Exemple #1
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    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
        ]
Exemple #2
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    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]
Exemple #3
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 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)
     ])
Exemple #4
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 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)])
Exemple #5
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 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)
     ])
Exemple #8
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 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)
     ])
Exemple #9
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    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)])
Exemple #11
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 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)
     ])
Exemple #13
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 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')])
Exemple #14
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 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)
     ])
Exemple #15
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 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')])
Exemple #16
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 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)
     ])
Exemple #17
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 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)
     ])
Exemple #18
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    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)]
Exemple #19
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 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)
     ])
Exemple #20
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 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)
     ])
Exemple #23
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 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)])
Exemple #25
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 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])
Exemple #27
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 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)
     ])
Exemple #29
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 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])
Exemple #30
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    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])