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adf2e22 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | # -*- coding: utf-8 -*-
#
# @File: instruction_generator.py
# @Author: Haozhe Xie
# @Date: 2025-05-31 19:42:51
# @Last Modified by: Haozhe Xie
# @Last Modified at: 2026-01-11 20:40:43
# @Email: root@haozhexie.com
import json
import random
class InstructionGenerator:
@staticmethod
def generate_instruction(inst_metadata):
if isinstance(inst_metadata, str):
inst_metadata = json.loads(inst_metadata)
tmpl = InstructionGenerator._get_instruction_template(inst_metadata["task"])
object_desc = random.choice(inst_metadata.get("objects", [""]))
container_desc = random.choice(inst_metadata.get("containers", [""]))
return tmpl.format_map({"object": object_desc, "container": container_desc})
@staticmethod
def _get_instruction_template(task):
pick_action = random.choice(
["pick up", "grasp", "catch", "grab", "get hold of"]
)
place_action = random.choice(
["place on", "put on", "set on", "position on", "return to", "deposit in"]
)
if task == "pick":
return f"{pick_action} the {{object}}."
elif task in ["place", "long-horizon"]:
return f"{pick_action} the {{object}} and {place_action} the {{container}}."
else:
raise ValueError(f"Unknown task: {task}")
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