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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 | |
| import numpy as np | |
| from cliport.tasks.task import Task | |
| from cliport.utils import utils | |
| import pybullet as p | |
| class BallInBowlObstacleCourse(Task): | |
| """Navigate through a maze of blocks, pick up balls of different colors and place them in the corresponding colored bowls.""" | |
| def __init__(self): | |
| super().__init__() | |
| self.max_steps = 20 | |
| self.lang_template = "navigate through the maze and place the {color} ball in the {color} bowl" | |
| self.task_completed_desc = "done placing balls in bowls." | |
| self.additional_reset() | |
| def reset(self, env): | |
| super().reset(env) | |
| # Add blocks to form a maze. | |
| block_size = (0.04, 0.04, 0.04) | |
| block_urdf = 'block/small.urdf' | |
| for _ in range(10): | |
| block_pose = self.get_random_pose(env, block_size) | |
| env.add_object(block_urdf, block_pose, category='fixed') | |
| # Add balls of different colors. | |
| ball_size = (0.04, 0.04, 0.04) | |
| ball_urdf = 'ball/ball-template.urdf' | |
| colors = ['red', 'blue', 'green', 'yellow'] | |
| balls = [] | |
| for color in colors: | |
| ball_pose = self.get_random_pose(env, ball_size) | |
| ball_id = env.add_object(ball_urdf, ball_pose, color=color) | |
| balls.append(ball_id) | |
| # Add bowls of different colors at different corners of the maze. | |
| bowl_size = (0.12, 0.12, 0) | |
| bowl_urdf = 'bowl/bowl.urdf' | |
| bowls = [] | |
| for color in colors: | |
| bowl_pose = self.get_random_pose(env, bowl_size) | |
| bowl_id = env.add_object(bowl_urdf, bowl_pose, color=color, category='fixed') | |
| bowls.append(bowl_id) | |
| # Goal: each ball is in the bowl of the same color. | |
| for i in range(len(balls)): | |
| self.add_goal(objs=[balls[i]], matches=np.ones((1, 1)), targ_poses=[p.getBasePositionAndOrientation(bowls[i])], replace=False, | |
| rotations=True, metric='pose', params=None, step_max_reward=1/len(balls)) | |
| self.lang_goals.append(self.lang_template.format(color=colors[i])) |