| 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 |
|
|
| |
| 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 |
| ) |
| 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" |
|
|
