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| 1 | +# Copyright 2018 The dm_control Authors. |
| 2 | +# |
| 3 | +# Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +# you may not use this file except in compliance with the License. |
| 5 | +# You may obtain a copy of the License at |
| 6 | +# |
| 7 | +# http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +# |
| 9 | +# Unless required by applicable law or agreed to in writing, software |
| 10 | +# distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +# See the License for the specific language governing permissions and |
| 13 | +# limitations under the License. |
| 14 | +# ============================================================================ |
| 15 | + |
| 16 | +"""A structured set of manipulation tasks with a single entry point.""" |
| 17 | + |
| 18 | +from __future__ import absolute_import |
| 19 | +from __future__ import division |
| 20 | +from __future__ import print_function |
| 21 | + |
| 22 | +from absl import flags |
| 23 | +from dm_control import composer as _composer |
| 24 | +from dm_control.manipulation import bricks as _bricks |
| 25 | +from dm_control.manipulation import lift as _lift |
| 26 | +from dm_control.manipulation import place as _place |
| 27 | +from dm_control.manipulation import reach as _reach |
| 28 | +from dm_control.manipulation.shared import registry as _registry |
| 29 | + |
| 30 | +_registry.done_importing_tasks() |
| 31 | + |
| 32 | +_TIME_LIMIT = 10. |
| 33 | +_TIMEOUT = None |
| 34 | + |
| 35 | +ALL = tuple(_registry.get_all_names()) |
| 36 | +TAGS = tuple(_registry.get_tags()) |
| 37 | + |
| 38 | +flags.DEFINE_bool('timeout', True, 'Whether episodes should have a time limit.') |
| 39 | +FLAGS = flags.FLAGS |
| 40 | + |
| 41 | + |
| 42 | +def _get_timeout(): |
| 43 | + global _TIMEOUT |
| 44 | + if _TIMEOUT is None: |
| 45 | + if FLAGS.is_parsed(): |
| 46 | + _TIMEOUT = FLAGS.timeout |
| 47 | + else: |
| 48 | + _TIMEOUT = FLAGS['timeout'].default |
| 49 | + return _TIMEOUT |
| 50 | + |
| 51 | + |
| 52 | +def get_environments_by_tag(tag): |
| 53 | + """Returns the names of all environments matching a given tag. |
| 54 | +
|
| 55 | + Args: |
| 56 | + tag: A string from `TAGS`. |
| 57 | +
|
| 58 | + Returns: |
| 59 | + A tuple of environment names. |
| 60 | + """ |
| 61 | + return tuple(_registry.get_names_by_tag(tag)) |
| 62 | + |
| 63 | + |
| 64 | +def load(environment_name, seed=None): |
| 65 | + """Loads a manipulation environment. |
| 66 | +
|
| 67 | + Args: |
| 68 | + environment_name: String, the name of the environment to load. Must be in |
| 69 | + `ALL`. |
| 70 | + seed: An optional integer used to seed the task's random number generator. |
| 71 | + If None (default), the random number generator will self-seed from a |
| 72 | + platform-dependent source of entropy. |
| 73 | +
|
| 74 | + Returns: |
| 75 | + An instance of `composer.Environment`. |
| 76 | + """ |
| 77 | + task = _registry.get_constructor(environment_name)() |
| 78 | + time_limit = _TIME_LIMIT if _get_timeout() else float('inf') |
| 79 | + return _composer.Environment(task, time_limit=time_limit, random_state=seed) |
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