def _build_humanoid_walls_env():
"""Build humanoid walker walls environment."""
walker = walkers.CMUHumanoidPositionControlled(
name='walker',
observable_options={'egocentric_camera': dict(enabled=True)},
)
wall_width = distributions.Uniform(low=1, high=7)
wall_height = distributions.Uniform(low=2.5, high=4.0)
swap_wall_side = distributions.Bernoulli(prob=0.5)
wall_r = distributions.Uniform(low=0.5, high=0.6)
wall_g = distributions.Uniform(low=0.21, high=0.41)
wall_rgba = colors.RgbVariation(r=wall_r, g=wall_g, b=0, alpha=1)
arena = arenas.WallsCorridor(wall_gap=5.0,
wall_width=wall_width,
wall_height=wall_height,
swap_wall_side=swap_wall_side,
wall_rgba=wall_rgba,
corridor_width=10,
corridor_length=100)
humanoid_task = tasks.RunThroughCorridor(
walker=walker,
arena=arena,
walker_spawn_rotation=1.57, # pi / 2
physics_timestep=0.005,
control_timestep=0.03)
raw_env = composer.Environment(time_limit=30,
task=humanoid_task,
strip_singleton_obs_buffer_dim=True)
return raw_env
def _build_humanoid_corridor_env():
"""Build humanoid walker walls environment."""
walker = walkers.CMUHumanoidPositionControlled(
name='walker',
observable_options={'egocentric_camera': dict(enabled=True)},
)
arena = arenas.EmptyCorridor(corridor_width=10, corridor_length=100)
humanoid_task = tasks.RunThroughCorridor(
walker=walker,
arena=arena,
walker_spawn_rotation=1.57, # pi / 2
physics_timestep=0.005,
control_timestep=0.03)
raw_env = composer.Environment(time_limit=30,
task=humanoid_task,
strip_singleton_obs_buffer_dim=True)
return raw_env
def _build_humanoid_corridor_gaps():
"""Build humanoid walker walls environment."""
walker = walkers.CMUHumanoidPositionControlled(
name='walker',
observable_options={'egocentric_camera': dict(enabled=True)},
)
platform_length = distributions.Uniform(low=0.3, high=2.5)
gap_length = distributions.Uniform(low=0.75, high=1.25)
arena = arenas.GapsCorridor(corridor_width=10,
platform_length=platform_length,
gap_length=gap_length,
corridor_length=100)
humanoid_task = tasks.RunThroughCorridor(
walker=walker,
arena=arena,
walker_spawn_position=(2, 0, 0),
walker_spawn_rotation=1.57, # pi / 2
physics_timestep=0.005,
control_timestep=0.03)
raw_env = composer.Environment(time_limit=30,
task=humanoid_task,
strip_singleton_obs_buffer_dim=True)
return raw_env
def _make_wrong_walker(name):
return walkers.CMUHumanoidPositionControlled(
include_face=False, model_version='2020', scale_default=True,
name=name)
