def init_task(self) -> None:
spatula = Shape('scoop_with_spatula_spatula')
self.register_graspable_objects([spatula])
self.register_success_conditions([
DetectedCondition(Shape('Cuboid'), ProximitySensor('success')),
GraspedCondition(self.robot.gripper, spatula)
])
def init_task(self) -> None:
stick = Shape('hockey_stick')
self.register_success_conditions([
DetectedCondition(Shape('hockey_ball'),
ProximitySensor('success')),
GraspedCondition(self.robot.gripper, stick)
])
self.register_graspable_objects([stick])
def init_task(self) -> None:
self.lid = Shape('saucepan_lid_grasp_point')
success_detector = ProximitySensor('success')
self.register_graspable_objects([self.lid])
cond_set = ConditionSet([
GraspedCondition(self.robot.gripper, self.lid),
DetectedCondition(self.lid, success_detector)
])
self.register_success_conditions([cond_set])
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_task(self) -> None:
self.cup1 = Shape('cup1')
self.cup2 = Shape('cup2')
self.cup1_visual = Shape('cup1_visual')
self.cup2_visual = Shape('cup2_visual')
self.boundary = SpawnBoundary([Shape('boundary')])
self.success_sensor = ProximitySensor('success')
self.register_graspable_objects([self.cup1, self.cup2])
self.register_success_conditions([
DetectedCondition(self.cup1, self.success_sensor, negated=True),
GraspedCondition(self.robot.gripper, self.cup1),
])
def init_task(self) -> None:
queue = Shape('queue')
success_sensor = ProximitySensor('success')
ball = Shape('ball')
self.register_graspable_objects([queue])
cond_set = ConditionSet([
GraspedCondition(self.robot.gripper, queue),
DetectedCondition(ball, success_sensor)
],
order_matters=True)
self.register_success_conditions([cond_set])
def init_task(self) -> None:
self.block = Shape('pick_and_lift_target')
self.register_graspable_objects([self.block])
self.boundary = SpawnBoundary([Shape('pick_and_lift_boundary')])
self.success_detector = ProximitySensor('pick_and_lift_success')
cond_set = ConditionSet([
GraspedCondition(self.robot.gripper, self.block),
DetectedCondition(self.block, self.success_detector)
])
self.register_success_conditions([cond_set])
self.target = Shape('target')
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])