File size: 4,378 Bytes
e1328f2 | 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 | import os
import numpy as np
import re
from robosuite.models.objects import MujocoXMLObject
from robosuite.utils.mjcf_utils import xml_path_completion
import pathlib
absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute()
from liberopro.liberopro.envs.base_object import (
register_visual_change_object,
register_object,
)
class GoogleScannedObject(MujocoXMLObject):
def __init__(self, name, obj_name, joints=[dict(type="free", damping="0.0005")]):
super().__init__(
os.path.join(
str(absolute_path),
f"assets/stable_scanned_objects/{obj_name}/{obj_name}.xml",
),
name=name,
joints=joints,
obj_type="all",
duplicate_collision_geoms=False,
)
self.category_name = "_".join(
re.sub(r"([A-Z])", r" \1", self.__class__.__name__).split()
).lower()
self.rotation = (np.pi / 2, np.pi / 2)
self.rotation_axis = "x"
self.object_properties = {"vis_site_names": {}}
@register_object
class Rack(GoogleScannedObject):
def __init__(
self,
name="simple_rack",
obj_name="simple_rack",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints=joints)
self.rotation = (0, 0)
self.rotation_axis = "x"
@register_object
class WhiteBowl(GoogleScannedObject):
def __init__(self, name="white_bowl", obj_name="white_bowl"):
super().__init__(name, obj_name)
@register_object
class AkitaBlackBowl(GoogleScannedObject):
def __init__(self, name="akita_black_bowl", obj_name="akita_black_bowl"):
super().__init__(name, obj_name)
@register_object
class Plate(GoogleScannedObject):
def __init__(self, name="plate", obj_name="plate"):
super().__init__(name, obj_name)
@register_object
class Basket(GoogleScannedObject):
def __init__(self, name="basket", obj_name="basket"):
super().__init__(name, obj_name)
@register_object
class Chefmate8Frypan(GoogleScannedObject):
def __init__(self, name="chefmate_8_frypan", obj_name="chefmate_8_frypan"):
super().__init__(name, obj_name)
@register_object
class GlazedRimPorcelainRamekin(GoogleScannedObject):
def __init__(
self,
name="glazed_rim_porcelain_ramekin",
obj_name="glazed_rim_porcelain_ramekin",
):
super().__init__(name, obj_name)
@register_object
class BiggerAkitaBlackBowl(GoogleScannedObject):
def __init__(self, name="bigger_akita_black_bowl", obj_name="bigger_akita_black_bowl"):
super().__init__(name, obj_name)
@register_object
class BlackBowl(GoogleScannedObject):
def __init__(self, name="black_bowl", obj_name="black_bowl"):
super().__init__(name, obj_name)
@register_object
class RedAkitaBlackBowl(GoogleScannedObject):
def __init__(self, name="red_akita_black_bowl", obj_name="red_akita_black_bowl"):
super().__init__(name, obj_name)
@register_object
class RedBasket(GoogleScannedObject):
def __init__(self, name="red_basket", obj_name="red_basket"):
super().__init__(name, obj_name)
@register_object
class RedRamekin(GoogleScannedObject):
def __init__(
self,
name="red_ramekin",
obj_name="red_ramekin",
):
super().__init__(name, obj_name)
@register_object
class YellowBowl(GoogleScannedObject):
def __init__(self, name="yellow_bowl", obj_name="yellow_bowl"):
super().__init__(name, obj_name)
@register_object
class YellowPlate(GoogleScannedObject):
def __init__(self, name="yellow_plate", obj_name="yellow_plate"):
super().__init__(name, obj_name)
@register_object
class RedSticker(CustomObjects):
def __init__(self,
name="red_sticker",
obj_name="red_sticker",
):
super().__init__(
name=name,
obj_name=obj_name,
)
# 设置圆柱体100%直立状态
self.rotation = {
"x": (0.0, 0.0), # x轴不旋转，保持直立
"y": (0.0, 0.0), # y轴不旋转，保持直立
"z": (0.0, 0.0), # z轴也不旋转，完全固定朝向
}
self.rotation_axis = "z" # 设置主旋转轴为z轴
# 确保100%直立，不设置任何强制旋转的init_quat |