def __init__(self, env):
self.env = env
super(GatherViewer, self).__init__()
green_ball_model = MjModel(
osp.abspath(osp.join(MODEL_DIR, 'green_ball.xml')))
self.green_ball_renderer = EmbeddedViewer()
self.green_ball_model = green_ball_model
self.green_ball_renderer.set_model(green_ball_model)
red_ball_model = MjModel(
osp.abspath(osp.join(MODEL_DIR, 'red_ball.xml')))
self.red_ball_renderer = EmbeddedViewer()
self.red_ball_model = red_ball_model
self.red_ball_renderer.set_model(red_ball_model)
#"""
green_ball_highlighted_model = MjModel(
osp.abspath(osp.join(MODEL_DIR, 'green_ball_highlighted.xml')))
self.green_ball_highlighted_renderer = EmbeddedViewer()
self.green_ball_highlighted_model = green_ball_highlighted_model
self.green_ball_highlighted_renderer.set_model(
green_ball_highlighted_model)
red_ball_highlighted_model = MjModel(
osp.abspath(osp.join(MODEL_DIR, 'red_ball_highlighted.xml')))
self.red_ball_highlighted_renderer = EmbeddedViewer()
self.red_ball_highlighted_model = red_ball_highlighted_model
self.red_ball_highlighted_renderer.set_model(
red_ball_highlighted_model)
def __init__(self,
action_noise=0.0,
file_path=None,
template_args=None,
**kwargs):
# compile template
if file_path is None:
if self.__class__.FILE is None:
raise "Mujoco file not specified"
file_path = osp.join(MODEL_DIR, self.__class__.FILE)
if file_path.endswith(".mako"):
lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
with open(file_path) as template_file:
template = mako.template.Template(template_file.read(),
lookup=lookup)
content = template.render(
opts=template_args if template_args is not None else {}, )
tmp_f, file_path = tempfile.mkstemp(text=True)
with open(file_path, 'w') as f:
f.write(content)
self.model = MjModel(file_path)
os.close(tmp_f)
else:
try:
self.model = MjModel(file_path)
except rllab.mujoco_py.mjcore.MjError as err:
rllab_path = rllab.__file__
if 'local' not in file_path:
prefix = rllab_path[:rllab_path.index(
'rllab')] + 'rllab/vendor/local_mujoco_models/'
suffix = file_path[file_path.index('mujoco_models') + 14:]
#suffix = 'train_ensure_woodtable_distractor_pusher1.xml'
#suffix = 'pusher98.xml'
self.model = MjModel(prefix + suffix)
self.data = self.model.data
self.viewer = None
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.qpos_dim = self.init_qpos.size
self.qvel_dim = self.init_qvel.size
self.ctrl_dim = self.init_ctrl.size
self.action_noise = action_noise
if "frame_skip" in self.model.numeric_names:
frame_skip_id = self.model.numeric_names.index("frame_skip")
addr = self.model.numeric_adr.flat[frame_skip_id]
self.frame_skip = int(self.model.numeric_data.flat[addr])
else:
self.frame_skip = 1
if "init_qpos" in self.model.numeric_names:
init_qpos_id = self.model.numeric_names.index("init_qpos")
addr = self.model.numeric_adr.flat[init_qpos_id]
size = self.model.numeric_size.flat[init_qpos_id]
init_qpos = self.model.numeric_data.flat[addr:addr + size]
self.init_qpos = init_qpos
self.dcom = None
self.current_com = None
self.reset()
super(MujocoEnv, self).__init__()
def __init__(
self,
action_noise=0.0,
file_path=None,
template_args=None,
random_init_state=False,
):
#Haoran: even if random_init_state
# compile template
if file_path is None:
if self.__class__.FILE is None:
raise "Mujoco file not specified"
file_path = osp.join(MODEL_DIR, self.__class__.FILE)
if file_path.endswith(".mako"):
lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
with open(file_path) as template_file:
template = mako.template.Template(template_file.read(),
lookup=lookup)
content = template.render(
opts=template_args if template_args is not None else {}, )
tmp_f, file_path = tempfile.mkstemp(text=True)
with open(file_path, 'w') as f:
f.write(content)
self.model = MjModel(file_path)
os.close(tmp_f)
# os.remove(file_path)
# TODO
else:
self.model = MjModel(file_path)
self.data = self.model.data
self.viewer = None
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.init_damping = (self.model.dof_damping[:, 0]).copy()
self.init_armature = (self.model.dof_armature[:, 0]).copy()
self.init_frictionloss = (self.model.dof_frictionloss[:, 0]).copy()
self.qpos_dim = self.init_qpos.size
self.qvel_dim = self.init_qvel.size
self.ctrl_dim = self.init_ctrl.size
self.action_noise = action_noise
self.random_init_state = random_init_state
if "frame_skip" in self.model.numeric_names:
frame_skip_id = self.model.numeric_names.index("frame_skip")
addr = self.model.numeric_adr.flat[frame_skip_id]
self.frame_skip = int(self.model.numeric_data.flat[addr])
else:
self.frame_skip = 1
if "init_qpos" in self.model.numeric_names:
init_qpos_id = self.model.numeric_names.index("init_qpos")
addr = self.model.numeric_adr.flat[init_qpos_id]
size = self.model.numeric_size.flat[init_qpos_id]
init_qpos = self.model.numeric_data.flat[addr:addr + size]
self.init_qpos = init_qpos
self.dcom = None
self.current_com = None
self.reset()
super(MujocoEnv, self).__init__()
def __init__(self,
action_noise=0.0,
file_path=None,
template_args=None,
envseed=None):
# compile template
self._seed(envseed)
if file_path is None:
if self.__class__.FILE is None:
raise "Mujoco file not specified"
file_path = osp.join(MODEL_DIR, self.__class__.FILE)
# print("debug, new mujoco env, filepath", file_path)
if file_path.endswith(".mako"):
lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
with open(file_path) as template_file:
template = mako.template.Template(template_file.read(),
lookup=lookup)
content = template.render(
opts=template_args if template_args is not None else {}, )
tmp_f, file_path = tempfile.mkstemp(text=True)
with open(file_path, 'w') as f:
f.write(content)
self.model = MjModel(file_path)
os.close(tmp_f)
else:
self.model = MjModel(file_path)
self.data = self.model.data
self.viewer = None
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.qpos_dim = self.init_qpos.size
self.qvel_dim = self.init_qvel.size
self.ctrl_dim = self.init_ctrl.size
self.action_noise = action_noise
if "frame_skip" in self.model.numeric_names:
frame_skip_id = self.model.numeric_names.index("frame_skip")
addr = self.model.numeric_adr.flat[frame_skip_id]
self.frame_skip = int(self.model.numeric_data.flat[addr])
else:
self.frame_skip = 1
if "init_qpos" in self.model.numeric_names:
init_qpos_id = self.model.numeric_names.index("init_qpos")
addr = self.model.numeric_adr.flat[init_qpos_id]
size = self.model.numeric_size.flat[init_qpos_id]
init_qpos = self.model.numeric_data.flat[addr:addr + size]
self.init_qpos = init_qpos
self.dcom = None
self.current_com = None
self.reset()
super(MujocoEnv, self).__init__()
def __init__(self, **kwargs):
super(HalfCheetahSimulator, self).__init__(**kwargs)
self._imSz = 512
self._im = np.zeros((self._imSz, self._imSz, 3), dtype=np.uint8)
self.model = MjModel(
'../rlmaster/envs/mujoco_envs/xmls/half_cheetah.xml')
self.viewer = None
self._pos = {}
self._pos['torso'] = np.zeros((3, ))
self._range_min = -1
self._range_max = 1
self.body_comvel = 0
self.action = np.zeros((1, 2))
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.frame_skip = 1
