33 lines
1.0 KiB
Python
Executable File
33 lines
1.0 KiB
Python
Executable File
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from .base_task import Base_task
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from .utils import *
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import sapien
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class empty_cup_place(Base_task):
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def setup_demo(self,**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.step_lim = 500
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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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eps = 0.025
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coaster = self.actor_name_dic['coaster']
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cup = self.actor_name_dic['cup']
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coaster_pose = coaster.get_pose().p
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cup_pose = cup.get_pose().p
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return abs(cup_pose[0] - coaster_pose[0])<eps and abs(cup_pose[1] - coaster_pose[1])<eps and (cup_pose[2] - 0.792) < 0.005
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