def _edit_new_task(self):
task_file = input('What task would you like to edit?\n')
if len(task_file) > 3 and task_file[-3:] != '.py':
task_file += '.py'
try:
task_class = name_to_task_class(task_file)
except:
print('There was no task named: %s. '
'Would you like to create it?' % task_file)
inp = input()
if inp == 'y':
self._create_python_file(task_file)
task_class = name_to_task_class(task_file)
else:
print('Pick a defined task in that case...')
task_class, task_file = self._edit_new_task()
return task_class, task_file
def reload_python(self):
try:
task_class = name_to_task_class(self.task_file)
except Exception as e:
print_fail('The python file could not be loaded!')
traceback.print_exc()
return None, None
self.task = task_class(self.pr, self.robot) # task constructor
self.scene.load(self.task)
from gym.envs.registration import register
import rlbench.backend.task as task
import os
from rlbench.utils import name_to_task_class
from rlbench.gym.rlbench_env import RLBenchEnv
TASKS = [
t for t in os.listdir(task.TASKS_PATH)
if t != '__init__.py' and t.endswith('.py')
]
for task_file in TASKS:
task_name = task_file.split('.py')[0]
task_class = name_to_task_class(task_name)
register(id='%s-state-v0' % task_name,
entry_point='rlbench.gym:RLBenchEnv',
kwargs={
'task_class': task_class,
'observation_mode': 'state'
})
register(id='%s-vision-v0' % task_name,
entry_point='rlbench.gym:RLBenchEnv',
kwargs={
'task_class': task_class,
'observation_mode': 'vision'
})
register(id='%s-visiondepth-v0' % task_name,
entry_point='rlbench.gym:RLBenchEnv',
kwargs={
'task_class': task_class,
'observation_mode': 'visiondepth',
