mani_skill.envs.tasks.digital_twins.bridge_dataset_eval

Submodules

• mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.base_env
• mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.put_on_in_scene

Classes

PutCarrotOnPlateInScene	Base Digital Twin environment for digital twins of the BridgeData v2
PutEggplantInBasketScene	Base Digital Twin environment for digital twins of the BridgeData v2
PutSpoonOnTableClothInScene	Base Digital Twin environment for digital twins of the BridgeData v2
StackGreenCubeOnYellowCubeBakedTexInScene	Base Digital Twin environment for digital twins of the BridgeData v2

Package Contents

class mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.PutCarrotOnPlateInScene(**kwargs)

Bases: mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.base_env.BaseBridgeEnv

Base Digital Twin environment for digital twins of the BridgeData v2

evaluate()

Evaluate whether the environment is currently in a success state by returning a dictionary with a “success” key or a failure state via a “fail” key

This function may also return additional data that has been computed (e.g. is the robot grasping some object) that may be reused when generating observations and rewards.

By default if not overriden this function returns an empty dictionary

get_language_instruction(**kwargs)

objects_excluded_from_greenscreening = ['bridge_carrot_generated_modified', 'bridge_plate_objaverse_larger']

object ids that should not be greenscreened

scene_setting = 'flat_table'

class mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.PutEggplantInBasketScene(**kwargs)

Bases: mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.base_env.BaseBridgeEnv

Base Digital Twin environment for digital twins of the BridgeData v2

_load_lighting(options)

Loads lighting into the scene. Called by self._reconfigure. If not overriden will set some simple default lighting

evaluate(*args, **kwargs)

Evaluate whether the environment is currently in a success state by returning a dictionary with a “success” key or a failure state via a “fail” key

This function may also return additional data that has been computed (e.g. is the robot grasping some object) that may be reused when generating observations and rewards.

By default if not overriden this function returns an empty dictionary

get_language_instruction(**kwargs)

objects_excluded_from_greenscreening = ['eggplant']

object ids that should not be greenscreened

scene_setting = 'sink'

class mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.PutSpoonOnTableClothInScene(**kwargs)

Bases: mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.base_env.BaseBridgeEnv

Base Digital Twin environment for digital twins of the BridgeData v2

evaluate()

Evaluate whether the environment is currently in a success state by returning a dictionary with a “success” key or a failure state via a “fail” key

This function may also return additional data that has been computed (e.g. is the robot grasping some object) that may be reused when generating observations and rewards.

By default if not overriden this function returns an empty dictionary

get_language_instruction(**kwargs)

objects_excluded_from_greenscreening = ['table_cloth_generated_shorter', 'bridge_spoon_generated_modified']

object ids that should not be greenscreened

class mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.StackGreenCubeOnYellowCubeBakedTexInScene(**kwargs)

Bases: mani_skill.envs.tasks.digital_twins.bridge_dataset_eval.base_env.BaseBridgeEnv

Base Digital Twin environment for digital twins of the BridgeData v2

evaluate()

Evaluate whether the environment is currently in a success state by returning a dictionary with a “success” key or a failure state via a “fail” key

This function may also return additional data that has been computed (e.g. is the robot grasping some object) that may be reused when generating observations and rewards.

By default if not overriden this function returns an empty dictionary

get_language_instruction(**kwargs)

MODEL_JSON = 'info_bridge_custom_baked_tex_v0.json'

objects_excluded_from_greenscreening = ['baked_green_cube_3cm', 'baked_yellow_cube_3cm']

object ids that should not be greenscreened