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83 lines
2.4 KiB
83 lines
2.4 KiB
from abc import abstractmethod
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from typing import Optional
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from robocasa.environments.locomanipulation.base import LocoManipulationEnv
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from robocasa.models.scenes import GroundArena
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from robocasa.models.scenes.factory_arena import FactoryArena
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from robocasa.utils.scene.configs import SceneConfig, SceneScaleConfig
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from robocasa.utils.scene.scene import Scene, SceneObject
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from robocasa.utils.scene.success_criteria import SuccessCriteria
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class LMEnvBase(LocoManipulationEnv):
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SCENE_SCALE = SceneScaleConfig()
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def __init__(
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self,
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translucent_robot: bool = False,
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use_object_obs: bool = False,
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scene_scale: Optional[SceneScaleConfig] = None,
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*args,
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**kwargs,
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):
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self.scene_scale = scene_scale or self.SCENE_SCALE
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super().__init__(translucent_robot, use_object_obs, *args, **kwargs)
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def _load_model(self):
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self.scene = Scene(self, self._get_env_config(), self.scene_scale)
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self.mujoco_objects = self.scene.mujoco_objects
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super()._load_model()
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def _reset_internal(self):
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"""
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Resets simulation internal configurations.
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"""
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super()._reset_internal()
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if not self.deterministic_reset:
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self.scene.reset()
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def _setup_references(self):
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super()._setup_references()
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self.obj_body_id = {}
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for obj in self.mujoco_objects:
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self.obj_body_id[obj.name] = self.sim.model.body_name2id(obj.root_body)
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def _get_env_config(self) -> SceneConfig:
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return SceneConfig(
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objects=self._get_objects(),
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success=self._get_success_criteria(),
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instruction=self._get_instruction(),
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)
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@abstractmethod
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def _get_objects(self) -> list[SceneObject]:
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raise NotImplementedError
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@abstractmethod
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def _get_success_criteria(self) -> SuccessCriteria:
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raise NotImplementedError
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@abstractmethod
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def _get_instruction(self) -> str:
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raise NotImplementedError
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def _check_success(self):
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return self.scene.success()
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def get_ep_meta(self):
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ep_meta = super().get_ep_meta()
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ep_meta["lang"] = self.scene.instruction
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return ep_meta
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# noinspection PyAbstractClass
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class LMSimpleEnv(LMEnvBase):
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MUJOCO_ARENA_CLS = GroundArena
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# noinspection PyAbstractClass
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class LMFactoryEnv(LMEnvBase):
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MUJOCO_ARENA_CLS = FactoryArena
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