Corrigir geracao de espiral: usar coordenadas polares e adicionar exemplo validado

cliport/generated_tasks/build_red_and_blue_pyramids_fixed.py

@@ -153,3 +153,4 @@ class BuildRedAndBluePyramids(Task):
         )
 
 
+

cliport/generated_tasks/build_red_pyramid_and_blue_row_fixed.py

@@ -137,3 +137,4 @@ class BuildRedPyramidAndBlueRow(Task):
             language_goal=language_goal
         )
 
+

cliport/generated_tasks/build_spiral_fixed.py

@@ -0,0 +1,67 @@
+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
+
+
+class BuildSpiralWithColoredBlocks(Task):
+    """Build a spiral with colored blocks starting from the center."""
+
+    def __init__(self):
+        super().__init__()
+        self.max_steps = 10
+        self.lang_template = "build a spiral with the {blocks}"
+        self.task_completed_desc = "done building spiral."
+        self.additional_reset()
+
+    def reset(self, env):
+        super().reset(env)
+
+        # Define block colors.
+        colors = [
+            utils.COLORS['red'], utils.COLORS['orange'], utils.COLORS['yellow'],
+            utils.COLORS['green'], utils.COLORS['blue'], utils.COLORS['purple']
+        ]
+
+        # Add blocks.
+        block_size = (0.04, 0.04, 0.04)
+        block_urdf = 'stacking/block.urdf'
+        objs = []
+        for i in range(6):
+            block_pose = self.get_random_pose(env, block_size)
+            block_id = env.add_object(block_urdf, block_pose, color=colors[i])
+            objs.append(block_id)
+
+        # Define spiral placement using polar coordinates with increasing radius
+        # Spiral: radius increases, angle increases (one full rotation = 2*pi)
+        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_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
+            # Convert to Cartesian coordinates relative to center
+            x = radius * np.cos(angle)
+            y = radius * np.sin(angle)
+            z = 0.02  # All blocks at same height for 2D spiral
+            spiral_place_pos.append((x, y, z))
+        
+        # Apply base pose to all spiral positions
+        targs = [(utils.apply(base_pose, pos), base_pose[1]) for pos in spiral_place_pos]
+
+        # Goal: blocks are placed in a spiral pattern.
+        language_goal = self.lang_template.format(blocks="red, orange, yellow, green, blue and purple blocks")
+        self.add_goal(objs=objs, matches=np.eye(6), targ_poses=targs, replace=False,
+                      rotations=True, metric='pose', params=None, step_max_reward=1 / 6, 
+                      symmetries=[np.pi/2]*6, language_goal=language_goal)
+

cliport/generated_tasks/sequence_ball_placement_in_colored_corners_fixed.py

@@ -73,3 +73,4 @@ class SequenceBallPlacementInColoredCorners(Task):
 
 
 
+

gensim/agent.py

@@ -180,6 +180,8 @@ class Agent:
             'align-balls-in-colored-boxes': 'align_balls_in_colored_boxes.py',
             'color-sorted-container-stack': 'color_sorted_container_stack.py',
             'rainbow-stack': 'rainbow_stack.py',
+            'build-spiral': 'build_spiral_fixed.py',
+            'build-spiral-with-colored-blocks': 'build_spiral_fixed.py',
         }
         
         # Normalize task name (handle both formats)

prompts/topdown_task_generation_prompt/cliport_prompt_code_split_template.txt

@@ -279,6 +279,15 @@ CRITICAL FOR PYRAMIDS, BRIDGES, AND MULTI-LAYER STRUCTURES:
 - Split the reward across layers: `step_max_reward=1.0 / num_layers` for each layer
 - Each layer should have its own `language_goal` describing that specific step (e.g., "build the bottom row", "build the middle row", "place the top block")
 
+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`
+- 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)
+
 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
 - **CRITICAL**: Each structure MUST have its own base pose positioned at a DIFFERENT location in the workspace. DO NOT reuse the same base_pose for different structures.

prompts/topdown_task_generation_prompt_simple/cliport_prompt_code_split_template.txt

@@ -277,6 +277,15 @@ CRITICAL FOR PYRAMIDS, BRIDGES, AND MULTI-LAYER STRUCTURES:
 - Split the reward across layers: `step_max_reward=1.0 / num_layers` for each layer
 - Each layer should have its own `language_goal` describing that specific step (e.g., "build the bottom row", "build the middle row", "place the top block")
 
+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`
+- 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)
+
 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
 - **CRITICAL**: Each structure MUST have its own base pose positioned at a DIFFERENT location in the workspace. DO NOT reuse the same base_pose for different structures.

prompts/vanilla_task_generation_prompt/cliport_prompt_code_split_template.txt

@@ -267,6 +267,15 @@ CRITICAL FOR PYRAMIDS, BRIDGES, AND MULTI-LAYER STRUCTURES:
 - Split the reward across layers: `step_max_reward=1.0 / num_layers` for each layer
 - Each layer should have its own `language_goal` describing that specific step (e.g., "build the bottom row", "build the middle row", "place the top block")
 
+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`
+- 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)
+
 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
 - **CRITICAL**: Each structure MUST have its own base pose positioned at a DIFFERENT location in the workspace. DO NOT reuse the same base_pose for different structures.