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d199655 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 | """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
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