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| import numpy as np | |
| from cliport.tasks.task import Task | |
| from cliport.utils import utils | |
| import pybullet as p | |
| class StackBlockPyramid(Task): | |
| """Build a pyramid of colored blocks in a color sequence""" | |
| def __init__(self): | |
| super().__init__() | |
| self.max_steps = 12 | |
| self.lang_template = "make the {row} row with {blocks}" | |
| self.task_completed_desc = "done stacking block pyramid." | |
| self.additional_reset() | |
| def reset(self, env): | |
| super().reset(env) | |
| # Add base. | |
| base_size = (0.05, 0.15, 0.005) | |
| base_urdf = 'stacking/stand.urdf' | |
| base_pose = self.get_random_pose(env, base_size) | |
| env.add_object(base_urdf, base_pose, category='fixed') | |
| # Block colors. | |
| colors = [ | |
| utils.COLORS['purple'], utils.COLORS['blue'], utils.COLORS['green'], | |
| utils.COLORS['yellow'], utils.COLORS['orange'], utils.COLORS['red'] | |
| ] | |
| # Add blocks. | |
| block_size = (0.04, 0.04, 0.04) | |
| block_urdf = 'stacking/block.urdf' | |
| objs = [] | |
| for i in range(6): | |
| block_pose = self.get_random_pose(env, block_size) | |
| block_id = env.add_object(block_urdf, block_pose, color=colors[i]) | |
| objs.append(block_id) | |
| # IMPORTANT Associate placement locations for goals. | |
| place_pos = [(0, -0.05, 0.03), (0, 0, 0.03), | |
| (0, 0.05, 0.03), (0, -0.025, 0.08), | |
| (0, 0.025, 0.08), (0, 0, 0.13)] | |
| targs = [(utils.apply(base_pose, i), base_pose[1]) for i in place_pos] | |
| # Goal: blocks are stacked in a pyramid (bottom row: green, blue, purple). | |
| self.add_goal(objs=objs[:3], matches=np.ones((3, 3)), targ_poses=targs[:3], replace=False, | |
| rotations=True, metric='pose', params=None, step_max_reward=1 / 2, symmetries=[np.pi/2]*3) | |
| self.lang_goals.append(self.lang_template.format(blocks="the green, blue and purple blocks", | |
| row="bottom")) | |
| # Goal: blocks are stacked in a pyramid (middle row: yellow, orange). | |
| self.add_goal(objs=objs[3:5], matches=np.ones((2, 2)), targ_poses=targs[3:5], replace=False, | |
| rotations=True, metric='pose', params=None, step_max_reward=1 / 3, symmetries=[np.pi/2]*2) | |
| self.lang_goals.append(self.lang_template.format(blocks="the yellow and orange blocks", | |
| row="middle")) | |
| # Goal: blocks are stacked in a pyramid (top row: red). | |
| self.add_goal(objs=objs[5:], matches=np.ones((1, 1)), targ_poses=targs[5:], replace=False, | |
| rotations=True, metric='pose', params=None, step_max_reward=1 / 6, symmetries=[np.pi/2]*1) | |
| self.lang_goals.append(self.lang_template.format(blocks="the red block", | |
| row="top")) | |