Implementation:ARISE Initiative Robosuite CameraModder

Metadata:

Overview

Concrete class for randomizing camera parameters in MuJoCo simulations provided by the robosuite modding utilities.

Description

CameraModder perturbs camera position, rotation, and field of view (fovy). Inherits from BaseModder. Default rotation perturbation of 0.087 radians corresponds to ~5 degrees. Perturbations are additive to saved default values.

Usage

Used internally by DomainRandomizationWrapper. Can be used standalone for custom camera randomization.

Code Reference

Source: robosuite

File: robosuite/utils/mjmod.py

Lines: L518-779

Signature:

class CameraModder(BaseModder):
    def __init__(self, sim, random_state=None, camera_names=None,
                 randomize_position=True, randomize_rotation=True, randomize_fovy=True,
                 position_perturbation_size=0.01, rotation_perturbation_size=0.087,
                 fovy_perturbation_size=5.0):

Import: from robosuite.utils.mjmod import CameraModder

I/O Contract

Inputs:

sim (MjSim, Yes)
random_state (RandomState, No)
camera_names (list, No, all cameras)
randomize_position (bool, No, True)
randomize_rotation (bool, No, True)
randomize_fovy (bool, No, True)
position_perturbation_size (float, No, 0.01)
rotation_perturbation_size (float, No, 0.087)
fovy_perturbation_size (float, No, 5.0)

Methods:

randomize()
save_defaults()
restore_defaults()

Usage Examples

Show usage via DomainRandomizationWrapper camera_randomization_args.

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Principle

Implementation

Heuristic

Environment