(obs_settings, use_site)
return task
Configure and instantiate a `Reach` task.

  Args:
    obs_settings: An `observations.ObservationSettings` instance.
    use_site: Boolean, if True then the target will be a fixed site, otherwise
      it will be a moveable Duplo brick.

  Returns:
    An instance of `reach.Reach`.
Configure and instantiate a `Reach` task.
Configure and instantiate a Reach task .
def _reach(obs_settings, use_site):
  """Configure and instantiate a `Reach` task.

  Args:
    obs_settings: An `observations.ObservationSettings` instance.
    use_site: Boolean, if True then the target will be a fixed site, otherwise
      it will be a moveable Duplo brick.

  Returns:
    An instance of `reach.Reach`.
  """
  arena = arenas.Standard()
  arm = robots.make_arm(obs_settings=obs_settings)
  hand = robots.make_hand(obs_settings=obs_settings)
  if use_site:
    workspace = _SITE_WORKSPACE
    prop = None
  else:
    workspace = _DUPLO_WORKSPACE
    prop = props.Duplo(observable_options=observations.make_options(
        obs_settings, observations.FREEPROP_OBSERVABLES))
  task = Reach(arena=arena, arm=arm, hand=hand, prop=prop,
               obs_settings=obs_settings,
               workspace=workspace,
               control_timestep=constants.CONTROL_TIMESTEP)
  return task
def _reach ( obs_settings , use_site ) : arena = arenas . Standard ( ) arm = robots . make_arm ( obs_settings = obs_settings ) hand = robots . make_hand ( obs_settings = obs_settings ) if use_site : workspace = _SITE_WORKSPACE prop = None else : workspace = _DUPLO_WORKSPACE prop = props . Duplo ( observable_options = observations . make_options ( obs_settings , observations . FREEPROP_OBSERVABLES ) ) task = Reach ( arena = arena , arm = arm , hand = hand , prop = prop , obs_settings = obs_settings , workspace = workspace , control_timestep = constants . CONTROL_TIMESTEP ) return task