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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.") | |