def __init__(self, render=False, design=None, seed=None, design_mode='24lr'):
self.robot = Ant(design, design_mode)
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.observation_space = spaces.Box(-np.inf, np.inf, shape=[28], dtype=np.float32)
self.seed(seed)
self.action_space.seed(seed)
self.observation_space.seed(seed)
def __init__(self, render=False):
self.init_body = np.zeros(2)
self.robot = Ant()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.param_ranges = np.vstack(
[self.action_space.low, self.action_space.high]).T
self.env_info = dict(num_targets=1,
num_obstacles=0,
wall_geoms=None,
ball_geom=None,
target_info=[{
'xy': (20, 0)
}],
striker_ranges=None,
ball_ranges=None)
self.camera_info = {
'camera': {
'distance': 12,
'yaw': -0,
'pitch': -89
},
'lookat': [0, 0, 0]
}
self.camera = TopCamera(self)
def __init__(self, xml, param, name=None, powercoeffs=[1., 1., 1.], is_eval=False, render=False, max_episode_steps=1e3):
self.robot = Ant(xml, param, name, env=self, powercoeffs=powercoeffs)
self.is_eval = is_eval
self.max_episode_steps = max_episode_steps
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.camera = CameraOnTop(self)
self.electricity_cost /= 10.
def __init__(self,
xml,
param,
powercoeffs=[1., 1., 1.],
render=False,
max_episode_steps=1e3):
self.robot = Walker2D(xml, powercoeffs)
self.max_episode_steps = max_episode_steps
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, xml, param, render=False, max_episode_steps=1000):
self.forbid_links = {}
self.forbid_links_name = [
b"torso", b"thigh", b"thigh_left"
] # all links that not allowed to touch the ground
self.robot = _Walker2D(xml=xml, param=param)
self.max_episode_steps = max_episode_steps
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.reset()
self.init_forbid_links()
def __init__(self,
xml,
param,
powercoeffs=[1., 1., 1.],
is_eval=False,
render=False,
max_episode_steps=1e3):
self.robot = Walker2D(xml, param, env=self, powercoeffs=powercoeffs)
self.is_eval = is_eval
self.max_episode_steps = max_episode_steps
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.camera = MyCamera(self)
def __init__(self, xml, render=False):
self.torso_linkId = 0
self.robot = ModularRobot(xml)
self.xml = xml
WalkerBaseBulletEnv.__init__(self, self.robot, render=render)
utils.EzPickle.__init__(self)
self.best_record_so_far = 0.
self.current_step = 0
self.reset()
self.adjust_visual()
self.reset_spaces()
self.step(self.action_space.sample())
def __init__(self, render=False):
self.init_body = 0
self.robot = HalfCheetah()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.param_ranges = np.vstack([self.action_space.low,
self.action_space.high]).T
self.env_info = dict(
num_targets=1,
num_obstacles=0,
wall_geoms=None,
ball_geom=None,
target_info=[{'xy': (20, 0)}],
striker_ranges=None,
ball_ranges=None)
def __init__(self,
render=False,
debug=False,
xml="",
max_episode_steps=1000,
is_eval=False,
param=[]):
""" param is a ndarray stores the parameters of the body """
self.robot = Walker2D(xml, param)
self.debug = debug
self.step_num = 0
self.max_episode_steps = max_episode_steps
self.is_eval = is_eval
self.param = param
self.forbid_links = [-1]
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def make(model_xml,
robot_name,
footlist,
action_dim,
obs_dim,
render=False,
max_episode_steps=1000,
reward_threshold=2500.0):
robot = type(
"Robo", (WalkerBase, ), {
"foot_list":
footlist,
"__init__":
lambda self: _robo_init(self, model_xml, robot_name, action_dim,
obs_dim),
"apply_action":
_robo_apply_action,
"alive_bonus":
_alive_bonus,
})
env = type(
"Env", (WalkerBaseBulletEnv, ), {
"__init__":
lambda self: WalkerBaseBulletEnv.__init__(self, robot(), render)
})
register(id='PyBulletMjcf-v0',
entry_point=env,
max_episode_steps=max_episode_steps,
reward_threshold=reward_threshold)
return gym.make("PyBulletMjcf-v0")
def __init__(self, render=False):
self.init_body = np.zeros(2)
self.robot = Humanoid()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.electricity_cost = 4.25 * WalkerBaseBulletEnv.electricity_cost
self.stall_torque_cost = 4.25 * WalkerBaseBulletEnv.stall_torque_cost
self.param_ranges = np.vstack(
[self.action_space.low, self.action_space.high]).T
self.env_info = dict(num_targets=1,
num_obstacles=0,
wall_geoms=None,
ball_geom=None,
target_info=[{
'xy': (20, 0)
}],
striker_ranges=None,
ball_ranges=None)
def __init__(self, render=False):
self.init = True
self.init_body = np.zeros(2)
# self.init_ball_pos = [0.5, -0.5, .25]
self.init_ball_pos = [0, 0, .25]
self.init_robot_pos = [0, -1.5, .5]
self.robot = AugmentedQuadruped(scale=100)
WalkerBaseBulletEnv.__init__(self, self.robot, render)
self.param_ranges = np.vstack(
[self.action_space.low, self.action_space.high]).T
_offset = 0.25 / 2
self.ball_ranges = np.array([[-6. + _offset, 6. - _offset],
[-3. + _offset, 9 - _offset]])
self.env_info = dict(num_targets=1,
num_obstacles=0,
wall_geoms=[0, 1, 2, 3],
ball_geom=5,
target_info=[{
'xy': (-0.5, 1.),
'radius': 0.25
}],
striker_ranges=self.param_ranges,
ball_ranges=self.ball_ranges)
# self.camera_info = {'camera': {'distance': 10,
# 'yaw': -0,
# 'pitch': -69},
# 'lookat': [0, 0, 0]}
self.camera_info = {
'camera': {
'distance': 12,
'yaw': -0,
'pitch': -89
},
'lookat': [0, 3, 0]
}
self.camera = TopCamera(self)
self._render_width = 240
self._render_height = 240
self.init = False
def __init__(self, render=False):
self.robot = SwolArm()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, render=False):
self.robot = Walker2D_1()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, xml, param, render=False, max_episode_steps=1000):
self.robot = _Walker2D(xml=xml, param=param)
self.max_episode_steps = max_episode_steps
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, xml, render=False):
self.robot = MyAnt(xml=xml)
self.xml = xml
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, morphology_xml, render=False):
self.robot = CustomAnt(morphology_xml)
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, render=False):
self.robot = locomotion_robots.AntSixLegs()
WalkerBaseBulletEnv.__init__(self, self.robot, render)
def __init__(self, render=False):
self.robot = locomotion_robots.Ant_Crippled_RightBackLeg()
WalkerBaseBulletEnv.__init__(self, self.robot, render)