Returns manipulator insert task with the peg prop.
(fully_observable=True, time_limit=_TIME_LIMIT, random=None,
environment_kwargs=None)
| 114 | |
| 115 | @SUITE.add('hard') |
| 116 | def insert_peg(fully_observable=True, time_limit=_TIME_LIMIT, random=None, |
| 117 | environment_kwargs=None): |
| 118 | """Returns manipulator insert task with the peg prop.""" |
| 119 | use_peg = True |
| 120 | insert = True |
| 121 | physics = Physics.from_xml_string(*make_model(use_peg, insert)) |
| 122 | task = Bring(use_peg=use_peg, insert=insert, |
| 123 | fully_observable=fully_observable, random=random) |
| 124 | environment_kwargs = environment_kwargs or {} |
| 125 | return control.Environment( |
| 126 | physics, task, control_timestep=_CONTROL_TIMESTEP, time_limit=time_limit, |
| 127 | **environment_kwargs) |
| 128 | |
| 129 | |
| 130 | class Physics(mujoco.Physics): |
nothing calls this directly
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