def load(self, task: Task) -> None:
"""Loads the task and positions at the centre of the workspace.
:param task: The task to load in the scene.
"""
task.load() # Load the task in to the scene
self._init_task_state = task.get_state()
self._active_task = task
self._has_init_task = self._has_init_episode = False
self._variation_index = 0
def load(self, task: Task) -> None:
"""Loads the task and positions at the centre of the workspace.
:param task: The task to load in the scene.
"""
task.load() # Load the task in to the scene
# Set at the centre of the workspace
task.get_base().set_position(self._workspace.get_position())
self._inital_task_state = task.get_state()
self._active_task = task
self._initial_task_pose = task.boundary_root().get_orientation()
self._has_init_task = self._has_init_episode = False
self._variation_index = 0
def task_smoke(task: Task,
scene: Scene,
variation=-1,
demos=4,
success=0.50,
max_variations=3,
test_demos=True):
# -1 variations for all.
print('Running task validator on task: %s' % task.get_name())
# Loading
scene.load(task)
# Number of variations
variation_count = task.variation_count()
if variation_count < 0:
raise TaskValidationError(
"The method 'variation_count' should return a number > 0.")
if variation_count > MAX_VARIATIONS:
raise TaskValidationError(
"This task had %d variations. Currently the limit is set to %d" %
(variation_count, MAX_VARIATIONS))
# Base rotation bounds
base_pos, base_ori = task.base_rotation_bounds()
if len(base_pos) != 3 or len(base_ori) != 3:
raise TaskValidationError(
"The method 'base_rotation_bounds' should return a tuple "
"containing a list of floats.")
# Boundary root
root = task.boundary_root()
if not root.still_exists():
raise TaskValidationError(
"The method 'boundary_root' should return a Dummy that is the root "
"of the task.")
def variation_smoke(i):
print('Running task validator on variation: %d' % i)
attempt_result = False
failed_demos = 0
for j in range(DEMO_ATTEMPTS):
failed_demos = run_demos(i)
attempt_result = (failed_demos / float(demos) <= 1. - success)
if attempt_result:
break
else:
print('Failed on attempt %d. Trying again...' % j)
# Make sure we don't fail too often
if not attempt_result:
raise TaskValidationError(
"Too many failed demo runs. %d of %d demos failed." %
(failed_demos, demos))
else:
print('Variation %d of task %s is good!' % (i, task.get_name()))
if test_demos:
print('%d of %d demos were successful.' %
(demos - failed_demos, demos))
def run_demos(variation_num):
fails = 0
for dr in range(demos):
try:
scene.reset()
desc = scene.init_episode(variation_num, max_attempts=10)
if not isinstance(desc, list) or len(desc) <= 0:
raise TaskValidationError(
"The method 'init_variation' should return a list of "
"string descriptions.")
if test_demos:
demo = scene.get_demo(record=True)
assert len(demo) > 0
except DemoError as e:
fails += 1
print(e)
except Exception as e:
# TODO: check that we don't fall through all of these cases
fails += 1
print(e)
return fails
variations_to_test = [variation]
if variation < 0:
variations_to_test = list(
range(np.minimum(variation_count, max_variations)))
# Task set-up
scene.init_task()
[variation_smoke(i) for i in variations_to_test]