File size: 6,793 Bytes
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import re
import numpy as np
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 TurbosquidObjects(MujocoXMLObject):
def __init__(self, name, obj_name, joints=[dict(type="free", damping="0.0005")]):
super().__init__(
os.path.join(
str(absolute_path),
f"assets/turbosquid_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 = (0, 0)
self.rotation_axis = "x"
self.object_properties = {"vis_site_names": {}}
@register_object
class WoodenTray(TurbosquidObjects):
def __init__(
self,
name="wooden_tray",
obj_name="wooden_tray",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class WhiteStorageBox(TurbosquidObjects):
def __init__(
self,
name="white_storage_box",
obj_name="white_storage_box",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (0, 0)
self.rotation_axis = "y"
@register_object
class WoodenShelf(TurbosquidObjects):
def __init__(
self,
name="wooden_shelf",
obj_name="wooden_shelf",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class WoodenTwoLayerShelf(TurbosquidObjects):
def __init__(
self,
name="wooden_two_layer_shelf",
obj_name="wooden_two_layer_shelf",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class WineRack(TurbosquidObjects):
def __init__(
self,
name="wine_rack",
obj_name="wine_rack",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class WineBottle(TurbosquidObjects):
def __init__(
self,
name="wine_bottle",
obj_name="wine_bottle",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class DiningSetGroup(TurbosquidObjects):
"""This dining set group is mostly for visualization"""
def __init__(
self,
name="dining_set_group",
obj_name="dining_set_group",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class BowlDrainer(TurbosquidObjects):
def __init__(
self,
name="bowl_drainer",
obj_name="bowl_drainer",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class MokaPot(TurbosquidObjects):
def __init__(
self,
name="moka_pot",
obj_name="moka_pot",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class BlackBook(TurbosquidObjects):
def __init__(
self,
name="black_book",
obj_name="black_book",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (-np.pi / 2, -np.pi / 4)
@register_object
class YellowBook(TurbosquidObjects):
def __init__(
self,
name="yellow_book",
obj_name="yellow_book",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (-np.pi / 2, -np.pi / 4)
@register_object
class RedCoffeeMug(TurbosquidObjects):
def __init__(
self,
name="red_coffee_mug",
obj_name="red_coffee_mug",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (-np.pi / 2, -np.pi / 2)
@register_object
class DeskCaddy(TurbosquidObjects):
def __init__(
self,
name="desk_caddy",
obj_name="desk_caddy",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class PorcelainMug(TurbosquidObjects):
def __init__(
self,
name="porcelain_mug",
obj_name="porcelain_mug",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (-np.pi / 2, -np.pi / 2)
@register_object
class WhiteYellowMug(TurbosquidObjects):
def __init__(
self,
name="white_yellow_mug",
obj_name="white_yellow_mug",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (-np.pi / 2, -np.pi / 2)
@register_object
class BrownRack(TurbosquidObjects):
def __init__(
self,
name="brown_rack",
obj_name="brown_rack",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class RedYellowBook(TurbosquidObjects):
def __init__(
self,
name="red_yellow_book",
obj_name="red_yellow_book",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (-np.pi / 2, -np.pi / 2)
@register_object
class WhitePorcelainMug(TurbosquidObjects):
def __init__(
self,
name="white_porcelain_mug",
obj_name="white_porcelain_mug",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
self.rotation = (-np.pi / 2, -np.pi / 2)
@register_object
class YellowDeskCaddy(TurbosquidObjects):
def __init__(
self,
name="yellow_desk_caddy",
obj_name="yellow_desk_caddy",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints)
@register_object
class YellowMokaPot(TurbosquidObjects):
def __init__(
self,
name="yellow_moka_pot",
obj_name="yellow_moka_pot",
joints=[dict(type="free", damping="0.0005")],
):
super().__init__(name, obj_name, joints) |