[Docs] Update renders with new floor texture and update docs on human…

…oid tasks (#465) * update renders 1 * update docs
haosulab · Jul 30, 2024 · 1ad3891 · 1ad3891
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diff --git a/docs/source/tasks/humanoid/index.md b/docs/source/tasks/humanoid/index.md
@@ -3,4 +3,34 @@
 [asset-badge]: https://img.shields.io/badge/download%20asset-yes-blue.svg
 [reward-badge]: https://img.shields.io/badge/dense%20reward-yes-green.svg
 
-Both real-world humanoids and the Mujoco humanoid are supported in ManiSkill, but they do not yet have any pre-built tasks for them. We are in the process of making some still.
+Both real-world humanoids and the Mujoco humanoid are supported in ManiSkill, and we are still in the process of adding more tasks
+
+
+## UnitreeG1PlaceAppleInBowl-v1
+![dense-reward][reward-badge]
+
+:::{dropdown} Task Card
+:icon: note
+:color: primary
+
+**Task Description:**
+Control the humanoid unitree G1 robot to grab an apple with its right arm and place it in a bowl to the side
+
+**Supported Robots: Unitree G1**
+
+**Randomizations:**
+- the bowl's xy position is randomized on top of a table in the region [0.025, 0.025] x [-0.025, -0.025]. It is placed flat on the table
+- the apple's xy position is randomized on top of a table in the region [0.025, 0.025] x [-0.025, -0.025]. It is placed flat on the table
+- the apple's z-axis rotation is randomized to a random angle
+
+**Success Conditions:**
+- the apple position is within 0.05m euclidean distance of the bowl's position.
+- the robot's right hand is kept outside the bowl and is above it by at least 0.125m.
+
+**Goal Specification:**
+- The bowl's 3D position
+:::
+
+<video preload="auto" controls="True" width="100%">
+<source src="https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/UnitreeG1PlaceAppleInBowl-v1_rt.mp4" type="video/mp4">
+</video>
diff --git a/figures/environment_demos/AnymalC-Reach-v1_rt.mp4 b/figures/environment_demos/AnymalC-Reach-v1_rt.mp4
diff --git a/figures/environment_demos/AssemblingKits-v1_rt.mp4 b/figures/environment_demos/AssemblingKits-v1_rt.mp4
diff --git a/figures/environment_demos/FMBAssembly1Easy.mp4 b/figures/environment_demos/FMBAssembly1Easy.mp4
diff --git a/figures/environment_demos/OpenCabinetDrawer-v1_rt.mp4 b/figures/environment_demos/OpenCabinetDrawer-v1_rt.mp4
diff --git a/figures/environment_demos/PegInsertionSide-v1_rt.mp4 b/figures/environment_demos/PegInsertionSide-v1_rt.mp4
diff --git a/figures/environment_demos/PickCube-v1_rt.mp4 b/figures/environment_demos/PickCube-v1_rt.mp4
diff --git a/figures/environment_demos/PickSingleYCB-v1_rt.mp4 b/figures/environment_demos/PickSingleYCB-v1_rt.mp4
diff --git a/figures/environment_demos/PlugCharger-v1_rt.mp4 b/figures/environment_demos/PlugCharger-v1_rt.mp4
diff --git a/figures/environment_demos/PushCube-v1_rt.mp4 b/figures/environment_demos/PushCube-v1_rt.mp4
diff --git a/figures/environment_demos/PushT-v1_rt.mp4 b/figures/environment_demos/PushT-v1_rt.mp4
diff --git a/figures/environment_demos/RotateSingleObjectInHandLevel3-v1_rt.mp4 b/figures/environment_demos/RotateSingleObjectInHandLevel3-v1_rt.mp4
diff --git a/figures/environment_demos/RotateValveLevel1-v1_rt.mp4 b/figures/environment_demos/RotateValveLevel1-v1_rt.mp4
diff --git a/figures/environment_demos/StackCube-v1_rt.mp4 b/figures/environment_demos/StackCube-v1_rt.mp4
diff --git a/figures/environment_demos/TwoRobotPickCube-v1_rt.mp4 b/figures/environment_demos/TwoRobotPickCube-v1_rt.mp4
diff --git a/figures/environment_demos/TwoRobotStackCube-v1_rt.mp4 b/figures/environment_demos/TwoRobotStackCube-v1_rt.mp4
diff --git a/figures/environment_demos/TwoRobotStackCube-v1_solve.mp4 b/figures/environment_demos/TwoRobotStackCube-v1_solve.mp4
diff --git a/figures/environment_demos/UnitreeG1PlaceAppleInBowl-v1_rt.mp4 b/figures/environment_demos/UnitreeG1PlaceAppleInBowl-v1_rt.mp4
diff --git a/figures/environment_demos/fmb-assembly1.h5 b/figures/environment_demos/fmb-assembly1.h5
diff --git a/figures/environment_demos/fmb-assembly1.json b/figures/environment_demos/fmb-assembly1.json
diff --git a/figures/environment_demos/fmb-assembly1.mp4 b/figures/environment_demos/fmb-assembly1.mp4
diff --git a/mani_skill/examples/demo_random_action.py b/mani_skill/examples/demo_random_action.py
@@ -66,7 +66,7 @@ def main(args):
     record_dir = args.record_dir
     if record_dir:
         record_dir = record_dir.format(env_id=args.env_id)
-        env = RecordEpisode(env, record_dir, info_on_video=False, max_steps_per_video=env._max_episode_steps)
+        env = RecordEpisode(env, record_dir, info_on_video=False, save_trajectory=False, max_steps_per_video=env._max_episode_steps)
 
     if verbose:
         print("Observation space", env.observation_space)