61 lines
2.9 KiB
Python
61 lines
2.9 KiB
Python
from .base_task import Base_task
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from .empty_cup_place import empty_cup_place
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from .utils import *
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import sapien
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class gpt_empty_cup_place(empty_cup_place):
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def play_once(self):
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# Retrieve the actor objects and their data
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cup = self.actor_name_dic['cup']
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coaster = self.actor_name_dic['coaster']
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cup_data = self.actor_data_dic['cup_data']
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coaster_data = self.actor_data_dic['coaster_data']
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# Get the current pose of the cup
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cup_pose = self.get_actor_functional_pose(cup, cup_data)
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# Determine which arm to use based on the cup's x coordinate
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if cup_pose[0] > 0:
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arm_tag = "right"
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move_function = self.right_move_to_pose_with_screw
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close_gripper_function = self.close_right_gripper
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open_gripper_function = self.open_right_gripper
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else:
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arm_tag = "left"
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move_function = self.left_move_to_pose_with_screw
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close_gripper_function = self.close_left_gripper
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open_gripper_function = self.open_left_gripper
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# Get the pre-grasp and target grasp poses for the cup
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pre_grasp_pose = self.get_grasp_pose_to_grasp_object(endpose_tag=arm_tag, actor=cup, actor_data=cup_data, pre_dis=0.05)
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target_grasp_pose = self.get_grasp_pose_to_grasp_object(endpose_tag=arm_tag, actor=cup, actor_data=cup_data, pre_dis=0)
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# Move to the pre-grasp pose
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move_function(pre_grasp_pose)
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# Move to the target grasp pose and close the gripper to pick up the cup
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move_function(target_grasp_pose)
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close_gripper_function(pos=-0.01) # Tighten the gripper to ensure a secure grasp
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# Lift the cup slightly
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lift_pose = target_grasp_pose.copy()
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lift_pose[2] += 0.1 # Lift the cup by 0.1 meters
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move_function(lift_pose)
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# Get the target pose for placing the cup on the coaster
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coaster_pose = self.get_actor_goal_pose(coaster, coaster_data, id=0)
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place_pose = self.get_grasp_pose_from_goal_point_and_direction(actor=cup, actor_data=cup_data, endpose_tag=arm_tag, actor_functional_point_id=0, target_point=coaster_pose, target_approach_direction=self.world_direction_dic['top_down'], pre_dis=0.05)
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target_place_pose = self.get_grasp_pose_from_goal_point_and_direction(actor=cup, actor_data=cup_data, endpose_tag=arm_tag, actor_functional_point_id=0, target_point=coaster_pose, target_approach_direction=self.world_direction_dic['top_down'], pre_dis=0)
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# Move to the pre-place pose
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move_function(place_pose)
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# Move to the target place pose and open the gripper to place the cup
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move_function(target_place_pose)
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open_gripper_function()
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# Lift the arm slightly after placing the cup
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lift_pose = target_place_pose.copy()
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lift_pose[2] += 0.1 # Lift the arm by 0.1 meters
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move_function(lift_pose)
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