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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 AlignRopeAlongLine(Task):
"""Align a deformable rope along a straight line marked on the tabletop."""
def __init__(self):
super().__init__()
self.max_steps = 20
self.lang_template = "align the rope along the line"
self.task_completed_desc = "done aligning."
self.additional_reset()
def reset(self, env):
super().reset(env)
# Add line.
length = np.random.uniform(0.18, 0.25)
line_size = (length, 0.01, 0.01)
line_pose = self.get_random_pose(env, line_size)
line_template = 'line/line-template.urdf'
replace = {'DIM': line_size, 'HALF': (line_size[0] / 2, line_size[1] / 2, line_size[2] / 2)}
line_urdf = self.fill_template(line_template, replace)
env.add_object(line_urdf, line_pose, 'fixed')
# Add rope.
rope_size = (length, 0.01, 0.01)
rope_pose = self.get_random_pose(env, rope_size)
corner1_pose = utils.apply(line_pose, (length / 2, 0.01, 0.01))
corner2_pose = utils.apply(line_pose, (-length / 2, 0.01, 0.01))
rope_id, targets, matches = self.make_rope(env, (corner1_pose, corner2_pose), n_parts=15)
# Goal: rope is aligned with the line.
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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