def __init__(self, continuous=False):
"""Constructor.
Args:
continuous: Set to `True` if you want the continuous variant.
"""
self.continuous = continuous
self.ee = Suction
self.mode = 'train'
self.sixdof = False
if continuous:
self.primitive = primitives.PickPlaceContinuous()
else:
self.primitive = primitives.PickPlace()
self.oracle_cams = cameras.Oracle.CONFIG
# Evaluation epsilons (for pose evaluation metric).
self.pos_eps = 0.01
self.rot_eps = np.deg2rad(15)
# Workspace bounds.
self.pix_size = 0.003125
self.bounds = np.array([[0.25, 0.75], [-0.5, 0.5], [0, 0.3]])
self.goals = []
self.progress = 0
self._rewards = 0
self.assets_root = None
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
self.max_steps = 20
self.pos_eps = 0.02
if self.continuous:
self.primitive = primitives.PickPlaceContinuous(speed=0.001)
else:
self.primitive = primitives.PickPlace(height=0.02, speed=0.001)
def __init__(self):
self.ee = Suction
self.mode = 'train'
self.sixdof = False
self.primitive = primitives.PickPlace()
self.oracle_cams = cameras.Oracle.CONFIG
# Evaluation epsilons (for pose evaluation metric).
self.pos_eps = 0.01
self.rot_eps = np.deg2rad(15)
# Workspace bounds.
self.pix_size = 0.003125
self.bounds = np.array([[0.25, 0.75], [-0.5, 0.5], [0, 0.3]])
self.goals = []
self.progress = 0
self._rewards = 0
self.assets_root = None
def __init__(self): super().__init__() self.max_steps = 20 self.pos_eps = 0.02 self.primitive = primitives.PickPlace(height=0.02, speed=0.001)