| import numpy as np |
| import os |
| import pybullet as p |
| import random |
| from cliport.tasks import primitives |
| from cliport.tasks.grippers import Spatula |
| from cliport.tasks.task import Task |
| from cliport.utils import utils |
| import numpy as np |
| from cliport.tasks.task import Task |
| from cliport.utils import utils |
|
|
| class InsertAndStack(Task): |
| """Insert the ell into the fixture and then stack blocks on top of it.""" |
|
|
| def __init__(self): |
| super().__init__() |
| self.max_steps = 10 |
| self.metric = 'pose' |
| self.lang_template = "insert the ell into the fixture and then stack blocks on top of it" |
| self.task_completed_desc = "done insert-and-stack." |
|
|
| def reset(self, env): |
| super().reset(env) |
|
|
| # Add ell |
| ell_size = (0.1, 0.1, 0.1) |
| ell_pose = self.get_random_pose(env, ell_size) |
| ell_urdf = 'insertion/ell.urdf' |
| ell_id = env.add_object(ell_urdf, ell_pose) |
| self.color_random_bright(ell_id) |
|
|
| # Add fixture |
| fixture_size = (0.12, 0.12, 0.1) |
| fixture_pose = self.get_random_pose(env, fixture_size) |
| fixture_urdf = 'insertion/fixture.urdf' |
| fixture_id = env.add_object(fixture_urdf, fixture_pose) |
| self.color_random_bright(fixture_id) |
|
|
| # Add blocks |
| block_size = (0.04, 0.04, 0.04) |
| block_urdf = 'stacking/block.urdf' |
| blocks = [] |
| for _ in range(3): # We want 3 blocks |
| block_pose = self.get_random_pose(env, block_size) |
| block_id = env.add_object(block_urdf, block_pose) |
| self.color_random_bright(block_id) # Randomly color the blocks |
| blocks.append(block_id) |
|
|
| # Define the zone |
| zone_size = (0.1, 0.1, 0.1) |
| zone_pose = self.get_random_pose(env, zone_size) |
| zone_urdf = 'zone/zone.urdf' |
| env.add_object(zone_urdf, zone_pose, 'fixed') # Zone is static |
|
|
| # Set task goals |
| objs = [ell_id] + blocks |
| goal_poses = [fixture_pose] * (len(objs)) |
| self.add_goal(objs=objs, matches=np.ones((len(objs), 1)), targ_poses=goal_poses, replace=False, |
| rotations=True, metric='pose', params=None, step_max_reward=1, language_goal=self.lang_template) |
