(obs_settings, num_bricks, moveable_base, randomize_order,
           target_height=None)
return Stack(arena=arena,
               arm=arm,
               hand=hand,
               num_bricks=num_bricks,
               target_height=target_height,
               moveable_base=moveable_base,
               randomize_order=randomize_order,
               obs_settings=obs_settings,
               workspace=_WORKSPACE,
               control_timestep=constants.CONTROL_TIMESTEP)
Configure and instantiate a Stack task.

  Args:
    obs_settings: `observations.ObservationSettings` instance.
    num_bricks: The total number of bricks; must be between 2 and 6.
    moveable_base: Boolean specifying whether or not the bottom brick should
        be moveable.
    randomize_order: Boolean specifying whether to randomize the desired order
      of bricks in the stack at the start of each episode.
    target_height: The target number of bricks in the stack in order to get
      maximum reward. Must be between 2 and `num_bricks`. Defaults to
      `num_bricks`.

  Returns:
    An instance of `Stack`.
Configure and instantiate a Stack task.
Configure and instantiate a Stack task .
def _stack(obs_settings, num_bricks, moveable_base, randomize_order,
           target_height=None):
  """Configure and instantiate a Stack task.

  Args:
    obs_settings: `observations.ObservationSettings` instance.
    num_bricks: The total number of bricks; must be between 2 and 6.
    moveable_base: Boolean specifying whether or not the bottom brick should
        be moveable.
    randomize_order: Boolean specifying whether to randomize the desired order
      of bricks in the stack at the start of each episode.
    target_height: The target number of bricks in the stack in order to get
      maximum reward. Must be between 2 and `num_bricks`. Defaults to
      `num_bricks`.

  Returns:
    An instance of `Stack`.
  """
  if target_height is None:
    target_height = num_bricks
  arena = arenas.Standard()
  arm = robots.make_arm(obs_settings=obs_settings)
  hand = robots.make_hand(obs_settings=obs_settings)
  return Stack(arena=arena,
               arm=arm,
               hand=hand,
               num_bricks=num_bricks,
               target_height=target_height,
               moveable_base=moveable_base,
               randomize_order=randomize_order,
               obs_settings=obs_settings,
               workspace=_WORKSPACE,
               control_timestep=constants.CONTROL_TIMESTEP)
def _stack ( obs_settings , num_bricks , moveable_base , randomize_order , target_height = None ) : if target_height is None : target_height = num_bricks arena = arenas . Standard ( ) arm = robots . make_arm ( obs_settings = obs_settings ) hand = robots . make_hand ( obs_settings = obs_settings ) return Stack ( arena = arena , arm = arm , hand = hand , num_bricks = num_bricks , target_height = target_height , moveable_base = moveable_base , randomize_order = randomize_order , obs_settings = obs_settings , workspace = _WORKSPACE , control_timestep = constants . CONTROL_TIMESTEP )