Aloha Handover completed. Credit to Guy Lever for the three shaping rewards. Patch franka randomization bug

Andrew-Luo1 · Andrew-Luo1 · commit fa4e8f14f433 · 2025-01-20T20:52:27.000-05:00
diff --git a/mujoco_playground/_src/manipulation/franka_emika_panda/randomize_vision.py b/mujoco_playground/_src/manipulation/franka_emika_panda/randomize_vision.py
@@ -96,7 +96,7 @@ def rand(rng: jax.Array, light_position: jax.Array):
     geom_rgba = mjx_model.geom_rgba.at[BOX_GEOM_ID].set(rgba)
 
     strip_white = jax.random.uniform(key_strip, (), minval=0.8, maxval=1.0)
-    geom_rgba = mjx_model.geom_rgba.at[STRIP_GEOM_ID].set(
+    geom_rgba = geom_rgba.at[STRIP_GEOM_ID].set(
         jp.array([strip_white, strip_white, strip_white, 1.0])
     )
 

Original file line number	Diff line number	Diff line change
`@@ -96,7 +96,7 @@ def rand(rng: jax.Array, light_position: jax.Array):`
`96`	`96`	`geom_rgba = mjx_model.geom_rgba.at[BOX_GEOM_ID].set(rgba)`
`97`	`97`
`98`	`98`	`strip_white = jax.random.uniform(key_strip, (), minval=0.8, maxval=1.0)`
`99`		`- geom_rgba = mjx_model.geom_rgba.at[STRIP_GEOM_ID].set(`
	`99`	`+ geom_rgba = geom_rgba.at[STRIP_GEOM_ID].set(`
`100`	`100`	`jp.array([strip_white, strip_white, strip_white, 1.0])`
`101`	`101`	`)`
`102`	`102`