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import math
from typing import List, Tuple
import numpy as np
from pyrep.objects.proximity_sensor import ProximitySensor
from pyrep.objects.dummy import Dummy
from pyrep.objects.joint import Joint
from pyrep.objects.shape import Shape
from rlbench.backend.spawn_boundary import SpawnBoundary
from rlbench.backend.task import Task
from rlbench.backend.conditions import Condition, DetectedCondition, JointCondition, NothingGrasped, ConditionSet
DRAWER_NAMES = ['bottom', 'middle', 'top']
class JointConditionEx(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 ReopenDrawer(Task):
def init_task(self):
self.button = Shape(f"push_buttons_target1")
self.drawer_parts = [Shape(f"drawer_{name}") for name in DRAWER_NAMES]
self.drawer_joints = [Joint(f"drawer_joint_{name}") for name in DRAWER_NAMES]
self.button_joint = Joint("target_button_joint1")
self.detector = ProximitySensor("success")
self.spawn_boundary = SpawnBoundary([Shape("boundary")])
self.target_drawer_joint = None
self.goal_conditions = []
def init_episode(self, index: int) -> List[str]:
for i in range(len(DRAWER_NAMES)):
if i == index:
self.drawer_joints[i].set_joint_position(0.21, disable_dynamics=True)
else:
self.drawer_joints[i].set_joint_position(0.0, disable_dynamics=True)
target_anchor = Dummy(f"waypoint_anchor_{DRAWER_NAMES[index]}")
waypoint0 = Dummy("waypoint0")
waypoint1 = Dummy("waypoint1")
waypoint6 = Dummy("waypoint6")
waypoint7 = Dummy("waypoint7")
waypoint8 = Dummy("waypoint8")
_, _, z = target_anchor.get_position()
x, y, _ = waypoint0.get_position()
waypoint0.set_position([x, y, z])
x, y, _ = waypoint1.get_position()
waypoint1.set_position([x, y, z])
x, y, _ = waypoint6.get_position()
waypoint6.set_position([x, y, z])
x, y, _ = waypoint7.get_position()
waypoint7.set_position([x, y, z])
x, y, _ = waypoint8.get_position()
waypoint8.set_position([x, y, z])
self.spawn_boundary.clear()
self.spawn_boundary.sample(self.button, min_distance=0.05)
self.goal_conditions = [
JointConditionEx(self.drawer_joints[index], 0.19),
JointConditionEx(self.button_joint, 0.003),
DetectedCondition(self.drawer_parts[index], self.detector),
]
condition_set = ConditionSet(self.goal_conditions, True) # type: ignore
self.register_success_conditions([condition_set])
self.target_drawer_joint = self.drawer_joints[index]
return ['Close the opened drawer, push the button, and then open the previous drawer again']
# def step(self) -> None:
# #if self.target_drawer_joint:
# # print(f"drawer_joint: {self.target_drawer_joint.get_joint_position()}")
#
# 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"second condition met: {met3}")
def variation_count(self) -> int:
return len(DRAWER_NAMES)
def is_static_workspace(self) -> bool:
return True
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