def postconditions_met(self, state):
ts = 2
s = 0
targets = self.get_targets()
toggleables = get_objects_with_name_and_prop(targets['toggle'],
'toggleable',
state.metadata)
pickupables = get_objects_with_name_and_prop(targets['object'],
'pickupable',
state.metadata)
inventory_objects = state.metadata['inventoryObjects']
# check if object needs to be sliced
if 'Sliced' in targets['object']:
ts += 1
if 'Sliced' in [p['objectId'] for p in pickupables]:
s += 1
# check if the right object is in hand
if len(inventory_objects) > 0 and inventory_objects[0]['objectId'] in [
p['objectId'] for p in pickupables
]:
s += 1
# check if the lamp is visible and turned on
if np.any([t['isToggled'] and t['visible'] for t in toggleables]):
s += 1
return s, ts
def postconditions_met(self, state):
ts = 2
s = 0
targets = self.get_targets()
receptacles = get_objects_with_name_and_prop(targets['parent'],
'receptacle',
state.metadata)
pickupables = get_objects_with_name_and_prop(targets['object'],
'pickupable',
state.metadata)
# check if object needs to be sliced
if 'Sliced' in targets['object']:
ts += 2
s += min([p['objectId'] for p in pickupables].count('Sliced'), 2)
# placing each object counts as a postcondition
s += min(
np.max([
sum([
1 if r['receptacleObjectIds'] is not None
and p['objectId'] in r['receptacleObjectIds'] else 0
for p in pickupables
]) for r in receptacles
]), 2)
return s, ts
def postconditions_met(self, state):
ts = 3
s = 0
targets = self.get_targets()
receptacles = get_objects_with_name_and_prop(targets['parent'], 'receptacle', state.metadata)
pickupables = get_objects_with_name_and_prop(targets['object'], 'pickupable', state.metadata)
movables = get_objects_with_name_and_prop(targets['mrecep'], 'pickupable', state.metadata)
# check if object needs to be sliced
if 'Sliced' in targets['object']:
ts += 1
if len([p for p in pickupables if 'Sliced' in p['objectId']]) >= 1:
s += 1
pickup_in_place = [p for p in pickupables for m in movables
if 'receptacleObjectIds' in p and m['receptacleObjectIds'] is not None
and p['objectId'] in m['receptacleObjectIds']]
movable_in_place = [m for m in movables for r in receptacles
if 'receptacleObjectIds' in r and r['receptacleObjectIds'] is not None
and m['objectId'] in r['receptacleObjectIds']]
# check if the object is in the final receptacle
if len(pickup_in_place) > 0:
s += 1
# check if the movable receptacle is in the final receptacle
if len(movable_in_place) > 0:
s += 1
# check if both the object and movable receptacle stack is in the final receptacle
if np.any([np.any([p['objectId'] in m['receptacleObjectIds'] for p in pickupables]) and
np.any([r['objectId'] in m['parentReceptacles'] for r in receptacles]) for m in movables
if m['parentReceptacles'] is not None and m['receptacleObjectIds'] is not None]):
s += 1
return s, ts
def postconditions_met(self, state):
ts = 1
s = 0
targets = self.get_targets()
receptacles = get_objects_with_name_and_prop(targets['parent'],
'receptacle',
state.metadata)
pickupables = get_objects_with_name_and_prop(targets['object'],
'pickupable',
state.metadata)
# check if object needs to be sliced
if 'Sliced' in targets['object']:
ts += 1
if 'Sliced' in [p['objectId'] for p in pickupables]:
s += 1
if np.any([
np.any([
p['objectId'] in r['receptacleObjectIds']
for r in receptacles
if r['receptacleObjectIds'] is not None
]) for p in pickupables
]):
s += 1
return s, ts
def postconditions_met(self, state):
ts = 3
s = 0
targets = self.get_targets()
receptacles = get_objects_with_name_and_prop(targets['parent'], 'receptacle', state.metadata)
pickupables = get_objects_with_name_and_prop(targets['object'], 'pickupable', state.metadata)
if 'Sliced' in targets['object']:
ts += 1
if len([p for p in pickupables if 'Sliced' in p['objectId']]) >= 1:
s += 1
objs_in_place = [p['objectId'] for p in pickupables for r in receptacles
if r['receptacleObjectIds'] is not None and p['objectId'] in r['receptacleObjectIds']]
objs_cleaned = [p['objectId'] for p in pickupables if p['objectId'] in self.env.cleaned_objects]
# check if object is in the receptacle
if len(objs_in_place) > 0:
s += 1
# check if some object was cleaned
if len(objs_cleaned) > 0:
s += 1
# check if the object is both in the receptacle and clean
if np.any([obj_id in objs_cleaned for obj_id in objs_in_place]):
s += 1
return s, ts
