robocasa.environments.kitchen.single_stage package#

Submodules#

robocasa.environments.kitchen.single_stage.kitchen_coffee module#

class robocasa.environments.kitchen.single_stage.kitchen_coffee.CoffeePressButton(*args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the coffee press button task. Press the button on the coffee machine to serve coffee.

get_ep_meta()#

Get the episode metadata for the coffee press button task. This includes the language description of the task.

Returns

Episode metadata.

Return type

dict

class robocasa.environments.kitchen.single_stage.kitchen_coffee.CoffeeServeMug(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_coffee.PnPCoffee

Class encapsulating the coffee serve task. Pick the mug from under the coffee machine dispenser and place it on the counter.

class robocasa.environments.kitchen.single_stage.kitchen_coffee.CoffeeSetupMug(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_coffee.PnPCoffee

Class encapsulating the coffee setup task. Pick the mug from the counter and place it under the coffee machine dispenser.

class robocasa.environments.kitchen.single_stage.kitchen_coffee.PnPCoffee(behavior='machine_to_counter', *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic pick and place coffee tasks.

Parameters

behavior (str) – “counter_to_machine” or “machine_to_counter”. Used to define the desired pick and place behavior for the task.

get_ep_meta()#

Get the episode metadata for the coffee tasks. This includes the language description of the task.

Returns

Episode metadata.

Return type

dict

robocasa.environments.kitchen.single_stage.kitchen_doors module#

class robocasa.environments.kitchen.single_stage.kitchen_doors.CloseDoor(behavior=None, *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_doors.ManipulateDoor

class robocasa.environments.kitchen.single_stage.kitchen_doors.CloseDoubleDoor(door_id=FixtureType.DOOR_TOP_HINGE_DOUBLE, *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_doors.CloseDoor

class robocasa.environments.kitchen.single_stage.kitchen_doors.CloseSingleDoor(door_id=FixtureType.DOOR_TOP_HINGE_SINGLE, *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_doors.CloseDoor

class robocasa.environments.kitchen.single_stage.kitchen_doors.ManipulateDoor(behavior='open', door_id=FixtureType.DOOR_TOP_HINGE, *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic manipulate door tasks.

Parameters

  • behavior (str) – “open” or “close”. Used to define the desired door manipulation behavior for the task.

  • door_id (str) – The door fixture id to manipulate.

get_ep_meta()#

Get the episode metadata for the door tasks. This includes the language description of the task.

Returns

Episode metadata.

Return type

dict

class robocasa.environments.kitchen.single_stage.kitchen_doors.OpenDoor(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_doors.ManipulateDoor

class robocasa.environments.kitchen.single_stage.kitchen_doors.OpenDoubleDoor(door_id=FixtureType.DOOR_TOP_HINGE_DOUBLE, *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_doors.OpenDoor

class robocasa.environments.kitchen.single_stage.kitchen_doors.OpenSingleDoor(door_id=FixtureType.DOOR_TOP_HINGE_SINGLE, *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_doors.OpenDoor

robocasa.environments.kitchen.single_stage.kitchen_drawer module#

class robocasa.environments.kitchen.single_stage.kitchen_drawer.CloseDrawer(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_drawer.ManipulateDrawer

Class encapsulating the atomic close drawer task.

class robocasa.environments.kitchen.single_stage.kitchen_drawer.ManipulateDrawer(behavior='open', drawer_id=FixtureType.TOP_DRAWER, *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic manipulate drawer tasks.

Parameters

  • behavior (str) – “open” or “close”. Used to define the desired drawer manipulation behavior for the task.

  • drawer_id (str) – The drawer fixture id to manipulate

check_fxtr_contact(pos)#

Check if the point is in contact with any fixture

Parameters

pos (tuple) – The position of the point to check

Returns

True if the point is in contact with any fixture, False otherwise

Return type

bool

check_sidewall_contact(pos)#

Check if the point is in contact with any wall. This is separate from check_fxtr_contact because the point could be outside of the wall’s bounds but still in contact with the wall since the wall is thin.

Parameters

pos (tuple) – The position of the point to check

Returns

True if the point is in contact with any wall, False otherwise

Return type

bool

get_ep_meta()#

Get the episode metadata for the drawer tasks. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_drawer.OpenDrawer(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_drawer.ManipulateDrawer

Class encapsulating the atomic open drawer task.

robocasa.environments.kitchen.single_stage.kitchen_microwave module#

class robocasa.environments.kitchen.single_stage.kitchen_microwave.MicrowavePressButton(behavior='turn_on', *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic microwave press button tasks.

Parameters

behavior (str) – “turn_on” or “turn_off”. Used to define the desired microwave manipulation behavior for the task

get_ep_meta()#

Get the episode metadata for the microwave tasks. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_microwave.TurnOffMicrowave(behavior=None, *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_microwave.MicrowavePressButton

class robocasa.environments.kitchen.single_stage.kitchen_microwave.TurnOnMicrowave(behavior=None, *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_microwave.MicrowavePressButton

robocasa.environments.kitchen.single_stage.kitchen_navigate module#

class robocasa.environments.kitchen.single_stage.kitchen_navigate.NavigateKitchen(*args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic navigate kitchen tasks. Involves navigating the robot to a target fixture.

get_ep_meta()#

Get the episode metadata for the navigate kitchen tasks. This includes the language description of the task.

robocasa.environments.kitchen.single_stage.kitchen_pnp module#

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP(obj_groups='all', exclude_obj_groups=None, *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic pick and place tasks.

Parameters

  • obj_groups (str) – Object groups to sample the target object from.

  • exclude_obj_groups (str) – Object groups to exclude from sampling the target object.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPCabToCounter(cab_id=FixtureType.CABINET_TOP, obj_groups='all', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

Class encapsulating the atomic cabinet to counter pick and place task

Parameters

  • cab_id (str) – The cabinet fixture id to pick the object from.

  • obj_groups (str) – Object groups to sample the target object from.

get_ep_meta()#

Get the episode metadata for the cabinet to counter pick and place task. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPCounterToCab(cab_id=FixtureType.CABINET_TOP, obj_groups='all', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

Class encapsulating the atomic counter to cabinet pick and place task

Parameters

  • cab_id (str) – The cabinet fixture id to place the object.

  • obj_groups (str) – Object groups to sample the target object from.

get_ep_meta()#

Get the episode metadata for the counter to cabinet pick and place task. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPCounterToMicrowave(obj_groups='food', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

EXCLUDE_LAYOUTS = [8]#

Class encapsulating the atomic counter to microwave pick and place task

Parameters

obj_groups (str) – Object groups to sample the target object from.

get_ep_meta()#

Get the episode metadata for the counter to microwave pick and place task. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPCounterToSink(obj_groups='all', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

Class encapsulating the atomic counter to sink pick and place task

Parameters

obj_groups (str) – Object groups to sample the target object from.

get_ep_meta()#

Get the episode metadata for the counter to sink pick and place task. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPCounterToStove(obj_groups='food', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

Class encapsulating the atomic counter to stove pick and place task

Parameters

obj_groups (str) – Object groups to sample the target object from.

get_ep_meta()#

Get the episode metadata for the counter to stove pick and place task. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPMicrowaveToCounter(obj_groups='food', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

EXCLUDE_LAYOUTS = [8]#

Class encapsulating the atomic microwave to counter pick and place task

Parameters

obj_groups (str) – Object groups to sample the target object from.

get_ep_meta()#

Get the episode metadata for the microwave to counter pick and place task. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPSinkToCounter(obj_groups='food', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

Class encapsulating the atomic sink to counter pick and place task

Parameters

obj_groups (str) – Object groups to sample the target object from.

get_ep_meta()#

Get the episode metadata for the sink to counter pick and place task. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_pnp.PnPStoveToCounter(obj_groups='food', *args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_pnp.PnP

Class encapsulating the atomic stove to counter pick and place task

get_ep_meta()#

Get the episode metadata for the stove to counter pick and place task. This includes the language description of the task.

robocasa.environments.kitchen.single_stage.kitchen_sink module#

class robocasa.environments.kitchen.single_stage.kitchen_sink.ManipulateSinkFaucet(behavior='turn_on', *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic manipulate sink faucet tasks.

Parameters

behavior (str) – “turn_on” or “turn_off”. Used to define the desired sink faucet manipulation behavior for the task.

get_ep_meta()#

Get the episode metadata for the sink faucet tasks. This includes the language description of the task.

class robocasa.environments.kitchen.single_stage.kitchen_sink.TurnOffSinkFaucet(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_sink.ManipulateSinkFaucet

class robocasa.environments.kitchen.single_stage.kitchen_sink.TurnOnSinkFaucet(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_sink.ManipulateSinkFaucet

class robocasa.environments.kitchen.single_stage.kitchen_sink.TurnSinkSpout(*args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic turn sink spout tasks.

Parameters

  • behavior (str) – “left” or “right”. Used to define the desired sink spout

  • task. (manipulation behavior for the) –

get_ep_meta()#

Get the episode metadata for the sink spout tasks. This includes the language description of the task.

robocasa.environments.kitchen.single_stage.kitchen_stove module#

class robocasa.environments.kitchen.single_stage.kitchen_stove.ManipulateStoveKnob(knob_id='random', behavior='turn_on', *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Class encapsulating the atomic manipulate stove knob tasks.

Parameters

  • knob_id (str) – The stove knob id to manipulate. If set to “random”, a random knob will be selected.

  • behavior (str) – “turn_on” or “turn_off”. Used to define the desired stove knob manipulation behavior for the task.

get_ep_meta()#

Get the episode metadata for the stove knob tasks. This includes the language description of the task and the task references.

class robocasa.environments.kitchen.single_stage.kitchen_stove.TurnOffStove(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_stove.ManipulateStoveKnob

class robocasa.environments.kitchen.single_stage.kitchen_stove.TurnOnStove(*args, **kwargs)#

Bases: robocasa.environments.kitchen.single_stage.kitchen_stove.ManipulateStoveKnob

Module contents#