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| import numpy as np | |
| from cliport.tasks.task import Task | |
| from cliport.utils import utils | |
| class BuildCar(Task): | |
| """Construct a simple car structure using blocks and cylinders.""" | |
| def __init__(self): | |
| super().__init__() | |
| self.max_steps = 15 | |
| self.lang_template = "Construct a simple car structure using blocks and cylinders. " \ | |
| "Firstly, create the base of the car by positioning two red blocks side by side. " \ | |
| "Then, add the car body by stacking a blue block on top of the base. " \ | |
| "For the wheels, place a black cylinder on each side of the base blocks." | |
| self.task_completed_desc = "done building car." | |
| self.additional_reset() | |
| def reset(self, env): | |
| super().reset(env) | |
| car_pose = ((0.5, 0.0, 0.0), (0,0,0,1)) # fixed pose | |
| base_length = 0.04 | |
| self.add_corner_anchor_for_pose(env, car_pose) | |
| # Add base blocks. Use box template so that we can change its size. | |
| base_size = (0.02, 0.04, 0.02) | |
| base_block_urdf = "box/box-template.urdf" | |
| base_block_urdf = self.fill_template(base_block_urdf, {'DIM': base_size}) | |
| anchor_base_poses = [(utils.apply(car_pose, (base_length / 2, base_length / 2, 0.001)), car_pose[1]), | |
| (utils.apply(car_pose, (-base_length / 2, base_length / 2, 0.001)), car_pose[1])] | |
| base_blocks = [] | |
| for idx in range(2): | |
| base_block_pose = self.get_random_pose(env, base_size) | |
| base_block_id = env.add_object(base_block_urdf, base_block_pose, color=utils.COLORS['red']) | |
| base_blocks.append(base_block_id) | |
| # Add car body block. | |
| body_size = (0.04, 0.02, 0.02) # x, y, z dimensions for the asset size | |
| body_block_urdf = "box/box-template.urdf" | |
| body_block_urdf = self.fill_template(body_block_urdf, {'DIM': body_size}) | |
| body_block_pose = self.get_random_pose(env, body_size) | |
| body_block_id = env.add_object(body_block_urdf, body_block_pose, color=utils.COLORS['blue']) | |
| anchor_body_poses = [car_pose] | |
| wheel_length = 0.12 | |
| anchor_wheel_poses = [(utils.apply(car_pose, ( wheel_length / 2, wheel_length / 2, 0.001)), car_pose[1]), | |
| (utils.apply(car_pose, (-wheel_length / 2, wheel_length / 2, 0.001)), car_pose[1]), | |
| (utils.apply(car_pose, ( wheel_length / 2, -wheel_length / 2, 0.001)), car_pose[1]), | |
| (utils.apply(car_pose, (-wheel_length / 2, -wheel_length / 2, 0.001)), car_pose[1])] | |
| # Add wheels. | |
| wheel_size = (0.02, 0.02, 0.02) # x, y, z dimensions for the asset size | |
| wheel_urdf = 'cylinder/cylinder-template.urdf' | |
| wheel_urdf = self.fill_template(wheel_urdf, {'DIM': wheel_size}) | |
| wheels = [] | |
| for idx in range(4): | |
| wheel_pose = self.get_random_pose(env, wheel_size) | |
| wheel_id = env.add_object(wheel_urdf, wheel_pose, color=utils.COLORS['black']) | |
| wheels.append(wheel_id) | |
| # Goal: Firstly, create the base of the car by positioning two red blocks side by side. | |
| self.add_goal(objs=base_blocks, | |
| matches=np.ones((2, 2)), | |
| targ_poses=anchor_base_poses, | |
| replace=False, | |
| rotations=True, | |
| metric='pose', | |
| params=None, | |
| step_max_reward=1./3) | |
| self.lang_goals.append("Firstly, create the base of the car by positioning two red blocks side by side.") | |
| # Then, add the car body by stacking a blue block on top of the base. | |
| self.add_goal(objs=[body_block_id], | |
| matches=np.ones((1, 1)), | |
| targ_poses=anchor_body_poses, | |
| replace=False, | |
| rotations=True, | |
| metric='pose', | |
| params=None, | |
| step_max_reward=1./3) | |
| self.lang_goals.append("Then, add the car body by stacking a blue block on top of the base.") | |
| # For the wheels, place a black cylinder on each side of the base blocks. | |
| self.add_goal(objs=wheels, | |
| matches=np.ones((4, 4)), | |
| targ_poses=anchor_wheel_poses, | |
| replace=False, | |
| rotations=True, | |
| metric='pose', | |
| params=None, | |
| step_max_reward=1./3) | |
| self.lang_goals.append("For the wheels, place a black cylinder on each side of the base blocks.") | |