rename scene A to D and vice versa to be consistent with paper

calvin_env/envs/play_lmp_wrapper.py

@@ -2,10 +2,8 @@
 import os
 from typing import Any, Dict, Tuple, Union
 
-import gym
-
-
 from calvin_agent.datasets.utils.episode_utils import process_actions, process_depth, process_rgb, process_state
+import gym
 import numpy as np
 import torch
 

calvin_env/envs/play_table_env.py

@@ -140,8 +140,8 @@ def close(self):
         if self.ownsPhysicsClient:
             print("disconnecting id %d from server" % self.cid)
             if self.cid >= 0:
-                self.p.disconnect(physicsClientId=self.cid)
-            self.cid = -1
+              self.p.disconnect(physicsClientId=self.cid)
+              self.cid = -1
         else:
             print("does not own physics client id")
 
@@ -152,7 +152,7 @@ def render(self, mode="human"):
             if "rgb_static" not in rgb_obs:
                 log.warning("Environment does not have static camera")
                 return
-            img = rgb_obs["rgb_static"][:, :, ::-1]
+            img = rgb_obs["rgb_static"][:, :, ::-1].copy()
             cv2.imshow("simulation cam", cv2.resize(img, (500, 500)))
             cv2.waitKey(1)
         elif mode == "rgb_array":

conf/scene/calvin_scene_A.yaml

@@ -7,7 +7,7 @@ robot_base_position: [-0.34, -0.46, 0.24]
 robot_base_orientation: [0, 0, 0]
 robot_initial_joint_positions: [-1.21779206,  1.03987646,  2.11978261, -2.34205014, -0.87015947, 1.64119353,  0.55344866]
 surfaces:
-  table: [[0.0, -0.15, 0.46], [0.35, -0.03, 0.46]]
+  table: [[-0.2, -0.15, 0.46], [0.35, -0.03, 0.46]]
   slider_left: [[-0.32, 0.05, 0.46], [-0.16, 0.12, 0.46]]
   slider_right: [[-0.05, 0.05, 0.46], [0.13, 0.12, 0.46]]
 objects:
@@ -37,15 +37,15 @@ objects:
           link: led_link
           color: [0, 1, 0, 1] # green
   movable_objects:
-    block_red:
-      file: blocks/block_red_middle.urdf
+    block_pink:
+      file: blocks/block_pink_small.urdf
       initial_pos: any
       initial_orn: any
     block_blue:
-      file: blocks/block_blue_small.urdf
+      file: blocks/block_blue_big.urdf
       initial_pos: any
       initial_orn: any
-    block_pink:
-      file: blocks/block_pink_big.urdf
+    block_red:
+      file: blocks/block_red_middle.urdf
       initial_pos: any
       initial_orn: any

conf/scene/calvin_scene_D.yaml

@@ -7,7 +7,7 @@ robot_base_position: [-0.34, -0.46, 0.24]
 robot_base_orientation: [0, 0, 0]
 robot_initial_joint_positions: [-1.21779206,  1.03987646,  2.11978261, -2.34205014, -0.87015947, 1.64119353,  0.55344866]
 surfaces:
-  table: [[-0.2, -0.15, 0.46], [0.35, -0.03, 0.46]]
+  table: [[0.0, -0.15, 0.46], [0.35, -0.03, 0.46]]
   slider_left: [[-0.32, 0.05, 0.46], [-0.16, 0.12, 0.46]]
   slider_right: [[-0.05, 0.05, 0.46], [0.13, 0.12, 0.46]]
 objects:
@@ -37,15 +37,15 @@ objects:
           link: led_link
           color: [0, 1, 0, 1] # green
   movable_objects:
-    block_pink:
-      file: blocks/block_pink_small.urdf
+    block_red:
+      file: blocks/block_red_middle.urdf
       initial_pos: any
       initial_orn: any
     block_blue:
-      file: blocks/block_blue_big.urdf
+      file: blocks/block_blue_small.urdf
       initial_pos: any
       initial_orn: any
-    block_red:
-      file: blocks/block_red_middle.urdf
+    block_pink:
+      file: blocks/block_pink_big.urdf
       initial_pos: any
       initial_orn: any

conf/scene/calvin_scene_A_eval.yaml → conf/scene/calvin_scene_D_eval.yaml

@@ -13,7 +13,7 @@ surfaces:
 objects:
   fixed_objects:
     table:
-      file: calvin_table_A/urdf/calvin_table_A.urdf
+      file: calvin_table_D/urdf/calvin_table_D.urdf
       initial_pos: [0, 0, 0]
       initial_orn: [0, 0, 0]
       joints: