def __init__(self, rand_init=True):
'''
Initialize the robot.
:param rand_init: If True, randomly initialize the robot starting position.
'''
self.robot = Reacher(rand_init)
BaseBulletEnv.__init__(self, self.robot)
def __init__(self, robot, render=False):
print("WalkerBase::__init__")
BaseBulletEnv.__init__(self, robot, render)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId = -1
def __init__(self, render=False):
self.camera_x = 0
self.target_position_xy = (3, 0)
self.saved_state_id = None
self.robot = Biped(target_position_xy=self.target_position_xy)
BaseBulletEnv.__init__(self, self.robot, render)
self.action_space = self.robot.action_space
self.observation_space = self.robot.observation_space
def __init__(self):
self.robot = ReacherColours()
BaseBulletEnv.__init__(self, self.robot)
self._cam_dist = 5
self._cam_yaw = 0
self._cam_pitch = -45
self._render_width = 240
self._render_height = 240
def __init__(self, robot, render=False):
# self._p = bullet_client.BulletClient()
print("WalkerBase::__init__")
BaseBulletEnv.__init__(self, robot, render)
# if self.isRender:
# self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
# else:
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId = -1
def __init__(self):
self.robot = Gripper2D(add_feature='force_window', window_size=5)
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
self._cam_dist = 0.5
self._cam_yaw = 0
self._cam_pitch = -90
self._render_width = RENDER_WIDTH
self._render_height = RENDER_HEIGHT
self.action_space = self.robot.action_space
self.observation_space = self.robot.observation_space
def __init__(self):
self.robot = Gripper2D()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
## self.render(mode='human')
self._cam_dist = 0.4
self._cam_yaw = 0
self._cam_pitch = -90
self._render_width = RENDER_WIDTH
self._render_height = RENDER_HEIGHT
self.action_space = self.robot.action_space
self.observation_space = self.robot.observation_space
def initialize(self):
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
## self.render(mode='human')
self._cam_dist = 0.4
self._cam_yaw = 0
self._cam_pitch = -90
self._render_width = RENDER_WIDTH
self._render_height = RENDER_HEIGHT
self.robot.body_xyz = [0, -0.03, 0]
self.action_space = self.robot.action_space
def __init__(self):
self.robot = ReacherSequential()
BaseBulletEnv.__init__(self, self.robot)
self._cam_dist = 3.55 # tuned to just crop border
self._cam_yaw = 0
self._cam_pitch = -90
# self._cam_dist = 5
# self._cam_yaw = 0
# self._cam_pitch = -45
self._render_width = 240
self._render_height = 240
self.task_specific_values = self.robot.goal_positions
self.task_specific_obs_indices = np.r_[0:2]
def __init__(self, robot=Humanoid(), render=False, vision=False, max_steps=6000):
self.robot = robot
BaseBulletEnv.__init__(self, self.robot, render)
self.saved_state_id = None
self.vision = vision
# self.action_space = Dict()
if vision:
self.observation_space = spaces.Dict({
'robot_state': self.robot.observation_space,
'camera': spaces.Box(low=0, high=255, shape=(30, 30, 1)),
})
else:
self.observation_space = self.robot.observation_space
self.action_space = self.robot.action_space
self.max_steps = max_steps
self.current_step = 0
def __init__(self):
self.robot = InvertedDoublePendulum()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def __init__(self, target):
self.robot = ReacherRobot(target)
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = PendulumNormal()
BaseBulletEnv.__init__(self, self.robot, render=False)
self.stateId = -1
self.recording = False
def __init__(self):
self.robot = ReacherTerminate()
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = CuboidPeg2D()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def __init__(self):
self.robot = GraspBox()
BaseBulletEnv.__init__(self, self.robot)
self.camera = Camera(self)
def __init__(self, shelf=False):
self.robot = PandaReacher(shelf=shelf)
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = InvertedPendulumSwingup()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def __init__(self):
self.robot = Thrower()
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = InvertedPendulum()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
self._timestep = 0
def __init__(self, rand_init=True):
self.robot = Reacher(rand_init)
BaseBulletEnv.__init__(self, self.robot)
