mani_skill.envs.tasks.fmb#

Submodules#

Classes#

FMBAssembly1Env

Task Description

Package Contents#

class mani_skill.envs.tasks.fmb.FMBAssembly1Env(*args, robot_uids='panda', robot_init_qpos_noise=0.02, **kwargs)[source]#

Bases: mani_skill.envs.sapien_env.BaseEnv

Task Description#

This task is a simulation version of one of the Multi-Object Multi-Stage Manipulation Tasks (Assembly1) from [Functional Manipulation Benchmark (Luo et. al)](https://functional-manipulation-benchmark.github.io/index.html). The goal here is to assemble parts together with the help of a reorientation fixture onto a red board.

Randomizations#

  • TODO

Success Conditions#

Visualization: TODO: ADD LINK HERE

_get_obs_extra(info)[source]#

Get task-relevant extra observations. Usually defined on a task by task basis

Parameters:

info (dict) –

_initialize_episode(env_idx, options)[source]#

Initialize the episode, e.g., poses of actors and articulations, as well as task relevant data like randomizing goal positions

Parameters:

  • env_idx (torch.Tensor) –

  • options (dict) –

_load_scene(options)[source]#

Loads all objects like actors and articulations into the scene. Called by self._reconfigure. Given options argument is the same options dictionary passed to the self.reset function

Parameters:

options (dict) –

evaluate()[source]#

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

SUPPORTED_REWARD_MODES = ['sparse', 'none']#
SUPPORTED_ROBOTS = ['panda']#

Override this to enforce which robots or tuples of robots together are supported in the task. During env creation, setting robot_uids auto loads all desired robots into the scene, but not all tasks are designed to support some robot setups

property _default_human_render_camera_configs#

Add default cameras for rendering when using render_mode=’rgb_array’. These can be overriden by the user at env creation time

property _default_sensor_configs#

Add default (non-agent) sensors to the environment by returning sensor configurations. These can be overriden by the user at env creation time

property _default_sim_config#
agent: mani_skill.agents.robots.panda.panda.Panda#
robot_init_qpos_noise = 0.02#