robocasa.environments.kitchen.multi_stage.brewing package#

Submodules#

robocasa.environments.kitchen.multi_stage.brewing.arrange_tea module#

class robocasa.environments.kitchen.multi_stage.brewing.arrange_tea.ArrangeTea(robots, env_configuration='default', controller_configs=None, gripper_types='default', base_types='default', initialization_noise='default', use_camera_obs=True, use_object_obs=True, reward_scale=1.0, reward_shaping=False, placement_initializer=None, has_renderer=False, has_offscreen_renderer=True, render_camera='robot0_agentview_center', render_collision_mesh=False, render_visual_mesh=True, render_gpu_device_id=- 1, control_freq=20, horizon=1000, ignore_done=False, hard_reset=True, camera_names='agentview', camera_heights=256, camera_widths=256, camera_depths=False, renderer='mujoco', renderer_config=None, init_robot_base_pos=None, seed=None, layout_and_style_ids=None, layout_ids=None, style_ids=None, scene_split=None, generative_textures=None, obj_registries=('objaverse',), obj_instance_split=None, use_distractors=False, translucent_robot=False, randomize_cameras=False)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Arrange Tea: composite task for Brewing activity.

Simulates the task of arranging tea.

Steps:

Take the kettle from the counter and place it on the tray. Take the mug from the cabinet and place it on the tray. Close the cabinet doors.

get_ep_meta()#

Returns a dictionary containing episode meta data

robocasa.environments.kitchen.multi_stage.brewing.kettle_boiling module#

class robocasa.environments.kitchen.multi_stage.brewing.kettle_boiling.KettleBoiling(robots, env_configuration='default', controller_configs=None, gripper_types='default', base_types='default', initialization_noise='default', use_camera_obs=True, use_object_obs=True, reward_scale=1.0, reward_shaping=False, placement_initializer=None, has_renderer=False, has_offscreen_renderer=True, render_camera='robot0_agentview_center', render_collision_mesh=False, render_visual_mesh=True, render_gpu_device_id=- 1, control_freq=20, horizon=1000, ignore_done=False, hard_reset=True, camera_names='agentview', camera_heights=256, camera_widths=256, camera_depths=False, renderer='mujoco', renderer_config=None, init_robot_base_pos=None, seed=None, layout_and_style_ids=None, layout_ids=None, style_ids=None, scene_split=None, generative_textures=None, obj_registries=('objaverse',), obj_instance_split=None, use_distractors=False, translucent_robot=False, randomize_cameras=False)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Kettle Boiling: composite task for Brewing activity.

Simulates the task of boiling water in a kettle.

Steps:

Take the kettle from the counter and place it on a stove burner. Turn the burner on.

get_ep_meta()#

Returns a dictionary containing episode meta data

robocasa.environments.kitchen.multi_stage.brewing.prepare_coffee module#

class robocasa.environments.kitchen.multi_stage.brewing.prepare_coffee.PrepareCoffee(cab_id=FixtureType.CABINET_TOP, *args, **kwargs)#

Bases: robocasa.environments.kitchen.kitchen.Kitchen

Prepare Coffee: composite task for Brewing activity.

Simulates the process of preparing coffee.

Steps:

Pick the mug from the cabinet, place it under the coffee machine dispenser, and press the start button.

Parameters

cab_id (str) – Enum which serves as a unique identifier for different cabinet types. Used to choose the cabinet from which the mug is picked.

get_ep_meta()#

Returns a dictionary containing episode meta data

Module contents#