def init_episode(self, index: int) -> List[str]:
self.right_frame.set_dynamic(False)
self.left_frame.set_dynamic(False)
self.left_unlocked = False
self.right_unlocked = False
option = OPTIONS[index]
if option == 'right':
self.waypoint0.set_position(self.waypoint0_.get_position())
self.waypoint1.set_position(self.waypoint1_.get_position())
self.waypoint2.set_position(self.waypoint2_.get_position())
self.waypoint2.set_orientation(self.waypoint2_.get_orientation())
self.waypoint3.set_position(self.waypoint3_.get_position())
self.waypoint3.set_orientation(self.waypoint3_.get_orientation())
self.register_success_conditions(
[JointCondition(Joint('right_window_joint'), np.deg2rad(50))])
else:
self.register_success_conditions(
[JointCondition(Joint('left_window_joint'), np.deg2rad(50))])
return [
'open %s window' % option,
'rotate the handle to unlock the %s window, then open it' % option,
'push the %s window open' % option,
'use the handle to open the %s window' % option
]
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_task(self) -> None:
self.door_main = Shape('door_main')
self.door_main.set_dynamic(False)
door_joint = Joint('door_frame_joint')
handle_joint = Joint('door_handle_joint')
self.register_success_conditions(
[JointCondition(door_joint, np.deg2rad(25))])
self.door_unlock_cond = JointCondition(handle_joint, np.deg2rad(25))
def init_task(self) -> None:
self.tv = Shape('tv_frame')
self.screen_on = Shape('tv_screen_on')
self.screen_up = Shape('tv_screen_up')
self.screen_down = Shape('tv_screen_down')
self.remote = Shape('tv_remote')
self.boundary = Shape('spawn_boundary')
self.joint_conditions = [
JointCondition(Joint('target_button_joint1'), 0.005),
JointCondition(Joint('target_button_joint2'), 0.005)
]
def init_task(self) -> None:
self._remote = Shape('tv_remote')
self._joint_conditions = [
JointCondition(Joint('target_button_joint1'), 0.003),
JointCondition(Joint('target_button_joint2'), 0.003)
]
self._w6 = Dummy('waypoint6')
self._w6z = self._w6.get_position()[2]
self.register_graspable_objects([self._remote])
self._spawn_boundary = SpawnBoundary([Shape('spawn_boundary')])
self._target_buttons = [
Shape('target_button_wrap1'), Shape('target_button_wrap2')]
def init_task(self) -> None:
cup = Shape('cup')
self.register_graspable_objects([cup])
self.register_success_conditions([
JointCondition(Joint('joint'), np.deg2rad(1)),
DetectedCondition(cup, ProximitySensor('success'))
])
def init_task(self):
self.waypoint0 = Dummy('waypoint0')
self.waypoint1 = Dummy('waypoint1')
self.waypoint2 = Dummy('waypoint2')
self.waypoint3 = Dummy('waypoint3')
self.waypoint0_ = Dummy('waypoint0_')
self.waypoint1_ = Dummy('waypoint1_')
self.waypoint2_ = Dummy('waypoint2_')
self.waypoint3_ = Dummy('waypoint3_')
self.right_unlocked_cond = JointCondition(Joint('right_handle_joint'),
np.deg2rad(60))
self.left_unlocked_cond = JointCondition(Joint('left_handle_joint'),
np.deg2rad(60))
self.right_frame = Shape('right_frame')
self.left_frame = Shape('left_frame')
def init_task(self) -> None:
cap_detector = ProximitySensor("cap_detector")
self.joint = Joint('joint')
self.force_sensor = ForceSensor('Force_sensor')
self.cap = Shape('cap')
self.register_success_conditions(
[DetectedCondition(self.cap, cap_detector, negated=True)])
self.cap_turned_condition = JointCondition(
self.joint, np.deg2rad(150))
def init_episode(self, index: int) -> List[str]:
option = OPTIONS[index]
if option == 'right':
self.left_start.set_position(self.right_start.get_position())
self.left_start.set_orientation(self.right_start.get_orientation())
self.left_end.set_position(self.right_end.get_position())
self.left_end.set_orientation(self.right_end.get_orientation())
self.register_success_conditions(
[JointCondition(self.right_joint, 1.57)])
else:
self.register_success_conditions(
[JointCondition(self.left_joint, 1.57)])
return [
'turn %s tap' % option,
'rotate the %s tap' % option,
'grasp the %s tap and turn it' % option
]
def init_task(self) -> None:
screw_driver = Shape('screw_driver')
self.block = Shape('block')
self.register_graspable_objects([screw_driver])
screw_joint = Joint('screw_joint')
cond_set = ConditionSet([
GraspedCondition(self.robot.gripper, screw_driver),
JointCondition(screw_joint, 1.4)], # about 90 degrees
order_matters=True)
self.register_success_conditions([cond_set])
def init_episode(self, index: int) -> List[str]:
option = self.options[index]
self.waypoint1.set_position(self.anchors[index].get_position())
self.register_success_conditions(
[JointCondition(self.joints[index], 0.15)])
return [
'open %s drawer' % option,
'grip the %s handle and pull the %s drawer open' %
(option, option),
'slide the %s drawer open' % option
]
def init_episode(self, index: int) -> List[str]:
option = OPTIONS[index]
self.joints[index].set_joint_position(0.1)
self.register_success_conditions(
[JointCondition(self.joints[index], 0.06)])
x, y, z = self.waypoint0.get_position()
_, _, target_z = self.anchors[index].get_position()
self.waypoint0.set_position([x, y, target_z])
return ['close %s drawer' % (option,),
'shut the %s drawer' % (option,),
'slide the %s drawer shut' % (option,)]
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:
self.buttons_pushed = 0
self.color_variation_index = 0
self.target_buttons = [Shape('push_buttons_target%d' % i)
for i in range(3)]
self.target_topPlates = [Shape('target_button_topPlate%d' % i)
for i in range(3)]
self.target_joints = [Joint('target_button_joint%d' % i)
for i in range(3)]
self.target_wraps = [Shape('target_button_wrap%d' % i)
for i in range(3)]
self.boundaries = Shape('push_buttons_boundary')
# goal_conditions merely state joint conditions for push action for
# each button regardless of whether the task involves pushing it
self.goal_conditions = [JointCondition(self.target_joints[n], 0.005)
for n in range(3)]
self.register_waypoint_ability_start(0, self._move_above_next_target)
self.register_waypoints_should_repeat(self._repeat)
def init_task(self) -> None:
door_joint = Joint('door_frame_joint')
self.register_success_conditions(
[JointCondition(door_joint, np.deg2rad(25)),
NothingGrasped(self.robot.gripper)])
def init_task(self) -> None:
joint = Joint('toilet_seat_up_revolute_joint')
self.register_success_conditions([JointCondition(joint, 1.7)])
def init_task(self):
top_joint = Joint('top_joint')
self.register_success_conditions(
[JointCondition(top_joint, np.deg2rad(30))])
def init_task(self) -> None:
self.register_success_conditions(
[JointCondition(Joint('microwave_door_joint'), np.deg2rad(80))])
def init_task(self) -> None:
self._door_joint = Joint('door_frame_joint')
self.register_success_conditions(
[JointCondition(self._door_joint, np.deg2rad(25))])
self.door_unlock_cond = JointCondition(Joint('door_handle_joint'),
np.deg2rad(25))
def init_task(self) -> None:
switch_joint = Joint('joint')
self.register_success_conditions([JointCondition(switch_joint, 1.0)])
def init_task(self) -> None:
knob_joint = Joint('oven_knob_joint')
self.register_success_conditions([JointCondition(knob_joint, 1.5)])
def init_task(self):
box_joint = Joint('joint')
self.register_success_conditions([JointCondition(box_joint, 1.9)])
def init_task(self) -> None:
self.bulb_glass_visual = Shape('bulb')
self.bulb_glass_visual.set_color([0, 0, 0])
self.joint = Joint('target_button_joint')
self.condition = JointCondition(self.joint, 0.005)
def init_task(self):
self.target_button = Shape('push_button_target')
self.target_topPlate = Shape('target_button_topPlate')
self.joint = Joint('target_button_joint')
self.target_wrap = Shape('target_button_wrap')
self.goal_condition = JointCondition(self.joint, 0.005)
def init_task(self) -> None:
self.drops = []
self.success_sensor = ProximitySensor('success')
self.cup = Shape('cup')
self.register_graspable_objects([self.cup])
self.tongue_condition = JointCondition(Joint('joint'), np.deg2rad(1))
def init_task(self) -> None:
self.tv = Shape('tv_frame')
self.screen_on = Shape('tv_screen_on')
self.remote = Shape('tv_remote')
self.boundary = Shape('spawn_boundary')
self.condition = JointCondition(Joint('target_button_joint0'), 0.003)
def init_task(self) -> None:
box_joint = Joint('joint')
self.register_success_conditions([JointCondition(box_joint, 2.6)])
def init_task(self) -> None:
self._remote = Shape('tv_remote')
self._spawn_boundary = SpawnBoundary([Shape('spawn_boundary')])
self.register_graspable_objects([self._remote])
self.register_success_conditions(
[JointCondition(Joint('target_button_joint0'), 0.003)])
def init_task(self) -> None:
laptop_joint = Joint('joint')
self.register_success_conditions([JointCondition(laptop_joint, 1.79)])
