| 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) |
| 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'] |
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| def variation_count(self) -> int: |
| return len(DRAWER_NAMES) |
|
|
| def is_static_workspace(self) -> bool: |
| return True |
|
|
