Melhorar espiral: aumentar raio (0.05-0.20) e usar 1.5 rotacoes (3*pi) para melhor visibilidade

cliport/generated_tasks/build_spiral_fixed.py

@@ -37,19 +37,21 @@ class BuildSpiralWithColoredBlocks(Task):
             objs.append(block_id)
 
         # Define spiral placement using polar coordinates with increasing radius
-        # Spiral: radius increases, angle increases (one full rotation = 2*pi)
+        # Spiral: radius increases, angle increases (1.5 full rotations = 3*pi for better visibility)
         num_blocks = 6
         spiral_center = (0.5, 0.0, 0.02)  # Center of workspace, fixed pose
         base_rotation = (0, 0, 0, 1)
         base_pose = (spiral_center, base_rotation)
         
-        # Spiral parameters: radius increases from 0.02 to 0.12, angle goes from 0 to 2*pi
+        # Spiral parameters: 
+        # - Radius increases from 0.05 to 0.20 (larger range for better visibility)
+        # - Angle goes from 0 to 3*pi (1.5 full rotations for clearer spiral pattern)
         spiral_place_pos = []
         for i in range(num_blocks):
-            # Angle increases from 0 to 2*pi (one full rotation)
-            angle = (i / num_blocks) * 2 * np.pi
-            # Radius increases linearly from 0.02 to 0.12
-            radius = 0.02 + (i / (num_blocks - 1)) * 0.10 if num_blocks > 1 else 0.02
+            # Angle increases from 0 to 3*pi (1.5 full rotations)
+            angle = (i / (num_blocks - 1)) * 3 * np.pi if num_blocks > 1 else 0
+            # Radius increases linearly from 0.05 to 0.20 (larger spacing)
+            radius = 0.05 + (i / (num_blocks - 1)) * 0.15 if num_blocks > 1 else 0.05
             # Convert to Cartesian coordinates relative to center
             x = radius * np.cos(angle)
             y = radius * np.sin(angle)

prompts/topdown_task_generation_prompt/cliport_prompt_code_split_template.txt

@@ -282,11 +282,11 @@ CRITICAL FOR PYRAMIDS, BRIDGES, AND MULTI-LAYER STRUCTURES:
 CRITICAL FOR SPIRAL PATTERNS:
 - For spiral patterns, you MUST use POLAR COORDINATES with increasing radius and varying angle
 - DO NOT use rectangular patterns like `[(0, 0), (0.04, 0), (0.04, 0.04), ...]` - that creates a rectangle, NOT a spiral
-- Use: `angle = (i / num_blocks) * 2 * np.pi` and `radius = start_radius + (i / (num_blocks - 1)) * radius_increase`
+- Use: `angle = (i / (num_blocks - 1)) * 3 * np.pi` (1.5 full rotations for better visibility) and `radius = 0.05 + (i / (num_blocks - 1)) * 0.15` (radius from 0.05 to 0.20)
 - Convert to Cartesian: `x = radius * np.cos(angle)`, `y = radius * np.sin(angle)`
 - Use a FIXED center pose (e.g., `(0.5, 0.0, 0.02)`) within workspace bounds, NOT `get_random_pose()`
 - Apply the center pose using `utils.apply()`: `targs = [(utils.apply(base_pose, (x, y, z)), base_pose[1]) for x, y, z in spiral_positions]`
-- Example for 6 blocks: radius increases from 0.02 to 0.12, angle goes from 0 to 2*pi (one full rotation)
+- IMPORTANT: Use larger radius range (0.05 to 0.20) and more rotations (1.5 turns = 3*pi) to make the spiral pattern clearly visible
 
 CRITICAL FOR MULTIPLE STRUCTURES (e.g., "two pyramids", "three towers", "multiple zones", "pyramid and row"):
 - If the task requires MULTIPLE separate structures (e.g., "two pyramids", "one blue pyramid and one red pyramid", "pyramid and row"), you MUST create separate base poses for each structure

prompts/topdown_task_generation_prompt_simple/cliport_prompt_code_split_template.txt

@@ -280,11 +280,11 @@ CRITICAL FOR PYRAMIDS, BRIDGES, AND MULTI-LAYER STRUCTURES:
 CRITICAL FOR SPIRAL PATTERNS:
 - For spiral patterns, you MUST use POLAR COORDINATES with increasing radius and varying angle
 - DO NOT use rectangular patterns like `[(0, 0), (0.04, 0), (0.04, 0.04), ...]` - that creates a rectangle, NOT a spiral
-- Use: `angle = (i / num_blocks) * 2 * np.pi` and `radius = start_radius + (i / (num_blocks - 1)) * radius_increase`
+- Use: `angle = (i / (num_blocks - 1)) * 3 * np.pi` (1.5 full rotations for better visibility) and `radius = 0.05 + (i / (num_blocks - 1)) * 0.15` (radius from 0.05 to 0.20)
 - Convert to Cartesian: `x = radius * np.cos(angle)`, `y = radius * np.sin(angle)`
 - Use a FIXED center pose (e.g., `(0.5, 0.0, 0.02)`) within workspace bounds, NOT `get_random_pose()`
 - Apply the center pose using `utils.apply()`: `targs = [(utils.apply(base_pose, (x, y, z)), base_pose[1]) for x, y, z in spiral_positions]`
-- Example for 6 blocks: radius increases from 0.02 to 0.12, angle goes from 0 to 2*pi (one full rotation)
+- IMPORTANT: Use larger radius range (0.05 to 0.20) and more rotations (1.5 turns = 3*pi) to make the spiral pattern clearly visible
 
 CRITICAL FOR MULTIPLE STRUCTURES (e.g., "two pyramids", "three towers", "multiple zones", "pyramid and row"):
 - If the task requires MULTIPLE separate structures (e.g., "two pyramids", "one blue pyramid and one red pyramid", "pyramid and row"), you MUST create separate base poses for each structure

prompts/vanilla_task_generation_prompt/cliport_prompt_code_split_template.txt

@@ -270,11 +270,11 @@ CRITICAL FOR PYRAMIDS, BRIDGES, AND MULTI-LAYER STRUCTURES:
 CRITICAL FOR SPIRAL PATTERNS:
 - For spiral patterns, you MUST use POLAR COORDINATES with increasing radius and varying angle
 - DO NOT use rectangular patterns like `[(0, 0), (0.04, 0), (0.04, 0.04), ...]` - that creates a rectangle, NOT a spiral
-- Use: `angle = (i / num_blocks) * 2 * np.pi` and `radius = start_radius + (i / (num_blocks - 1)) * radius_increase`
+- Use: `angle = (i / (num_blocks - 1)) * 3 * np.pi` (1.5 full rotations for better visibility) and `radius = 0.05 + (i / (num_blocks - 1)) * 0.15` (radius from 0.05 to 0.20)
 - Convert to Cartesian: `x = radius * np.cos(angle)`, `y = radius * np.sin(angle)`
 - Use a FIXED center pose (e.g., `(0.5, 0.0, 0.02)`) within workspace bounds, NOT `get_random_pose()`
 - Apply the center pose using `utils.apply()`: `targs = [(utils.apply(base_pose, (x, y, z)), base_pose[1]) for x, y, z in spiral_positions]`
-- Example for 6 blocks: radius increases from 0.02 to 0.12, angle goes from 0 to 2*pi (one full rotation)
+- IMPORTANT: Use larger radius range (0.05 to 0.20) and more rotations (1.5 turns = 3*pi) to make the spiral pattern clearly visible
 
 CRITICAL FOR MULTIPLE STRUCTURES (e.g., "two pyramids", "three towers", "multiple zones", "pyramid and row"):
 - If the task requires MULTIPLE separate structures (e.g., "two pyramids", "one blue pyramid and one red pyramid", "pyramid and row"), you MUST create separate base poses for each structure