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import numpy as np
from cliport.tasks.task import Task
from cliport.utils import utils
from cliport.tasks import primitives
from cliport.tasks.grippers import Spatula
class AlignRopeCrossZone(Task):
"""Align a deformable rope across the diagonal of a zone marked on the tabletop."""
def __init__(self):
super().__init__()
self.max_steps = 20
self.lang_template = "align the rope across the diagonal of a zone"
self.task_completed_desc = "done aligning."
self.additional_reset()
def reset(self, env):
super().reset(env)
# Add zone.
length = 0.12
zone_size = (length, length, 0.01)
zone_pose = self.get_random_pose(env, zone_size)
zone_urdf = 'zone/zone.urdf'
env.add_object(zone_urdf, zone_pose, 'fixed')
# Add rope.
rope_size = (length, 0.01, 0.01)
rope_pose = self.get_random_pose(env, rope_size)
corner1_pose = utils.apply(zone_pose, (length / 2, length / 2, 0.01))
corner2_pose = utils.apply(zone_pose, (-length / 2, -length / 2, 0.01))
rope_id, targets, matches = self.make_rope(env, (corner1_pose, corner2_pose), n_parts=10)
# Goal: rope is aligned with the diagonal of the zone.
self.add_goal(objs=rope_id, matches=matches, targ_poses=targets, replace=False,
rotations=False, metric='pose', params=None, step_max_reward=1, language_goal=self.lang_template)
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