File size: 2,895 Bytes
d76b924 | 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 | from robocasa.models.fixtures import Fixture
class Dishwasher(Fixture):
"""
Dishwasher fixture class
"""
def __init__(
self,
xml="fixtures/dishwashers/Dishwasher031",
name="dishwasher",
*args,
**kwargs,
):
super().__init__(
xml=xml, name=name, duplicate_collision_geoms=False, *args, **kwargs
)
self._door = 0.0
self._rack = 0.0
# Initialize joint names dictionary
joint_prefix = self._get_joint_prefix()
self._joint_names = {
"door": f"{joint_prefix}door_joint",
"rack": f"{joint_prefix}rack1_joint",
}
def get_reset_region_names(self):
return ("rack0", "rack1")
def _get_joint_prefix(self):
return f"{self.naming_prefix}"
def slide_rack(self, env, value=1.0):
"""
Pulls the specified dishwasher rack out completely.
Args:
value (float): Value to set the rack to
"""
door_pos = self.get_joint_state(env, [self._joint_names["door"]])[
self._joint_names["door"]
]
if door_pos <= 0.99:
self.open_door(env)
self.set_joint_state(
env=env, min=value, max=value, joint_names=[self._joint_names["rack"]]
)
def update_state(self, env):
"""
Updates internal state variables from the simulation environment.
"""
for name, jn in self._joint_names.items():
if jn in env.sim.model.joint_names:
state = self.get_joint_state(env, [jn])[jn]
setattr(self, f"_{name}", state)
def check_rack_contact(self, env, obj_name):
"""
Checks whether the specified object is in contact with the top rack.
"""
joint_name = self._joint_names["rack"]
joint_id = env.sim.model.joint_name2id(
joint_name
) # don't use get_joint_qpos_addr, causes errors
body_id = env.sim.model.jnt_bodyid[joint_id]
rack_geoms = [
env.sim.model.geom_id2name(i)
for i in range(env.sim.model.ngeom)
if env.sim.model.geom_bodyid[i] == body_id
]
obj_body_id = env.obj_body_id[obj_name]
item_geoms = [
env.sim.model.geom_id2name(gid)
for gid in range(env.sim.model.ngeom)
if env.sim.model.geom_bodyid[gid] == obj_body_id
]
return env.check_contact(rack_geoms, item_geoms)
def get_state(self, env):
"""
Returns the current state of the dishwasher as a dictionary.
"""
st = {}
for name, jn in self._joint_names.items():
if jn in env.sim.model.joint_names:
st[name] = getattr(self, f"_{name}", None)
return st
@property
def nat_lang(self):
return "dishwasher"
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