# Copyright 2022 IMCL, Department of Computing
# Department of Computing, Hong Kong Polytechnic University
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from .executor import Executor
from maniware.mani_level.component.UR5 import UR5_new
[docs]class FixedBaseManipulator(Executor):
def __init__(self, env, pose, height, ee_type = 'Suction'):
self.env = env
self.init_pose = pose
self.position = self.init_pose[0]
self.height = height
self.ee_type = ee_type
self.rtype = ee_type
self.ee = None
self.ur5 = None
self.state = None
self.reward = 0
self._reward = 0
self.action = None # idle, goToGrab, grab, goToplace, place, idle
self.last_action = None # the action state that robot has just finished
self.thing = None
self.pick_pose = None # the pose before it grab the task
self.place_pose = None
self.waitNum = 0
self._createBody()
def _createBody(self):
self.ur5 = UR5_new(self.env, self.init_pose, 1, self.ee_type, self.height)
[docs] def reset(self):
self.ur5.reset()
self.ur5.ee.release()
self.reward = 0 # Cumulative returned rewards.
self.action = 'idle' # move, idle, grab
self.working = False
[docs] def step(self):
self.ur5.thing = self.thing
self.ur5.step_discrete()
if self.ur5.thing == None:
self.thing = None
[docs] def state(self):
return self.state
[docs] def reward(self):
info = {}
if self._reward > 0:
self.reward += self._reward
self._reward = 0
info['success'] = 1
return self.reward, info, 1
else:
info['success'] = 0
return self.reward, info, 0