def test_run_task_validator(self):
for task_file in TASKS:
test_name = task_file.split('.py')[0]
with self.subTest(task=test_name):
if test_name in FLAKY_TASKS:
self.skipTest('Flaky task.')
sim = PyRep()
ttt_file = os.path.join(
DIR_PATH, '..', '..', 'rlbench', TTT_FILE)
sim.launch(ttt_file, headless=True)
sim.step_ui()
sim.set_simulation_timestep(50.0)
sim.step_ui()
sim.start()
robot = Robot(Panda(), PandaGripper())
obs = ObservationConfig()
obs.set_all(False)
scene = Scene(sim, robot, obs)
sim.start()
task_class = task_file_to_task_class(task_file)
active_task = task_class(sim, robot)
try:
task_smoke(active_task, scene, variation=-1,
max_variations=2, success=0.25)
except Exception as e:
sim.stop()
sim.shutdown()
raise e
sim.stop()
sim.shutdown()
def main(argv):
task_files = [t.replace('.py', '') for t in os.listdir(task.TASKS_PATH)
if t != '__init__.py' and t.endswith('.py')]
if len(FLAGS.tasks) > 0:
for t in FLAGS.tasks:
if t not in task_files:
raise ValueError('Task %s not recognised!.' % t)
task_files = FLAGS.tasks
tasks = [task_file_to_task_class(t) for t in task_files]
manager = Manager()
result_dict = manager.dict()
file_lock = manager.Lock()
task_index = manager.Value('i', 0)
variation_count = manager.Value('i', 0)
lock = manager.Lock()
check_and_make(FLAGS.save_path)
processes = [Process(
target=run, args=(
i, lock, task_index, variation_count, result_dict, file_lock,
tasks))
for i in range(FLAGS.processes)]
[t.start() for t in processes]
[t.join() for t in processes]
print('Data collection done!')
for i in range(FLAGS.processes):
print(result_dict[i])
def main(argv):
obs_config = ObservationConfig(record_gripper_closing=True)
obs_config.set_all(False)
vrc = rand_every = None
frequency = 0
if FLAGS.domain_randomization:
vrc = VisualRandomizationConfig(FLAGS.textures_path)
rand_every = RandomizeEvery.TRANSITION
frequency = 10
env = Environment(ActionMode(), obs_config=obs_config,
randomize_every=rand_every, frequency=frequency,
visual_randomization_config=vrc, headless=FLAGS.headless)
env.launch()
# Add the camera to the scene
cam_placeholder = Dummy('cam_cinematic_placeholder')
cam = VisionSensor.create(FLAGS.camera_resolution)
cam.set_pose(cam_placeholder.get_pose())
cam.set_parent(cam_placeholder)
cam_motion = CircleCameraMotion(cam, Dummy('cam_cinematic_base'), 0.005)
tr = TaskRecorder(env, cam_motion, fps=30)
if len(FLAGS.tasks) > 0:
task_names = FLAGS.tasks
else:
task_names = [t.split('.py')[0] for t in os.listdir(TASKS_PATH)
if t != '__init__.py' and t.endswith('.py')]
task_classes = [task_file_to_task_class(
task_file) for task_file in task_names]
for i, (name, cls) in enumerate(zip(task_names, task_classes)):
good = tr.record_task(cls)
if FLAGS.individual and good:
tr.save(os.path.join(FLAGS.save_dir, '%s.avi' % name))
if not FLAGS.individual:
tr.save(os.path.join(FLAGS.save_dir, 'recorded_tasks.avi'))
env.shutdown()
# Task set-up
scene.init_task()
[variation_smoke(i) for i in variations_to_test]
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument("task", help="The task file to test.")
args = parser.parse_args()
python_file = os.path.join(TASKS_PATH, args.task)
if not os.path.isfile(python_file):
raise RuntimeError('Could not find the task file: %s' % python_file)
task_class = task_file_to_task_class(args.task)
DIR_PATH = os.path.dirname(os.path.abspath(__file__))
sim = PyRep()
ttt_file = os.path.join(DIR_PATH, '..', 'rlbench', TTT_FILE)
sim.launch(ttt_file, headless=True)
sim.step_ui()
sim.set_simulation_timestep(0.005)
sim.step_ui()
sim.start()
robot = Robot(Panda(), PandaGripper())
active_task = task_class(sim, robot)
obs = ObservationConfig()
obs.set_all(False)