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import os
import numpy as np
from cliport.tasks.task import Task
from cliport.utils import utils
class AssemblingKits(Task):
"""pick up different objects and arrange them on a board marked with corresponding silhouettes."""
def __init__(self):
super().__init__()
self.max_steps = 10
self.homogeneous = False
self.lang_template = "put all the blocks inside the holes they fit in"
self.task_completed_desc = "done assembling blocks."
self.additional_reset()
def reset(self, env):
super().reset(env)
# Add kit.
kit_size = (0.28, 0.2, 0.005)
kit_urdf = 'kitting/kit.urdf'
kit_pose = self.get_random_pose(env, kit_size)
env.add_object(kit_urdf, kit_pose, 'fixed')
n_objects = 5
obj_shapes = self.get_kitting_shapes(n_objects)
colors = [
utils.COLORS['purple'], utils.COLORS['blue'], utils.COLORS['green'],
utils.COLORS['yellow'], utils.COLORS['red']
]
# Build kit.
targets = []
targ_pos = [[-0.09, 0.045, 0.0014], [0, 0.045, 0.0014],
[0.09, 0.045, 0.0014], [-0.045, -0.045, 0.0014],
[0.045, -0.045, 0.0014]]
template = 'kitting/object-template.urdf'
for i in range(n_objects):
shape = os.path.join(self.assets_root, 'kitting',
f'{obj_shapes[i]:02d}.obj')
scale = [0.003, 0.003, 0.0001] # .0005
pos = utils.apply(kit_pose, targ_pos[i])
theta = np.random.rand() * 2 * np.pi
rot = utils.eulerXYZ_to_quatXYZW((0, 0, theta))
replace = {'FNAME': (shape,), 'SCALE': scale, 'COLOR': [0.2, 0.2, 0.2]}
# IMPORTANT: REPLACE THE TEMPLATE URDF
urdf = self.fill_template(template, replace)
env.add_object(urdf, (pos, rot), 'fixed')
targets.append((pos, rot))
# Add objects.
objects, matches = self.make_kitting_objects(env, targets=targets, obj_shapes=obj_shapes, n_objects=n_objects, colors=colors)
matches = np.int32(matches)
self.add_goal(objs=objects, matches=matches, targ_poses=targets, replace=False,
rotations=True, metric='pose', params=None, step_max_reward=1, language_goal=self.lang_template)
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