def __init__(self,
maze_id=None,
maze_height=0.5,
maze_size_scaling=8,
n_bins=0,
sensor_range=3.,
sensor_span=2 * math.pi,
observe_blocks=False,
put_spin_near_agent=False,
top_down_view=False,
manual_collision=False,
*args,
**kwargs):
self._maze_id = maze_id
model_cls = self.__class__.MODEL_CLASS
if model_cls is None:
raise "MODEL_CLASS unspecified!"
xml_path = os.path.join(MODEL_DIR, model_cls.FILE)
tree = ET.parse(xml_path)
worldbody = tree.find(".//worldbody")
self.MAZE_HEIGHT = height = maze_height
self.MAZE_SIZE_SCALING = size_scaling = maze_size_scaling
self._n_bins = n_bins
self._sensor_range = sensor_range * size_scaling
self._sensor_span = sensor_span
self._observe_blocks = observe_blocks
self._put_spin_near_agent = put_spin_near_agent
self._top_down_view = top_down_view
self._manual_collision = manual_collision
self.MAZE_STRUCTURE = structure = maze_env_utils.construct_maze(
maze_id=self._maze_id)
self.elevated = any(
-1 in row
for row in structure) # Elevate the maze to allow for falling.
self.blocks = any(
any(maze_env_utils.can_move(r) for r in row)
for row in structure) # Are there any movable blocks?
torso_x, torso_y = self._find_robot()
self._init_torso_x = torso_x
self._init_torso_y = torso_y
self._init_positions = [(x - torso_x, y - torso_y)
for x, y in self._find_all_robots()]
self._xy_to_rowcol = lambda x, y: (
2 + (y + size_scaling / 2) / size_scaling, 2 +
(x + size_scaling / 2) / size_scaling)
self._view = np.zeros(
[5, 5, 3]) # walls (immovable), chasms (fall), movable blocks
height_offset = 0.
if self.elevated:
# Increase initial z-pos of ant.
height_offset = height * size_scaling
torso = tree.find(".//body[@name='torso']")
torso.set('pos', '0 0 %.2f' % (0.75 + height_offset))
if self.blocks:
# If there are movable blocks, change simulation settings to perform
# better contact detection.
default = tree.find(".//default")
default.find('.//geom').set('solimp', '.995 .995 .01')
self.movable_blocks = []
for i in range(len(structure)):
for j in range(len(structure[0])):
struct = structure[i][j]
if struct == 'r' and self._put_spin_near_agent:
struct = maze_env_utils.Move.SpinXY
if self.elevated and struct not in [-1]:
# Create elevated platform.
ET.SubElement(
worldbody,
"geom",
name="elevated_%d_%d" % (i, j),
pos="%f %f %f" %
(j * size_scaling - torso_x, i * size_scaling -
torso_y, height / 2 * size_scaling),
size="%f %f %f" %
(0.5 * size_scaling, 0.5 * size_scaling,
height / 2 * size_scaling),
type="box",
material="",
contype="1",
conaffinity="1",
rgba="0.9 0.9 0.9 1",
)
if struct == 1: # Unmovable block.
# Offset all coordinates so that robot starts at the origin.
ET.SubElement(
worldbody,
"geom",
name="block_%d_%d" % (i, j),
pos="%f %f %f" %
(j * size_scaling - torso_x, i * size_scaling -
torso_y, height_offset + height / 2 * size_scaling),
size="%f %f %f" %
(0.5 * size_scaling, 0.5 * size_scaling,
height / 2 * size_scaling),
type="box",
material="",
contype="1",
conaffinity="1",
rgba="0.4 0.4 0.4 1",
)
elif maze_env_utils.can_move(struct): # Movable block.
# The "falling" blocks are shrunk slightly and increased in mass to
# ensure that it can fall easily through a gap in the platform blocks.
name = "movable_%d_%d" % (i, j)
self.movable_blocks.append((name, struct))
falling = maze_env_utils.can_move_z(struct)
spinning = maze_env_utils.can_spin(struct)
x_offset = 0.25 * size_scaling if spinning else 0.0
y_offset = 0.0
shrink = 0.1 if spinning else 0.99 if falling else 1.0
height_shrink = 0.1 if spinning else 1.0
movable_body = ET.SubElement(
worldbody,
"body",
name=name,
pos="%f %f %f" %
(j * size_scaling - torso_x + x_offset,
i * size_scaling - torso_y + y_offset, height_offset +
height / 2 * size_scaling * height_shrink),
)
ET.SubElement(
movable_body,
"geom",
name="block_%d_%d" % (i, j),
pos="0 0 0",
size="%f %f %f" %
(0.5 * size_scaling * shrink, 0.5 * size_scaling *
shrink, height / 2 * size_scaling * height_shrink),
type="box",
material="",
mass="0.001" if falling else "0.0002",
contype="1",
conaffinity="1",
rgba="0.9 0.1 0.1 1")
if maze_env_utils.can_move_x(struct):
ET.SubElement(movable_body,
"joint",
armature="0",
axis="1 0 0",
damping="0.0",
limited="true" if falling else "false",
range="%f %f" %
(-size_scaling, size_scaling),
margin="0.01",
name="movable_x_%d_%d" % (i, j),
pos="0 0 0",
type="slide")
if maze_env_utils.can_move_y(struct):
ET.SubElement(movable_body,
"joint",
armature="0",
axis="0 1 0",
damping="0.0",
limited="true" if falling else "false",
range="%f %f" %
(-size_scaling, size_scaling),
margin="0.01",
name="movable_y_%d_%d" % (i, j),
pos="0 0 0",
type="slide")
if maze_env_utils.can_move_z(struct):
ET.SubElement(movable_body,
"joint",
armature="0",
axis="0 0 1",
damping="0.0",
limited="true",
range="%f 0" % (-height_offset),
margin="0.01",
name="movable_z_%d_%d" % (i, j),
pos="0 0 0",
type="slide")
if maze_env_utils.can_spin(struct):
ET.SubElement(movable_body,
"joint",
armature="0",
axis="0 0 1",
damping="0.0",
limited="false",
name="spinable_%d_%d" % (i, j),
pos="0 0 0",
type="ball")
torso = tree.find(".//body[@name='torso']")
geoms = torso.findall(".//geom")
for geom in geoms:
if 'name' not in geom.attrib:
raise Exception("Every geom of the torso must have a name "
"defined")
_, file_path = tempfile.mkstemp(text=True)
tree.write(file_path)
self.wrapped_env = model_cls(*args, file_path=file_path, **kwargs)
def __init__(
self,
maze_id=None,
maze_height=0.5,
maze_size_scaling=8,
n_bins=0,
sensor_range=3.,
sensor_span=2 * math.pi,
observe_blocks=False,
put_spin_near_agent=False,
top_down_view=False,
manual_collision=False,
*args,
**kwargs):
self._maze_id = maze_id
model_cls = self.__class__.MODEL_CLASS
if model_cls is None:
raise "MODEL_CLASS unspecified!"
xml_path = os.path.join(MODEL_DIR, model_cls.FILE)
tree = ET.parse(xml_path)
worldbody = tree.find(".//worldbody")
self.MAZE_HEIGHT = height = maze_height
self.MAZE_SIZE_SCALING = size_scaling = maze_size_scaling
self._n_bins = n_bins
self._sensor_range = sensor_range * size_scaling
self._sensor_span = sensor_span
self._observe_blocks = observe_blocks
self._put_spin_near_agent = put_spin_near_agent
self._top_down_view = top_down_view
self._manual_collision = manual_collision
self.MAZE_STRUCTURE = structure = maze_env_utils.construct_maze(maze_id=self._maze_id)
self.elevated = any(-1 in row for row in structure) # Elevate the maze to allow for falling.
self.blocks = any(
any(maze_env_utils.can_move(r) for r in row)
for row in structure) # Are there any movable blocks?
torso_x, torso_y = self._find_robot()
self._init_torso_x = torso_x
self._init_torso_y = torso_y
self._init_positions = [
(x - torso_x, y - torso_y)
for x, y in self._find_all_robots()]
self._xy_to_rowcol = lambda x, y: (2 + (y + size_scaling / 2) / size_scaling,
2 + (x + size_scaling / 2) / size_scaling)
self._view = np.zeros([5, 5, 3]) # walls (immovable), chasms (fall), movable blocks
height_offset = 0.
if self.elevated:
# Increase initial z-pos of ant.
height_offset = height * size_scaling
torso = tree.find(".//body[@name='torso']")
torso.set('pos', '0 0 %.2f' % (0.75 + height_offset))
if self.blocks:
# If there are movable blocks, change simulation settings to perform
# better contact detection.
default = tree.find(".//default")
default.find('.//geom').set('solimp', '.995 .995 .01')
self.movable_blocks = []
for i in range(len(structure)):
for j in range(len(structure[0])):
struct = structure[i][j]
if struct == 'r' and self._put_spin_near_agent:
struct = maze_env_utils.Move.SpinXY
if self.elevated and struct not in [-1]:
# Create elevated platform.
ET.SubElement(
worldbody, "geom",
name="elevated_%d_%d" % (i, j),
pos="%f %f %f" % (j * size_scaling - torso_x,
i * size_scaling - torso_y,
height / 2 * size_scaling),
size="%f %f %f" % (0.5 * size_scaling,
0.5 * size_scaling,
height / 2 * size_scaling),
type="box",
material="",
contype="1",
conaffinity="1",
rgba="0.9 0.9 0.9 1",
)
if struct == 1: # Unmovable block.
# Offset all coordinates so that robot starts at the origin.
ET.SubElement(
worldbody, "geom",
name="block_%d_%d" % (i, j),
pos="%f %f %f" % (j * size_scaling - torso_x,
i * size_scaling - torso_y,
height_offset +
height / 2 * size_scaling),
size="%f %f %f" % (0.5 * size_scaling,
0.5 * size_scaling,
height / 2 * size_scaling),
type="box",
material="",
contype="1",
conaffinity="1",
rgba="0.4 0.4 0.4 1",
)
elif maze_env_utils.can_move(struct): # Movable block.
# The "falling" blocks are shrunk slightly and increased in mass to
# ensure that it can fall easily through a gap in the platform blocks.
name = "movable_%d_%d" % (i, j)
self.movable_blocks.append((name, struct))
falling = maze_env_utils.can_move_z(struct)
spinning = maze_env_utils.can_spin(struct)
x_offset = 0.25 * size_scaling if spinning else 0.0
y_offset = 0.0
shrink = 0.1 if spinning else 0.99 if falling else 1.0
height_shrink = 0.1 if spinning else 1.0
movable_body = ET.SubElement(
worldbody, "body",
name=name,
pos="%f %f %f" % (j * size_scaling - torso_x + x_offset,
i * size_scaling - torso_y + y_offset,
height_offset +
height / 2 * size_scaling * height_shrink),
)
ET.SubElement(
movable_body, "geom",
name="block_%d_%d" % (i, j),
pos="0 0 0",
size="%f %f %f" % (0.5 * size_scaling * shrink,
0.5 * size_scaling * shrink,
height / 2 * size_scaling * height_shrink),
type="box",
material="",
mass="0.001" if falling else "0.0002",
contype="1",
conaffinity="1",
rgba="0.9 0.1 0.1 1"
)
if maze_env_utils.can_move_x(struct):
ET.SubElement(
movable_body, "joint",
armature="0",
axis="1 0 0",
damping="0.0",
limited="true" if falling else "false",
range="%f %f" % (-size_scaling, size_scaling),
margin="0.01",
name="movable_x_%d_%d" % (i, j),
pos="0 0 0",
type="slide"
)
if maze_env_utils.can_move_y(struct):
ET.SubElement(
movable_body, "joint",
armature="0",
axis="0 1 0",
damping="0.0",
limited="true" if falling else "false",
range="%f %f" % (-size_scaling, size_scaling),
margin="0.01",
name="movable_y_%d_%d" % (i, j),
pos="0 0 0",
type="slide"
)
if maze_env_utils.can_move_z(struct):
ET.SubElement(
movable_body, "joint",
armature="0",
axis="0 0 1",
damping="0.0",
limited="true",
range="%f 0" % (-height_offset),
margin="0.01",
name="movable_z_%d_%d" % (i, j),
pos="0 0 0",
type="slide"
)
if maze_env_utils.can_spin(struct):
ET.SubElement(
movable_body, "joint",
armature="0",
axis="0 0 1",
damping="0.0",
limited="false",
name="spinable_%d_%d" % (i, j),
pos="0 0 0",
type="ball"
)
torso = tree.find(".//body[@name='torso']")
geoms = torso.findall(".//geom")
for geom in geoms:
if 'name' not in geom.attrib:
raise Exception("Every geom of the torso must have a name "
"defined")
_, file_path = tempfile.mkstemp(text=True, suffix='.xml')
tree.write(file_path)
self.wrapped_env = model_cls(*args, file_path=file_path, **kwargs)