def get_gt_embs(self):
asset_path = osp.join(osp.dirname(osp.realpath(__file__)),
'assets/stl')
polys, _, _ = gen_polys(asset_path)
all_types = list(set([p.ply for p in polys]))
one_hots = {}
for i, t in enumerate(all_types):
one_hot = np.zeros(len(all_types))
one_hot[i] = 1.0
one_hots[t] = one_hot
gt = []
for p in polys:
gt.append([p.scale, *p.angle, *one_hots[p.ply]])
return torch.Tensor(gt)
def __init__(self,
placement2d=False,
render_freq=25,
min_steps=10,
max_steps=100,
asset_path='assets/stl/',
episode_steps=EPISODE_STEPS,
default_extra_ratio=DEFAULT_EXTRA_RATIO):
super().__init__()
self.render_freq = render_freq
self.min_steps = min_steps
self.max_steps = max_steps
self.max_episode_steps = episode_steps
self.default_extra = max_steps * default_extra_ratio
# Set to 0 in reset
self.cur_episode_step = None
self.num_penalty = 0
self.prev_height = 0.0
if not placement2d:
self.take_action_dims = 2
else:
self.take_action_dims = 1
self.placement2d = placement2d
self.debug_log = False
self.is_fig_mode = False
self.asset_path = osp.join(osp.dirname(osp.realpath(__file__)),
asset_path)
self.all_polygons, self.shape_names, self.polygon_types = gen_polys(
self.asset_path)
self._log('with %i polygons' % len(self.all_polygons))
self.placed_objs = []
self.sim = None
self.viewer = None
self._init_scene(None)
self.high_render = False
self.high_render_dim = DEF_LARGE_RENDER_DIM
self.observation_space = spaces.Box(low=0.0,
high=255.0,
shape=(SMALL_RENDER_DIM,
SMALL_RENDER_DIM, 3),
dtype=np.float32)
def __init__(self,
render_freq=25,
max_steps=100,
asset_path='assets/stl/',
episode_steps=EPISODE_STEPS):
super().__init__()
self.render_freq = render_freq
self.max_steps = max_steps
self.max_episode_steps = episode_steps
# Set to 0 in reset
self.cur_episode_step = None
self.num_penalty = 0
self.noop = 0
self.prev_height = 0.0
# The prev height to keep track of for the render that is not set to 0
# with the episode reset.
self.render_height = 0.0
self.debug_log = False
self.asset_path = osp.join(osp.dirname(osp.realpath(__file__)),
asset_path)
self.all_polygons, self.shape_names, self.polygon_types = gen_polys(
self.asset_path)
self._log('with %i polygons' % len(self.all_polygons))
self.placed_objs = []
self.sim = None
self.viewer = None
self.usable_objs = []
self.high_render = False
self.high_render_dim = DEF_LARGE_RENDER_DIM
self.observation_space = spaces.Box(low=0.0,
high=255.0,
shape=(SMALL_RENDER_DIM,
SMALL_RENDER_DIM, 3),
dtype=np.float32)
def get_env_option_names(self):
all_polygons, _, _ = gen_polys('envs/block_stack/assets/stl/')
indv_labels = [p.type for p in all_polygons]
label_list = sorted(list(set(indv_labels)))
return indv_labels, label_list
def __init__(self, asset_path='assets/stl'):
self.asset_path = osp.join(osp.dirname(
osp.realpath(__file__)), asset_path)
self.all_polygons, self.shape_names, self.polygon_types = gen_polys(self.asset_path)
self.observation_space = spaces.Box(low=0.0, high=255.0,
shape=(SMALL_RENDER_DIM, SMALL_RENDER_DIM, 3), dtype=np.float32)