Spaces:
Runtime error
Runtime error
| import numpy as np | |
| from cliport.tasks import Task | |
| from cliport.tasks.grippers import Spatula | |
| import random | |
| from cliport.utils import utils | |
| import pybullet as p | |
| class GeneratedTask(Task): | |
| """Build a car using blocks.""" | |
| def __init__(self): | |
| super().__init__() | |
| self.max_steps = 20 | |
| self.lang_template = "build a car using blocks" | |
| self.task_completed_desc = "done building car." | |
| self.additional_reset() | |
| def reset(self, env): | |
| super().reset(env) | |
| # Add car base. | |
| base_size = (0.12, 0.12, 0.02) | |
| base_urdf = 'car-base/car-base.urdf' | |
| base_pose = self.get_random_pose(env, base_size) | |
| env.add_object(base_urdf, base_pose, category='fixed') | |
| # Block colors. | |
| colors = [ | |
| utils.COLORS['red'], utils.COLORS['blue'], utils.COLORS['green'], utils.COLORS['yellow'] | |
| ] | |
| # Add blocks. | |
| block_size = (0.04, 0.04, 0.04) | |
| block_urdf = 'block/block.urdf' | |
| objs = [] | |
| for i in range(4): | |
| block_pose = self.get_random_pose(env, block_size) | |
| block_id = env.add_object(block_urdf, block_pose, color=colors[i]) | |
| objs.append(block_id) | |
| # Associate placement locations for goals. | |
| place_pos = [(0, -0.05, 0.03), (0, 0, 0.03), | |
| (0, 0.05, 0.03), (0, -0.025, 0.08)] | |
| targs = [(utils.apply(base_pose, i), base_pose[1]) for i in place_pos] | |
| # Goal: blocks are stacked vertically (bottom row: red, blue, green). | |
| for i in range(4): | |
| self.add_goal(objs=[objs[i]], matches=np.ones((1, 1)), targ_poses=[targs[i]], replace=False, | |
| rotations=True, metric='pose', params=None, step_max_reward=1 / 4, symmetries=[np.pi/2]) | |
| self.lang_goals.append(self.lang_template.format(blocks="the blocks", stacked="stacked vertically")) | |
| # Goal: blocks are stacked horizontally (top row: yellow). | |
| for i in range(2): | |
| self.add_goal(objs=[objs[i]], matches=np.ones((1, 1)), targ_poses=[targs[i]], replace=False, | |
| rotations=True, metric='pose', params=None, step_max_reward=1 / 4) |