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