def _reset_platform_frontend(self):
"""Reset the platform frontend."""
# reset is not really possible
if self.platform is not None:
raise RuntimeError(
"Once started, this environment cannot be reset.")
self.platform = robot_fingers.TriFingerPlatformFrontend()
def main():
robot = robot_fingers.TriFingerPlatformFrontend()
while True:
action = robot_interfaces.trifinger.Action(
position=get_random_position())
for _ in range(1000):
t = robot.append_desired_action(action)
robot.wait_until_timeindex(t)
obs = robot.get_robot_observation(t)
print(obs.position)
def main():
# the difficulty level and the goal pose (as JSON string) are passed as
# arguments
difficulty = int(sys.argv[1])
goal_pose_json = sys.argv[2]
goal = json.loads(goal_pose_json)
print("Goal: %s/%s (difficulty: %d)" %
(goal["position"], goal["orientation"], difficulty))
# create the robot frontend
frontend = robot_fingers.TriFingerPlatformFrontend()
# move the robot
move_up_and_down(frontend, episode_length)
# It is possible to create custom files in "/output"
with open("/output/hello.txt", "w") as fh:
fh.write("Hello there!\n")
def reset(self):
# cannot reset multiple times
if self.platform is not None:
raise RuntimeError(
"Once started, this environment cannot be reset.")
self.platform = robot_fingers.TriFingerPlatformFrontend()
# if no goal is given, sample one randomly
if self.goal is None:
goal = task.sample_goal()
else:
goal = self.goal
self.goal_masks = task.generate_goal_mask(self.camera_params, goal)
self.info = {"time_index": -1}
# need to already do one step to get initial observation
# TODO disable frameskip here?
observation, _, _, _ = self.step(self._initial_action)
return observation