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"""This is a standalone file for create a task in libero."""
import numpy as np
from libero.libero.utils.bddl_generation_utils import (
get_xy_region_kwargs_list_from_regions_info,
)
from libero.libero.utils.mu_utils import register_mu, InitialSceneTemplates
from libero.libero.utils.task_generation_utils import (
register_task_info,
get_task_info,
generate_bddl_from_task_info,
)
@register_mu(scene_type="kitchen")
class KitchenScene1(InitialSceneTemplates):
def __init__(self):
fixture_num_info = {
"kitchen_table": 1,
"wooden_cabinet": 1,
}
object_num_info = {
"akita_black_bowl": 1,
"plate": 1,
}
super().__init__(
workspace_name="kitchen_table",
fixture_num_info=fixture_num_info,
object_num_info=object_num_info,
)
def define_regions(self):
self.regions.update(
self.get_region_dict(
region_centroid_xy=[0.0, -0.30],
region_name="wooden_cabinet_init_region",
target_name=self.workspace_name,
region_half_len=0.01,
yaw_rotation=(np.pi, np.pi),
)
)
self.regions.update(
self.get_region_dict(
region_centroid_xy=[0.0, 0.0],
region_name="akita_black_bowl_init_region",
target_name=self.workspace_name,
region_half_len=0.025,
)
)
self.regions.update(
self.get_region_dict(
region_centroid_xy=[0.0, 0.25],
region_name="plate_init_region",
target_name=self.workspace_name,
region_half_len=0.025,
)
)
self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
self.regions
)
@property
def init_states(self):
states = [
("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"),
("On", "plate_1", "kitchen_table_plate_init_region"),
("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"),
]
return states
def main():
# kitchen_scene_1
scene_name = "kitchen_scene1"
language = "Your Language 1"
register_task_info(
language,
scene_name=scene_name,
objects_of_interest=["wooden_cabinet_1", "akita_black_bowl_1"],
goal_states=[
("Open", "wooden_cabinet_1_top_region"),
("In", "akita_black_bowl_1", "wooden_cabinet_1_top_region"),
],
)
scene_name = "kitchen_scene1"
language = "Your Language 2"
register_task_info(
language,
scene_name=scene_name,
objects_of_interest=["wooden_cabinet_1", "akita_black_bowl_1"],
goal_states=[
("Open", "wooden_cabinet_1_top_region"),
("In", "akita_black_bowl_1", "wooden_cabinet_1_bottom_region"),
],
)
bddl_file_names, failures = generate_bddl_from_task_info()
print(bddl_file_names)
if __name__ == "__main__":
main()
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