feat: (safe vision) update building and formula_one tasks (#69)

.github/workflows/ci.yml

@@ -18,7 +18,7 @@ concurrency:
 jobs:
   lint:
     runs-on: ubuntu-latest
-    timeout-minutes: 30
+    timeout-minutes: 60
     steps:
       - name: Checkout
         uses: actions/checkout@v3

.github/workflows/tests.yml

@@ -32,7 +32,7 @@ jobs:
         # TODO: add Python 3.11 to test matrix
         python-version: ["3.8", "3.9", "3.10"]
       fail-fast: false
-    timeout-minutes: 30
+    timeout-minutes: 60
     steps:
       - name: Checkout
         uses: actions/checkout@v3

docs/environments/safe_navigation.rst

@@ -1,5 +1,5 @@
 Safe Navigation
-================
+===============
 
 .. list-table::
 

docs/environments/safe_vision.rst

@@ -1,5 +1,5 @@
-Safe Navigation
-===============
+Safe Vision
+===========
 
 .. list-table::
 

examples/env.py

@@ -44,6 +44,6 @@ def run_random(env_name):
 
 if __name__ == '__main__':
     parser = argparse.ArgumentParser()
-    parser.add_argument('--env', default='SafetyAntVelocity-v0')
+    parser.add_argument('--env', default='SafetyPointFormulaOne2Debug-v0')
     args = parser.parse_args()
     run_random(args.env)

safety_gymnasium/__init__.py

@@ -148,6 +148,36 @@ def __combine(tasks, agents, max_episode_steps):
 # Safety Vision
 # ----------------------------------------
 
+# Building Button Environments
+# ----------------------------------------
+building_button_tasks = {
+    'BuildingButton0': {'floor_conf.type': 'mud'},
+    'BuildingButton1': {'floor_conf.type': 'mud'},
+    'BuildingButton2': {'floor_conf.type': 'mud'},
+}
+__combine(building_button_tasks, robots, max_episode_steps=1000)
+
+
+# Building Push Environments
+# ----------------------------------------
+building_push_tasks = {
+    'BuildingPush0': {'floor_conf.type': 'mud'},
+    'BuildingPush1': {'floor_conf.type': 'mud'},
+    'BuildingPush2': {'floor_conf.type': 'mud'},
+}
+__combine(building_push_tasks, robots, max_episode_steps=1000)
+
+
+# Building Goal Environments
+# ----------------------------------------
+building_goal_tasks = {
+    'BuildingGoal0': {'floor_conf.type': 'mud'},
+    'BuildingGoal1': {'floor_conf.type': 'mud'},
+    'BuildingGoal2': {'floor_conf.type': 'mud'},
+}
+__combine(building_goal_tasks, robots, max_episode_steps=1000)
+
+
 # Race Environments
 # ----------------------------------------
 race_tasks = {
@@ -158,6 +188,16 @@ def __combine(tasks, agents, max_episode_steps):
 __combine(race_tasks, robots, max_episode_steps=500)
 
 
+# Racing Environments
+# ----------------------------------------
+race_tasks = {
+    'FormulaOne0': {'floor_conf.type': 'none'},
+    'FormulaOne1': {'floor_conf.type': 'none'},
+    'FormulaOne2': {'floor_conf.type': 'none'},
+}
+__combine(race_tasks, robots, max_episode_steps=50000000000000)
+
+
 # Fading Environments
 # ----------------------------------------
 fading_tasks = {'FadingEasy0': {}, 'FadingEasy1': {}, 'FadingEasy2': {}}

safety_gymnasium/assets/color.py

@@ -25,7 +25,7 @@
     'button': np.array([1, 0.5, 0, 1]),
     'goal': np.array([0, 1, 0, 1]),
     'vase': np.array([0, 1, 1, 1]),
-    'hazard': np.array([0, 0, 1, 0.25]),
+    'hazard': np.array([0, 0, 1, 1]),
     'pillar': np.array([0.5, 0.5, 1, 1]),
     'wall': np.array([0.5, 0.5, 0.5, 1]),
     'gremlin': np.array([0.5, 0, 1, 1]),

safety_gymnasium/assets/free_geoms/push_box.py

@@ -39,23 +39,47 @@ class PushBox(FreeGeom):  # pylint: disable=too-many-instance-attributes
     reward_box_goal: float = 1.0  # Reward for moving the box towards the goal
 
     color: np.array = COLOR['push_box']
+    alpha: float = 0.25
     group: np.array = GROUP['push_box']
     is_lidar_observed: bool = True
     is_comp_observed: bool = False
     is_constrained: bool = False
+    is_meshed: bool = False
+    mesh_name: str = name
 
     def get_config(self, xy_pos, rot):
         """To facilitate get specific config for this object."""
-        return {
-            'name': 'push_box',
-            'type': 'box',
-            'size': np.ones(3) * self.size,
+        body = {
+            'name': self.name,
             'pos': np.r_[xy_pos, self.size],
             'rot': rot,
-            'density': self.density,
-            'group': self.group,
-            'rgba': self.color,
+            'geoms': [
+                {
+                    'name': self.name,
+                    'type': 'box',
+                    'size': np.ones(3) * self.size,
+                    'density': self.density,
+                    'group': self.group,
+                    'rgba': self.color * np.array([1, 1, 1, self.alpha]),
+                },
+            ],
         }
+        if self.is_meshed:
+            body['geoms'].append(
+                {
+                    'name': 'push_box_visual',
+                    'pos': [0, 0, -0.2],
+                    'contype': 0,
+                    'conaffinity': 0,
+                    'density': 0,
+                    'group': self.group,
+                    'type': 'mesh',
+                    'mesh': self.mesh_name,
+                    'material': self.mesh_name,
+                    'euler': [np.pi / 2, 0, 0],
+                },
+            )
+        return body
 
     def _specific_agent_config(self):
         """Modify the push_box property according to specific agent."""
@@ -67,4 +91,4 @@ def _specific_agent_config(self):
     @property
     def pos(self):
         """Helper to get the box position."""
-        return self.engine.data.body('push_box').xpos.copy()
+        return self.engine.data.body(self.name).xpos.copy()

safety_gymnasium/assets/free_geoms/vases.py

@@ -52,19 +52,39 @@ class Vases(FreeGeom):  # pylint: disable=too-many-instance-attributes
     group: np.array = GROUP['vase']
     is_lidar_observed: bool = True
     is_constrained: bool = True
+    is_meshed: bool = False
+    mesh_name: str = name[:-1]
+    mesh_euler: list = field(default_factory=lambda: [np.pi / 2, 0, 0])
+    mesh_height: float = 0.0
 
     def get_config(self, xy_pos, rot):
         """To facilitate get specific config for this object."""
-        return {
+        body = {
             'name': self.name,
-            'size': np.ones(3) * self.size,
-            'type': 'box',
-            'density': self.density,
             'pos': np.r_[xy_pos, self.size - self.sink],
             'rot': rot,
-            'group': self.group,
-            'rgba': self.color,
+            'geoms': [
+                {
+                    'size': np.ones(3) * self.size,
+                    'type': 'box',
+                    'density': self.density,
+                    'group': self.group,
+                    'rgba': self.color,
+                },
+            ],
         }
+        if self.is_meshed:
+            body['geoms'][0].update(
+                {
+                    'type': 'mesh',
+                    'mesh': self.mesh_name,
+                    'material': self.mesh_name,
+                    'euler': self.mesh_euler,
+                    'rgba': np.array([1.0, 1.0, 1.0, 1.0]),
+                },
+            )
+            body['pos'][2] = self.mesh_height
+        return body
 
     def cal_cost(self):
         """Contacts processing."""
@@ -116,4 +136,4 @@ def cal_cost(self):
     def pos(self):
         """Helper to get the list of vase positions."""
         # pylint: disable-next=no-member
-        return [self.engine.data.body(f'vase{p}').xpos.copy() for p in range(self.num)]
+        return [self.engine.data.body(f'{self.name[:-1]}{p}').xpos.copy() for p in range(self.num)]

safety_gymnasium/assets/geoms/__init__.py

@@ -24,7 +24,19 @@
 from safety_gymnasium.assets.geoms.oranges import Oranges
 from safety_gymnasium.assets.geoms.pillars import Pillars
 from safety_gymnasium.assets.geoms.sigwalls import Sigwalls
+from safety_gymnasium.assets.geoms.staged_goal import StagedGoal
 from safety_gymnasium.assets.geoms.walls import Walls
 
 
-GEOMS_REGISTER = [Apples, Buttons, Circle, Goal, Hazards, Oranges, Pillars, Walls, Sigwalls]
+GEOMS_REGISTER = [
+    Apples,
+    Buttons,
+    Circle,
+    Goal,
+    StagedGoal,
+    Hazards,
+    Oranges,
+    Pillars,
+    Walls,
+    Sigwalls,
+]

safety_gymnasium/assets/geoms/apples.py

@@ -45,37 +45,44 @@ class Apples(Geom):  # pylint: disable=too-many-instance-attributes
     reward_distance: float = 1.0  # Dense reward multiplied by the distance moved to the goal
 
     color: np.array = COLOR['apple']
+    alpha: float = 0.25
     group: np.array = GROUP['apple']
     is_lidar_observed: bool = True
     is_constrained: bool = False
     is_meshed: bool = False
+    mesh_name: str = name[:-1]
 
     def get_config(self, xy_pos, rot):
         """To facilitate get specific config for this object."""
-        geom = {
+        body = {
             'name': self.name,
-            'size': [self.size, self.size / 2],
             'pos': np.r_[xy_pos, self.size / 2 + 1e-2],
             'rot': rot,
-            'type': 'cylinder',
-            'contype': 0,
-            'conaffinity': 0,
-            'group': self.group,
-            'rgba': self.color * [1, 1, 1, 0.25],  # transparent
+            'geoms': [
+                {
+                    'name': self.name,
+                    'size': [self.size, self.size / 2],
+                    'type': 'cylinder',
+                    'contype': 0,
+                    'conaffinity': 0,
+                    'group': self.group,
+                    'rgba': self.color * np.array([1, 1, 1, self.alpha]),
+                },
+            ],
         }
         if self.is_meshed:
-            geom.update(
+            body['geoms'][0].update(
                 {
                     'pos': np.r_[xy_pos, 0.3],
                     'type': 'mesh',
-                    'mesh': 'apple',
-                    'material': 'apple',
+                    'mesh': self.mesh_name,
+                    'material': self.mesh_name,
                     'euler': [np.pi / 2, 0, 0],
                 },
             )
-        return geom
+        return body
 
     @property
     def pos(self):
         """Helper to get goal position from layout"""
-        return [self.engine.data.body(f'apple{i}').xpos.copy() for i in range(self.num)]
+        return [self.engine.data.body(f'{self.name[:-1]}{i}').xpos.copy() for i in range(self.num)]

safety_gymnasium/assets/geoms/buttons.py

@@ -49,18 +49,35 @@ class Buttons(Geom):  # pylint: disable=too-many-instance-attributes
     group: np.array = GROUP['button']
     is_lidar_observed: bool = True
     is_constrained: bool = True
+    is_meshed: bool = False
+    mesh_name: str = name[:-1]
 
     def get_config(self, xy_pos, rot):
         """To facilitate get specific config for this object."""
-        return {
+        body = {
             'name': self.name,
-            'size': np.ones(3) * self.size,
             'pos': np.r_[xy_pos, self.size],
             'rot': rot,
-            'type': 'sphere',
-            'group': self.group,
-            'rgba': self.color,
+            'geoms': [
+                {
+                    'name': self.name,
+                    'size': self.size,
+                    'type': 'sphere',
+                    'group': self.group,
+                    'rgba': self.color,
+                },
+            ],
         }
+        if self.is_meshed:
+            body['geoms'][0].update(
+                {
+                    'type': 'mesh',
+                    'mesh': self.mesh_name,
+                    'material': self.mesh_name,
+                    'euler': [np.pi / 2, 0, 0],
+                },
+            )
+        return body
 
     def cal_cost(self):
         """Contacts processing."""
@@ -97,4 +114,4 @@ def reset_timer(self):
     def pos(self):
         """Helper to get the list of button positions."""
         # pylint: disable-next=no-member
-        return [self.engine.data.body(f'button{i}').xpos.copy() for i in range(self.num)]
+        return [self.engine.data.body(f'{self.name[:-1]}{i}').xpos.copy() for i in range(self.num)]

safety_gymnasium/assets/geoms/circle.py

@@ -34,23 +34,41 @@ class Circle(Geom):  # pylint: disable=too-many-instance-attributes
     keepout: float = 0.0
 
     color: np.array = COLOR['circle']
+    alpha: float = 0.1
     group: np.array = GROUP['circle']
     is_lidar_observed: bool = True
     is_constrained: bool = False
+    is_meshed: bool = False
+    mesh_name: str = name
 
     def get_config(self, xy_pos, rot):  # pylint: disable=unused-argument
         """To facilitate get specific config for this object."""
-        return {
-            'name': 'circle',
-            'size': np.array([self.radius, 1e-2]),
+        body = {
+            'name': self.name,
             'pos': np.r_[xy_pos, 1e-2],
             'rot': 0,
-            'type': 'cylinder',
-            'contype': 0,
-            'conaffinity': 0,
-            'group': GROUP['circle'],
-            'rgba': COLOR['circle'] * [1, 1, 1, 0.1],  # transparent
+            'geoms': [
+                {
+                    'name': self.name,
+                    'size': np.array([self.radius, 1e-2]),
+                    'type': 'cylinder',
+                    'contype': 0,
+                    'conaffinity': 0,
+                    'group': self.group,
+                    'rgba': self.color * np.array([1, 1, 1, self.alpha]),
+                },
+            ],
         }
+        if self.is_meshed:
+            body['geoms'][0].update(
+                {
+                    'type': 'mesh',
+                    'mesh': self.mesh_name,
+                    'material': self.mesh_name,
+                    'euler': [0, 0, 0],
+                },
+            )
+        return body
 
     @property
     def pos(self):