Fixed can task

BerkeleyAutomation · Apr 29, 2024 · 70e2f6e · 70e2f6e
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diff --git a/README.md b/README.md
@@ -22,31 +22,11 @@ Clone the repo:
 git clone --recurse-submodules [email protected]:BerkeleyAutomation/mirage.git
 ```
 
-Install mamba and robostack to enable some python package interplay with ROS:
-```
-conda install mamba -c conda-forge
-mamba create -n mirage python=3.10
-mamba activate mirage
-
-# this adds the conda-forge channel to the new created environment configuration 
-conda config --env --add channels conda-forge
-# and the robostack channel
-conda config --env --add channels robostack-staging
-# remove the defaults channel just in case, this might return an error if it is not in the list which is ok
-conda config --env --remove channels defaults
-
-mamba install ros-humble-desktop
-
-# Need to reactivate the environment for changes to take effect
-mamba deactivate
-mamba activate mirage
-
-# Install for being able to build package
-mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools rosdep
-```
+Install ROS 2 and setup the Gazebo Environment for Inpainting by following the instructions in `mirage/mirage/ros_ws/src/README.md` 
 
-Install the mirage Python package.
+Create a conda environment and install the mirage Python package.
 ```
+conda create -n mirage --python=3.10
 cd mirage
 pip install -e .
 ```
@@ -94,7 +74,14 @@ Please take a look at the example_config and the different parameters that can b
 ## Citation
 If you utilized the benchmark, please consider citing the paper:
 ```
-TODO: Add link to ArXiv / publication
+@misc{chen2024mirage,
+      title={Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting}, 
+      author={Lawrence Yunliang Chen and Kush Hari and Karthik Dharmarajan and Chenfeng Xu and Quan Vuong and Ken Goldberg},
+      year={2024},
+      eprint={2402.19249},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO}
+}
 ```
 
 ## Contributing

diff --git a/mirage/mirage/benchmark/robosuite/evaluate_policy_demo_target_robot_client.py b/mirage/mirage/benchmark/robosuite/evaluate_policy_demo_target_robot_client.py
@@ -216,6 +216,14 @@ def rollout_robot(self, video_skip=5, return_obs=False, camera_names=None, set_o
                             from mirage.infra.ros_inpaint_publisher_sim import ROSInpaintSimData
                             eef_pose = self.compute_eef_pose()
                             eef_pose_matrix = T.pose2mat((eef_pose[:3], eef_pose[3:]))
+
+                            # For some reason the Can / Pick and Place task is very weird
+                            # It has a y offset of -0.1 for the base of the robot, so there needs to be a
+                            # 0.1 offset for the ee to match ground truth, this needs more investigation....
+                            from robosuite.environments.manipulation.pick_place import PickPlace
+                            if isinstance(self.core_env, PickPlace):
+                                eef_pose_matrix[1] += 0.1
+
                             data = ROSInpaintSimData(ros_rgb_img, ros_depth_img, ros_segmentation_mask, eef_pose_matrix, obs['robot0_gripper_qpos'][-1:])
                             print("Joints including gripper", sent_joint_angles)
                             self.ros_inpaint_publisher.publish_to_ros_node(data)

diff --git a/...s_ws/src/gazebo_env/description/urdf/panda_arm_hand_camera_scene_robosuite_can.urdf.xacro b/...s_ws/src/gazebo_env/description/urdf/panda_arm_hand_camera_scene_robosuite_can.urdf.xacro
@@ -4,7 +4,7 @@
   <xacro:include filename="$(find gazebo_env)/urdf/hand_robosuite.xacro"/>
   <link name="world" />
   <!-- Lift task-->
-  <xacro:panda_arm connected_to="world" xyz="-0.56 0 10.912"/> 
+  <xacro:panda_arm connected_to="world" xyz="-0.56 -0.1 10.912"/> 
 
   <!-- Can task-->
   <!-- <xacro:panda_arm connected_to="world" xyz="-0.56 -0.1 10.912"/>  -->