-
Notifications
You must be signed in to change notification settings - Fork 241
/
take_money_out_safe.py
114 lines (101 loc) · 5.13 KB
/
take_money_out_safe.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
from typing import List, Tuple
import numpy as np
from pyrep.objects.shape import Shape
from pyrep.objects.dummy import Dummy
from pyrep.objects.proximity_sensor import ProximitySensor
from rlbench.backend.task import Task
from rlbench.backend.conditions import DetectedCondition, NothingGrasped
from rlbench.backend.spawn_boundary import SpawnBoundary
NUM_SHELVES_IN_SAFE = 3
class TakeMoneyOutSafe(Task):
def init_task(self) -> None:
self.shelf = {0: 'bottom', 1: 'middle', 2: 'top'}
self.shelf_alt = {0: 'first', 1: 'second', 2: 'third'}
self.money_list = [Shape('dollar_stack%d' % i) for i in range(3)]
self.register_graspable_objects(self.money_list)
self.success_conditions = [NothingGrasped(self.robot.gripper)]
self.w1 = Dummy('waypoint1')
self.w1_rel_pos = [-2.7287 * 10 ** (-4), -2.3246 * 10 ** (-6),
+4.5627 * 10 ** (-2)]
self.w1_rel_ori = [-3.1416, 7.2824 * 10 ** (-1), -2.1265 * 10 ** (-2)]
self.w3 = Dummy('waypoint3')
self.place_boundary = Shape('placement_boundary')
self.pick_boundary = Shape('money_boundary')
self.safe = Shape('safe_body')
self.money_ori = self.money_list[0].get_orientation()
def init_episode(self, index: int) -> List[str]:
self.target_shelf = index
target_dummy_name = 'dummy_shelf' + str(self.target_shelf)
target_pos_dummy = Dummy(target_dummy_name)
target_pos = target_pos_dummy.get_position()
target_ori = target_pos_dummy.get_orientation()
self.w1.set_position(target_pos, reset_dynamics=False)
self.w1.set_orientation(target_ori, reset_dynamics=False)
b_place = SpawnBoundary([self.place_boundary])
b_place.sample(self.w3, min_rotation=(0.0, 0.0, -np.pi / 12),
max_rotation=(0.0, 0.0, +np.pi / 12), min_distance=0)
self.success_detector = ProximitySensor('success_detector')
while len(self.success_conditions) > 1:
self.success_conditions.pop()
self.success_conditions.append(
DetectedCondition(self.money_list[self.target_shelf],
self.success_detector)
)
self.register_success_conditions(self.success_conditions)
# self.w1.set_parent(target_pos_dummy, keep_in_place=True)
rel_target_pos = self.w1.get_position(
relative_to=self.money_list[index])
rel_target_ori = self.w1.get_orientation(
relative_to=self.money_list[index]
)
b_pick = SpawnBoundary([self.pick_boundary])
b_pick.sample(self.money_list[index],
min_rotation=(0.0, 0.0, -np.pi / 10),
max_rotation=(0.0, 0.0, 0.0), min_distance=0)
for m in self.money_list:
b_pick.sample(m,
min_rotation=(0.0, 0.0, -np.pi/10),
max_rotation=(0.0, 0.0, 0.0), min_distance=0)
self.w1.set_position(rel_target_pos, relative_to=self.money_list[index],
reset_dynamics=False)
self.w1.set_orientation(rel_target_ori,
relative_to=self.money_list[index],
reset_dynamics=False)
"""
if self.target_shelf == 0:
return ['take the money out of the bottom shelf and place it on '
'the table']
elif self.target_shelf == 1:
return ['take the money out of the middle shelf and place it on '
'the table']
elif self.target_shelf == 2:
return ['take the money out of the top shelf and place it on '
'the table']
else:
raise ValueError('Invalid target_shelf index, should not be here')
return -1
"""
return ['take the money out of the %s shelf and place it on the '
'table' % self.shelf[index],
'take the stack of money out of the %s shelf and place it on '
'the table' % self.shelf_alt[index],
'take one of the stacks of money out of the %s bit of the safe'
% self.shelf[index],
'take the money off of the %s shelf of the safe'
% self.shelf_alt[index],
'grasp the bank notes in the %s and remove it from the safe'
% self.shelf[index],
'get the money from the %s shelf' % self.shelf_alt[index],
'retrieve the stack of bank notes from the %s of the safe'
% self.shelf[index],
'locate the money on the %s shelf, grasp it, remove if from the'
' safe, and set it on the table' % self.shelf[index],
'put the money on the %s shelf down on the table'
% self.shelf_alt[index]]
def variation_count(self) -> int:
return NUM_SHELVES_IN_SAFE
def cleanup(self) -> None:
for m in self.money_list:
m.set_orientation(self.money_ori, reset_dynamics=False)
def base_rotation_bounds(self) -> Tuple[List[float], List[float]]:
return (0.0, 0.0, -0.5 * np.pi), (0.0, 0.0, +0.5 * np.pi)