| import numpy as np |
| from cliport.tasks.task import Task |
| from cliport.utils import utils |
| from cliport.tasks import primitives |
| from cliport.tasks.grippers import Spatula |
|
|
| class AlignRopeAlongLine(Task): |
| """Align a deformable rope along a straight line marked on the tabletop.""" |
|
|
| def __init__(self): |
| super().__init__() |
| self.max_steps = 20 |
| self.lang_template = "align the rope along the line" |
| self.task_completed_desc = "done aligning." |
| self.additional_reset() |
|
|
| def reset(self, env): |
| super().reset(env) |
|
|
| |
| length = np.random.uniform(0.18, 0.25) |
| line_size = (length, 0.01, 0.01) |
| line_pose = self.get_random_pose(env, line_size) |
| line_template = 'line/line-template.urdf' |
| replace = {'DIM': line_size, 'HALF': (line_size[0] / 2, line_size[1] / 2, line_size[2] / 2)} |
| line_urdf = self.fill_template(line_template, replace) |
| env.add_object(line_urdf, line_pose, 'fixed') |
|
|
| |
| rope_size = (length, 0.01, 0.01) |
| rope_pose = self.get_random_pose(env, rope_size) |
| corner1_pose = utils.apply(line_pose, (length / 2, 0.01, 0.01)) |
| corner2_pose = utils.apply(line_pose, (-length / 2, 0.01, 0.01)) |
| rope_id, targets, matches = self.make_rope(env, (corner1_pose, corner2_pose), n_parts=15) |
|
|
| |
| self.add_goal(objs=rope_id, matches=matches, targ_poses=targets, replace=False, |
| rotations=False, metric='pose', params=None, step_max_reward=1, language_goal=self.lang_template) |
|
|
