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import itertools
import math
from typing import Dict, List
from pyrep.objects.dummy import Dummy
from pyrep.objects.joint import Joint
from pyrep.objects.object import Object
from pyrep.objects.shape import Shape
from pyrep.objects.proximity_sensor import ProximitySensor
from rlbench.backend.spawn_boundary import SpawnBoundary
from rlbench.backend.task import Task
from rlbench.backend.conditions import Condition, ConditionSet, DetectedCondition, NothingGrasped
NUM_TARGETS = 4
class JointTriggerCondition(Condition):
def __init__(self, joint: Joint, position: float):
"""in radians if revoloute, or meters if prismatic"""
self._joint = joint
self._original_pos = joint.get_joint_position()
self._pos = position
self._done = False
def condition_met(self):
met = math.fabs(
self._joint.get_joint_position() - self._original_pos) > self._pos
if met:
self._done = True
return self._done, False
class DetectedTriggerCondition(Condition):
def __init__(self, obj: Object, detector: ProximitySensor,
negated: bool = False):
self._obj = obj
self._detector = detector
self._negated = negated
self._done = False
def condition_met(self):
met = self._detector.is_detected(self._obj)
if self._negated:
met = not met
if met:
self._done = True
return self._done, False
class PutBlockBack(Task):
def init_task(self) -> None:
self._block = Shape("block")
self._detectors = [ProximitySensor(f"success{i+1}") for i in range(NUM_TARGETS)]
self._targets = [Shape(f"target{i+1}") for i in range(NUM_TARGETS)]
self._button = Shape("push_buttons_target1")
self._button_joint = Joint("target_button_joint1")
self._center_detector = ProximitySensor("success0")
self.spawn_boundary = SpawnBoundary([Shape("boundary")])
self.register_graspable_objects([self._block])
self.goal_conditions = []
def init_episode(self, index: int) -> List[str]:
target_patch = self._targets[index]
target_detector = self._detectors[index]
self.spawn_boundary.clear()
self.spawn_boundary.sample(self._button, min_distance=0.05)
# Set the position of the block to be the initial target XY ------------
x, y, _ = target_patch.get_position()
_, _, z = self._block.get_position()
self._block.set_position([x, y, z])
waypoint1 = Dummy("waypoint1")
_, _, z = waypoint1.get_position()
waypoint1.set_position([x, y, z])
waypoint10 = Dummy("waypoint10")
_, _, z = waypoint10.get_position()
waypoint10.set_position([x, y, z])
waypoint11 = Dummy("waypoint11")
_, _, z = waypoint11.get_position()
waypoint11.set_position([x, y, z])
# ----------------------------------------------------------------------
self.goal_conditions = [
# Checks that the block was lifted from the table
DetectedTriggerCondition(self._block, target_detector, negated=True),
# Checks that the cube was placed at the center of the table
DetectedTriggerCondition(self._block, self._center_detector),
# Checks that the button was pressed
JointTriggerCondition(self._button_joint, 0.003),
# Checks that the block was returned back to its original position
DetectedCondition(self._block, target_detector),
# Checks that nothing is still grasped
NothingGrasped(self.robot.gripper),
]
condition_set = ConditionSet(self.goal_conditions, False) # type: ignore
self.register_success_conditions([condition_set])
return ['move the block on the color patch to the center, then press the button, and finally move the block back to where it was placed']
def step(self) -> None:
if len(self.goal_conditions) < 1:
return
met1, _ = self.goal_conditions[0].condition_met()
#print(f"first condition met: {met1}")
met2, _ = self.goal_conditions[1].condition_met()
#print(f"second condition met: {met2}")
met3, _ = self.goal_conditions[2].condition_met()
#print(f"third condition met: {met3}")
met4, _ = self.goal_conditions[3].condition_met()
#print(f"fourth condition met: {met4}")
met5, _ = self.goal_conditions[4].condition_met()
#print(f"fifth condition met: {met5}")
def variation_count(self) -> int:
return 4
def is_static_workspace(self) -> bool:
return True
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