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])