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Patch new field light_type #147

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Merged
merged 1 commit into from
Jun 23, 2025
Merged

Patch new field light_type #147

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10 changes: 5 additions & 5 deletions mujoco_playground/_src/manipulation/franka_emika_panda/randomize_vision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ def domain_randomize(
'cam_quat': 0,
'light_pos': 0,
'light_dir': 0,
'light_directional': 0,
'light_type': 0,
'light_castshadow': 0,
})
rng = jax.random.key(0)
Expand Down Expand Up @@ -151,15 +151,15 @@ def rand(rng: jax.Array, light_position: jax.Array):
).astype(jp.float32)

# No need to randomize into specular lighting
light_directional = jp.ones((nlight,))
light_type = jp.ones((nlight,))

return (
geom_rgba,
geom_matid,
cam_pos,
cam_quat,
light_dir,
light_directional,
light_type,
light_castshadow,
)

Expand All @@ -169,7 +169,7 @@ def rand(rng: jax.Array, light_position: jax.Array):
cam_pos,
cam_quat,
light_dir,
light_directional,
light_type,
light_castshadow,
) = rand(jax.random.split(rng, num_worlds), light_positions)

Expand All @@ -180,7 +180,7 @@ def rand(rng: jax.Array, light_position: jax.Array):
'cam_quat': cam_quat,
'light_pos': light_positions,
'light_dir': light_dir,
'light_directional': light_directional,
'light_type': light_type,
'light_castshadow': light_castshadow,
})

Expand Down
10 changes: 5 additions & 5 deletions mujoco_playground/_src/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -196,7 +196,7 @@ def _identity_vision_randomization_fn(
'geom_size': 0,
'light_pos': 0,
'light_dir': 0,
'light_directional': 0,
'light_type': 0,
'light_castshadow': 0,
'light_cutoff': 0,
})
Expand All @@ -218,8 +218,8 @@ def _identity_vision_randomization_fn(
'light_dir': jp.repeat(
jp.expand_dims(mjx_model.light_dir, 0), num_worlds, axis=0
),
'light_directional': jp.repeat(
jp.expand_dims(mjx_model.light_directional, 0), num_worlds, axis=0
'light_type': jp.repeat(
jp.expand_dims(mjx_model.light_type, 0), num_worlds, axis=0
),
'light_castshadow': jp.repeat(
jp.expand_dims(mjx_model.light_castshadow, 0), num_worlds, axis=0
Expand All @@ -245,7 +245,7 @@ def _supplement_vision_randomization_fn(
'geom_size',
'light_pos',
'light_dir',
'light_directional',
'light_type',
'light_castshadow',
'light_cutoff',
]
Expand Down Expand Up @@ -292,7 +292,7 @@ def __init__(
'geom_size',
'light_pos',
'light_dir',
'light_directional',
'light_type',
'light_castshadow',
'light_cutoff',
]
Expand Down