add runner stereotype

task_gen_dependencies/task_generate.py

@@ -2,6 +2,8 @@
 
 import os
 import json
+from copy import copy, deepcopy
+
 import numpy as np
 from task_gen_dependencies.object import OmniObject
 from task_gen_dependencies.layout_object import LayoutObject
@@ -208,16 +210,31 @@ class OldTaskGenerator:
             self.layouts[key] = LayoutGenerator(ws, obj_infos, objects, key_ids, extra_ids, constraint=constraint,
                                                 fix_obj_ids=self.fix_obj_ids)
 
+        self.stand = {
+            "stand_type": "cylinder",
+            "stand_size_x": 0.1,
+            "stand_size_y": 0.1
+        }
+        if "robot" not in task_template:
+            self.robot_cfg = "A2D_120s.json"
+        else:
+            self.robot_cfg = task_template["robot"]["robot_cfg"]
+            if "stand" in task_template["robot"]:
+                self.stand = task_template["robot"]["stand"]
+
     def generate_tasks(self, save_path, task_num, task_name):
         os.makedirs(save_path, exist_ok=True)
 
         for i in range(task_num):
+            task_instance = deepcopy(self.task_template)
             output_file = os.path.join(save_path, f'{task_name}_%d.json' % (i))
-            self.task_template['objects'] = []
-            self.task_template['objects'] += self.fix_obj_infos
-            self.task_template['robot'] = {
+            task_instance['objects'] = []
+            task_instance['objects'] += self.fix_obj_infos
+            task_instance['robot'] = {
                 "init_position" : self.robot_init_pose["position"],
                 "init_rotation" : self.robot_init_pose["quaternion"],
+                "robot_cfg": self.robot_cfg,
+                "stand": self.stand,
             }
 
             flag_failed = False
@@ -228,11 +245,11 @@ class OldTaskGenerator:
                         flag_failed = True
                         break
                     continue
-                self.task_template['objects'] += obj_infos
+                task_instance['objects'] += obj_infos
             for object_info in self.obj_infos:
                 if object_info == 'fix_pose':
                     fix_pose_dict = self.obj_infos['fix_pose']
-                    self.task_template['objects'].append(fix_pose_dict)
+                    task_instance['objects'].append(fix_pose_dict)
                     break
             if flag_failed:
                 Log.warning(f"Failed to place key object, skipping")
@@ -240,6 +257,6 @@ class OldTaskGenerator:
 
             Log.info('Saved task json to %s' % output_file)
             with open(output_file, 'w') as f:
-                json.dump(self.task_template, f, indent=4)
+                json.dump(task_instance, f, indent=4)
 
 # -------------------------------------------------------------