articulated_objects.py

import os
import re
import numpy as np

from dataclasses import dataclass
from robosuite.models.objects import MujocoXMLObject
from easydict import EasyDict

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 ArticulatedObject(MujocoXMLObject):
    def __init__(self, name, obj_name, joints=[dict(type="free", damping="0.0005")]):
        super().__init__(
            os.path.join(
                str(absolute_path), f"assets/articulated_objects/{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 / 4, np.pi / 2)
        self.rotation_axis = "x"

        articulation_object_properties = {
            "default_open_ranges": [],
            "default_close_ranges": [],
        }
        self.object_properties = {
            "articulation": articulation_object_properties,
            "vis_site_names": {},
        }

    def is_open(self, qpos):
        raise NotImplementedError

    def is_close(self, qpos):
        raise NotImplementedError


@register_object
class Microwave(ArticulatedObject):
    def __init__(
        self,
        name="microwave",
        obj_name="microwave",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)

        self.object_properties["articulation"]["default_open_ranges"] = [-2.094, -1.3]
        self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0]

    def is_open(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
            return True
        else:
            return False

    def is_close(self, qpos):
        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
            return True
        else:
            return False


@register_object
class SlideCabinet(ArticulatedObject):
    def __init__(
        self,
        name="slide_cabinet",
        obj_name="slide_cabinet",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)


@register_object
class Window(ArticulatedObject):
    def __init__(
        self,
        name="window",
        obj_name="window",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)
        self.z_on_table = 0.13


@register_object
class Faucet(ArticulatedObject):
    def __init__(
        self,
        name="faucet",
        obj_name="faucet",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)


@register_object
class BasinFaucet(ArticulatedObject):
    def __init__(self, name="basin_faucet", obj_name="basin_faucet", joints=None):
        super().__init__(name, obj_name, joints)


@register_object
class ShortCabinet(ArticulatedObject):
    def __init__(
        self,
        name="short_cabinet",
        obj_name="short_cabinet",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)

        self.object_properties["articulation"]["default_open_ranges"] = [0.10, 0.16]
        self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0]

    def is_open(self, qpos):
        if qpos > min(self.object_properties["articulation"]["default_open_ranges"]):
            return True
        else:
            return False

    def is_close(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_close_ranges"]):
            return True
        else:
            return False


@register_object
class ShortFridge(ArticulatedObject):
    def __init__(
        self,
        name="short_fridge",
        obj_name="short_fridge",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)

        self.object_properties["articulation"]["default_open_ranges"] = [2.0, 2.7]
        self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0]

    def is_open(self, qpos):
        if qpos > min(self.object_properties["articulation"]["default_open_ranges"]):
            return True
        else:
            return False

    def is_close(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_close_ranges"]):
            return True
        else:
            return False

    # Sample initial joint positions for random door open or door closed


@register_object
class WoodenCabinet(ArticulatedObject):
    def __init__(
        self,
        name="wooden_cabinet",
        obj_name="wooden_cabinet",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)
        self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14]
        self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005]

    def is_open(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
            return True
        else:
            return False

    def is_close(self, qpos):
        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
            return True
        else:
            return False


@register_object
class WhiteCabinet(ArticulatedObject):
    def __init__(
        self,
        name="white_cabinet",
        obj_name="white_cabinet",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)
        self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14]
        self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005]

    def is_open(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
            return True
        else:
            return False

    def is_close(self, qpos):
        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
            return True
        else:
            return False


@register_object
@register_visual_change_object
class FlatStove(ArticulatedObject):
    def __init__(
        self,
        name="flat_stove",
        obj_name="flat_stove",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)
        self.rotation = (0, 0)
        self.rotation_axis = "y"

        tracking_sites_dict = {}
        tracking_sites_dict["burner"] = (self.naming_prefix + "burner", False)
        self.object_properties["vis_site_names"].update(tracking_sites_dict)
        self.object_properties["articulation"]["default_turnon_ranges"] = [0.5, 2.1]
        self.object_properties["articulation"]["default_turnoff_ranges"] = [-0.005, 0.0]

    def turn_on(self, qpos):
        if qpos >= min(self.object_properties["articulation"]["default_turnon_ranges"]):
            # TODO: Set visualization sites to be true
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                True,
            )
            return True
        else:
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                False,
            )
            return False

    def turn_off(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_turnoff_ranges"]):
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                False,
            )
            return True
        else:
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                True,
            )
            return False


@register_object
class YellowCabinet(ArticulatedObject):
    def __init__(
        self,
        name="yellow_cabinet",
        obj_name="yellow_cabinet",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)
        self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14]
        self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005]

    def is_open(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
            return True
        else:
            return False

    def is_close(self, qpos):
        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
            return True
        else:
            return False

@register_object
@register_visual_change_object
class YellowStove(ArticulatedObject):
    def __init__(
        self,
        name="yellow_stove",
        obj_name="yellow_stove",
        joints=[dict(type="free", damping="0.0005")],
    ):
        super().__init__(name, obj_name, joints)
        self.rotation = (0, 0)
        self.rotation_axis = "y"

        tracking_sites_dict = {}
        tracking_sites_dict["burner"] = (self.naming_prefix + "burner", False)
        self.object_properties["vis_site_names"].update(tracking_sites_dict)
        self.object_properties["articulation"]["default_turnon_ranges"] = [0.5, 2.1]
        self.object_properties["articulation"]["default_turnoff_ranges"] = [-0.005, 0.0]

    def turn_on(self, qpos):
        if qpos >= min(self.object_properties["articulation"]["default_turnon_ranges"]):
            # TODO: Set visualization sites to be true
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                True,
            )
            return True
        else:
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                False,
            )
            return False

    def turn_off(self, qpos):
        if qpos < max(self.object_properties["articulation"]["default_turnoff_ranges"]):
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                False,
            )
            return True
        else:
            self.object_properties["vis_site_names"]["burner"] = (
                self.naming_prefix + "burner",
                True,
            )
            return False