Get the current position of the pink block and the orange bowl

pink_block_pos = get_obj_pos('pink block') orange_bowl_pos = get_obj_pos('orange bowl')

Define the pick and place positions

pick_xyz = np.float32([pink_block_pos[0], pink_block_pos[1], pink_block_pos[2]]) place_xyz = np.float32([-0.21578001081943513, -0.6763027310371399, 0.02]) # Left of the orange bowl

Define the hover position above the pick position

hover_xyz = np.float32([pick_xyz[0], pick_xyz[1], 0.2])

Move to hover position above the pink block

move_to_position(hover_xyz)

Move to the pick position

move_to_position(pick_xyz)

Pick up the pink block

activate() for _ in range(240): step_sim_and_render()

Move back to the hover position

move_to_position(hover_xyz)

Move to the place position above the target location

hover_place_xyz = np.float32([place_xyz[0], place_xyz[1], 0.15]) move_to_position(hover_place_xyz)

Move to the place position with height 0.03

place_xyz[2] = 0.03 move_to_position(place_xyz)

Release the pink block

release() for _ in range(240): step_sim_and_render()

Move back to the hover position after placing the block

move_to_position(hover_xyz)

The provided code snippet outlines a sequence of operations to manipulate a pink block in a simulated environment. Here's a breakdown of the steps involved:

1. Get Current Positions: The code retrieves the current positions of the pink block and the orange bowl using the get_obj_pos function.

2. Define Pick and Place Positions:

   • The pick position is set to the current position of the pink block.
   • The place position is defined as a specific location to the left of the orange bowl.

3. Define Hover Position: A hover position is defined above the pick position, which is slightly elevated (0.2 units above the block).

4. Move to Hover Position: The robot or agent moves to the hover position above the pink block.

5. Move to Pick Position: The robot then moves down to the pick position to pick up the pink block.

6. Pick Up the Pink Block: The activate() function is called to initiate the picking action, followed by a loop that simulates the environment for a certain number of steps (240 in this case) to allow the action to complete.

7. Return to Hover Position: After picking up the block, the robot moves back to the hover position.

8. Move to Hover Position Above Place Location: The robot moves to a hover position above the designated place position, which is slightly elevated (0.15 units above the target location).

9. Move to Place Position: The robot then moves down to the place position, adjusting the height to 0.03 units above the ground.

10. Release the Pink Block: The release() function is called to drop the pink block at the designated place position, followed by another simulation step loop to ensure the action completes.

11. Return to Hover Position: Finally, the robot moves back to the hover position after placing the block.

Considerations:

• Ensure that the get_obj_pos, move_to_position, activate, release, and step_sim_and_render functions are properly defined and implemented in your environment.
• The positions and heights used in the code should be adjusted based on the specific dimensions and requirements of your simulation environment.
• The number of simulation steps (240) may need to be adjusted based on the speed of the simulation and the time required for the actions to complete.