def init_episode(self, index: int) -> List[str]:
option = OPTIONS[index]
conditions = [
DetectedCondition(self.cup, self.success_sensor),
NothingGrasped(self.robot.gripper)
]
if option == 'left':
self.waypoint0.set_position(
self.left_initial_waypoint.get_position())
self.waypoint1.set_position(
self.left_close_waypoint.get_position())
self.waypoint2.set_position(self.left_far_waypoint.get_position())
self.waypoint6.set_position(
self.place_cup_left_waypoint.get_position())
conditions.append(JointCondition(self.left_joint, 0.06))
else:
conditions.append(JointCondition(self.right_joint, 0.06))
self.register_success_conditions(conditions)
return [
'put cup in %s cabinet' % option,
'put the mug away in the %s half of the cabinet' % option,
'open the %s side of the cabinet and put the cup away in it' %
option,
'grasping the %s handle, open the cabinet, then pick up the cup'
' and set it down inside the cabinet' % option,
'slide open the %s door on the cabinet and put away the mug' %
option
]
def init_episode(self, index: int) -> List[str]:
self._variation_index = index
b = SpawnBoundary([self.boundary])
for holder in self.holders:
b.sample(holder, min_distance=0.01)
self.w1 = Dummy('waypoint1')
self.w1.set_position([0, 0, +10*10**(-3)],
relative_to=self.bulb_glass_visual[index % 2],
reset_dynamics=False)
target_color_name, target_color_rgb = colors[index]
color_choice = np.random.choice(
list(range(index)) + list(
range(index + 1, len(colors))),
size=1, replace=False)[0]
_, distractor_color_rgb = colors[color_choice]
self.holders[index % 2].set_color(target_color_rgb)
other_index = {0: 1, 1: 0}
self.holders[other_index[index % 2]].set_color(distractor_color_rgb)
self.register_success_conditions([DetectedCondition(
self.bulbs[index % 2],
ProximitySensor('success')),
NothingGrasped(self.robot.gripper)])
return ['screw in the %s light bulb' % target_color_name,
'screw the light bulb from the %s holder into the lamp'
% target_color_name,
'pick up the light bulb from the %s stand, lift it up to just '
'above the lamp, then screw it down into the lamp in a '
'clockwise fashion' % target_color_name,
'put the light bulb from the %s casing into the lamp'
% target_color_name]
def init_task(self) -> None:
phone = Shape('phone')
self.register_graspable_objects([phone])
self.register_success_conditions([
DetectedCondition(phone, ProximitySensor('success')),
NothingGrasped(self.robot.gripper)
])
def init_task(self):
success_sensor = ProximitySensor('success')
umbrella = Shape('umbrella')
self.register_graspable_objects([umbrella])
self.register_success_conditions(
[DetectedCondition(umbrella, success_sensor),
NothingGrasped(self.robot.gripper)])
def init_task(self) -> None:
piece2 = Shape('solve_puzzle_piece2')
self.register_graspable_objects([piece2])
self.register_success_conditions([
NothingGrasped(self.robot.gripper),
DetectedCondition(piece2, ProximitySensor('success'))
])
def init_task(self) -> None:
roll = Shape('toilet_roll')
success_sensor = ProximitySensor('success')
self.register_graspable_objects([roll])
self.register_success_conditions(
[DetectedCondition(roll, success_sensor, negated=True),
NothingGrasped(self.robot.gripper)])
def init_task(self) -> None:
needle_minute = Shape('clock_needle_minute')
success_detector = ProximitySensor('detector_minute0')
self.register_success_conditions([
NothingGrasped(self.robot.gripper),
DetectedCondition(needle_minute, success_detector)
])
def init_task(self):
wine_bottle = Shape('wine_bottle')
self.register_graspable_objects([wine_bottle])
self.register_success_conditions([
DetectedCondition(wine_bottle, ProximitySensor('success')),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
self.needle = Shape('scales_meter_needle')
self.needle_pivot = Shape('scales_meter_pivot')
self.top_plate = Shape('scales_tray_visual')
self.joint = Joint('scales_joint')
_, _, starting_z = self.top_plate.get_position()
self.top_plate_starting_z = starting_z
self.needle_starting_ori = self.needle.get_orientation(
relative_to=self.needle_pivot)
self.peppers = [Shape('pepper%d' % i) for i in range(3)]
self.register_graspable_objects(self.peppers)
self.boundary = Shape('peppers_boundary')
self.success_detector = ProximitySensor('success_detector')
self.needle_detector = ProximitySensor('needle_sensor')
self.success_conditions = [
NothingGrasped(self.robot.gripper),
DetectedCondition(self.needle, self.needle_detector)
]
self.w0 = Dummy('waypoint0')
self.w0_rel_pos = [
+2.6203 * 10**(-3), -1.7881 * 10**(-7), +1.5197 * 10**(-1)
]
self.w0_rel_ori = [-3.1416, -1.7467 * 10**(-2), -3.1416]
def init_task(self) -> None:
bottle = Shape('bottle')
success_sensor = ProximitySensor('success')
self.register_graspable_objects([bottle])
self.register_success_conditions(
[DetectedCondition(bottle, success_sensor),
NothingGrasped(self.robot.gripper)])
def init_task(self) -> None:
self.bulbs_visual = [Shape('light_bulb%d' % i) for i in range(2)]
self.bulb_glass_visual = [Shape('bulb%d' % i) for i in range(2)]
self.holders = [Shape('bulb_holder%d' % i) for i in range(2)]
self.bulbs = [Shape('bulb_phys%d' % i) for i in range(2)]
self.conditions = [NothingGrasped(self.robot.gripper)]
self.register_graspable_objects(self.bulbs)
self.boundary = Shape('spawn_boundary')
def init_task(self) -> None:
success_detector = ProximitySensor('success')
tray = Shape('tray')
self.register_graspable_objects([tray])
self.register_success_conditions([
DetectedCondition(tray, success_detector, negated=True),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
success_detector = ProximitySensor('success')
self.tray = Shape('tray')
self.register_graspable_objects([self.tray])
self.register_success_conditions(
[DetectedCondition(self.tray, success_detector),
NothingGrasped(self.robot.gripper)])
self.boundary = SpawnBoundary([Shape('oven_tray_boundary')])
def init_task(self) -> None:
success_sensor = ProximitySensor('success')
frame = Shape('frame')
frame_detector = Shape('frame_detector')
self.register_graspable_objects([frame])
self.register_success_conditions([
DetectedCondition(frame_detector, success_sensor),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
self.hanger_holder = Shape('hanger_holder')
hanger = Shape('clothes_hanger')
success_detector = ProximitySensor('success_detector0')
self.register_success_conditions([
NothingGrasped(self.robot.gripper),
DetectedCondition(hanger, success_detector)
])
self.register_graspable_objects([hanger])
self.workspace_boundary = SpawnBoundary([Shape('workspace')])
def init_task(self) -> None:
middle_sensor = ProximitySensor('middle_sensor')
right_sensor = ProximitySensor('right_sensor')
wand = Shape('wand')
self.register_graspable_objects([wand])
self.register_success_conditions([
DetectedCondition(wand, middle_sensor, negated=True),
DetectedCondition(wand, right_sensor),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
self.hanger = Shape('clothes_hanger0')
self.initx, self.inity, self.initz = self.hanger.get_position()
self.register_graspable_objects([self.hanger])
success_detector = ProximitySensor('success_detector')
hanger_visual = Shape('clothes_hanger_visual0')
self.register_success_conditions([
DetectedCondition(hanger_visual, success_detector),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
self.index_dic = {0: 'bottom', 1: 'middle', 2: 'top'}
self.money = Shape('dollar_stack')
self.money_boundary = Shape('dollar_stack_boundary')
self.register_graspable_objects([self.money])
self.success_conditions = [NothingGrasped(self.robot.gripper)]
self.w1_rel_pos = [-2.7287 * 10 ** (-4), -2.3246 * 10 ** (-6),
+4.5627 * 10 ** (-2)]
self.w1_rel_ori = [-3.1416, 7.2824 * 10 ** (-1), -2.1265 * 10 ** (-2)]
def init_task(self):
shoe1 = Shape('shoe1')
shoe2 = Shape('shoe2')
self.register_graspable_objects([shoe1, shoe2])
success_sensor = ProximitySensor('success')
self.register_success_conditions([
DetectedCondition(shoe1, success_sensor),
DetectedCondition(shoe2, success_sensor),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
frame = Shape('frame')
self.register_graspable_objects([frame])
self.register_success_conditions([
DetectedCondition(frame,
ProximitySensor('hanger_detector'),
negated=True),
DetectedCondition(frame, ProximitySensor('success')),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
knife = Shape('knife')
success = ProximitySensor('success')
self.knife_block = Shape('knife_block')
self.chopping_board = Shape('chopping_board')
self.register_graspable_objects([knife])
cond_set = ConditionSet([DetectedCondition(knife, success),
NothingGrasped(self.robot.gripper)],
order_matters=True)
self.register_success_conditions([cond_set])
self.boundary = SpawnBoundary([Shape('boundary')])
def init_task(self) -> None:
self.plate = Shape('plate')
self.success_poses = [Dummy('success_pos%d' % i) for i in range(3)]
self.register_graspable_objects([self.plate])
self.register_success_conditions([
DetectedCondition(self.plate,
ProximitySensor('success_source'),
negated=True),
DetectedCondition(self.plate, ProximitySensor('success_target')),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
target = Shape('target_cuboid')
original_detector = ProximitySensor('original_detector')
bricks = [Shape('Cuboid%d' % i) for i in range(13)]
conds = [DetectedCondition(b, original_detector) for b in bricks]
conds.extend([
DetectedCondition(target, original_detector, negated=True),
NothingGrasped(self.robot.gripper)
])
self.register_success_conditions(conds)
self.register_graspable_objects([target])
def init_task(self) -> None:
roll = Shape('toilet_roll')
self.boundary_roll = SpawnBoundary([Shape('boundary_roll')])
self.boundary_stand = SpawnBoundary([Shape('boundary_stand')])
self.roll_box = Shape('toilet_roll_box')
self.stand_base = Shape('stand_base')
success_sensor = ProximitySensor('success')
self.register_graspable_objects([roll])
self.register_success_conditions(
[DetectedCondition(roll, success_sensor),
NothingGrasped(self.robot.gripper)])
def init_task(self) -> None:
bottle_detector = ProximitySensor("bottle_detector")
cap_detector = ProximitySensor("cap_detector")
bottle = Shape('bottle')
self.joint = Joint('joint')
self.cap = Shape('cap')
self.register_success_conditions(
[DetectedCondition(bottle, bottle_detector),
DetectedCondition(self.cap, cap_detector, negated=True),
NothingGrasped(self.robot.gripper)])
self.cap_turned_condition = JointCondition(
self.joint, np.deg2rad(150))
def init_task(self) -> None:
success_sensor = ProximitySensor('success')
book0 = Shape('book0')
book1 = Shape('book1')
book2 = Shape('book2')
self.register_success_conditions([
DetectedCondition(book0, success_sensor),
DetectedCondition(book1, success_sensor),
DetectedCondition(book2, success_sensor),
NothingGrasped(self.robot.gripper)
])
self.register_graspable_objects([book2, book1, book0])
def init_episode(self, index: int) -> List[str]:
self.boundary.clear()
[self.boundary.sample(g, min_distance=0.1) for g in self.groceries]
self.waypoint1.set_pose(self.grasp_points[index].get_pose())
self.register_success_conditions(
[DetectedCondition(self.groceries[index],
ProximitySensor('success')),
NothingGrasped(self.robot.gripper)])
return ['put the %s in the cupboard' % GROCERY_NAMES[index],
'pick up the %s and place it in the cupboard'
% GROCERY_NAMES[index],
'move the %s to the bottom shelf' % GROCERY_NAMES[index],
'put away the %s in the cupboard' % GROCERY_NAMES[index]]
def init_task(self) -> None:
sensor_right_hole = ProximitySensor('sensor1')
sensor_left_hole = ProximitySensor('sensor2')
charger = Shape('charger')
self.charger_base = Dummy('charger_base')
charger_right_stick = Shape('detector1')
charger_left_stick = Shape('detector2')
self.boundary = SpawnBoundary([Shape('charger_boundary')])
self.register_graspable_objects([charger])
self.register_success_conditions([
DetectedCondition(charger_right_stick, sensor_right_hole),
DetectedCondition(charger_left_stick, sensor_left_hole),
NothingGrasped(self.robot.gripper)
])
def init_task(self) -> None:
plate = Shape('plate')
fork = Shape('fork')
knife = Shape('knife')
spoon = Shape('spoon')
glass = Shape('glass')
self.register_success_conditions([
DetectedCondition(plate, ProximitySensor('plate_detector')),
DetectedCondition(fork, ProximitySensor('fork_detector')),
DetectedCondition(knife, ProximitySensor('knife_detector')),
DetectedCondition(spoon, ProximitySensor('spoon_detector')),
DetectedCondition(glass, ProximitySensor('glass_detector')),
NothingGrasped(self.robot.gripper)
])
self.register_graspable_objects([plate, fork, knife, spoon, glass])
def init_task(self) -> None:
plate = Shape('plate')
self.dish_rack = Shape('dish_rack')
self.plate_stand = Shape('plate_stand')
self.success_sensor = ProximitySensor('success')
self.success_poses = [Dummy('success_pos%d' % i) for i in range(3)]
self.pillars = [Shape('dish_rack_pillar%d' % i) for i in range(6)]
self.boundary = SpawnBoundary([Shape('boundary')])
self.register_graspable_objects([plate])
cond_set = ConditionSet([
DetectedCondition(plate, self.success_sensor),
NothingGrasped(self.robot.gripper)
],
order_matters=True)
self.register_success_conditions([cond_set])