mani_skill.envs.tasks.tabletop.stack_pyramid

Classes

StackPyramidEnv

Task Description:

Module Contents

class mani_skill.envs.tasks.tabletop.stack_pyramid.StackPyramidEnv(*args, robot_uids='panda_wristcam', robot_init_qpos_noise=0.02, **kwargs)

Bases: mani_skill.envs.sapien_env.BaseEnv

Task Description: - The goal is to pick up a red cube, place it next to the green cube, and stack the blue cube on top of the red and green cube without it falling off.

Randomizations: - all cubes have their z-axis rotation randomized - all cubes have their xy positions on top of the table scene randomized. The positions are sampled such that the cubes do not collide with each other

Success Conditions: - the blue cube is static - the blue cube is on top of both the red and green cube (to within half of the cube size) - none of the red, green, blue cubes are grasped by the robot (robot must let go of the cubes)

_sample_video_link = “haosulab/ManiSkill”

_get_obs_extra(info)

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

Parameters:

info (dict) –

_initialize_episode(env_idx, options)

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)

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()

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 = ['none', 'sparse']

SUPPORTED_ROBOTS = ['panda_wristcam', 'panda', 'fetch']

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

agent: mani_skill.agents.robots.Panda | mani_skill.agents.robots.Fetch

robot_init_qpos_noise = 0.02