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import re
import numpy as np
from robosuite.models.objects import MujocoXMLObject
from robosuite.utils.mjcf_utils import array_to_string
import pathlib
absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute()
from liberopro.liberopro.envs.base_object import register_object
class HopeBaseObject(MujocoXMLObject):
def __init__(self, name, obj_name):
super().__init__(
os.path.join(
str(absolute_path),
f"assets/stable_hope_objects/{obj_name}/{obj_name}.xml",
),
name=name,
joints=[dict(type="free", damping="0.0005")],
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 AlphabetSoup(HopeBaseObject):
def __init__(self, name="alphabet_soup", obj_name="alphabet_soup"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@register_object
class BbqSauce(HopeBaseObject):
def __init__(self, name="bbq_sauce", obj_name="bbq_sauce"):
super().__init__(name, obj_name)
@register_object
class Butter(HopeBaseObject):
def __init__(self, name="butter", obj_name="butter"):
super().__init__(name, obj_name)
self.rotation = (0.0, 0.0)
self.rotation_axis = "x"
@register_object
class Cherries(HopeBaseObject):
def __init__(self, name="cherries", obj_name="cherries"):
super().__init__(name, obj_name)
@register_object
class ChocolatePudding(HopeBaseObject):
def __init__(self, name="chocolate_pudding", obj_name="chocolate_pudding"):
super().__init__(name, obj_name)
self.rotation = (0.0, 0.0)
self.rotation_axis = "x"
@register_object
class Cookies(HopeBaseObject):
def __init__(self, name="cookies", obj_name="cookies"):
super().__init__(name, obj_name)
@register_object
class Corn(HopeBaseObject):
def __init__(self, name="corn", obj_name="corn"):
super().__init__(name, obj_name)
@register_object
class CreamCheese(HopeBaseObject):
def __init__(self, name="cream_cheese", obj_name="cream_cheese"):
super().__init__(name, obj_name)
self.rotation = (0.0, 0.0)
self.rotation_axis = "x"
@register_object
class Ketchup(HopeBaseObject):
def __init__(self, name="ketchup", obj_name="ketchup"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
self.rotation_axis = None
@register_object
class MacaroniAndCheese(HopeBaseObject):
def __init__(self, name="macaroni_and_cheese", obj_name="macaroni_and_cheese"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
self.rotation_axis = None
@register_object
class Mayo(HopeBaseObject):
def __init__(self, name="mayo", obj_name="mayo"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
self.rotation_axis = None
@register_object
class Milk(HopeBaseObject):
def __init__(self, name="milk", obj_name="milk"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
# class Mushrooms(HopeBaseObject):
# def __init__(self,
# name="mushrooms",
# obj_name="mushrooms"):
# super().__init__(name, obj_name)
# class Mustard(HopeBaseObject):
# def __init__(self,
# name="mustard",
# obj_name="mustard"):
# super().__init__(name, obj_name)
# self.rotation={
# "x": (np.pi / 2, np.pi/2),
# "z": (np.pi / 2, np.pi/2),
# }
# self.rotation_axis= None
@register_object
class OrangeJuice(HopeBaseObject):
def __init__(self, name="orange_juice", obj_name="orange_juice"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
# class Parmesan(HopeBaseObject):
# def __init__(self,
# name="parmesan",
# obj_name="parmesan"):
# super().__init__(name, obj_name)
# class Peaches(HopeBaseObject):
# def __init__(self,
# name="peaches",
# obj_name="peaches"):
# super().__init__(name, obj_name)
# class PeasAndCarrots(HopeBaseObject):
# def __init__(self,
# name="peas_and_carrots",
# obj_name="peas_and_carrots"):
# super().__init__(name, obj_name)
# class Pineapple(HopeBaseObject):
# def __init__(self,
# name="pineapple",
# obj_name="pineapple"):
# super().__init__(name, obj_name)
@register_object
class Popcorn(HopeBaseObject):
def __init__(self, name="popcorn", obj_name="popcorn"):
super().__init__(name, obj_name)
self.rotation = (0.0, 0.0)
self.rotation_axis = "x"
# class Raisins(HopeBaseObject):
# def __init__(self,
# name="raisins",
# obj_name="raisins"):
# super().__init__(name, obj_name)
@register_object
class SaladDressing(HopeBaseObject):
def __init__(self, name="salad_dressing", obj_name="salad_dressing"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
self.rotation_axis = None
@register_object
class NewSaladDressing(HopeBaseObject):
def __init__(self, name="new_salad_dressing", obj_name="new_salad_dressing"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
self.rotation_axis = None
@register_object
class TomatoSauce(HopeBaseObject):
def __init__(self, name="tomato_sauce", obj_name="tomato_sauce"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@register_object
class BiggerAlphabetSoup(HopeBaseObject):
def __init__(self, name="bigger_alphabet_soup", obj_name="bigger_alphabet_soup"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@register_object
class BiggerMilk(HopeBaseObject):
def __init__(self, name="bigger_milk", obj_name="bigger_milk"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@register_object
class BlueKetchup(HopeBaseObject):
def __init__(self, name="blue_ketchup", obj_name="blue_ketchup"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@register_object
class GreenBbqSauce(HopeBaseObject):
def __init__(self, name="green_bbq_sauce", obj_name="green_bbq_sauce"):
super().__init__(name, obj_name)
@register_object
class GreenButter(HopeBaseObject):
def __init__(self, name="green_butter", obj_name="green_butter"):
super().__init__(name, obj_name)
self.rotation = (0.0, 0.0)
self.rotation_axis = "x"
@register_object
class GreenChocolatePudding(HopeBaseObject):
def __init__(self, name="green_chocolate_pudding", obj_name="green_chocolate_pudding"):
super().__init__(name, obj_name)
self.rotation = (0.0, 0.0)
self.rotation_axis = "x"
@register_object
class GreenKetchup(HopeBaseObject):
def __init__(self, name="green_ketchup", obj_name="green_ketchup"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
self.rotation_axis = None
@register_object
class RedAlphabetSoup(HopeBaseObject):
def __init__(self, name="red_alphabet_soup", obj_name="red_alphabet_soup"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@register_object
class RedCreamCheese(HopeBaseObject):
def __init__(self, name="red_cream_cheese", obj_name="red_cream_cheese"):
super().__init__(name, obj_name)
self.rotation = (0.0, 0.0)
self.rotation_axis = "x"
@register_object
class RedOrangeJuice(HopeBaseObject):
def __init__(self, name="red_orange_juice", obj_name="red_orange_juice"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
@register_object
class RedSaladDressing(HopeBaseObject):
def __init__(self, name="red_salad_dressing", obj_name="red_salad_dressing"):
super().__init__(name, obj_name)
self.rotation = {
"x": (np.pi / 2, np.pi / 2),
"z": (np.pi / 2, np.pi / 2),
}
self.rotation_axis = None
@register_object
class YellowCookies(HopeBaseObject):
def __init__(self, name="yellow_cookies", obj_name="yellow_cookies"):
super().__init__(name, obj_name)
@register_object
class YellowMilk(HopeBaseObject):
def __init__(self, name="yellow_milk", obj_name="yellow_milk"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@register_object
class YellowTomatoSauce(HopeBaseObject):
def __init__(self, name="yellow_tomato_sauce", obj_name="yellow_tomato_sauce"):
super().__init__(name, obj_name)
self.rotation_axis = "z"
@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
# class Tuna(HopeBaseObject):
# def __init__(self,
# name="tuna",
# obj_name="tuna"):
# super().__init__(name, obj_name)
# class Yogurt(HopeBaseObject):
# def __init__(self,
# name="yogurt",
# obj_name="yogurt"):
# super().__init__(name, obj_name)
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