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updated clean-dusty nsrt (#70)
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* updated clean-dusty nsrt

* we need to add place under

* updated clean-dusty

* added placeUnder sampler

* attempting to place under

* fixed

* solved polishing furniture

* solved polishing furniture

---------

Co-authored-by: Willie McClinton <[email protected]>
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@kathrynle20 @wmcclinton
kathrynle20 and wmcclinton authored Feb 28, 2023
1 parent 6522384 commit b0ba2f1
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Showing 4 changed files with 520 additions and 12 deletions.
214 changes: 214 additions & 0 deletions predicators/behavior_utils/behavior_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -632,6 +632,169 @@
'facsimile',
}

CLEANING_OBJECT_TYPES = {
'toothbrush', 'towel', 'dinner_napkin', 'paper_towel', 'dishtowel',
'broom', 'vacuum', 'rag', 'carpet_sweeper', 'hand_towel', 'scraper',
'bath_towel', 'eraser', 'dustcloth', 'scrub_brush'
}

DUSTYABLE_OBJECT_TYPES = {
'bottom_cabinet_no_top', 'tabletop', 'face', 'dumbbell', 'corkscrew',
'terry', 'circle', 'fur', 'coaster', 'gauze', 'cotton', 'chock', 'trap',
'compact_disk', 'cap', 'stake', 'converter', 'peripheral',
'slide_fastener', 'headset', 'jug', 'baseball', 'window', 'straightener',
'computer_game', 'toaster', 'data_input_device', 'collar', 'accelerator',
'shoe', 'truck', 'remote_control', 'apron', 'nozzle', 'dander', 'bench',
'washcloth', 'ipod', 'journal', 'fork', 'outerwear', 'cherry',
'ammunition', 'work', 'quilt', 'wheel', 'tin', 'plywood', 'instrument',
'bidet', 'bag', 'bowl', 'squeegee', 'water_scooter', 'washer', 'panel',
'basket', 'motor_vehicle', 'mixer', 'hammer', 'suit', 'carabiner', 'sock',
'slipper', 'screen', 'boat', 'bath_linen', 'diary', 'drain', 'armoire',
'pegboard', 'dishwasher', 'vent', 'golf_equipment', 'wrench',
'personal_computer', 'straight_chair', 'suede_cloth',
'semiconductor_device', 'ginger', 'machine', 'backpack', 'tank',
'computer_circuit', 'helmet', 'magnetic_disk', 'ribbon', 'arrangement',
'pitcher', 'table_knife', 'disk', 'folding_chair', 'circuit', 'pump',
'toweling', 'solid_figure', 'drawstring_bag', 'rule', 'hamper', 'caddy',
'cheeseboard', 'console_table', 'headlight', 'medical_instrument', 'can',
'highchair', 'musical_instrument', 'canvas', 'velcro', 'mascara',
'loudspeaker', 'hacksaw', 'newspaper', 'packet', 'knot', 'jersey',
'shaver', 'screw', 'marker', 'floor_lamp', 'carriage', 'act', 'tulle',
'screwdriver', 'greatcoat', 'softball', 'cotter', 'parlor_game', 'skewer',
'tack', 'eiderdown', 'highlighter', 'candle', 'ring', 'bell', 'banana',
'grate', 'coffeepot', 'crib', 'flashlight', 'shrapnel', 'toothbrush',
'inverter', 'shelf', 'regulator', 'carving_knife', 'psychological_feature',
'camcorder', 'spring', 'razor', 'ceramic_ware', 'indentation', 'post',
'plumbing', 'handle', 'caster', 'staple', 'buckle', 'frill', 'tumbler',
'steamer', 'cradle', 'earmuff', 'digital_camera', 'swab', 'shield', 'hose',
'caliper', 'activity', 'mill', 'acoustic_device', 'room', 'carrot',
'drumstick', 'thimble', 'ladder', 'thing', 'snake', 'wedge', 'stairway',
'voltmeter', 'heater', 'push_button', 'frying_pan', 'photograph',
'hardback', 'basil', 'trouser', 'rail', 'folderal', 'junction', 'dress',
'anchor', 'blade', 'change_of_location', 'chest', 'bolt', 'bracelet',
'photographic_equipment', 'printed_circuit', 'dial', 'stringed_instrument',
'computer', 'clasp', 'dipper', 'cornice', 'uniform', 'vacuum',
'electro-acoustic_transducer', 'clothespin', 'hood', 'plate', 'bannister',
'brocade', 'pincer', 'pool_table', 'eyeshadow', 'painting', 'footstool',
'bedpost', 'power_tool', 'sifter', 'drum_sander', 'drive', 'blazer',
'layer', 'apple', 'shaft', 'writing', 'towel_rack', 'thermostat',
'microphone', 'rocking_chair', 'stool', 'teapot', 'turnbuckle',
'toothpick', 'stirrer', 'loafer', 'whisk', 'sieve', 'frisbee', 'movement',
'alarm', 'fan', 'dartboard', 'spatula', 'filter', 'gauge', 'bobbin',
'countertop', 'electrical_converter', 'heating_element', 'sink',
'stiletto', 'porcelain', 'product', 'roller', 'pack', 'circuit_breaker',
'oxford', 'projection', 'step_ladder', 'shoebox', 'protective_garment',
'antenna', 'worktable', 'sphere', 'armor_plate', 'box', 'adapter',
'disk_drive', 'digital_display', 'repeater', 'mantel', 'wine_bottle',
'baggage', 'pocketknife', 'diskette', 'basketball_equipment', 'shear',
'table', 'table_lamp', 'file', 'mouse', 'door', 'receiver', 'solid',
'cylinder', 'breakfast_table', 'radio_receiver', 'cinder', 'brick',
'crock', 'spout', 'blanket', 'background', 'watchband', 'tile', 'battery',
'handlebar', 'floor_cover', 'cord', 'bead', 'television_equipment',
'tablet', 'writing_board', 'faceplate', 'appendage', 'broomstick',
'coffee_table', 'desk', 'bale', 'model', 'hoop', 'belt', 'trimmer',
'recreational_vehicle', 'laundry', 'putter', 'drafting_instrument',
'stopcock', 'module', 'pencil_box', 'jewelry', 'yardstick', 'dolly',
'wastepaper_basket', 'dagger', 'liquid_crystal_display',
'digital_computer', 'well', 'chair', 'foot_rule', 'clothesline', 'set',
'purifier', 'lens', 'cpu_board', 'binder', 'planner', 'bath', 'upholstery',
'resistor', 'cooler', 'plate_glass', 'drill', 'van', 'clamshell', 'brush',
'diode', 'pill', 'drum', 'timer', 'case', 'mat', 'windowsill',
'wall_clock', 'gaming_table', 'wallet', 'composition', 'faucet', 'bathtub',
'air_pump', 'bundle', 'electronic_device', 'clout_nail', 'elastic_device',
'applicator', 'pineapple', 'opener', 'tomato', 'microwave', 'piano',
'nutcracker', 'upright', 'sleeve', 'lighting_fixture', 'pane',
'noisemaker', 'winder', 'pedal', 'broom', 'measuring_stick', 'hubcap',
'bulletin_board', 'canopy', 'pedestal_table', 'guard', 'tablespoon',
'sofa', 'ventilation', 'sail', 'floor', 'pencil', 'cringle', 'utility',
'breathing_device', 'silk', 'umbrella', 'laptop', 'boot', 'peach',
'electric_lamp', 'crowbar', 'groundsheet', 'funnel', 'shell', 'fitting',
'tire', 'group', 'nail', 'mousetrap', 'knife', 'tray',
'cellular_telephone', 'firebox', 'shoulder_bag', 'inflater',
'movable_barrier', 'baseboard', 'chest_of_drawers', 'piston', 'armchair',
'duffel_bag', 'speedometer', 'sculpture', 'baby_bed', 'sled',
'paper_fastener', 'necklace', 'happening', 'mattress', 'ceramic', 'wicker',
'scanner', 'sprocket', 'eyeliner', 'craft', 'shade', 'thermometer',
'memory_device', 'rail_fence', 'footboard', 'runner', 'paperweight',
'game', 'crate', 'tablefork', 'recording', 'cabinet',
'television_receiver', 'step', 'storage_space', 'crayon', 'crossbar',
'chaise_longue', 'griddle', 'demitasse', 'document', "plumber's_snake",
'converging_lens', 'lock', 'trailer_truck', 'compressor', 'plastic_art',
'car', 'display_panel', 'earplug', 'golf_club', 'blower', 'sharpener',
'percolator', 'percussion_instrument', 'charger', 'grater', 'vessel',
'cooking_utensil', 'manifold', 'exercise_device', 'blinker', 'reamer',
'rack', 'deep-freeze', 'timepiece', 'machinery', 'workwear', 'cable',
'fire_extinguisher', 'pan', 'floorboard', 'wallboard', 'bookshelf', 'vest',
'pestle', 'side', 'modem', 'gingham', 'display', 'motorcycle',
'written_communication', 'tarpaulin', 'flatware', 'doorknob', 'facsimile',
'dredging_bucket', 'cassette', 'opening', 'bicycle', 'truck_bed',
'plunger', 'light_bulb', 'tent', 'hat', 'dryer', 'protractor', 'library',
'wiring', 'tongs', 'burner', 'blackboard', 'bin', 'portrait',
'strengthener', 'steel', 'hanger', 'lath', 'string', 'walker', 'doll',
'material', 'hinge', 'paper_towel', 'lemon', 'jaw', 'shim', 'glass',
'sawhorse', 'refrigerator', 'shaker', 'monocle', 'work_surface',
'cellophane', 'tinsel', 'jar', 'transducer', 'cupboard', 'windowpane',
'turner', 'barrel', 'stand', 'self-propelled_vehicle', 'bird_feeder',
'lampshade', 'sweatband', 'colander', 'comb', 'caldron', 'range_hood',
'flow', 'brim', 'enamel', 'bust', 'stove', 'knob', 'wall_socket',
'thumbtack', 'embroidery', 'carafe', 'stockpot', 'buffer', 'cream_pitcher',
'headdress', 'chamber', 'palette', 'ink_cartridge', 'radiotelephone',
'connection', 'projectile', 'lamp', 'kettle', 'grandfather_clock', 'tiara',
'clamp', 'book', 'railing', 'hole', 'bow', 'weight', 'basin',
'television_camera', 'medallion', 'molding', 'apparel', 'toilet',
'stopwatch', 'flatbed', 'ski', 'autoclave', 'pouch', 'footwear', 'platter',
'dish_rack', 'dart', 'power_shovel', 'light-emitting_diode', 'passageway',
'jewelled_headdress', 'slat', 'award', 'basketball', 'telephone_receiver',
'drinking_vessel', 'cup', 'doorjamb', 'pendulum', 'eraser', 'scrub_brush',
'iron', 'furnace', 'packaging', 'sandal', 'dustpan', 'fuse', 'calculator',
'knickknack', 'bath_towel', 'plastic_wrap', 'cleaver', 'baby_buggy',
'boiler', 'scale', 'roaster', 'saucepan', 'ashcan', 'barbell',
'board_game', 'mechanical_system', 'cruet', 'crusher', 'shelter',
'audio_system', 'bookend', 'tea_bag', 'mug', 'crank', 'cone', 'tripod',
'attire', 'pepper_mill', 'stairwell', 'chopping_board', 'sports_equipment',
'headboard', 'saucer', 'lego', 'curtain', 'surgical_instrument',
'reflector', 'skirt', 'cutlery', 'orange', 'skeleton', 'tidy',
'baseball_equipment', 'squeezer', 'wrapping', 'bangle', 'power_saw',
'respirator', 'optical_disk', 'duplicator', 'swivel_chair', 'minibike',
'handset', 'edge', 'coupling', 'hand_towel', 'package', 'globe',
'skateboard', 'watch', 'figure', 'measuring_instrument', 'peg',
'computer_keyboard', 'shirt', 'monitor', 'toolbox', 'grill', 'gym_shoe',
'bedroom_furniture', 'sorter', 'videodisk', 'strip', 'hub', 'headband',
'graphic_art', 'jigsaw', 'football', 'apparatus', 'album', 'pipe',
'flight', 'accessory', 'bookcase', 'magnet', 'facility', 'webbing',
'scrapbook', 'cartridge', 'wreath', 'mirror', 'slate', 'canister',
'socket', 'notebook', 'straight_pin', 'receptacle', 'mask', 'laminate',
'guitar', 'motorboat', 'meter', 'folder', 'intake', 'rope', 'bucket',
'keyboard', 'coatrack', 'bit', 'optical_device', 'earphone', 'puppet',
'deck', 'scantling', 'chopstick', 'chisel', 'briefcase', 'bed', 'stapler',
'camera', 'drawer', 'hook', 'stairs', 'coffee_maker', 'gear',
'electronic_equipment', 'gourd', 'reproducer', 'pole',
'electric_refrigerator', 'likeness', 'kit', 'webcam', 'mural', 'printer',
'potato', 'treadmill', 'necktie', 'probe', 'backing', 'wardrobe',
'weaponry', 'lamination', 'collage', 'generator', 'bulldog_clip',
'white_goods', 'office_furniture', 'vase', 'carryall', 'weapon',
'fluorescent', 'valve', 'hygrometer', 'jamb', 'pulley', 'blind',
'windshield', 'carton', 'gown', 'sill', 'coffee_cup', 'circuit_board',
'rotating_mechanism', 'paintbrush', 'lumber', 'sunhat', 'fountain',
'sunglass', 'picture', 'component', 'trophy', 'bracket', 'cloche',
'garbage', 'lid', 'cashmere', 'seat', 'carpet_pad', 'topper', 'sequin',
'mail', 'telephone', 'portable_computer', 'blender', 'pick', 'jewel',
'diversion', 'rug', 'clipboard', 'doormat', 'toasting_fork',
'dressing_table', 'bottle', 'concave_shape', 'art', 'teacup', 'formalwear',
'easel', 'pot', 'router', 'slab', 'notch', 'dinner_jacket', 'capacitor',
'mallet', 'hairbrush', 'latch', 'odometer', 'paste-up', 'spoon', 'novel',
'clock', 'front', 'lantern', 'teaspoon', 'event', 'horn', 'frame',
'strainer', 'pendulum_clock', 'magazine', 'signaling_device',
'paperback_book', 'flower_arrangement', 'earring', 'keyboard_instrument',
'soup_ladle', 'ratchet', 'jean', 'teddy', 'doorframe', 'bottle_opener',
'board', 'neckwear', 'siren', 'balloon', 'stereo', 'goblet', 'joint'
}

PLACE_UNDER_SURFACE_OBJECT_TYPES = {
'coffee_table',
'breakfast_table',
}


def get_aabb_volume(lo: Array, hi: Array) -> float:
"""Simple utility function to compute the volume of an aabb.
Expand Down Expand Up @@ -1049,6 +1212,57 @@ def sample_place_ontop_params(igibson_behavior_env: "BehaviorEnv",
])


def sample_place_under_params(igibson_behavior_env: "BehaviorEnv",
obj_to_place_under: "URDFObject",
rng: np.random.Generator) -> Array:
"""Main logic for place under param sampler.
Implemented in a separate method to enable code reuse in
option_model_fns.
"""
if obj_to_place_under.category == "coffee_table":
# Get the current env for collision checking.
obj_to_place_under_sampling_bounds = obj_to_place_under.bounding_box / 2
sample_params = np.array([
rng.uniform(-obj_to_place_under_sampling_bounds[0],
obj_to_place_under_sampling_bounds[0]),
rng.uniform(-obj_to_place_under_sampling_bounds[1],
obj_to_place_under_sampling_bounds[1]),
rng.uniform(-obj_to_place_under_sampling_bounds[2] - 0.3,
-obj_to_place_under_sampling_bounds[2])
])

logging.info("Sampling params for placeUnder table...")

num_samples_tried = 0
while not check_hand_end_pose(igibson_behavior_env, obj_to_place_under,
sample_params):
sample_params = np.array([
rng.uniform(-obj_to_place_under_sampling_bounds[0],
obj_to_place_under_sampling_bounds[0]),
rng.uniform(-obj_to_place_under_sampling_bounds[1],
obj_to_place_under_sampling_bounds[1]),
rng.uniform(-obj_to_place_under_sampling_bounds[2] - 0.3,
-obj_to_place_under_sampling_bounds[2])
])
# NOTE: In many situations, it is impossible to find a
# good sample no matter how many times we try. Thus, we
# break this loop after a certain number of tries so the
# planner will backtrack.
if num_samples_tried > MAX_PLACEONTOP_SAMPLES:
break
num_samples_tried += 1
return sample_params

# If there's no object specific sampler, just return a
# random sample.
return np.array([
rng.uniform(-0.5, 0.5),
rng.uniform(-0.5, 0.5),
rng.uniform(0.3, 1.0)
])


def load_checkpoint_state(s: State,
env: "BehaviorEnv",
reset: bool = False) -> None:
Expand Down
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