def _reach(obs_settings, use_site):
"""Configure and instantiate a `Reach` task.
Args:
obs_settings: An `observations.ObservationSettings` instance.
use_site: Boolean, if True then the target will be a fixed site, otherwise
it will be a moveable Duplo brick.
Returns:
An instance of `reach.Reach`.
"""
arena = arenas.Standard()
arm = robots.make_arm(obs_settings=obs_settings)
hand = robots.make_hand(obs_settings=obs_settings)
if use_site:
workspace = _SITE_WORKSPACE
prop = None
else:
workspace = _DUPLO_WORKSPACE
prop = props.Duplo(observable_options=observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES))
task = Reach(arena=arena,
arm=arm,
hand=hand,
prop=prop,
obs_settings=obs_settings,
workspace=workspace,
control_timestep=constants.CONTROL_TIMESTEP)
return task
def _reassemble(obs_settings, num_bricks, randomize_initial_order,
randomize_desired_order):
"""Configure and instantiate a `Reassemble` task.
Args:
obs_settings: `observations.ObservationSettings` instance.
num_bricks: The total number of bricks; must be between 2 and 6.
randomize_initial_order: Boolean specifying whether to randomize the
initial order of bricks in the stack at the start of each episode.
randomize_desired_order: Boolean specifying whether to independently
randomize the desired order of bricks in the stack at the start of each
episode. By default the desired order will be the reverse of the initial
order, with the exception of the base brick which is always the same as
in the initial order since it is welded in place.
Returns:
An instance of `Reassemble`.
"""
arena = arenas.Standard()
arm = robots.make_arm(obs_settings=obs_settings)
hand = robots.make_hand(obs_settings=obs_settings)
return Reassemble(arena=arena,
arm=arm,
hand=hand,
num_bricks=num_bricks,
randomize_initial_order=randomize_initial_order,
randomize_desired_order=randomize_desired_order,
obs_settings=obs_settings,
workspace=_WORKSPACE,
control_timestep=constants.CONTROL_TIMESTEP)
def _reach(obs_settings, use_site, evalenv=False):
"""Configure and instantiate a `Reach` task.
Args:
obs_settings: An `observations.ObservationSettings` instance.
use_site: Boolean, if True then the target will be a fixed site, otherwise
it will be a moveable Duplo brick.
Returns:
An instance of `reach.Reach`.
"""
arena = arenas.Standard()
arm = robots.make_arm(obs_settings=obs_settings)
hand = robots.make_hand(obs_settings=obs_settings)
if use_site:
workspace = _SITE_WORKSPACE
prop = None
else:
workspace = _DUPLO_WORKSPACE
prop = props.Duplo(observable_options=observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES))
env_randomizer = EnvRandomizer()
table_col_tag = random.choice(list(env_randomizer.table_tags.values()))
table_env_col_tag = random.choice(
list(env_randomizer.table_eval_tags.values()))
sky_col_tag = random.choice(list(env_randomizer.sky_tags.values()))
if evalenv:
task = ReachEval(arena=arena,
arm=arm,
hand=hand,
prop=prop,
obs_settings=obs_settings,
workspace=workspace,
control_timestep=constants.CONTROL_TIMESTEP,
table_col_tag=table_env_col_tag)
else:
task = Reach(arena=arena,
arm=arm,
hand=hand,
prop=prop,
obs_settings=obs_settings,
workspace=workspace,
control_timestep=constants.CONTROL_TIMESTEP,
table_col_tag=table_col_tag,
sky_col_tag=sky_col_tag)
mod_id = str(table_col_tag) + str(sky_col_tag) + str(
random.randint(10, 1000))
return task, mod_id
def _lift(obs_settings, prop_name):
"""Configure and instantiate a Lift task.
Args:
obs_settings: `observations.ObservationSettings` instance.
prop_name: The name of the prop to be lifted. Must be either 'duplo' or
'box'.
Returns:
An instance of `lift.Lift`.
Raises:
ValueError: If `prop_name` is neither 'duplo' nor 'box'.
"""
arena = arenas.Standard()
arm = robots.make_arm(obs_settings=obs_settings)
hand = robots.make_hand(obs_settings=obs_settings)
if prop_name == 'duplo':
workspace = _DUPLO_WORKSPACE
prop = _DuploWithVertexSites(
observable_options=observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES))
elif prop_name == 'box':
workspace = _BOX_WORKSPACE
# NB: The box is intentionally too large to pick up with a pinch grip.
prop = _BoxWithVertexSites(
size=[_BOX_SIZE] * 3,
observable_options=observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES))
prop.geom.mass = _BOX_MASS
else:
raise ValueError('`prop_name` must be either \'duplo\' or \'box\'.')
task = Lift(arena=arena,
arm=arm,
hand=hand,
prop=prop,
workspace=workspace,
obs_settings=obs_settings,
control_timestep=constants.CONTROL_TIMESTEP)
return task
def _push(obs_settings):
"""Configure and instantiate a `Push` task.
Args:
obs_settings: An `observations.ObservationSettings` instance.
Returns:
An instance of `push.Push`.
"""
arena = arenas.Standard()
arm = robots.make_arm(obs_settings=obs_settings)
hand = robots.make_hand(obs_settings=obs_settings)
workspace = _DUPLO_WORKSPACE
prop = props.Duplo(observable_options=observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES))
task = Push(arena=arena,
arm=arm,
hand=hand,
prop=prop,
obs_settings=obs_settings,
workspace=workspace,
control_timestep=constants.CONTROL_TIMESTEP)
return task
def _place(obs_settings, cradle_prop_name):
"""Configure and instantiate a Place task.
Args:
obs_settings: `observations.ObservationSettings` instance.
cradle_prop_name: The name of the prop onto which the Duplo brick must be
placed. Must be either 'duplo' or 'cradle'.
Returns:
An instance of `Place`.
Raises:
ValueError: If `prop_name` is neither 'duplo' nor 'cradle'.
"""
arena = arenas.Standard()
arm = robots.make_arm(obs_settings=obs_settings)
hand = robots.make_hand(obs_settings=obs_settings)
prop = props.Duplo(observable_options=observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES))
if cradle_prop_name == 'duplo':
cradle = props.Duplo()
elif cradle_prop_name == 'cradle':
cradle = SphereCradle()
else:
raise ValueError(
'`cradle_prop_name` must be either \'duplo\' or \'cradle\'.')
task = Place(arena=arena,
arm=arm,
hand=hand,
prop=prop,
obs_settings=obs_settings,
workspace=_WORKSPACE,
control_timestep=constants.CONTROL_TIMESTEP,
cradle=cradle)
return task
def _stack(obs_settings,
num_bricks,
moveable_base,
randomize_order,
target_height=None):
"""Configure and instantiate a Stack task.
Args:
obs_settings: `observations.ObservationSettings` instance.
num_bricks: The total number of bricks; must be between 2 and 6.
moveable_base: Boolean specifying whether or not the bottom brick should
be moveable.
randomize_order: Boolean specifying whether to randomize the desired order
of bricks in the stack at the start of each episode.
target_height: The target number of bricks in the stack in order to get
maximum reward. Must be between 2 and `num_bricks`. Defaults to
`num_bricks`.
Returns:
An instance of `Stack`.
"""
if target_height is None:
target_height = num_bricks
arena = arenas.Standard()
arm = robots.make_arm(obs_settings=obs_settings)
hand = robots.make_hand(obs_settings=obs_settings)
return Stack(arena=arena,
arm=arm,
hand=hand,
num_bricks=num_bricks,
target_height=target_height,
moveable_base=moveable_base,
randomize_order=randomize_order,
obs_settings=obs_settings,
workspace=_WORKSPACE,
control_timestep=constants.CONTROL_TIMESTEP)
