chore: models version bump

- updated models version
- adapted naming of models repo: eye-in-hand to wrist, removed color ref in geoms, box-joint to box_joint

Author: juelg

CMakeLists.txt

@@ -98,7 +98,7 @@ FetchContent_MakeAvailable(libfranka rl pybind11)
 if (${INCLUDE_UTN_MODELS})
     if (DEFINED GITLAB_MODELS_TOKEN)
         include(download_scenes)
-        set(ref bfdd70ae189ed3a925bf1c16d29162e847a21d56)
+        set(ref 055a6fdab480dde8443030236012f76d9be90918)
         FetchContent_Declare(
             scenes
             URL         "https://gitos.rrze.fau.de/api/v4/projects/1100/repository/archive?path=scenes&sha=${ref}"

python/examples/fr3.py

@@ -82,7 +82,7 @@ def main():
             # add camera to have a rendering gui
             cameras = {
                 "default_free": SimCameraConfig(identifier="", type=int(CameraType.default_free)),
-                "wrist": SimCameraConfig(identifier="eye-in-hand_0", type=int(CameraType.fixed)),
+                "wrist": SimCameraConfig(identifier="wrist_0", type=int(CameraType.fixed)),
             }
             cam_cfg = SimCameraSetConfig(cameras=cameras, resolution_width=1280, resolution_height=720, frame_rate=20)
             camera_set = SimCameraSet(simulation, cam_cfg)  # noqa: F841

python/examples/grasp_demo.py

@@ -92,7 +92,7 @@ def main():
     print(env.unwrapped.robot.get_cartesian_position().translation())  # type: ignore
     # assert False
     controller = PickUpDemo(env)
-    controller.pickup("yellow_box_geom")
+    controller.pickup("box_geom")
 
 
 if __name__ == "__main__":

python/examples/grasp_demo_lab.py

@@ -89,7 +89,7 @@ def main():
     )
     env.reset()
     controller = PickUpDemo(env)
-    controller.pickup("yellow_box_geom")
+    controller.pickup("box_geom")
 
 
 if __name__ == "__main__":

python/rcsss/envs/factories.py

@@ -248,8 +248,8 @@ def __call__(  # type: ignore
             resolution = (256, 256)
 
         cameras = {
-            "wrist": SimCameraConfig(identifier="eye-in-hand_0", type=int(CameraType.fixed)),
-            "bird_eye": SimCameraConfig(identifier="bird-eye-cam", type=int(CameraType.fixed)),
+            "wrist": SimCameraConfig(identifier="wrist_0", type=int(CameraType.fixed)),
+            "bird_eye": SimCameraConfig(identifier="bird_eye_cam", type=int(CameraType.fixed)),
             "side": SimCameraConfig(identifier="side_view", type=int(CameraType.fixed)),
             "right_side": SimCameraConfig(identifier="right_side", type=int(CameraType.fixed)),
             "left_side": SimCameraConfig(identifier="left_side", type=int(CameraType.fixed)),
@@ -278,7 +278,7 @@ def __call__(  # type: ignore
         if resolution is None:
             resolution = (256, 256)
 
-        cameras = {"wrist": SimCameraConfig(identifier="eye-in-hand_0", type=int(CameraType.fixed))}
+        cameras = {"wrist": SimCameraConfig(identifier="wrist_0", type=int(CameraType.fixed))}
 
         camera_cfg = SimCameraSetConfig(
             cameras=cameras,
@@ -326,8 +326,8 @@ def __call__(  # type: ignore
             resolution = (256, 256)
 
         cameras = {
-            "wrist": SimCameraConfig(identifier="eye-in-hand_0", type=int(CameraType.fixed)),
-            "side": SimCameraConfig(identifier="eye-in-hand_1", type=int(CameraType.fixed)),
+            "wrist": SimCameraConfig(identifier="wrist_0", type=int(CameraType.fixed)),
+            "side": SimCameraConfig(identifier="wrist_1", type=int(CameraType.fixed)),
         }
 
         camera_cfg = SimCameraSetConfig(

python/rcsss/envs/sim.py

@@ -192,7 +192,7 @@ def reset(
         pos_x = iso_cube[0] + np.random.random() * 0.2 - 0.1
         pos_y = iso_cube[1] + np.random.random() * 0.2 - 0.1
 
-        self.sim.data.joint("yellow-box-joint").qpos[:3] = [pos_x, pos_y, pos_z]
+        self.sim.data.joint("box_joint").qpos[:3] = [pos_x, pos_y, pos_z]
 
         return obs, info
 
@@ -212,14 +212,12 @@ def step(self, action: dict[str, Any]):
         obs, reward, done, truncated, info = super().step(action)
 
         success = (
-            self.sim.data.joint("yellow-box-joint").qpos[2] > 0.3
-            and obs["gripper"] == GripperWrapper.BINARY_GRIPPER_CLOSED
+            self.sim.data.joint("box_joint").qpos[2] > 0.3 and obs["gripper"] == GripperWrapper.BINARY_GRIPPER_CLOSED
         )
         diff_ee_cube = np.linalg.norm(
-            self.sim.data.joint("yellow-box-joint").qpos[:3]
-            - self.unwrapped.robot.get_cartesian_position().translation()
+            self.sim.data.joint("box_joint").qpos[:3] - self.unwrapped.robot.get_cartesian_position().translation()
         )
-        diff_cube_home = np.linalg.norm(self.sim.data.joint("yellow-box-joint").qpos[:3] - self.EE_HOME)
+        diff_cube_home = np.linalg.norm(self.sim.data.joint("box_joint").qpos[:3] - self.EE_HOME)
         reward = -diff_cube_home - diff_ee_cube
 
         return obs, reward, success, truncated, info

python/rcsss/envs/utils.py

@@ -63,9 +63,9 @@ def default_fr3_sim_gripper_cfg():
 
 def default_mujoco_cameraset_cfg():
     cameras = {
-        "wrist": SimCameraConfig(identifier="eye-in-hand_0", type=int(CameraType.fixed)),
+        "wrist": SimCameraConfig(identifier="wrist_0", type=int(CameraType.fixed)),
         "default_free": SimCameraConfig(identifier="", type=int(CameraType.default_free)),
-        # "bird_eye": SimCameraConfig(identifier="bird-eye-cam", type=int(CameraType.fixed)),
+        # "bird_eye": SimCameraConfig(identifier="bird_eye_cam", type=int(CameraType.fixed)),
     }
     # 256x256 needed for VLAs
     return SimCameraSetConfig(