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| 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 | |
| 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.task import Task | |
| from cliport.utils import utils | |
| import pybullet as p | |
| class GeneratedTask(Task): | |
| """Build a car using blocks.""" | |
| """Stack 5 cylinders of different colors (red, blue, green, yellow, and orange) on top of each other in a pyramid shape on a table.""" | |
| def __init__(self): | |
| super().__init__() | |
| self.max_steps = 20 | |
| self.lang_template = "stack 5 cylinders of different colors (red, blue, green, yellow, and orange) on top of each other in a pyramid shape on a table" | |
| self.task_completed_desc = "done stacking cylinders." | |
| self.additional_reset() | |
| def reset(self, env): | |
| super().reset(env) | |
| # Add table. | |
| table_size = (0.4, 0.4, 0.02) | |
| table_urdf = 'table/table.urdf' | |
| table_pose = self.get_random_pose(env, table_size) | |
| env.add_object(table_urdf, table_pose, 'fixed') | |
| # Cylinder colors. | |
| colors = [utils.COLORS['red'], utils.COLORS['blue'], utils.COLORS['green'], utils.COLORS['yellow'], utils.COLORS['orange']] | |
| # Add cylinders. | |
| cylinder_size = (0.04, 0.04, 0.04) | |
| cylinder_urdf = 'cylinder/cylinder-template.urdf' | |
| cylinders = [] | |
| for i in range(5): | |
| cylinder_pose = self.get_random_pose(env, cylinder_size) | |
| cylinder_id = env.add_object(cylinder_urdf, cylinder_pose, color=colors[i]) | |
| cylinders.append(cylinder_id) | |
| # Associate placement locations for goals. | |
| place_pos = [(0, -0.1, 0.02), (0, 0.1, 0.02), (0, -0.05, 0.06), (0, 0.05, 0.06), (0, 0, 0.1)] | |
| targs = [(utils.apply(cylinder_pose, pos), cylinder_pose[1]) for pos in place_pos] | |
| # Goal: cylinders are stacked in a pyramid shape. | |
| self.add_goal(objs=cylinders, matches=np.ones((5, 5)), targ_poses=targs, replace=False, | |
| rotations=True, metric='pose', params=None, step_max_reward=1, symmetries=[np.pi/2]*5, | |
| language_goal=self.lang_template) | |