Corrigir uso de cores: usar utils.COLORS[color] em vez de string; adicionar instrucoes nos prompts

cliport/generated_tasks/create_containers_insert_colored_blocks_fixed.py

@@ -0,0 +1,66 @@
+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 CreateContainersInsertColoredBlocks(Task):
+    """Create containers and insert colored blocks into them."""
+
+    def __init__(self):
+        super().__init__()
+        self.max_steps = 10
+        self.lang_template = "put the {color} block in the {color} container"
+        self.task_completed_desc = "done inserting colored blocks into containers."
+        self.additional_reset()
+
+    def reset(self, env):
+        super().reset(env)
+
+        # Define colors for blocks and containers.
+        colors = ['red', 'green', 'blue', 'yellow', 'purple']
+
+        # Add containers.
+        container_size = (0.1, 0.1, 0.1)
+        container_template = 'container/container-template.urdf'
+        containers = []
+        for color in colors:
+            # IMPORTANT: Use fill_template() for container-template.urdf
+            replace = {'DIM': container_size, 'HALF': (container_size[0] / 2, container_size[1] / 2, container_size[2] / 2)}
+            container_urdf = self.fill_template(container_template, replace)
+            container_pose = self.get_random_pose(env, container_size)
+            # IMPORTANT: Use utils.COLORS[color] for RGB values, not the string
+            container_id = env.add_object(container_urdf, container_pose, 'fixed', color=utils.COLORS[color])
+            containers.append(container_id)
+
+        # Add blocks.
+        block_size = (0.04, 0.04, 0.04)
+        block_urdf = 'stacking/block.urdf'
+        blocks = []
+        for color in colors:
+            block_pose = self.get_random_pose(env, block_size)
+            # IMPORTANT: Use utils.COLORS[color] for RGB values
+            block_id = env.add_object(block_urdf, block_pose, color=utils.COLORS[color])
+            blocks.append(block_id)
+
+        # Goal: each block is in the container of the same color.
+        for i in range(len(blocks)):
+            language_goal = self.lang_template.format(color=colors[i])
+            # Use p.getBasePositionAndOrientation() to get container pose dynamically
+            container_pose_tuple = p.getBasePositionAndOrientation(containers[i])
+            self.add_goal(
+                objs=[blocks[i]], 
+                matches=np.ones((1, 1)), 
+                targ_poses=[container_pose_tuple], 
+                replace=False,
+                rotations=True, 
+                metric='pose', 
+                params=None, 
+                step_max_reward=1.0 / len(blocks), 
+                language_goal=language_goal
+            )
+

prompts/topdown_task_generation_prompt/cliport_prompt_code_split_template.txt

@@ -292,6 +292,8 @@ CRITICAL FOR CONTAINER INSERTION TASKS:
 - Each object should have its own `add_goal()` with `targ_poses=[container_pose]` and `step_max_reward=1.0 / num_objects`
 - Example: For 2 objects in container, create 2 separate `add_goal()` calls, each with `step_max_reward=1.0 / 2`
 - Use `metric='pose'` for precise insertion, or `metric='zone'` with `params=[(container_pose, zone_size)]` for flexible placement
+- To get container pose dynamically, use `p.getBasePositionAndOrientation(container_id)` which returns `(position, orientation)` tuple
+- **CRITICAL FOR COLORS**: When using colors, ALWAYS use `color=utils.COLORS['red']` (RGB values), NEVER use `color='red'` (string). For color names in strings, use `'red'`, but for color parameter, use `utils.COLORS['red']`
 
 CRITICAL FOR SPIRAL PATTERNS:
 - For spiral patterns, you MUST use POLAR COORDINATES with increasing radius and varying angle

prompts/topdown_task_generation_prompt_simple/cliport_prompt_code_split_template.txt

@@ -290,6 +290,8 @@ CRITICAL FOR CONTAINER INSERTION TASKS:
 - Each object should have its own `add_goal()` with `targ_poses=[container_pose]` and `step_max_reward=1.0 / num_objects`
 - Example: For 2 objects in container, create 2 separate `add_goal()` calls, each with `step_max_reward=1.0 / 2`
 - Use `metric='pose'` for precise insertion, or `metric='zone'` with `params=[(container_pose, zone_size)]` for flexible placement
+- To get container pose dynamically, use `p.getBasePositionAndOrientation(container_id)` which returns `(position, orientation)` tuple
+- **CRITICAL FOR COLORS**: When using colors, ALWAYS use `color=utils.COLORS['red']` (RGB values), NEVER use `color='red'` (string). For color names in strings, use `'red'`, but for color parameter, use `utils.COLORS['red']`
 
 CRITICAL FOR SPIRAL PATTERNS:
 - For spiral patterns, you MUST use POLAR COORDINATES with increasing radius and varying angle

prompts/vanilla_task_generation_prompt/cliport_prompt_code_split_template.txt

@@ -284,6 +284,8 @@ CRITICAL FOR CONTAINER INSERTION TASKS:
 - Each object should have its own `add_goal()` with `targ_poses=[container_pose]` and `step_max_reward=1.0 / num_objects`
 - Example: For 2 objects in container, create 2 separate `add_goal()` calls, each with `step_max_reward=1.0 / 2`
 - Use `metric='pose'` for precise insertion, or `metric='zone'` with `params=[(container_pose, zone_size)]` for flexible placement
+- To get container pose dynamically, use `p.getBasePositionAndOrientation(container_id)` which returns `(position, orientation)` tuple
+- **CRITICAL FOR COLORS**: When using colors, ALWAYS use `color=utils.COLORS['red']` (RGB values), NEVER use `color='red'` (string). For color names in strings, use `'red'`, but for color parameter, use `utils.COLORS['red']`
 
 CRITICAL FOR SPIRAL PATTERNS:
 - For spiral patterns, you MUST use POLAR COORDINATES with increasing radius and varying angle