def test_remove(self):
self.dynamic_cube.remove()
self.simple_model.remove()
self.assertFalse(self.dynamic_cube.still_exists())
self.assertFalse(self.simple_model.still_exists())
self.assertFalse(Object.exists('dynamic_cube'))
self.assertFalse(Object.exists('simple_model'))
def load(self) -> Object:
if Object.exists(self.get_name()):
return Dummy(self.get_name())
ttm_file = os.path.join(os.path.dirname(os.path.abspath(__file__)),
'../task_ttms/%s.ttm' % self.name)
if not os.path.isfile(ttm_file):
raise FileNotFoundError(
'The following is not a valid task .ttm file: %s' % ttm_file)
self._base_object = self.pyrep.import_model(ttm_file)
return self._base_object
def _get_waypoints(self, validating=False) -> List[Waypoint]:
waypoint_name = 'waypoint%d'
waypoints = []
additional_waypoint_inits = []
i = 0
while True:
name = waypoint_name % i
if not Object.exists(name):
# There are no more waypoints...
break
ob_type = Object.get_object_type(name)
way = None
if ob_type == ObjectType.DUMMY:
waypoint = Dummy(name)
start_func = None
end_func = None
if i in self._waypoint_abilities_start:
start_func = self._waypoint_abilities_start[i]
if i in self._waypoint_abilities_end:
end_func = self._waypoint_abilities_end[i]
way = Point(waypoint,
self.robot,
start_of_path_func=start_func,
end_of_path_func=end_func)
elif ob_type == ObjectType.PATH:
cartestian_path = CartesianPath(name)
way = PredefinedPath(cartestian_path, self.robot)
else:
raise WaypointError(
'%s is an unsupported waypoint type %s' % (name, ob_type),
self)
if name in self._waypoint_additional_inits and not validating:
additional_waypoint_inits.append(
(self._waypoint_additional_inits[name], way))
waypoints.append(way)
i += 1
# Check if all of the waypoints are feasible
feasible, way_i = self._feasible(waypoints)
if not feasible:
raise WaypointError(
"Infeasible episode. Can't reach waypoint %d." % way_i, self)
for func, way in additional_waypoint_inits:
func(way)
return waypoints
def init_task(self) -> None:
self.target_block = Shape('pick_and_lift_target')
self.target = Shape("success_visual")
self.target.set_renderable(False)
self.register_graspable_objects([self.target_block])
self.boundary = SpawnBoundary([Shape('pick_and_lift_boundary')])
self.success_detector = ProximitySensor('pick_and_lift_success')
self.front_camera_exists = Object.exists('cam_front')
if self.front_camera_exists:
self.front_camera = VisionSensor('cam_front')
self.init_front_camera_position = self.front_camera.get_position()
self.init_front_camera_orientation = self.front_camera.get_orientation(
)
self.panda_base = Shape("Panda_link0_visual")
cond_set = ConditionSet([
GraspedCondition(self.robot.gripper, self.target_block),
DetectedCondition(self.target_block, self.success_detector)
])
self.register_success_conditions([cond_set])
def init_task(self) -> None:
self.target = Shape('target')
self.distractor0 = Shape('distractor0')
self.distractor1 = Shape('distractor1')
self.target.set_renderable(True)
self.distractor0.set_renderable(False)
self.distractor1.set_renderable(False)
self.front_camera_exists = Object.exists('cam_front')
if self.front_camera_exists:
self.front_camera = VisionSensor('cam_front')
#curr_pos = self.front_camera.get_position()
# new_pos = curr_pos + np.array([-1.25, 1.6 , -0.35])
# self.front_camera.set_position(new_pos)
# curr_ori = self.front_camera.get_orientation()
# new_ori = np.array([1.6, 0, 0])
# self.front_camera.set_orientation(new_ori)
# front pos
#new_pos = curr_pos + np.array([0.0, 0.0 , -0.2])
#self.front_camera.set_position(new_pos)
#curr_ori = self.front_camera.get_orientation()
#new_ori = curr_ori + np.array([0, -0.25, 0])
#self.front_camera.set_orientation(new_ori)
self.step_in_episode = 0
self.obstacle = Shape.create(type=PrimitiveShape.SPHERE,
size=[0.3, 0.3, 0.3],
renderable=True,
respondable=True,
static=True,
position=[0.1, 0.1, 1.4],
color=[0, 0, 0])
self.boundaries = Shape('boundary')
success_sensor = ProximitySensor('success')
self.register_success_conditions(
[DetectedCondition(self.robot.arm.get_tip(), success_sensor)])
def test_object_exists(self):
yes = Object.exists('dynamic_cube')
no = Object.exists('dynamic_cubeee')
self.assertTrue(yes)
self.assertFalse(no)
