40 lines
1.3 KiB
Python
40 lines
1.3 KiB
Python
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from .base_task import Base_task
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from .utils import *
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import numpy as np
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import sapien
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class mug_hanging(Base_task):
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def setup_demo(self,is_test=False,**kwags):
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super()._init(**kwags)
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self.create_table_and_wall()
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self.load_robot()
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self.setup_planner()
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self.load_camera(kwags.get('camera_w', 640),kwags.get('camera_h', 480))
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self.pre_move()
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if is_test:
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self.id_list = [1,3,4,6,7,8,9]
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else:
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self.id_list = [0,2]
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self.middle_pose_of_left_arm = [0.05, -0.15, 0.75]
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self.load_actors(f"./task_config/scene_info/{self.task_name[4:]}.json")
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self.step_lim = 800
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def pre_move(self):
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render_freq = self.render_freq
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self.render_freq=0
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self.together_open_gripper(save_freq=None)
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self.render_freq = render_freq
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def play_once(self):
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pass
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def check_success(self):
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mug = self.actor_name_dic['mug']
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mug_data = self.actor_data_dic['mug_data']
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rack = self.actor_name_dic['rack']
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mug_target_pose = self.get_actor_goal_pose(mug,mug_data)
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eps = np.array([0.05,0.03,0.02])
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return np.all(abs(mug_target_pose - rack.get_pose().p + [0.07,0.02,-0.035]) < eps) and self.is_right_gripper_open()
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