class DClawPoseRandomDynamics(DClawPoseRandom):
"""Track a random moving pose.
The dynamics of the simulation are randomized each episode.
"""
def __init__(self,
*args,
sim_observation_noise: Optional[float] = 0.05,
**kwargs):
super().__init__(*args,
sim_observation_noise=sim_observation_noise,
**kwargs)
self._randomizer = SimRandomizer(self)
self._dof_indices = (
self.robot.get_config('dclaw').qvel_indices.tolist())
def _reset(self):
# Randomize joint dynamics.
self._randomizer.randomize_dofs(
self._dof_indices,
damping_range=(0.005, 0.1),
friction_loss_range=(0.001, 0.005),
)
self._randomizer.randomize_actuators(
all_same=True,
kp_range=(1, 3),
)
super()._reset()
class DClawScrewRandomDynamics(DClawScrewRandom):
"""Rotates the object with a random initial position and velocity.
The dynamics of the simulation are randomized each episode.
"""
def __init__(self,
*args,
sim_observation_noise: Optional[float] = 0.05,
**kwargs):
super().__init__(
*args, sim_observation_noise=sim_observation_noise, **kwargs)
self._randomizer = SimRandomizer(self)
self._dof_indices = (
self.robot.get_config('dclaw').qvel_indices.tolist() +
self.robot.get_config('object').qvel_indices.tolist())
def _reset(self):
# Randomize joint dynamics.
self._randomizer.randomize_dofs(
self._dof_indices,
damping_range=(0.005, 0.1),
friction_loss_range=(0.001, 0.005),
)
self._randomizer.randomize_actuators(
all_same=True,
kp_range=(1, 3),
)
# Randomize friction on all geoms in the scene.
self._randomizer.randomize_geoms(
all_same=True,
friction_slide_range=(0.8, 1.2),
friction_spin_range=(0.003, 0.007),
friction_roll_range=(0.00005, 0.00015),
)
self._randomizer.randomize_bodies(
['mount'],
position_perturb_range=(-0.01, 0.01),
)
self._randomizer.randomize_geoms(
['mount'],
color_range=(0.2, 0.9),
)
self._randomizer.randomize_geoms(
parent_body_names=['valve'],
color_range=(0.2, 0.9),
)
super()._reset()
class DKittyWalkRandomDynamics(DKittyWalkFixed):
"""Walk straight towards a random location."""
def __init__(self,
*args,
sim_observation_noise: Optional[float] = 0.05,
**kwargs):
super().__init__(
*args, sim_observation_noise=sim_observation_noise, **kwargs)
self._randomizer = SimRandomizer(self)
self._dof_indices = (
self.robot.get_config('dkitty').qvel_indices.tolist())
def _reset(self):
"""Resets the environment."""
# Randomize joint dynamics.
self._randomizer.randomize_dofs(
self._dof_indices,
all_same=True,
damping_range=(0.1, 0.2),
friction_loss_range=(0.001, 0.005),
)
self._randomizer.randomize_actuators(
all_same=True,
kp_range=(2.5, 3.0),
)
# Randomize friction on all geoms in the scene.
self._randomizer.randomize_geoms(
all_same=True,
friction_slide_range=(0.8, 1.2),
friction_spin_range=(0.003, 0.007),
friction_roll_range=(0.00005, 0.00015),
)
# Generate a random height field.
self._randomizer.randomize_global(
total_mass_range=(1.6, 2.0),
# height_field_range=(0, 0.05),
)
if len(self.sim.render_contexts) > 0:
self.sim_scene.upload_height_field(0)
super()._reset()
class DKittyStandRandomDynamics(DKittyStandRandom):
"""Stand up from a random positon with randomized dynamics."""
def __init__(self,
*args,
sim_observation_noise: Optional[float] = 0.05,
**kwargs):
super().__init__(
*args, sim_observation_noise=sim_observation_noise, **kwargs)
self._randomizer = SimRandomizer(self)
self._dof_indices = (
self.robot.get_config('dkitty').qvel_indices.tolist())
def _reset(self):
"""Resets the environment."""
# Randomize joint dynamics.
self._randomizer.randomize_dofs(
self._dof_indices,
all_same=True,
damping_range=(0.1, 0.2),
friction_loss_range=(0.001, 0.005),
)
self._randomizer.randomize_actuators(
all_same=True,
kp_range=(2, 4),
)
# Randomize friction on all geoms in the scene.
self._randomizer.randomize_geoms(
all_same=True,
friction_slide_range=(0.8, 1.2),
friction_spin_range=(0.003, 0.007),
friction_roll_range=(0.00005, 0.00015),
)
# Generate a random height field.
self._randomizer.randomize_global(
total_mass_range=(1.6, 2.0),
height_field_range=(0, 0.05),
)
self.sim_scene.upload_height_field(0)
super()._reset()
class DKittyRandomDynamics(BaseDKittyWalk):
"""Walk straight towards a random location."""
def __init__(self, *args, randomize_hfield=0.0, **kwargs):
super().__init__(*args, **kwargs)
self._randomizer = SimRandomizer(self)
self._randomize_hfield = randomize_hfield
self._dof_indices = self.robot.get_config(
"dkitty").qvel_indices.tolist()
def _reset(self):
"""Resets the environment."""
# Randomize joint dynamics.
self._randomizer.randomize_dofs(
self._dof_indices,
all_same=True,
damping_range=(0.1, 0.2),
friction_loss_range=(0.001, 0.005),
)
self._randomizer.randomize_actuators(
all_same=True,
kp_range=(2.8, 3.2),
)
# Randomize friction on all geoms in the scene.
self._randomizer.randomize_geoms(
all_same=True,
friction_slide_range=(0.8, 1.2),
friction_spin_range=(0.003, 0.007),
friction_roll_range=(0.00005, 0.00015),
)
# Generate a random height field.
self._randomizer.randomize_global(
total_mass_range=(1.6, 2.0),
height_field_range=(0, self._randomize_hfield),
)
# if self._randomize_hfield > 0.0:
# self.sim_scene.upload_height_field(0)
super()._reset()