(obs_settings, num_bricks, randomize_initial_order,
                randomize_desired_order)
return Reassemble(arena=arena,
                    arm=arm,
                    hand=hand,
                    num_bricks=num_bricks,
                    randomize_initial_order=randomize_initial_order,
                    randomize_desired_order=randomize_desired_order,
                    obs_settings=obs_settings,
                    workspace=_WORKSPACE,
                    control_timestep=constants.CONTROL_TIMESTEP)
Configure and instantiate a `Reassemble` task.

  Args:
    obs_settings: `observations.ObservationSettings` instance.
    num_bricks: The total number of bricks; must be between 2 and 6.
    randomize_initial_order: Boolean specifying whether to randomize the
      initial order  of bricks in the stack at the start of each episode.
    randomize_desired_order: Boolean specifying whether to independently
      randomize the desired order of bricks in the stack at the start of each
      episode. By default the desired order will be the reverse of the initial
      order, with the exception of the base brick which is always the same as
      in the initial order since it is welded in place.

  Returns:
    An instance of `Reassemble`.
Configure and instantiate a `Reassemble` task.
Configure and instantiate a Reassemble task .
def _reassemble(obs_settings, num_bricks, randomize_initial_order,
                randomize_desired_order):
  """Configure and instantiate a `Reassemble` task.

  Args:
    obs_settings: `observations.ObservationSettings` instance.
    num_bricks: The total number of bricks; must be between 2 and 6.
    randomize_initial_order: Boolean specifying whether to randomize the
      initial order  of bricks in the stack at the start of each episode.
    randomize_desired_order: Boolean specifying whether to independently
      randomize the desired order of bricks in the stack at the start of each
      episode. By default the desired order will be the reverse of the initial
      order, with the exception of the base brick which is always the same as
      in the initial order since it is welded in place.

  Returns:
    An instance of `Reassemble`.
  """
  arena = arenas.Standard()
  arm = robots.make_arm(obs_settings=obs_settings)
  hand = robots.make_hand(obs_settings=obs_settings)
  return Reassemble(arena=arena,
                    arm=arm,
                    hand=hand,
                    num_bricks=num_bricks,
                    randomize_initial_order=randomize_initial_order,
                    randomize_desired_order=randomize_desired_order,
                    obs_settings=obs_settings,
                    workspace=_WORKSPACE,
                    control_timestep=constants.CONTROL_TIMESTEP)
def _reassemble ( obs_settings , num_bricks , randomize_initial_order , randomize_desired_order ) : arena = arenas . Standard ( ) arm = robots . make_arm ( obs_settings = obs_settings ) hand = robots . make_hand ( obs_settings = obs_settings ) return Reassemble ( arena = arena , arm = arm , hand = hand , num_bricks = num_bricks , randomize_initial_order = randomize_initial_order , randomize_desired_order = randomize_desired_order , obs_settings = obs_settings , workspace = _WORKSPACE , control_timestep = constants . CONTROL_TIMESTEP )