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import numpy as np
from cliport.tasks.task import Task
from cliport.utils import utils
import random
import pybullet as p
class PutBlockInBowl(Task):
"""Place all blocks of a specified color in a bowl of specified color."""
def __init__(self):
super().__init__()
self.max_steps = 10
self.lang_template = "put the {pick} blocks in a {place} bowl"
self.task_completed_desc = "done placing blocks in bowls."
self.additional_reset()
def reset(self, env):
super().reset(env)
n_bowls = np.random.randint(1, 4)
n_blocks = np.random.randint(1, n_bowls + 1)
colors, selected_color_names = utils.get_colors(mode=self.mode, n_colors=2)
# Add bowls.
# x, y, z dimensions for the asset size
bowl_size = (0.12, 0.12, 0)
bowl_urdf = 'bowl/bowl.urdf'
bowl_poses = []
for _ in range(n_bowls):
bowl_pose = self.get_random_pose(env, bowl_size)
bowl_id = env.add_object(bowl_urdf, bowl_pose, category='fixed', color=colors[1])
bowl_poses.append(bowl_pose)
# Add blocks.
blocks = []
block_size = (0.04, 0.04, 0.04)
block_urdf = 'stacking/block.urdf'
for _ in range(n_blocks):
block_pose = self.get_random_pose(env, block_size)
block_id = env.add_object(block_urdf, block_pose, color=colors[0])
blocks.append(block_id)
# Goal: put each block in a different bowl.
self.add_goal(objs=blocks, matches=np.ones((len(blocks), len(bowl_poses))), targ_poses=bowl_poses, replace=False,
rotations=True, metric='pose', params=None, step_max_reward=1)
self.lang_goals.append(self.lang_template.format(pick=selected_color_names[0],
place=selected_color_names[1]))
# Only one mistake allowed.
self.max_steps = len(blocks) + 1
# Colors of distractor objects.
distractor_bowl_colors = [utils.COLORS[c] for c in utils.COLORS if c not in selected_color_names]
distractor_block_colors = [utils.COLORS[c] for c in utils.COLORS if c not in selected_color_names]
# Add distractors.
n_distractors = 0
max_distractors = 6
while n_distractors < max_distractors:
is_block = np.random.rand() > 0.5
urdf = block_urdf if is_block else bowl_urdf
size = block_size if is_block else bowl_size
colors = distractor_block_colors if is_block else distractor_bowl_colors
pose = self.get_random_pose(env, size)
color = colors[n_distractors % len(colors)]
obj_id = env.add_object(urdf, pose, color=color)
n_distractors += 1 |