Returns manipulator insert task with the ball prop.
(fully_observable=True, time_limit=_TIME_LIMIT, random=None,
environment_kwargs=None)
| 99 | |
| 100 | @SUITE.add('hard') |
| 101 | def insert_ball(fully_observable=True, time_limit=_TIME_LIMIT, random=None, |
| 102 | environment_kwargs=None): |
| 103 | """Returns manipulator insert task with the ball prop.""" |
| 104 | use_peg = False |
| 105 | insert = True |
| 106 | physics = Physics.from_xml_string(*make_model(use_peg, insert)) |
| 107 | task = Bring(use_peg=use_peg, insert=insert, |
| 108 | fully_observable=fully_observable, random=random) |
| 109 | environment_kwargs = environment_kwargs or {} |
| 110 | return control.Environment( |
| 111 | physics, task, control_timestep=_CONTROL_TIMESTEP, time_limit=time_limit, |
| 112 | **environment_kwargs) |
| 113 | |
| 114 | |
| 115 | @SUITE.add('hard') |
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