grutopia.core.datahub

datahub

class grutopia.core.datahub.IsaacData

isaac status in grutopia

There are three types of isaac status:

• Action

• Observation

• Episode

structure of isaac status like this:

{
    actions: {
        "task_0":{
            robot_1: {
                cap: param,
                controller: param,
            }
        }
    },
    observations: {
        "task_0":{
            robot_1: {
                obs_1: data,
                obs_2: data
            }
        }
    },
    task_idx_counter: 0
    finished_tasks: []
}

classmethod gen_task_idx() → str

Generate a id for isaac task

Returns:

task id

classmethod get_action_by_task_name(task_name: str) → Dict[str, Dict]

Get action by task name

Returns:

{controller_name: param}})

Return type:

action(dict like {robot_name

classmethod get_action_by_task_name_and_robot_name(task_name: str, robot_name: str) → Dict[str, Dict]

Get action by task name and robot name

Returns:

{controller_name: param}})

Return type:

action(dict like {robot_name

classmethod get_obs() → Dict[str, Dict]

Get isaac observation by task name

Parameters:

task_name – isaac task name

Returns:

isaac observation data

classmethod get_obs_by_task_name(task_name: str) → Dict[str, Dict]

Get isaac observation by task name

Parameters:

task_name – isaac task name

Returns:

isaac observation data

classmethod get_obs_by_task_name_and_robot_name(task_name: str, robot_name: str) → Dict[str, Dict]

Get isaac observation by task name and robot name

Parameters:

• task_name – isaac task name

• robot_name – isaac robot name

Returns:

isaac observation data

classmethod set_actions(actions: Dict[str, ActionData]) → None

Set action by task_name

Parameters:

actions (Dict[str, ActionData]) – action data with task_name key

classmethod set_episode_finished(task_name: str)

Set isaac task {task_name} finished

Parameters:

task_name (str) – isaac task_name

classmethod set_obs_by_task_name_and_robot_name(task_name: str, robot_name: str, obs: Dict[str, Dict[str, Any]]) → None

Set isaac observation by task name and robot name

Parameters:

• task_name – isaac task name

• robot_name – isaac robot name

• obs (Dict[str, Dict[str, Any]]) – obs data with task_name key.

classmethod set_obs_data(obs: Dict[str, Dict[str, Any]]) → None

Set isaac observations data

Parameters:

obs (Dict[str, Dict[str, Any]]) – obs data with task_name key.

classmethod set_obs_data_by_task_name(task_name: str, obs: Dict[str, Dict[str, Any]]) → None

Set isaac observations data by task name

Parameters:

• task_name – isaac task name

• obs (Dict[str, Dict[str, Any]]) – obs data with robot_name key.