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import re |
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from ..envs import objects |
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from ..utils.bddl_generation_utils import * |
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from ..envs.objects import OBJECTS_DICT |
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from ..utils.object_utils import get_affordance_regions |
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from ..utils.mu_utils import register_mu, InitialSceneTemplates |
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@register_mu(scene_type="kitchen") |
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class KitchenScene1(InitialSceneTemplates): |
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def __init__(self): |
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fixture_num_info = { |
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"kitchen_table": 1, |
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"wooden_cabinet": 1, |
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} |
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object_num_info = { |
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"akita_black_bowl": 1, |
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"plate": 1, |
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} |
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super().__init__( |
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workspace_name="kitchen_table", |
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fixture_num_info=fixture_num_info, |
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object_num_info=object_num_info, |
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) |
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def define_regions(self): |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, -0.30], |
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region_name="wooden_cabinet_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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yaw_rotation=(np.pi, np.pi), |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.0], |
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region_name="akita_black_bowl_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.25], |
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region_name="plate_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
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self.regions |
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) |
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@property |
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def init_states(self): |
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states = [ |
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("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), |
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("On", "plate_1", "kitchen_table_plate_init_region"), |
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("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"), |
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] |
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return states |
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@register_mu(scene_type="kitchen") |
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class KitchenScene2(InitialSceneTemplates): |
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def __init__(self): |
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fixture_num_info = { |
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"kitchen_table": 1, |
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"wooden_cabinet": 1, |
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} |
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object_num_info = { |
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"akita_black_bowl": 3, |
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"plate": 1, |
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} |
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super().__init__( |
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workspace_name="kitchen_table", |
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fixture_num_info=fixture_num_info, |
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object_num_info=object_num_info, |
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) |
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def define_regions(self): |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, -0.30], |
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region_name="wooden_cabinet_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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yaw_rotation=(np.pi, np.pi), |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.05, 0.20], |
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region_name="akita_black_bowl_middle_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.10, 0.15], |
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region_name="akita_black_bowl_front_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.15, 0.05], |
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region_name="akita_black_bowl_back_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.0], |
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region_name="plate_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
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self.regions |
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) |
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@property |
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def init_states(self): |
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states = [ |
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( |
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"On", |
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"akita_black_bowl_1", |
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"kitchen_table_akita_black_bowl_front_init_region", |
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), |
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( |
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"On", |
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"akita_black_bowl_2", |
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"kitchen_table_akita_black_bowl_middle_init_region", |
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), |
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( |
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"On", |
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"akita_black_bowl_3", |
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"kitchen_table_akita_black_bowl_back_init_region", |
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), |
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("On", "plate_1", "kitchen_table_plate_init_region"), |
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("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"), |
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] |
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return states |
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@register_mu(scene_type="kitchen") |
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class KitchenScene3(InitialSceneTemplates): |
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def __init__(self): |
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fixture_num_info = { |
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"kitchen_table": 1, |
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"flat_stove": 1, |
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} |
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object_num_info = {"chefmate_8_frypan": 1, "moka_pot": 1} |
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super().__init__( |
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workspace_name="kitchen_table", |
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fixture_num_info=fixture_num_info, |
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object_num_info=object_num_info, |
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) |
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def define_regions(self): |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.20, 0.20], |
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region_name="flat_stove_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.05, -0.25], |
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region_name="frypan_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.05, 0.0], |
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region_name="moka_pot_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
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self.regions |
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) |
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@property |
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def init_states(self): |
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states = [ |
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("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"), |
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("On", "chefmate_8_frypan_1", "kitchen_table_frypan_init_region"), |
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("On", "moka_pot_1", "kitchen_table_moka_pot_init_region"), |
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] |
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return states |
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@register_mu(scene_type="kitchen") |
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class KitchenScene4(InitialSceneTemplates): |
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def __init__(self): |
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fixture_num_info = { |
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"kitchen_table": 1, |
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"white_cabinet": 1, |
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"wine_rack": 1, |
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} |
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object_num_info = {"akita_black_bowl": 1, "wine_bottle": 1} |
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super().__init__( |
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workspace_name="kitchen_table", |
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fixture_num_info=fixture_num_info, |
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object_num_info=object_num_info, |
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) |
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def define_regions(self): |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.30], |
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region_name="white_cabinet_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.10, -0.30], |
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region_name="wine_rack_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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yaw_rotation=(np.pi, np.pi), |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.03, -0.05], |
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region_name="akita_black_bowl_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.15, 0.05], |
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region_name="wine_bottle_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
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self.regions |
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) |
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@property |
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def init_states(self): |
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states = [ |
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("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), |
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("On", "wine_bottle_1", "kitchen_table_wine_bottle_init_region"), |
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("On", "white_cabinet_1", "kitchen_table_white_cabinet_init_region"), |
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("On", "wine_rack_1", "kitchen_table_wine_rack_init_region"), |
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("Open", "white_cabinet_1_bottom_region"), |
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] |
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return states |
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@register_mu(scene_type="kitchen") |
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class KitchenScene5(InitialSceneTemplates): |
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def __init__(self): |
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fixture_num_info = { |
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"kitchen_table": 1, |
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"white_cabinet": 1, |
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} |
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object_num_info = { |
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"akita_black_bowl": 1, |
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"plate": 1, |
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"ketchup": 1, |
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} |
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super().__init__( |
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workspace_name="kitchen_table", |
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fixture_num_info=fixture_num_info, |
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object_num_info=object_num_info, |
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) |
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def define_regions(self): |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.30], |
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region_name="white_cabinet_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.03, -0.05], |
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region_name="akita_black_bowl_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.10, -0.10], |
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region_name="ketchup_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.05, -0.25], |
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region_name="plate_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
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self.regions |
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) |
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@property |
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def init_states(self): |
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states = [ |
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("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), |
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("On", "plate_1", "kitchen_table_plate_init_region"), |
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("On", "white_cabinet_1", "kitchen_table_white_cabinet_init_region"), |
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("On", "ketchup_1", "kitchen_table_ketchup_init_region"), |
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("Open", "white_cabinet_1_top_region"), |
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] |
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return states |
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@register_mu(scene_type="kitchen") |
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class KitchenScene6(InitialSceneTemplates): |
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def __init__(self): |
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fixture_num_info = { |
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"kitchen_table": 1, |
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"microwave": 1, |
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} |
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object_num_info = { |
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"porcelain_mug": 1, |
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"white_yellow_mug": 1, |
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} |
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super().__init__( |
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workspace_name="kitchen_table", |
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fixture_num_info=fixture_num_info, |
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object_num_info=object_num_info, |
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) |
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def define_regions(self): |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.35], |
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region_name="microwave_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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yaw_rotation=(0, 0), |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.0], |
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region_name="white_yellow_mug_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[-0.10, -0.25], |
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region_name="porcelain_mug_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, -0.25], |
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region_name="porcelain_mug_front_region", |
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target_name=self.workspace_name, |
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region_half_len=0.05, |
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) |
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) |
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self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
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self.regions |
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) |
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|
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@property |
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def init_states(self): |
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states = [ |
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("On", "porcelain_mug_1", "kitchen_table_porcelain_mug_init_region"), |
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("On", "white_yellow_mug_1", "kitchen_table_white_yellow_mug_init_region"), |
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("On", "microwave_1", "kitchen_table_microwave_init_region"), |
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("Open", "microwave_1"), |
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] |
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return states |
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@register_mu(scene_type="kitchen") |
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class KitchenScene7(InitialSceneTemplates): |
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def __init__(self): |
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|
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fixture_num_info = { |
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"kitchen_table": 1, |
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"microwave": 1, |
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} |
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|
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object_num_info = { |
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"white_bowl": 1, |
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"plate": 1, |
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} |
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|
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super().__init__( |
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workspace_name="kitchen_table", |
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fixture_num_info=fixture_num_info, |
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object_num_info=object_num_info, |
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) |
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|
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def define_regions(self): |
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, -0.25], |
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region_name="microwave_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.01, |
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yaw_rotation=(np.pi, np.pi), |
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) |
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) |
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|
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.0], |
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region_name="plate_init_region", |
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target_name=self.workspace_name, |
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region_half_len=0.025, |
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) |
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) |
|
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|
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self.regions.update( |
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self.get_region_dict( |
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region_centroid_xy=[0.0, 0.10], |
|
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region_name="plate_right_region", |
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|
target_name=self.workspace_name, |
|
|
region_half_len=0.05, |
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) |
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) |
|
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|
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self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
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self.regions |
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|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "white_bowl_1", "microwave_1_top_side"), |
|
|
("On", "microwave_1", "kitchen_table_microwave_init_region"), |
|
|
("Close", "microwave_1"), |
|
|
("On", "plate_1", "kitchen_table_plate_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="kitchen") |
|
|
class KitchenScene8(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"kitchen_table": 1, |
|
|
"flat_stove": 1, |
|
|
} |
|
|
|
|
|
object_num_info = {"moka_pot": 2} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="kitchen_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, -0.20], |
|
|
region_name="flat_stove_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.05, 0.25], |
|
|
region_name="moka_pot_right_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.05, 0.05], |
|
|
region_name="moka_pot_left_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"), |
|
|
("On", "moka_pot_1", "kitchen_table_moka_pot_right_init_region"), |
|
|
("On", "moka_pot_2", "kitchen_table_moka_pot_left_init_region"), |
|
|
("Turnon", "flat_stove_1"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="kitchen") |
|
|
class KitchenScene9(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"kitchen_table": 1, |
|
|
"flat_stove": 1, |
|
|
"wooden_two_layer_shelf": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"white_bowl": 1, |
|
|
"chefmate_8_frypan": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="kitchen_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, 0.30], |
|
|
region_name="flat_stove_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0, -0.25], |
|
|
region_name="wooden_two_layer_shelf_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
yaw_rotation=(np.pi, np.pi), |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.05, 0.0], |
|
|
region_name="frypan_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.15, 0.10], |
|
|
region_name="white_bowl_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"), |
|
|
("On", "chefmate_8_frypan_1", "kitchen_table_frypan_init_region"), |
|
|
("On", "white_bowl_1", "kitchen_table_white_bowl_init_region"), |
|
|
( |
|
|
"On", |
|
|
"wooden_two_layer_shelf_1", |
|
|
"kitchen_table_wooden_two_layer_shelf_init_region", |
|
|
), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="kitchen") |
|
|
class KitchenScene10(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"kitchen_table": 1, |
|
|
"wooden_cabinet": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"akita_black_bowl": 1, |
|
|
"butter": 2, |
|
|
"chocolate_pudding": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="kitchen_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, -0.30], |
|
|
region_name="wooden_cabinet_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
yaw_rotation=(np.pi, np.pi), |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.10, 0.0], |
|
|
region_name="akita_black_bowl_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.10, 0.20], |
|
|
region_name="butter_back_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.20], |
|
|
region_name="butter_front_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.05], |
|
|
region_name="chocolate_pudding_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"), |
|
|
("On", "butter_1", "kitchen_table_butter_front_init_region"), |
|
|
("On", "butter_2", "kitchen_table_butter_back_init_region"), |
|
|
( |
|
|
"On", |
|
|
"chocolate_pudding_1", |
|
|
"kitchen_table_chocolate_pudding_init_region", |
|
|
), |
|
|
("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"), |
|
|
("Open", "wooden_cabinet_1_top_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="living_room") |
|
|
class LivingRoomScene1(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"living_room_table": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"alphabet_soup": 1, |
|
|
"cream_cheese": 1, |
|
|
"tomato_sauce": 1, |
|
|
"ketchup": 1, |
|
|
"basket": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="living_room_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.26], |
|
|
region_name="basket_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.05, -0.10], |
|
|
region_name="alphabet_soup_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.15, 0.06], |
|
|
region_name="cream_cheese_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.10, -0.20], |
|
|
region_name="tomato_sauce_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, -0.15], |
|
|
region_name="ketchup_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"), |
|
|
("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"), |
|
|
("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"), |
|
|
("On", "ketchup_1", "living_room_table_ketchup_init_region"), |
|
|
("On", "basket_1", "living_room_table_basket_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="living_room") |
|
|
class LivingRoomScene2(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"living_room_table": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"alphabet_soup": 1, |
|
|
"cream_cheese": 1, |
|
|
"tomato_sauce": 1, |
|
|
"ketchup": 1, |
|
|
"orange_juice": 1, |
|
|
"milk": 1, |
|
|
"butter": 1, |
|
|
"basket": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="living_room_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.26], |
|
|
region_name="basket_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.05, -0.10], |
|
|
region_name="milk_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.10, -0.20], |
|
|
region_name="cream_cheese_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, -0.25], |
|
|
region_name="orange_juice_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.1, 0.05], |
|
|
region_name="tomato_sauce_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.10, -0.15], |
|
|
region_name="alphabet_soup_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.05, 0.05], |
|
|
region_name="butter_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.25, -0.15], |
|
|
region_name="ketchup_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"), |
|
|
("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"), |
|
|
("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"), |
|
|
("On", "ketchup_1", "living_room_table_ketchup_init_region"), |
|
|
("On", "milk_1", "living_room_table_milk_init_region"), |
|
|
("On", "orange_juice_1", "living_room_table_orange_juice_init_region"), |
|
|
("On", "butter_1", "living_room_table_butter_init_region"), |
|
|
("On", "basket_1", "living_room_table_basket_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="living_room") |
|
|
class LivingRoomScene3(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"living_room_table": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"alphabet_soup": 1, |
|
|
"cream_cheese": 1, |
|
|
"tomato_sauce": 1, |
|
|
"ketchup": 1, |
|
|
"butter": 1, |
|
|
"wooden_tray": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="living_room_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.26], |
|
|
region_name="wooden_tray_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.10, -0.20], |
|
|
region_name="cream_cheese_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.1, 0.05], |
|
|
region_name="tomato_sauce_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.10, -0.15], |
|
|
region_name="alphabet_soup_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.05, 0.05], |
|
|
region_name="butter_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.25, -0.15], |
|
|
region_name="ketchup_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"), |
|
|
("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"), |
|
|
("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"), |
|
|
("On", "ketchup_1", "living_room_table_ketchup_init_region"), |
|
|
("On", "butter_1", "living_room_table_butter_init_region"), |
|
|
("On", "wooden_tray_1", "living_room_table_wooden_tray_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="living_room") |
|
|
class LivingRoomScene4(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"living_room_table": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"akita_black_bowl": 2, |
|
|
"new_salad_dressing": 1, |
|
|
"chocolate_pudding": 1, |
|
|
"wooden_tray": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="living_room_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.26], |
|
|
region_name="wooden_tray_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.10, -0.20], |
|
|
region_name="chocolate_pudding_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.1, 0.05], |
|
|
region_name="akita_black_bowl_right_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.10, -0.15], |
|
|
region_name="akita_black_bowl_left_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.25, -0.10], |
|
|
region_name="salad_dressing_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
( |
|
|
"On", |
|
|
"chocolate_pudding_1", |
|
|
"living_room_table_chocolate_pudding_init_region", |
|
|
), |
|
|
( |
|
|
"On", |
|
|
"akita_black_bowl_1", |
|
|
"living_room_table_akita_black_bowl_left_init_region", |
|
|
), |
|
|
( |
|
|
"On", |
|
|
"akita_black_bowl_2", |
|
|
"living_room_table_akita_black_bowl_right_init_region", |
|
|
), |
|
|
( |
|
|
"On", |
|
|
"new_salad_dressing_1", |
|
|
"living_room_table_salad_dressing_init_region", |
|
|
), |
|
|
("On", "wooden_tray_1", "living_room_table_wooden_tray_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="living_room") |
|
|
class LivingRoomScene5(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"living_room_table": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"porcelain_mug": 1, |
|
|
"red_coffee_mug": 1, |
|
|
"white_yellow_mug": 1, |
|
|
"plate": 2, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="living_room_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, -0.30], |
|
|
region_name="plate_left_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.30], |
|
|
region_name="plate_right_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
|
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.10, -0.15], |
|
|
region_name="porcelain_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.05, 0.10], |
|
|
region_name="white_yellow_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, 0.0], |
|
|
region_name="red_coffee_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "plate_1", "living_room_table_plate_left_region"), |
|
|
("On", "plate_2", "living_room_table_plate_right_region"), |
|
|
("On", "red_coffee_mug_1", "living_room_table_red_coffee_mug_init_region"), |
|
|
( |
|
|
"On", |
|
|
"white_yellow_mug_1", |
|
|
"living_room_table_white_yellow_mug_init_region", |
|
|
), |
|
|
("On", "porcelain_mug_1", "living_room_table_porcelain_mug_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="living_room") |
|
|
class LivingRoomScene6(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"living_room_table": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"porcelain_mug": 1, |
|
|
"red_coffee_mug": 1, |
|
|
"plate": 1, |
|
|
"chocolate_pudding": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="living_room_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.15, -0.10], |
|
|
region_name="plate_left_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.05, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.15, 0.10], |
|
|
region_name="plate_right_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.05, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.15, 0.0], |
|
|
region_name="plate_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.10, -0.15], |
|
|
region_name="porcelain_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.05, 0.10], |
|
|
region_name="chocolate_pudding_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, 0.0], |
|
|
region_name="red_coffee_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "plate_1", "living_room_table_plate_init_region"), |
|
|
("On", "red_coffee_mug_1", "living_room_table_red_coffee_mug_init_region"), |
|
|
( |
|
|
"On", |
|
|
"chocolate_pudding_1", |
|
|
"living_room_table_chocolate_pudding_init_region", |
|
|
), |
|
|
("On", "porcelain_mug_1", "living_room_table_porcelain_mug_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="study") |
|
|
class StudyScene1(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
|
|
|
fixture_num_info = { |
|
|
"study_table": 1, |
|
|
"desk_caddy": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"black_book": 1, |
|
|
"white_yellow_mug": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="study_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, -0.14], |
|
|
region_name="desk_caddy_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
yaw_rotation=(np.pi, np.pi), |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.15], |
|
|
region_name="black_book_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
yaw_rotation=(-np.pi / 2, -np.pi / 4), |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.10, 0.0], |
|
|
region_name="white_yellow_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, 0.15], |
|
|
region_name="desk_caddy_right_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.05, |
|
|
yaw_rotation=(np.pi, np.pi), |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "desk_caddy_1", "study_table_desk_caddy_init_region"), |
|
|
("On", "black_book_1", "study_table_black_book_init_region"), |
|
|
("On", "white_yellow_mug_1", "study_table_white_yellow_mug_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="study") |
|
|
class StudyScene2(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
fixture_num_info = { |
|
|
"study_table": 1, |
|
|
"desk_caddy": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"black_book": 1, |
|
|
"red_coffee_mug": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="study_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.15], |
|
|
region_name="red_coffee_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, -0.05], |
|
|
region_name="black_book_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
yaw_rotation=(-np.pi / 2, -np.pi / 4), |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, -0.14], |
|
|
region_name="desk_caddy_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
yaw_rotation=(np.pi, np.pi), |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "desk_caddy_1", "study_table_desk_caddy_init_region"), |
|
|
("On", "black_book_1", "study_table_black_book_init_region"), |
|
|
("On", "red_coffee_mug_1", "study_table_red_coffee_mug_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="study") |
|
|
class StudyScene3(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
fixture_num_info = { |
|
|
"study_table": 1, |
|
|
"desk_caddy": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"black_book": 1, |
|
|
"red_coffee_mug": 1, |
|
|
"porcelain_mug": 1, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="study_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.20, 0.15], |
|
|
region_name="red_coffee_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.10, 0.15], |
|
|
region_name="red_coffee_mug_behind_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.05, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.0], |
|
|
region_name="porcelain_mug_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.10, 0.0], |
|
|
region_name="black_book_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, -0.14], |
|
|
region_name="desk_caddy_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
yaw_rotation=(np.pi, np.pi), |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, -0.15], |
|
|
region_name="desk_caddy_front_left_contain_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.025, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.20, 0.15], |
|
|
region_name="desk_caddy_right_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.05, |
|
|
yaw_rotation=(np.pi, np.pi), |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
("On", "desk_caddy_1", "study_table_desk_caddy_init_region"), |
|
|
("On", "black_book_1", "study_table_desk_caddy_front_left_contain_region"), |
|
|
("On", "porcelain_mug_1", "study_table_porcelain_mug_init_region"), |
|
|
("On", "red_coffee_mug_1", "study_table_red_coffee_mug_init_region"), |
|
|
] |
|
|
return states |
|
|
|
|
|
|
|
|
@register_mu(scene_type="study") |
|
|
class StudyScene4(InitialSceneTemplates): |
|
|
def __init__(self): |
|
|
fixture_num_info = { |
|
|
"study_table": 1, |
|
|
"wooden_two_layer_shelf": 1, |
|
|
} |
|
|
|
|
|
object_num_info = { |
|
|
"black_book": 1, |
|
|
"yellow_book": 2, |
|
|
} |
|
|
|
|
|
super().__init__( |
|
|
workspace_name="study_table", |
|
|
fixture_num_info=fixture_num_info, |
|
|
object_num_info=object_num_info, |
|
|
) |
|
|
|
|
|
def define_regions(self): |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.0], |
|
|
region_name="yellow_book_right_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[-0.05, -0.25], |
|
|
region_name="yellow_book_left_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.05, -0.15], |
|
|
region_name="black_book_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
) |
|
|
) |
|
|
self.regions.update( |
|
|
self.get_region_dict( |
|
|
region_centroid_xy=[0.0, 0.28], |
|
|
region_name="wooden_two_layer_shelf_init_region", |
|
|
target_name=self.workspace_name, |
|
|
region_half_len=0.01, |
|
|
yaw_rotation=(0, 0), |
|
|
) |
|
|
) |
|
|
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info( |
|
|
self.regions |
|
|
) |
|
|
|
|
|
@property |
|
|
def init_states(self): |
|
|
states = [ |
|
|
( |
|
|
"On", |
|
|
"wooden_two_layer_shelf_1", |
|
|
"study_table_wooden_two_layer_shelf_init_region", |
|
|
), |
|
|
("On", "yellow_book_1", "study_table_yellow_book_right_init_region"), |
|
|
("On", "yellow_book_2", "study_table_yellow_book_left_init_region"), |
|
|
("On", "black_book_1", "study_table_black_book_init_region"), |
|
|
] |
|
|
return states |
|
|
|
