switched to models with bright background; added another camera and target setting function

fl0fischer · fl0fischer · commit 6340320007e2 · 2022-04-07T19:45:52.000+02:00
diff --git a/UIB/envs/mobl_arms/iso_pointing/ISOPointingEnv.py b/UIB/envs/mobl_arms/iso_pointing/ISOPointingEnv.py
@@ -25,10 +25,10 @@ class ISOPointingEnv(FixedEye):
   def __init__(self, user, **kwargs):
 
     if user == "general":
-      xml_file = os.path.join(project_path(), f"envs/mobl_arms/models/variants/mobl_arms_muscles_v2_modified.xml")
+      xml_file = os.path.join(project_path(), f"envs/mobl_arms/models/variants/mobl_arms_muscles_v2_modified_bright.xml")
     else:
       xml_file = os.path.join(project_path(),
-                                 f"envs/mobl_arms/models/variants/mobl_arms_muscles_v2_scaled{user}_modified.xml")
+                                 f"envs/mobl_arms/models/variants/mobl_arms_muscles_v2_scaled{user}_modified_bright.xml")
 
     # Modify the xml file first
     tree = ET.parse(xml_file)
@@ -247,6 +247,11 @@ def spawn_target(self):
 
     self.sim.forward()
 
+  def set_target_position(self, position):
+    self.target_position = position.copy()
+    self.model.body_pos[self.model._body_name2id["target"]] = self.target_origin + self.target_position
+    self.sim.forward()
+
 
 class ProprioceptionAndVisual(ISOPointingEnv):
   metadata = {'render.modes': ['human']}
diff --git a/UIB/envs/mobl_arms/models/variants/mobl_arms_muscles_v2_modified.xml b/UIB/envs/mobl_arms/models/variants/mobl_arms_muscles_v2_modified.xml
@@ -60,6 +60,7 @@
         <camera name="for_testing" pos="0 0 0" />
 		<camera name="rightview" pos="0.35 -1 1" euler="1.57 0 0" />
 		<camera name="backview" pos="-1.5 0 0.8" euler="1.57 -1.57 0" />
+		<camera name="buttonfrontview" pos="-0.3 -0.15 1" euler="1.57 -1.57 0" />
 
 		<!-- <body name="rightview" pos="0 -0.2 1" euler="0 -1.57 -1.57"> -->
 			<!-- <camera name="rightview" euler="0 0.25 0" mode="fixed"/> -->
