add pick random object env

xuanlinli17 · xuanlinli17 · commit 4176912a5f02 · 2024-05-07T12:14:48.000-07:00
diff --git a/ManiSkill2_real2sim b/ManiSkill2_real2sim
@@ -1 +1 @@
-Subproject commit 23442df8c2f4f31590ce50be74750280c94f7095
+Subproject commit 049e14cb4d68ca5b816205e2896c7309bf829b7b
diff --git a/README.md b/README.md
@@ -114,6 +114,7 @@ print(simpler_env.ENVIRONMENTS)
 | Task Name | ManiSkill2 Env Name | Image (Visual Matching) |
 | ----------- | ----- | ----- |
 | google_robot_pick_coke_can | GraspSingleOpenedCokeCanInScene-v0 | <img src="./images/example_visualization/google_robot_coke_can_visual_matching.png" width="128" height="128" > |
+| google_robot_pick_object | GraspSingleRandomObjectInScene-v0 | <img src="./images/example_visualization/google_robot_pick_random_object.png" width="128" height="128" > |
 | google_robot_move_near | MoveNearGoogleBakedTexInScene-v1 | <img src="./images/example_visualization/google_robot_move_near_visual_matching.png" width="128" height="128" > |
 | google_robot_open_drawer | OpenDrawerCustomInScene-v0 | <img src="./images/example_visualization/google_robot_open_drawer_visual_matching.png" width="128" height="128" > |
 | google_robot_close_drawer | CloseDrawerCustomInScene-v0 | <img src="./images/example_visualization/google_robot_close_drawer_visual_matching.png" width="128" height="128" > |
diff --git a/images/example_visualization/google_robot_pick_random_object.png b/images/example_visualization/google_robot_pick_random_object.png
diff --git a/simpler_env/__init__.py b/simpler_env/__init__.py
@@ -6,6 +6,7 @@
     "google_robot_pick_horizontal_coke_can",
     "google_robot_pick_vertical_coke_can",
     "google_robot_pick_standing_coke_can",
+    "google_robot_pick_object",
     "google_robot_move_near_v0",
     "google_robot_move_near_v1",
     "google_robot_move_near",
@@ -42,6 +43,7 @@
         "GraspSingleOpenedCokeCanInScene-v0",
         {"upright": True},
     ),
+    "google_robot_pick_object": ("GraspSingleRandomObjectInScene-v0", {}),
     "google_robot_move_near": ("MoveNearGoogleBakedTexInScene-v1", {}),
     "google_robot_move_near_v0": ("MoveNearGoogleBakedTexInScene-v0", {}),
     "google_robot_move_near_v1": ("MoveNearGoogleBakedTexInScene-v1", {}),
