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