Package edu.tufts.hrilab.rl

Interface RobosuiteInterface

public interface RobosuiteInterface

Method Summary

Modifier and Type	Method	Description
void	makeEnv(String env_name, String robot, Boolean render)	Creates a robosuite environment.
Object	reset()	Resets the robosuite environment
void	setHighEnv(List<String> goal)	Creates a high level observation space.
Object	step(List<Object> action)	Takes one step in the environment, performing the action specified.

Method Details

makeEnv

void makeEnv(String env_name,
 String robot,
 Boolean render)

Creates a robosuite environment. See robosuite documentation for more details.

Parameters:

env_name - Name of the environment to create

robot - Name of the robot to add to the environment

render - Whether or not the environment should be rendered/visualized

reset

Object reset()

Resets the robosuite environment

Returns:

Initial observation

step

Object step(List<Object> action)

Takes one step in the environment, performing the action specified.

Parameters:

action - Action we wish to perform. Must match the action space of the environment.

Returns:

A tuple of observation, reward, done, truncated, and additional info.

setHighEnv

void setHighEnv(List<String> goal)

Creates a high level observation space. This adds an additional predicate-based space on top of the lower level joint/position/etc space automatically created with the environment.

Parameters:

goal - A set of predicates we want to observe at every time step