#! /usr/bin/env python3
# -*- coding: utf-8 -*-
# File : bimanual_abc_lift.py
# Author : Jiayuan Mao
# Email : maojiayuan@gmail.com
# Date : 07/15/2024
#
# This file is part of Project Concepts.
# Distributed under terms of the MIT license.
from typing import Optional
from concepts.math.rotationlib_xyzw import rpy, quat_mul
from concepts.simulator.pybullet.client import BulletClient
from concepts.benchmark.manip_tabletop.bimanual_abc.bimanual_abc_env_base import BimanualABCEnvBase
__all__ = [
'BimanualABCLiftObjectEnvBase', 'BimanualABCLiftBoxEnv',
'BimanualABCLiftTEnv',
'BimanualABCLiftArialTEnv', 'BimanualABCLiftArialAnythingEnv'
]
[docs]
class BimanualABCLiftObjectEnvBase(BimanualABCEnvBase):
def _get_lifting_bar_length(self) -> float:
return 0.15
def _reset_objects(self, metainfo: dict):
lifting_bar_length = self._get_lifting_bar_length()
box_id1 = self.add_box((0.025, lifting_bar_length, 0.025), location_2d=(0.35, -.2), color_rgba=(0, 1, 0, 1), name='box1')
box_id2 = self.add_box((0.025, lifting_bar_length, 0.025), location_2d=(0.65, -.2), color_rgba=(0, 0, 1, 1), name='box2')
metainfo['objects']['box1'] = {'id': box_id1}
metainfo['objects']['box2'] = {'id': box_id2}
[docs]
class BimanualABCLiftBoxEnv(BimanualABCLiftObjectEnvBase):
def _reset_objects(self, metainfo: dict):
super()._reset_objects(metainfo)
box_id = self.add_box((0.1, 0.2, 0.1), location_2d=(0.5, 0.0))
metainfo['objects']['box'] = {'id': box_id}
[docs]
class BimanualABCLiftTEnv(BimanualABCLiftObjectEnvBase):
def _reset_objects(self, metainfo: dict):
super()._reset_objects(metainfo)
T_id = self.add_t_shape(
size1_2d=(0.2, 0.1),
size2_2d=(0.05, 0.4),
thickness=0.05,
pos=(0.5, 0.0, 0.1), # The center of the shape is at the center of the handle.
quat=rpy(0, -90, 0),
)
metainfo['objects']['T'] = {'id': T_id}
[docs]
class BimanualABCLiftArialTEnv(BimanualABCLiftObjectEnvBase):
def _get_lifting_bar_length(self) -> float:
return 0.25
def _reset_objects(self, metainfo: dict):
super()._reset_objects(metainfo)
default_quat = quat_mul(rpy(0, 0, 90), rpy(0, 180, 0))
T_id = self.add_alphabet_arial_object('T', location_3d=(0.5, 0.0, 0.1), quat=quat_mul(default_quat, rpy(0, -45, 0)), scale=1.5)
metainfo['objects']['T'] = {'id': T_id}
[docs]
class BimanualABCLiftArialAnythingEnv(BimanualABCLiftObjectEnvBase):
[docs]
def __init__(self, alphabet, client: Optional[BulletClient] = None, is_gui: bool = True, seed: int = 1234):
super().__init__(client, is_gui, seed)
self.alphabet = alphabet
assert len(self.alphabet) == 1 and self.alphabet.isalpha()
def _get_lifting_bar_length(self) -> float:
return 0.25
def _reset_objects(self, metainfo: dict):
super()._reset_objects(metainfo)
default_quat = quat_mul(rpy(0, 0, 90), rpy(0, 180, 0))
letter_id = self.add_alphabet_arial_object(self.alphabet, location_3d=(0.5, 0.0, 0.1), quat=quat_mul(default_quat, rpy(0, -45, 0)), scale=1.5)
metainfo['objects']['letter'] = {'id': letter_id}