diff --git a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_door.xml b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_door.xml
index 184dd35b..807986e4 100644
--- a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_door.xml
+++ b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_door.xml
@@ -25,6 +25,11 @@
+
+
+
+
+
diff --git a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_hammer.xml b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_hammer.xml
index b2260f01..9c495051 100644
--- a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_hammer.xml
+++ b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_hammer.xml
@@ -42,6 +42,11 @@
+
+
+
+
+
diff --git a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_pen.xml b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_pen.xml
index 2abab7ac..c0bec763 100644
--- a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_pen.xml
+++ b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_pen.xml
@@ -30,6 +30,7 @@
+
diff --git a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_relocate.xml b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_relocate.xml
index 8f2e10a9..c5a10c33 100644
--- a/mj_envs/envs/hand_manipulation_suite/assets/DAPG_relocate.xml
+++ b/mj_envs/envs/hand_manipulation_suite/assets/DAPG_relocate.xml
@@ -25,6 +25,12 @@
+
+
+
+
+
+
diff --git a/mj_envs/envs/relay_kitchen/__init__.py b/mj_envs/envs/relay_kitchen/__init__.py
index 97521941..47384c51 100644
--- a/mj_envs/envs/relay_kitchen/__init__.py
+++ b/mj_envs/envs/relay_kitchen/__init__.py
@@ -155,6 +155,7 @@
DEMO_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFrankaDemo"
RANDOM_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFrankaRandom"
FIXED_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFranka"
+RANDOM_DESK_ENTRY_POINT = "mj_envs.envs.relay_kitchen:KitchenFrankaRandomDesk"
# Kitchen
register(
diff --git a/mj_envs/envs/relay_kitchen/assets/franka_kitchen.xml b/mj_envs/envs/relay_kitchen/assets/franka_kitchen.xml
index 1e8bc6a6..3ef3ee3a 100644
--- a/mj_envs/envs/relay_kitchen/assets/franka_kitchen.xml
+++ b/mj_envs/envs/relay_kitchen/assets/franka_kitchen.xml
@@ -6,7 +6,7 @@
Details :: https://github.com/vikashplus/furniture_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
-
+
@@ -49,6 +49,8 @@
+
+
diff --git a/mj_envs/envs/relay_kitchen/kitchen_multitask_v2.py b/mj_envs/envs/relay_kitchen/kitchen_multitask_v2.py
index 273ffcfe..b1cd061e 100644
--- a/mj_envs/envs/relay_kitchen/kitchen_multitask_v2.py
+++ b/mj_envs/envs/relay_kitchen/kitchen_multitask_v2.py
@@ -318,3 +318,19 @@ def reset(self, reset_qpos=None, reset_qvel=None):
* (self.robot_ranges[:, 1] - self.robot_ranges[:, 0])
)
return super().reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel)
+
+class KitchenFrankaRandomDesk(KitchenFrankaFixed):
+ def reset(self, reset_qpos=None, reset_qvel=None):
+ if reset_qpos is None:
+ reset_qpos = self.init_qpos.copy()
+ reset_qpos[self.robot_dofs] += (
+ 0.05
+ * (self.np_random.uniform(size=len(self.robot_dofs)) - 0.5)
+ * (self.robot_ranges[:, 1] - self.robot_ranges[:, 0])
+ )
+ ncon = 10
+ while ncon > 4:
+ self.sim.model.body_pos[14] = np.array([-0.1, 0.75, 0.0]) + np.random.uniform(-0.1, 0.1, (3,))
+ self.sim.step()
+ ncon = self.sim.data.ncon
+ return super().reset(reset_qpos=reset_qpos, reset_qvel=reset_qvel)