| """Canonical task manifest for reusable 2/3/4-agent wrist-camera experiments.""" |
|
|
| TASKS = { |
| "lift_barrier": { |
| "env_id": "LiftBarrier-rf", "config": "robofactory/configs/table/lift_barrier.yaml", "agents": (0, 1), "group": "two", |
| }, |
| "pass_shoe": { |
| "env_id": "PassShoe-rf", "config": "robofactory/configs/table/pass_shoe.yaml", "agents": (0, 1), "group": "two", |
| }, |
| "place_food": { |
| "env_id": "PlaceFood-rf", "config": "robofactory/configs/table/place_food.yaml", "agents": (0, 1), "group": "two", |
| }, |
| "two_robots_stack_cube": { |
| "env_id": "TwoRobotsStackCube-rf", "config": "robofactory/configs/table/two_robots_stack_cube.yaml", "agents": (0, 1), "group": "two", |
| }, |
| "camera_alignment": { |
| "env_id": "CameraAlignment-rf", "config": "robofactory/configs/table/camera_alignment.yaml", "agents": (0, 1, 2), "group": "three", |
| }, |
| "three_robots_stack_cube": { |
| "env_id": "ThreeRobotsStackCube-rf", "config": "robofactory/configs/table/three_robots_stack_cube.yaml", "agents": (0, 1, 2), "group": "three", |
| }, |
| "long_pipeline_delivery": { |
| "env_id": "LongPipelineDelivery-rf", "config": "robofactory/configs/table/long_pipeline_delivery.yaml", "agents": (0, 1, 2, 3), "group": "four", |
| }, |
| "take_photo": { |
| "env_id": "TakePhoto-rf", "config": "robofactory/configs/table/take_photo.yaml", "agents": (0, 1, 2, 3), "group": "four", |
| }, |
| } |
|
|
|
|
| def get_task(name): |
| try: |
| return TASKS[name] |
| except KeyError as error: |
| raise KeyError(f"unknown task {name}; choose one of {', '.join(TASKS)}") from error |
|
|
