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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 BuildHouse(Task):
"""Construct a house structure using blocks and a cylinder."""
def __init__(self):
super().__init__()
self.max_steps = 30
self.lang_template = "Construct a house structure using blocks and a cylinder. Begin by forming the base of the house with four red blocks arranged in a square shape. Then build the walls by stacking two blue blocks on top of each base block. Create a roof by placing two yellow blocks on the uppermost blue blocks, angled to form an apex. Finally, position a green cylinder in the center of the square created by the base blocks to represent a chimney."
self.task_completed_desc = "done building house."
self.additional_reset()
def reset(self, env):
super().reset(env)
# Add blocks for the base.
base_blocks = []
block_size = (0.04, 0.04, 0.04) # x, y, z dimensions for the block size
block_urdf = 'box/box-template.urdf'
for _ in range(4):
block_pose = self.get_random_pose(env, block_size)
base_block_urdf = self.fill_template(block_urdf, {'DIM': (0.06, 0.06, 0.04)})
block_id = env.add_object(base_block_urdf, block_pose, color=utils.COLORS['red'])
base_blocks.append(block_id)
# Add blocks for the walls.
wall_blocks = []
for _ in range(4):
block_pose = self.get_random_pose(env, block_size)
wall_block_urdf = self.fill_template(block_urdf, {'DIM': (0.04, 0.04, 0.04)})
block_id = env.add_object(wall_block_urdf, block_pose, color=utils.COLORS['blue'])
wall_blocks.append(block_id)
# Add blocks for the roof.
roof_blocks = []
for _ in range(2):
block_pose = self.get_random_pose(env, block_size)
roof_block_urdf = self.fill_template(block_urdf, {'DIM': (0.04, 0.1, 0.04)})
block_id = env.add_object(roof_block_urdf, block_pose, color=utils.COLORS['yellow'])
roof_blocks.append(block_id)
# Add cylinder for the chimney.
cylinder_template = 'cylinder/cylinder-template.urdf'
cylinder_size = (0.04,0.04,0.02)
replace = {'DIM': cylinder_size} # radius and height dimensions for the cylinder size
cylinder_urdf = self.fill_template(cylinder_template, replace)
cylinder_pose = self.get_random_pose(env, cylinder_size)
chimney_id = env.add_object(cylinder_urdf, cylinder_pose, color=utils.COLORS['green'])
# Define the target poses for the base, walls, roof, and chimney.
base_target_poses = [(0.7, -0.3, 0.02), (0.7, -0.2, 0.02), (0.6, -0.3, 0.02), (0.6, -0.2, 0.02)]
wall_target_poses = [(0.7, -0.3, 0.06), (0.7, -0.2, 0.06), (0.6, -0.3, 0.06), (0.6, -0.2, 0.06) ]
roof_target_poses = [(0.7, -0.25, 0.1), (0.6, -0.25, 0.1)]
chimney_target_pose = [(0.65, -0.2, 0.12)]
self.add_corner_anchor_for_pose(env, base_target_poses[0])
# Add goals for each step of the house construction.
# Break the language prompt step-by-step
self.add_goal(objs=base_blocks, matches=np.ones((4, 4)), targ_poses=base_target_poses, replace=False,
rotations=True, metric='pose', params=None, step_max_reward=1 / 4)
self.lang_goals.append("Construct a house structure using blocks and a cylinder. Begin by forming the base of the house with four red blocks arranged in a square shape.")
self.add_goal(objs=wall_blocks, matches=np.ones((4, 4)), targ_poses=wall_target_poses, replace=False,
rotations=True, metric='pose', params=None, step_max_reward=1 / 4)
self.lang_goals.append("Then build the walls by stacking two blue blocks on top of each base block. ")
self.add_goal(objs=roof_blocks, matches=np.ones((2, 2)), targ_poses=roof_target_poses, replace=False,
rotations=True, metric='pose', params=None, step_max_reward=1 / 4)
self.lang_goals.append("Create a roof by placing two yellow blocks on the uppermost blue blocks, angled to form an apex. ")
self.add_goal(objs=[chimney_id], matches=np.ones((1, 1)), targ_poses=chimney_target_pose, replace=False,
rotations=True, metric='pose', params=None, step_max_reward=1 / 4)
self.lang_goals.append("Finally, position a green cylinder in the center of the square created by the base blocks to represent a chimney.")
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