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add new libero90 tasks #735

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2 changes: 1 addition & 1 deletion roboverse_pack/tasks/libero_90/libero_kitchen_scene10_close_the_top_drawer_of_the_cabinet.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene10_close_the_top_drawer_of_the_cabinet",
"kitchen_scene10_close_the_top_drawer_of_the_cabinet",
)
class LiberoKitchenScene10CloseTopDrawerAndPutBowlOnTopTask(Libero90BaseTask):
class LiberoKitchenScene10CloseTheTopDrawerOfTheCabinetTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene10 close the top drawer of the cabinet task.

Task Description:
Expand Down
2 changes: 1 addition & 1 deletion ...itchen_scene10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it",
"kitchen_scene10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it",
)
class LiberoKitchenScene10CloseTopDrawerAndPutBowlOnTopTask(Libero90BaseTask):
class LiberoKitchenScene10CloseTheTopDrawerOfTheCabinetAndPutTheBlackBowlOnTopOfItTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene10 close the top drawer of the cabinet and put the black bowl on top of it task.

Task Description:
Expand Down
2 changes: 1 addition & 1 deletion ...s/libero_90/libero_kitchen_scene10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
"kitchen_scene10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
)
class LiberoKitchenScene10PutBlackBowlInTopDrawerTask(Libero90BaseTask):
class LiberoKitchenScene10PutTheBlackBowlInTheTopDrawerOfTheCabinetTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene10 put the black bowl in the top drawer of the cabinet task.

Task Description:
Expand Down
2 changes: 1 addition & 1 deletion ...tchen_scene10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it",
"kitchen_scene10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it",
)
class LiberoKitchenScene10PutButterInTopDrawerAndCloseTask(Libero90BaseTask):
class LiberoKitchenScene10PutTheButterAtTheBackInTheTopDrawerOfTheCabinetAndCloseItTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene10 put the butter at the back in the top drawer of the cabinet and close it task.

Task Description:
Expand Down
2 changes: 1 addition & 1 deletion ...chen_scene10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it",
"kitchen_scene10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it",
)
class LiberoKitchenScene10PutButterAtFrontInTopDrawerAndCloseTask(Libero90BaseTask):
class LiberoKitchenScene10PutTheButterAtTheFrontInTheTopDrawerOfTheCabinetAndCloseItTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene10 put the butter at the front in the top drawer of the cabinet and close it task.

Task Description:
Expand Down
2 changes: 1 addition & 1 deletion ...itchen_scene10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it",
"kitchen_scene10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it",
)
class LiberoKitchenScene10PutChocolatePuddingInTopDrawerAndCloseTask(Libero90BaseTask):
class LiberoKitchenScene10PutTheChocolatePuddingInTheTopDrawerOfTheCabinetAndCloseItTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene10 put the chocolate pudding in the top drawer of the cabinet and close it task.

Task Description:
Expand Down
4 changes: 2 additions & 2 deletions roboverse_pack/tasks/libero_90/libero_kitchen_scene1_open_bottom_drawer.py
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Expand Up @@ -55,7 +55,7 @@ class LiberoKitchenOpenBottomDrawerTask(Libero90BaseTask):
ArticulationObjCfg(
name="wooden_cabinet",
fix_base_link=True,
usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/wooden_cabinet.usda",
usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/wooden_cabinet.usd",
urdf_path="roboverse_data/assets/libero/COMMON/articulated_objects/wooden_cabinet/urdf/wooden_cabinet.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet.xml",
),
Expand Down Expand Up @@ -87,7 +87,7 @@ class LiberoKitchenOpenBottomDrawerTask(Libero90BaseTask):
"roboverse_data/trajs/libero90/libero_90_kitchen_scene1_open_the_bottom_drawer_of_the_cabinet_traj_v2.pkl"
)

# # rewrite terminate
# rewrite terminate
# def _terminated(self, states: TensorState) -> torch.Tensor:
# """No terminate condition yet. Will terminate when time is up."""
# return torch.tensor([False])
Expand Down
1 change: 1 addition & 0 deletions roboverse_pack/tasks/libero_90/libero_kitchen_scene1_open_drawer_put_bowl.py
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Expand Up @@ -104,6 +104,7 @@ def _terminated(self, states: TensorState) -> torch.Tensor: # 需要仔细检
"""Task success checker."""
# get bowl/cabinet poses
bowl_pos = states.objects["akita_black_bowl"].root_state[:, :3] # (N,3)
plate_pos = states.objects["plate"].root_state[:, :3]
cabinet_pos = states.objects["wooden_cabinet"].root_state[:, :3] # (N,3)
cabinet_quat = states.objects["wooden_cabinet"].root_state[:, 3:7] # (N,4)
top_idx = self.handler.get_joint_names("wooden_cabinet").index("top_level")
Expand Down
2 changes: 1 addition & 1 deletion roboverse_pack/tasks/libero_90/libero_kitchen_scene1_put_the_black_bowl_on_the_plate.py
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Expand Up @@ -16,7 +16,7 @@
@register_task(
"libero_90.kitchen_scene1_put_the_black_bowl_on_the_plate", "kitchen_scene1_put_the_black_bowl_on_the_plate"
)
class LiberoKitchen1PutBowlOnPlateTask(Libero90BaseTask):
class LiberoKitchen1PutTheBlackBowlOnThePlateTask(Libero90BaseTask):
"""Configuration for the Libero kitchen put the black bowl on the plate task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion ...se_pack/tasks/libero_90/libero_kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet.py
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Expand Up @@ -36,7 +36,7 @@ def pose_to_mat(pos: torch.Tensor, quat: torch.Tensor | None = None) -> torch.Te
"libero_90.kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet",
"kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet",
)
class LiberoKitchen1PutBowlOnCabinetTask(Libero90BaseTask):
class LiberoKitchen1PutTheBlackBowlOnTopOfTheCabinetTask(Libero90BaseTask):
"""Configuration for the Libero kitchen put the black bowl on top of the cabinet task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion roboverse_pack/tasks/libero_90/libero_kitchen_scene2_open_the_top_drawer_of_the_cabinet.py
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Expand Up @@ -14,7 +14,7 @@
@register_task(
"libero_90.kitchen_scene2_open_the_top_drawer_of_the_cabinet", "kitchen_scene2_open_the_top_drawer_of_the_cabinet"
)
class LiberoKitchenScene2OpenTopDrawerTask(Libero90BaseTask):
class LiberoKitchenScene2OpenTheTopDrawerOfTheCabinetTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene2 open the top drawer of the cabinet task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion ...pack/tasks/libero_90/libero_kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate",
"kitchen_scene2_put_the_black_bowl_at_the_back_on_the_plate",
)
class LiberoKitchenScene2PutBowlAtBackOnPlateTask(Libero90BaseTask):
class LiberoKitchenScene2PutTheBlackBowlAtTheBackOnThePlateTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene2 put the black bowl at the back on the plate task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion ...ack/tasks/libero_90/libero_kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate",
"kitchen_scene2_put_the_black_bowl_at_the_front_on_the_plate",
)
class LiberoKitchenScene2PutBowlAtFrontOnPlateTask(Libero90BaseTask):
class LiberoKitchenScene2PutTheBlackBowlAtTheFrontOnThePlateTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene2 put the black bowl at the front on the plate task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion ...ck/tasks/libero_90/libero_kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate",
"kitchen_scene2_put_the_black_bowl_in_the_middle_on_the_plate",
)
class LiberoKitchenScene2PutBowlInMiddleOnPlateTask(Libero90BaseTask):
class LiberoKitchenScene2PutTheBlackBowlInTheMiddleOnThePlateTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene2 put the black bowl in the middle on the plate task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion .../tasks/libero_90/libero_kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet.py
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Expand Up @@ -36,7 +36,7 @@ def pose_to_mat(pos: torch.Tensor, quat: torch.Tensor | None = None) -> torch.Te
"libero_90.kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet",
"kitchen_scene2_put_the_middle_black_bowl_on_top_of_the_cabinet",
)
class LiberoKitchenScene2PutMiddleBowlOnCabinetTask(Libero90BaseTask):
class LiberoKitchenScene2PutTheMiddleBlackBowlOnTopOfTheCabinetTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene2 put the middle black bowl on top of the cabinet task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion ...ibero_kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle",
"kitchen_scene2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle",
)
class LiberoKitchenScene2StackBowlFrontOnMiddleTask(Libero90BaseTask):
class LiberoKitchenScene2StackTheBlackBowlAtTheFrontOnTheBlackBowlInTheMiddleTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene2 stack the black bowl at the front on the black bowl in the middle task.

This task is transferred from:
Expand Down
2 changes: 1 addition & 1 deletion ...sks/libero_90/libero_kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl",
"kitchen_scene2_stack_the_middle_black_bowl_on_the_back_black_bowl",
)
class LiberoKitchenScene2StackMiddleBowlOnBackBowlTask(Libero90BaseTask):
class LiberoKitchenScene2StackTheMiddleBlackBowlOnTheBackBlackBowlTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene2 stack the middle black bowl on the back black bowl task.

This task is transferred from:
Expand Down
23 changes: 13 additions & 10 deletions roboverse_pack/tasks/libero_90/libero_kitchen_scene3_put_the_frying_pan_on_the_stove.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene3_put_the_frying_pan_on_the_stove",
"kitchen_scene3_put_the_frying_pan_on_the_stove",
)
class LiberoKitchenScene3PutFryingPanOnStoveTask(Libero90BaseTask):
class LiberoKitchenScene3PutTheFryingPanOnTheStoveTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene3 put the frying pan on the stove task.

This task is transferred from:
Expand All @@ -43,24 +43,24 @@ class LiberoKitchenScene3PutFryingPanOnStoveTask(Libero90BaseTask):
# Movable objects
RigidObjCfg(
name="chefmate_8_frypan",
# usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/usd/chefmate_8_frypan.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/urdf/chefmate_8_frypan.urdf",
usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/usd/chefmate_8_frypan.usd",
urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/urdf/chefmate_8_frypan.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/stable_scanned_objects/chefmate_8_frypan/mjcf/chefmate_8_frypan.xml",
physics=PhysicStateType.RIGIDBODY,
),
RigidObjCfg(
name="moka_pot",
# usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/usd/moka_pot.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/urdf/moka_pot.urdf",
usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/usd/moka_pot.usd",
urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/urdf/moka_pot.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/mjcf/moka_pot.xml",
physics=PhysicStateType.RIGIDBODY,
),
# Fixed fixtures
ArticulationObjCfg(
name="flat_stove",
fix_base_link=True,
# usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/usd/flat_stove.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/urdf/flat_stove.urdf",
usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/usd/flat_stove.usd",
urdf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/urdf/flat_stove.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove.xml",
),
],
Expand All @@ -82,8 +82,12 @@ class LiberoKitchenScene3PutFryingPanOnStoveTask(Libero90BaseTask):

def _terminated(self, states: TensorState) -> torch.Tensor:
"""Task success checker."""
frypan_pos = states.objects["moka_pot"].root_state[:, :3] # (N,3)
stove_center_pos = self.handler.physics.named.data.site_xpos["flat_stove/burner"]
frypan_pos = states.objects["chefmate_8_frypan"].root_state[:, :3] # (N,3)
stove_center_single = self.handler.physics.named.data.site_xpos["flat_stove/cook_region"]
N = frypan_pos.shape[0]
stove_center_pos = (
torch.tensor(stove_center_single, device=frypan_pos.device).reshape(1, 3).repeat(N, 1)
) # (N,3)

# Check if frying pan is within a region above the stove
range_threshold = 0.08 # Radius of the range in xy plane
Expand All @@ -93,7 +97,6 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
xy_distance = torch.norm(frypan_pos[:, :2] - stove_center_pos[:, :2], dim=-1) # (N,)
# Calculate height difference (frypan z - stove z)
height_diff = frypan_pos[:, 2] - stove_center_pos[:, 2] # (N,)

# Check both conditions: xy distance < range AND 0 < height_diff < height_threshold
xy_close = xy_distance < range_threshold # (N,)
height_valid = (height_diff > 0) & (height_diff < height_threshold) # (N,)
Expand Down
14 changes: 7 additions & 7 deletions roboverse_pack/tasks/libero_90/libero_kitchen_scene3_put_the_moka_pot_on_the_stove.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene3_put_the_moka_pot_on_the_stove",
"kitchen_scene3_put_the_moka_pot_on_the_stove",
)
class LiberoKitchenScene3PutMokaPotOnStoveTask(Libero90BaseTask):
class LiberoKitchenScene3PutTheMokaPotOnTheStoveTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene3 put the moka pot on the stove task.

This task is transferred from:
Expand All @@ -43,24 +43,24 @@ class LiberoKitchenScene3PutMokaPotOnStoveTask(Libero90BaseTask):
# Movable objects
RigidObjCfg(
name="moka_pot",
# usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/usd/moka_pot.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/urdf/moka_pot.urdf",
usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/usd/moka_pot.usd",
urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/urdf/moka_pot.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/mjcf/moka_pot.xml",
physics=PhysicStateType.RIGIDBODY,
),
RigidObjCfg(
name="chefmate_8_frypan",
# usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/usd/chefmate_8_frypan.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/urdf/chefmate_8_frypan.urdf",
usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/usd/chefmate_8_frypan.usd",
urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/urdf/chefmate_8_frypan.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/stable_scanned_objects/chefmate_8_frypan/mjcf/chefmate_8_frypan.xml",
physics=PhysicStateType.RIGIDBODY,
),
# Fixed fixtures
ArticulationObjCfg(
name="flat_stove",
fix_base_link=True,
# usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/usd/flat_stove.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/urdf/flat_stove.urdf",
usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/usd/flat_stove.usd",
urdf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/urdf/flat_stove.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove.xml",
),
],
Expand Down
22 changes: 10 additions & 12 deletions roboverse_pack/tasks/libero_90/libero_kitchen_scene3_turn_on_the_stove.py
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Expand Up @@ -17,7 +17,7 @@
"libero_90.kitchen_scene3_turn_on_the_stove",
"kitchen_scene3_turn_on_the_stove",
)
class LiberoKitchenScene3TurnOnStoveTask(Libero90BaseTask):
class LiberoKitchenScene3TurnOnTheStoveTask(Libero90BaseTask):
"""Configuration for the Libero kitchen scene3 turn on the stove task.

This task is transferred from:
Expand All @@ -43,24 +43,24 @@ class LiberoKitchenScene3TurnOnStoveTask(Libero90BaseTask):
# Movable objects
RigidObjCfg(
name="moka_pot",
# usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/usd/moka_pot.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/urdf/moka_pot.urdf",
usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/usd/moka_pot.usd",
urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/urdf/moka_pot.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/mjcf/moka_pot.xml",
physics=PhysicStateType.RIGIDBODY,
),
RigidObjCfg(
name="chefmate_8_frypan",
# usd_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/usd/chefmate_8_frypan.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/turbosquid_objects/chefmate_8_frypan/urdf/chefmate_8_frypan.urdf",
usd_path="roboverse_data/assets/libero/COMMON/stable_scanned_objects/chefmate_8_frypan/usd/chefmate_8_frypan.usd",
urdf_path="roboverse_data/assets/libero/COMMON/stable_scanned_objects/chefmate_8_frypan/urdf/chefmate_8_frypan.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/stable_scanned_objects/chefmate_8_frypan/mjcf/chefmate_8_frypan.xml",
physics=PhysicStateType.RIGIDBODY,
),
# Fixed fixtures
ArticulationObjCfg(
name="flat_stove",
fix_base_link=True,
# usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/usd/flat_stove.usd",
# urdf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/urdf/flat_stove.urdf",
usd_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/usd/flat_stove.usd",
urdf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/urdf/flat_stove.urdf",
mjcf_path="roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove.xml",
),
],
Expand All @@ -82,11 +82,9 @@ class LiberoKitchenScene3TurnOnStoveTask(Libero90BaseTask):

def _terminated(self, states: TensorState) -> torch.Tensor:
"""Task success checker."""
# 假设 stove 的开关状态可以通过 states.objects["flat_stove"].joint_state 获取
# 这里 joint_state[:, knob_index] > threshold 代表已打开
# knob_index 和 threshold 需根据实际模型调
knob_index = 0 # 示例：第一个关节为旋钮
threshold = 0.5 # 示例：大于 0.5 视为打开
# knob_index and threshold need to be aligned with the actual stove model used
knob_index = 0
threshold = 0.5
stove_joint_state = states.objects["flat_stove"].joint_pos[:, 0] # (N,)
is_on = (stove_joint_state > threshold).all(dim=-1) # (N,)
return is_on
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