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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 random | |
| import pybullet as p | |
| class AlignRope(Task): | |
| """Manipulate a deformable rope to connect its end-points between two | |
| corners of a 3-sided square.""" | |
| def __init__(self): | |
| super().__init__() | |
| self.max_steps = 20 | |
| self.lang_template = "align the rope from {direction}" | |
| self.task_completed_desc = "done aligning 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' | |
| replace = {'DIM': (length,), 'HALF': (np.float32(length) / 2 - 0.005,)} | |
| # IMPORTANT: REPLACE THE TEMPLATE URDF | |
| urdf = self.fill_template(square_template, replace) | |
| env.add_object(urdf, square_pose, 'fixed') | |
| # Get four corner points of square. | |
| corner0 = ( length / 2, length / 2, 0.001) | |
| corner1 = (-length / 2, length / 2, 0.001) | |
| corner2 = ( length / 2, -length / 2, 0.001) | |
| corner3 = (-length / 2, -length / 2, 0.001) | |
| corner0 = utils.apply(square_pose, corner0) | |
| corner1 = utils.apply(square_pose, corner1) | |
| corner2 = utils.apply(square_pose, corner2) | |
| corner3 = utils.apply(square_pose, corner3) | |
| # Four possible alignment tasks. | |
| task_descs = [ | |
| ((corner0, corner1), "front left tip to front right tip"), | |
| ((corner0, corner2), "front right tip to back right corner"), | |
| ((corner1, corner3), "front left tip to back left corner"), | |
| ((corner3, corner2), "back right corner to back left corner") | |
| ] | |
| chosen_task = np.random.choice(len(task_descs), 1)[0] | |
| (corner_0, corner_1), direction = task_descs[chosen_task] | |
| # 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 += [self.lang_template.format(direction=direction)] * len(self.goals) | |
| # wait for the scene to settle down | |
| for i in range(480): | |
| p.stepSimulation() |