32 lines
907 B
Python
32 lines
907 B
Python
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from .base_task import Base_task
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from .utils import *
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import math
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import sapien
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class pick_apple_messy(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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self.load_actors(f"./task_config/scene_info/{self.task_name[4:]}.json")
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# self.load_actors()
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self.step_lim = 250
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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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apple = self.actor_name_dic['apple']
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apple_pose = apple.get_pose().p
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return apple_pose[2] > 0.81
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