def __init__(self, config):

self.config = config

self._env, self._task = self._initialize()

def _initialize(self):

self.obs_sz = (64, 64)

cam_config = CameraConfig(image_size=self.obs_sz, render_mode=RenderMode.OPENGL3)

obs_config = ObservationConfig(wrist_camera=cam_config)

obs_config.left_shoulder_camera.set_all(False)

obs_config.right_shoulder_camera.set_all(False)

obs_config.overhead_camera.set_all(False)

obs_config.wrist_camera.set_all(True)

obs_config.front_camera.set_all(False) # note: TODO: test whether shoulder camera works better

# print("\nOBS1", vars(obs_config))

# for ok, ov in vars(obs_config).items():

# if "camera" in ok and "matrix" not in ok:

# print(ok, vars(ov))

action_mode = self.config.get("action_mode",

ActionMode(ArmActionMode.ABS_JOINT_VELOCITY))

headless = self.config.get("headless", False)

env = Environment(action_mode, obs_config=obs_config, headless=headless)

env.launch()

task = env.get_task(self.config.get("task", FastSingle2xtarget))

return env, task

@property

def observation_space(self):

return IntBox(low=0, high=255, shape=(3,) + self.config.get("size", self.obs_sz),

dtype="uint8")

@property

def action_space(self):

return FloatBox(low=-1.0,

high=1.0,

shape=(self._env.action_size,))

def step(self, action):

obs, reward, done = self._task.step(action)

# remember to change the camera here as well

obs = np.transpose(obs.wrist_rgb, (2, 0, 1))

info = EnvInfo(None, None, done)

return EnvStep(obs, reward, done, info)

def reset(self):

descriptions, obs = self._task.reset()

# obs = np.transpose(obs.front_rgb, (2, 0, 1))

obs = np.transpose(obs.wrist_rgb, (2, 0, 1))

del descriptions # Not used.

return obs

def render(self, *args, **kwargs):

pass

@property

def horizon(self):