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import os
import numpy as np
from cliport.tasks import primitives
from cliport.tasks.task import Task
from cliport.utils import utils
import pybullet as p
class ManipulatingRope(Task):
"""rearrange a deformable rope such that it connects the two endpoints of a 3-sided square."""
def __init__(self):
super().__init__()
self.max_steps = 20
self.lang_template = "manipulate the rope to complete the square"
self.task_completed_desc = "done manipulating the rope."
self.additional_reset()
def reset(self, env):
super().reset(env)
n_parts = 20
radius = 0.005
length = 2 * radius * n_parts * np.sqrt(2)
# Add 3-sided square.
square_size = (length, length, 0)
square_pose = self.get_random_pose(env, square_size)
square_template = 'square/square-template.urdf'
# IMPORTANT: REPLACE THE TEMPLATE URDF with `fill_template`
replace = {'DIM': (length,), 'HALF': (np.float32(length) / 2 - 0.005,)}
urdf = self.fill_template(square_template, replace)
env.add_object(urdf, square_pose, 'fixed')
# compute corners
corner0 = (length / 2, length / 2, 0.001)
corner1 = (-length / 2, length / 2, 0.001)
corner_0 = utils.apply(square_pose, corner0)
corner_1 = utils.apply(square_pose, corner1)
# IMPORTANT: use `make_ropes` to add cable (series of articulated small blocks).
objects, targets, matches = self.make_ropes(env, corners=(corner_0, corner_1))
self.add_goal(objs=objects, matches=matches, targ_poses=targets, replace=False,
rotations=False, metric='pose', params=None, step_max_reward=1.)
self.lang_goals.append(self.lang_template)
for i in range(480):
p.stepSimulation()
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