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 make_arm(obs_settings):
"""Constructs a robot arm with manipulation-specific defaults.
Args:
obs_settings: `observations.ObservationSettings` instance.
Returns:
An instance of `manipulators.base.RobotArm`.
"""
return kinova.JacoArm(observable_options=observations.make_options(
obs_settings, observations.JACO_ARM_OBSERVABLES))
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 make_hand(obs_settings):
"""Constructs a robot hand with manipulation-specific defaults.
Args:
obs_settings: `observations.ObservationSettings` instance.
Returns:
An instance of `manipulators.base.RobotHand`.
"""
return kinova.JacoHand(use_pinch_site_as_tcp=True,
observable_options=observations.make_options(
obs_settings,
observations.JACO_HAND_OBSERVABLES))
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 _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 __init__(self, arena, arm, hand, num_bricks, obs_settings, workspace,
control_timestep):
if not 2 <= num_bricks <= 6:
raise ValueError(
'`num_bricks` must be between 2 and 6, got {}.'.format(
num_bricks))
if num_bricks > 3:
# The default values computed by MuJoCo's compiler are too small if there
# are more than three stacked bricks, since each stacked pair generates
# a large number of contacts. The values below are sufficient for up to
# 6 stacked bricks.
# TODO(b/78331644): It may be useful to log the size of `physics.model`
# and `physics.data` after compilation to gauge the
# impact of these changes on MuJoCo's memory footprint.
arena.mjcf_model.size.nconmax = 400
arena.mjcf_model.size.njmax = 1200
self._arena = arena
self._arm = arm
self._hand = hand
self._arm.attach(self._hand)
self._arena.attach_offset(self._arm, offset=workspace.arm_offset)
self.control_timestep = control_timestep
# Add custom camera observable.
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE)
color_sequence = iter(_COLOR_VALUES)
brick_obs_options = observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES)
bricks = []
brick_frames = []
goal_hint_bricks = []
for _ in range(num_bricks):
color = next(color_sequence)
brick = props.Duplo(color=color,
observable_options=brick_obs_options)
brick_frames.append(arena.add_free_entity(brick))
bricks.append(brick)
# Translucent, contactless brick with no observables. These are used to
# provide a visual hint representing the goal state for each task.
hint_brick = props.Duplo(color=color)
_hintify(hint_brick, alpha=_HINT_ALPHA)
arena.attach(hint_brick)
goal_hint_bricks.append(hint_brick)
self._bricks = bricks
self._brick_frames = brick_frames
self._goal_hint_bricks = goal_hint_bricks
# Position and quaternion for the goal hint.
self._goal_hint_pos = workspace.goal_hint_pos
self._goal_hint_quat = workspace.goal_hint_quat
self._tcp_initializer = initializers.ToolCenterPointInitializer(
self._hand,
self._arm,
position=distributions.Uniform(*workspace.tcp_bbox),
quaternion=workspaces.DOWN_QUATERNION)
# Add sites for visual debugging.
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.tcp_bbox.lower,
upper=workspace.tcp_bbox.upper,
rgba=constants.GREEN,
name='tcp_spawn_area')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.prop_bbox.lower,
upper=workspace.prop_bbox.upper,
rgba=constants.BLUE,
name='prop_spawn_area')
