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import numpy as np
from cliport.tasks.task import Task
from cliport.utils import utils
class BuildCar(Task):
"""Construct a simple car structure using blocks and cylinders."""
def __init__(self):
super().__init__()
self.max_steps = 15
self.lang_template = "Construct a simple car structure using blocks and cylinders. " \
"Firstly, create the base of the car by positioning two red blocks side by side. " \
"Then, add the car body by stacking a blue block on top of the base. " \
"For the wheels, place a black cylinder on each side of the base blocks."
self.task_completed_desc = "done building car."
self.additional_reset()
def reset(self, env):
super().reset(env)
car_pose = ((0.5, 0.0, 0.0), (0,0,0,1)) # fixed pose
base_length = 0.04
self.add_corner_anchor_for_pose(env, car_pose)
# Add base blocks. Use box template so that we can change its size.
base_size = (0.02, 0.04, 0.02)
base_block_urdf = "box/box-template.urdf"
base_block_urdf = self.fill_template(base_block_urdf, {'DIM': base_size})
anchor_base_poses = [(utils.apply(car_pose, (base_length / 2, base_length / 2, 0.001)), car_pose[1]),
(utils.apply(car_pose, (-base_length / 2, base_length / 2, 0.001)), car_pose[1])]
base_blocks = []
for idx in range(2):
base_block_pose = self.get_random_pose(env, base_size)
base_block_id = env.add_object(base_block_urdf, base_block_pose, color=utils.COLORS['red'])
base_blocks.append(base_block_id)
# Add car body block.
body_size = (0.04, 0.02, 0.02) # x, y, z dimensions for the asset size
body_block_urdf = "box/box-template.urdf"
body_block_urdf = self.fill_template(body_block_urdf, {'DIM': body_size})
body_block_pose = self.get_random_pose(env, body_size)
body_block_id = env.add_object(body_block_urdf, body_block_pose, color=utils.COLORS['blue'])
anchor_body_poses = [car_pose]
wheel_length = 0.12
anchor_wheel_poses = [(utils.apply(car_pose, ( wheel_length / 2, wheel_length / 2, 0.001)), car_pose[1]),
(utils.apply(car_pose, (-wheel_length / 2, wheel_length / 2, 0.001)), car_pose[1]),
(utils.apply(car_pose, ( wheel_length / 2, -wheel_length / 2, 0.001)), car_pose[1]),
(utils.apply(car_pose, (-wheel_length / 2, -wheel_length / 2, 0.001)), car_pose[1])]
# Add wheels.
wheel_size = (0.02, 0.02, 0.02) # x, y, z dimensions for the asset size
wheel_urdf = 'cylinder/cylinder-template.urdf'
wheel_urdf = self.fill_template(wheel_urdf, {'DIM': wheel_size})
wheels = []
for idx in range(4):
wheel_pose = self.get_random_pose(env, wheel_size)
wheel_id = env.add_object(wheel_urdf, wheel_pose, color=utils.COLORS['black'])
wheels.append(wheel_id)
# Goal: Firstly, create the base of the car by positioning two red blocks side by side.
self.add_goal(objs=base_blocks,
matches=np.ones((2, 2)),
targ_poses=anchor_base_poses,
replace=False,
rotations=True,
metric='pose',
params=None,
step_max_reward=1./3)
self.lang_goals.append("Firstly, create the base of the car by positioning two red blocks side by side.")
# Then, add the car body by stacking a blue block on top of the base.
self.add_goal(objs=[body_block_id],
matches=np.ones((1, 1)),
targ_poses=anchor_body_poses,
replace=False,
rotations=True,
metric='pose',
params=None,
step_max_reward=1./3)
self.lang_goals.append("Then, add the car body by stacking a blue block on top of the base.")
# For the wheels, place a black cylinder on each side of the base blocks.
self.add_goal(objs=wheels,
matches=np.ones((4, 4)),
targ_poses=anchor_wheel_poses,
replace=False,
rotations=True,
metric='pose',
params=None,
step_max_reward=1./3)
self.lang_goals.append("For the wheels, place a black cylinder on each side of the base blocks.")
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