def _list_rearrange_envs(include_holdout=True, **kwargs):
rearrange_path = abspath(join(dirname(__file__), ".."))
# Load envs defined as python file.
for env_path in glob(join(rearrange_path, "*.py")):
if basename(env_path).startswith("__"):
continue
if basename(env_path) == "holdout.py":
# Don't load holdout env directly.
continue
if "shapenet" in env_path:
# We need to use small default mesh_scale for shapenet because objects are too big
# and this causes collision among objects and a robot.
shapenet_args = recursive_dict_update(
deepcopy(kwargs),
{"parameters": {
"simulation_params": {
"mesh_scale": 0.1
}
}},
)
yield load_env(env_path, **shapenet_args)
else:
yield load_env(env_path, **kwargs)
# Load holdout envs defined as jsonnet.
if include_holdout:
for env_path in glob(
join(rearrange_path, "holdouts/configs", "*.jsonnet")):
yield load_env(f"{env_path}::make_env", **kwargs)
def main(argv, teleoperate):
"""
examine.py is used to display environments.
\b
Example uses:
./examine.py dactyl/full_perpendicular.py : displays environment full_perpendicular from envs/dactyl/full_perpendicular.py
./examine.py rearrange/blocks.py --teleoperate : loads BlocksRearrangeEnv in teleoperate mode such that the robot can be teleoperated via the keyboard.
"""
names, kwargs = parse_arguments(argv)
assert len(names) == 1, "Expected a single argument for the environment."
env_name = names[0]
env, args_remaining = load_env(env_name, return_args_remaining=True, **kwargs)
assert env is not None, print(
'"{}" doesn\'t seem to be a valid environment'.format(env_name)
)
if teleoperate:
teleop_compatible = (
isinstance(env.unwrapped, RearrangeEnv)
and env.parameters.robot_control_params.is_tcp_controlled()
)
assert (
teleop_compatible
), "Teleoperation is only supported for rearrange environments with TCP control modes."
viewer = RobotControlViewer if teleoperate else EnvViewer
viewer(env).run()
def test_initial_states():
for holdout_env, max_speed, _ in HOLDOUT_ENVS:
path = os.path.join(ROOT_PATH, holdout_env)
env = load_env(path, starting_seed=0)
_test_static_stability(
env,
f"initial state for {holdout_env}",
max_object_speed_allowed=max_speed,
max_angular_speed_allowed=6.0,
)
def _test_materials(
test_cases: List,
max_object_speed_allowed: float = 0.1,
max_angular_speed: float = 0.05,
materials: List = None,
render: bool = False,
verbose: bool = False,
):
"""
Evaluates the stability of all test cases on all given materials (defaults to all available
materials).
"""
if not materials:
materials = ALL_MATERIALS
overall_max_speed = 0.0
overall_max_ang_speed = 0.0
for material, color in materials:
for test in test_cases:
path = os.path.join(ROOT_PATH, "physics_tests", "tmp_" + test)
if material:
parsed_material = f'(import "../../../materials/{material}")'
else:
parsed_material = "{}"
jsonnet = MATERIALS_JSONNET_TEMPLATE.format(
config_file=test, material=parsed_material, color=color
)
with open(path, "w") as f:
f.write(jsonnet)
env = load_env(path, starting_seed=0)
os.remove(path)
desc = f"material = {material} on test = {test}"
env_max_speed, env_max_ang_speed = _test_static_stability(
env,
desc,
max_object_speed_allowed,
max_angular_speed,
render=render,
verbose=verbose,
)
overall_max_speed = max(overall_max_speed, env_max_speed)
overall_max_ang_speed = max(overall_max_ang_speed, env_max_ang_speed)
if verbose:
print(f"\nMax object speed across all test cases = {overall_max_speed:.3f}")
print(
f"\nMax angular speed across all test cases = {overall_max_ang_speed:.3f}"
)
def test_goal_states():
for holdout_env, _, max_speed in HOLDOUT_ENVS:
fname = "tmp_" + holdout_env.split("/")[-1]
path = os.path.join(ROOT_PATH, fname)
jsonnet = GOAL_STATE_JSONNET_TEMPLATE.format(config_file=holdout_env)
with open(path, "w") as f:
f.write(jsonnet)
env = load_env(path, starting_seed=0)
os.remove(path)
_test_static_stability(
env,
f"goal state for {holdout_env}",
max_object_speed_allowed=max_speed,
max_angular_speed_allowed=6.0,
)