0, 0])
     if scene.parallel_in_single_scene:
         # when building a ground and using a parallel render in the GUI, we want to only build one ground visual+collision plane