def turn_hard(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None,
environment_kwargs=None):
"""Returns the hard Turn task."""
physics = Physics.from_xml_string(*get_model_and_assets())
task = Turn(target_radius=_HARD_TARGET_SIZE, random=random)
environment_kwargs = environment_kwargs or {}
return control.Environment(
physics, task, time_limit=time_limit, control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)
def run(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None):
"""Returns the run task."""
physics = []
for body_length in params:
physic = Physics.from_xml_string(*get_model_and_assets(body_length))
physics.append(physic)
task = Cheetah(random=random)
environment_kwargs = environment_kwargs or {}
return control.Environment(physics, task, time_limit=time_limit,
**environment_kwargs)
def two_poles(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
environment_kwargs=None):
"""Returns the Cartpole Balance task with two poles."""
physics = Physics.from_xml_string(*get_model_and_assets(num_poles=2))
task = Balance(swing_up=True, sparse=False, random=random)
environment_kwargs = environment_kwargs or {}
return control.Environment(physics,
task,
time_limit=time_limit,
**environment_kwargs)
def spin(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None):
"""Returns the Spin task."""
physics = []
for length in params:
physic = Physics.from_xml_string(*get_model_and_assets(length))
physics.append(physic)
task = Spin(random=random)
environment_kwargs = environment_kwargs or {}
return control.Environment(
physics, task, time_limit=time_limit, control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)
def swingup(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
params=None,
environment_kwargs=None):
"""Returns the Cartpole Swing-Up task."""
physics = []
for pole_length in params:
physic = Physics.from_xml_string(*get_model_and_assets(pole_length))
physics.append(physic)
task = Balance(swing_up=True, sparse=False, random=random)
environment_kwargs = environment_kwargs or {}
return control.Environment(physics,
task,
time_limit=time_limit,
**environment_kwargs)
def catch(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
params=None,
environment_kwargs=None):
"""Returns the Ball-in-Cup task."""
physics = []
for ball_size in params:
physic = Physics.from_xml_string(*get_model_and_assets(ball_size))
physics.append(physic)
task = BallInCup(random=random)
environment_kwargs = environment_kwargs or {}
return control.Environment(physics,
task,
time_limit=time_limit,
control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)
def walk(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
params=None,
environment_kwargs=None):
"""Returns the Walk task."""
physics = []
for leg_length in params:
physic = Physics.from_xml_string(*get_model_and_assets(leg_length))
physics.append(physic)
task = PlanarWalker(move_speed=_WALK_SPEED, random=random)
environment_kwargs = environment_kwargs or {}
return control.Environment(physics,
task,
time_limit=time_limit,
control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)
