Update gensim/sim_runner.py

gensim/sim_runner.py

@@ -86,59 +86,18 @@ class SimulationRunner:
             yield "Task Generated ==> Asset Generated ==> API Reviewed ==> ", None, None
             yield "Task Generated ==> Asset Generated ==> API Reviewed ==> Error Reviewed ==> ", None, None
 
-            self.curr_task_name = self.generated_task_name = 'BuildWheel'
-
-            self.generated_code = """
-import numpy as np
-from cliport.tasks.task import Task
-from cliport.utils import utils
-
-class BuildWheel(Task):
-
-    def __init__(self):
-        super().__init__()
-        self.max_steps = 10
-        self.lang_template = "Construct a wheel using blocks and a sphere. First, position eight blocks in a circular layout on the tabletop. Each block should be touching its two neighbors and colored in alternating red and blue. Then place a green sphere in the center of the circular layout, completing the wheel."
-        self.task_completed_desc = "done building wheel."
-        self.additional_reset()
-
-    def reset(self, env):
-        super().reset(env)
-
-        # Add blocks.
-        block_size = (0.04, 0.04, 0.04)
-        block_urdf = 'block/block.urdf'
-        block_colors = [utils.COLORS['red'], utils.COLORS['blue']]
-        blocks = []
-        for i in range(8):
-            block_pose = self.get_random_pose(env, block_size)
-            block_id = env.add_object(block_urdf, block_pose, color=block_colors[i % 2])
-            blocks.append(block_id)
-
-        # Add sphere.
-        sphere_size = (0.04, 0.04, 0.04)
-        sphere_urdf = 'sphere/sphere.urdf'
-        sphere_color = utils.COLORS['green']
-        sphere_pose = ((0.5, 0.0, 0.0), (0,0,0,1)) # fixed pose
-        sphere_id = env.add_object(sphere_urdf, sphere_pose, color=sphere_color)
-
-        # Goal: blocks are arranged in a circle and sphere is in the center.
-        circle_radius = 0.1
-        circle_center = (0, 0, block_size[2] / 2)
-        angles = np.linspace(0, 2 * np.pi, 8, endpoint=False)
-        block_poses = [(circle_center[0] + circle_radius * np.cos(angle),
-                        circle_center[1] + circle_radius * np.sin(angle),
-                        circle_center[2]) for angle in angles]
-        block_poses = [(utils.apply(sphere_pose, pos), sphere_pose[1]) for pos in block_poses]
-        self.add_goal(objs=blocks, matches=np.ones((8, 8)), targ_poses=block_poses, replace=False,
-                rotations=True, metric='pose', params=None, step_max_reward=8 / 9)
-
-        # Goal: sphere is in the center of the blocks.
-        self.add_goal(objs=[sphere_id], matches=np.ones((1, 1)), targ_poses=[sphere_pose], replace=False,
-                rotations=False, metric='pose', params=None, step_max_reward=1 / 9)
-
-        self.lang_goals.append(self.lang_template)
-            """
+            online_code_buffer = {}
+            for task_file in json.load(open(os.path.join(self.data_path, "generated_task_codes.json"))):
+                if os.path.exists("cliport/generated_tasks/" + task_file):
+                    online_code_buffer[task_file] = open("cliport/generated_tasks/" + task_file).read()
+
+            random_task_file = random.sample(list(online_code_buffer.keys()), 1)
+            class_def = [line for line in online_code_buffer[task_file].split("\n") if line.startswith('class')]
+            task_name = class_def[0]
+            task_name = task_name[task_name.find("class "): task_name.rfind("(Task)")][6:]
+            self.curr_task_name = self.generated_task_name = task_name
+
+            self.generated_code = online_code_buffer[random_task_file]
             print("generated_code\n", self.generated_code)
             print("curr_task_name\n", self.curr_task_name)
             yield "Task Generated ==> Asset Generated ==> API Reviewed ==> Error Reviewed ==> Code Generated ==> ", self.generated_code, None
@@ -190,7 +149,7 @@ class BuildWheel(Task):
         except:
             to_print = highlight(f"{str(traceback.format_exc())}", PythonLexer(), TerminalFormatter())
             print("Task Creation Exception:", to_print)
-            raise gradio.Error(f"Task Creation Exception: {str(traceback.format_exc())}")
+            raise gradio.Error(f"Task Creati'BuildWheel'on Exception: {str(traceback.format_exc())}")
             self.task_creation_pass = False
 
         # self.curr_task_name = self.generated_task['task-name']