File size: 8,679 Bytes
f9cf739 | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 | import numpy as np
from robosuite.models.objects import MujocoXMLObject
from robosuite.utils.mjcf_utils import array_to_string, find_elements, xml_path_completion
class BottleObject(MujocoXMLObject):
"""
Bottle object
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/bottle.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
class CanObject(MujocoXMLObject):
"""
Coke can object (used in PickPlace)
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/can.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
class LemonObject(MujocoXMLObject):
"""
Lemon object
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/lemon.xml"), name=name, obj_type="all", duplicate_collision_geoms=True
)
class MilkObject(MujocoXMLObject):
"""
Milk carton object (used in PickPlace)
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/milk.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
class BreadObject(MujocoXMLObject):
"""
Bread loaf object (used in PickPlace)
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/bread.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
class CerealObject(MujocoXMLObject):
"""
Cereal box object (used in PickPlace)
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/cereal.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
class SquareNutObject(MujocoXMLObject):
"""
Square nut object (used in NutAssembly)
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/square-nut.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
@property
def important_sites(self):
"""
Returns:
dict: In addition to any default sites for this object, also provides the following entries
:`'handle'`: Name of nut handle location site
"""
# Get dict from super call and add to it
dic = super().important_sites
dic.update({"handle": self.naming_prefix + "handle_site"})
return dic
class RoundNutObject(MujocoXMLObject):
"""
Round nut (used in NutAssembly)
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/round-nut.xml"),
name=name,
joints=[dict(type="free", damping="0.0005")],
obj_type="all",
duplicate_collision_geoms=True,
)
@property
def important_sites(self):
"""
Returns:
dict: In addition to any default sites for this object, also provides the following entries
:`'handle'`: Name of nut handle location site
"""
# Get dict from super call and add to it
dic = super().important_sites
dic.update({"handle": self.naming_prefix + "handle_site"})
return dic
class MilkVisualObject(MujocoXMLObject):
"""
Visual fiducial of milk carton (used in PickPlace).
Fiducial objects are not involved in collision physics.
They provide a point of reference to indicate a position.
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/milk-visual.xml"),
name=name,
joints=None,
obj_type="visual",
duplicate_collision_geoms=True,
)
class BreadVisualObject(MujocoXMLObject):
"""
Visual fiducial of bread loaf (used in PickPlace)
Fiducial objects are not involved in collision physics.
They provide a point of reference to indicate a position.
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/bread-visual.xml"),
name=name,
joints=None,
obj_type="visual",
duplicate_collision_geoms=True,
)
class CerealVisualObject(MujocoXMLObject):
"""
Visual fiducial of cereal box (used in PickPlace)
Fiducial objects are not involved in collision physics.
They provide a point of reference to indicate a position.
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/cereal-visual.xml"),
name=name,
joints=None,
obj_type="visual",
duplicate_collision_geoms=True,
)
class CanVisualObject(MujocoXMLObject):
"""
Visual fiducial of coke can (used in PickPlace)
Fiducial objects are not involved in collision physics.
They provide a point of reference to indicate a position.
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/can-visual.xml"),
name=name,
joints=None,
obj_type="visual",
duplicate_collision_geoms=True,
)
class PlateWithHoleObject(MujocoXMLObject):
"""
Square plate with a hole in the center (used in PegInHole)
"""
def __init__(self, name):
super().__init__(
xml_path_completion("objects/plate-with-hole.xml"),
name=name,
joints=None,
obj_type="all",
duplicate_collision_geoms=True,
)
class DoorObject(MujocoXMLObject):
"""
Door with handle (used in Door)
Args:
friction (3-tuple of float): friction parameters to override the ones specified in the XML
damping (float): damping parameter to override the ones specified in the XML
lock (bool): Whether to use the locked door variation object or not
"""
def __init__(self, name, friction=None, damping=None, lock=False):
xml_path = "objects/door.xml"
if lock:
xml_path = "objects/door_lock.xml"
super().__init__(
xml_path_completion(xml_path), name=name, joints=None, obj_type="all", duplicate_collision_geoms=True
)
# Set relevant body names
self.door_body = self.naming_prefix + "door"
self.frame_body = self.naming_prefix + "frame"
self.latch_body = self.naming_prefix + "latch"
self.hinge_joint = self.naming_prefix + "hinge"
self.lock = lock
self.friction = friction
self.damping = damping
if self.friction is not None:
self._set_door_friction(self.friction)
if self.damping is not None:
self._set_door_damping(self.damping)
def _set_door_friction(self, friction):
"""
Helper function to override the door friction directly in the XML
Args:
friction (3-tuple of float): friction parameters to override the ones specified in the XML
"""
hinge = find_elements(root=self.worldbody, tags="joint", attribs={"name": self.hinge_joint}, return_first=True)
hinge.set("frictionloss", array_to_string(np.array([friction])))
def _set_door_damping(self, damping):
"""
Helper function to override the door friction directly in the XML
Args:
damping (float): damping parameter to override the ones specified in the XML
"""
hinge = find_elements(root=self.worldbody, tags="joint", attribs={"name": self.hinge_joint}, return_first=True)
hinge.set("damping", array_to_string(np.array([damping])))
@property
def important_sites(self):
"""
Returns:
dict: In addition to any default sites for this object, also provides the following entries
:`'handle'`: Name of door handle location site
"""
# Get dict from super call and add to it
dic = super().important_sites
dic.update({"handle": self.naming_prefix + "handle"})
return dic
|