32 lines
1022 B
Markdown
32 lines
1022 B
Markdown
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Basic code structure for the task:
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```python
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from .base_task import Base_task
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from .utils import *
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import sapien
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class ${task_name}(Base_task):
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def setup_demo(self, **kwargs):
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super()._init(**kwargs, table_static=True)
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self.create_table_and_wall()
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self.load_robot()
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self.setup_planner()
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self.load_camera(kwargs.get('camera_w', 640), kwargs.get('camera_h', 480))
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self.pre_move()
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self.load_actors(f"./task_config/scene_info/{self.task_name[4:]}.json")
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def pre_move(self):
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render_freq = self.render_freq
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self.render_freq = 0
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self.together_open_gripper(save_freq=None)
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self.render_freq = render_freq
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def play_once(self):
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pass
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# Check success
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def check_success(self):
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...
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```
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In the code above, `{task_name}` should match the name of the basic code file, and the `check_success()` function is used to determine if the task is successful. No changes are needed for the rest of the code.
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