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Implemented wipe counter dirt tracking #62

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Implemented wipe counter dirt tracking #62

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23 changes: 17 additions & 6 deletions oopsiebench/envs/robocasa/wipe_counter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ def __init__(self, wipe_config=None, *args, **kwargs):
self.markers = []
self.wiped_markers = []
self._marker_direction = None
self._marker_positions = None

self.ee_force_bias = {}
self._dirt_bounds = None
Expand All @@ -59,6 +60,10 @@ def __init__(self, wipe_config=None, *args, **kwargs):
def get_ep_meta(self):
ep_meta = super().get_ep_meta()
ep_meta["lang"] = "Wipe the dirt on the counter with the sponge"
if self._marker_positions is not None:
ep_meta["dirt_marker_positions"] = [
[float(p[0]), float(p[1])] for p in self._marker_positions
]
return ep_meta

def _setup_kitchen_references(self):
Expand Down Expand Up @@ -197,24 +202,30 @@ def _reset_dirt_markers(self):
if not self.markers or self.sim is None:
return

pos = self._sample_start_pos()

counter_body_id = self.sim.model.body_name2id(self.counter.root_body)
z_pos = self.sim.data.body_xpos[counter_body_id][2] + 0.46

stored = (self._ep_meta or {}).get("dirt_marker_positions")
if stored and len(stored) == len(self.markers):
positions = [np.array(p, dtype=float) for p in stored]
else:
positions = []
pos = self._sample_start_pos()
for _ in range(len(self.markers)):
positions.append(pos.copy())
pos = self._sample_path_pos(pos)
self._marker_positions = positions

for i, marker in enumerate(self.markers):
try:
geom_id = self.sim.model.geom_name2id(marker.visual_geoms[0])
self.sim.model.geom_rgba[geom_id][3] = 1.0

body_id = self.sim.model.body_name2id(marker.root_body)
position = np.array([pos[0], pos[1], z_pos])
self.sim.model.body_pos[body_id] = position
self.sim.model.body_pos[body_id] = np.array([positions[i][0], positions[i][1], z_pos])
except Exception:
pass

pos = self._sample_path_pos(pos)

# ── Task checks ────────────────────────────────────────────────────

def _get_active_markers(self):
Expand Down