| 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 import primitives |
| from cliport.tasks.grippers import Spatula |
| from cliport.tasks.task import Task |
| from cliport.utils import utils |
|
|
| class SweepRedBlocksIntoZone(Task): |
| """Sweep a pile of red blocks into a designated zone.""" |
|
|
| def __init__(self): |
| super().__init__() |
| self.max_steps = 20 |
| self.lang_template = "sweep the pile of red blocks into the green square" |
| self.task_completed_desc = "done sweeping." |
| self.primitive = primitives.push |
| self.ee = Spatula |
| self.additional_reset() |
|
|
| def reset(self, env): |
| super().__init__(env) |
|
|
| # Add goal zone. |
| zone_size = (0.12, 0.12, 0) |
| zone_pose = self.get_random_pose(env, zone_size) |
| env.add_object('zone/zone.urdf', zone_pose, 'fixed') |
|
|
| # Add pile of red blocks with `make_piles` function |
| block_urdf = 'stacking/block.urdf' |
| block_size = (0.04, 0.04, 0.04) |
| block_color = utils.COLORS['red'] |
| pile_pose = self.get_random_pose(env, block_size) |
| pile_ids = self.make_piles(env, block_urdf, block_size, block_color, pile_pose, num_piles=1, num_objs=5) |
|
|
| # Add goal |
| self.add_goal(objs=pile_ids, matches=np.ones((5, 1)), targ_poses=[zone_pose], replace=True, |
| rotations=False, metric='zone', params=[(zone_pose, zone_size)], step_max_reward=1, language_goal=self.lang_template) |
