def testActivation(self):
target_radius = 0.6
prop_radius = 0.1
target_height = 1
arena = floors.Floor()
target = target_sphere.TargetSphere(radius=target_radius,
height_above_ground=target_height)
prop = primitive.Primitive(geom_type='sphere', size=[prop_radius])
arena.attach(target)
arena.add_free_entity(prop)
task = composer.NullTask(arena)
task.initialize_episode = (
lambda physics, random_state: prop.set_pose(physics, [0, 0, 2]))
env = composer.Environment(task)
env.reset()
max_activated_height = target_height + target_radius + prop_radius
while env.physics.bind(prop.geom).xpos[2] > max_activated_height:
self.assertFalse(target.activated)
self.assertEqual(env.physics.bind(target.material).rgba[-1], 1)
env.step([])
while env.physics.bind(prop.geom).xpos[2] > 0.2:
self.assertTrue(target.activated)
self.assertEqual(env.physics.bind(target.material).rgba[-1], 0)
env.step([])
# Target should be reset when the environment is reset.
env.reset()
self.assertFalse(target.activated)
self.assertEqual(env.physics.bind(target.material).rgba[-1], 1)
def __init__(self,
walker,
maze_arena,
target=None,
target_reward_scale=1.0,
randomize_spawn_position=True,
randomize_spawn_rotation=True,
rotation_bias_factor=0,
aliveness_reward=0.0,
aliveness_threshold=DEFAULT_ALIVE_THRESHOLD,
contact_termination=True,
max_repeats=0,
enable_global_task_observables=False,
physics_timestep=DEFAULT_PHYSICS_TIMESTEP,
control_timestep=DEFAULT_CONTROL_TIMESTEP,
regenerate_maze_on_repeat=False):
super(RepeatSingleGoalMaze, self).__init__(
walker=walker,
maze_arena=maze_arena,
randomize_spawn_position=randomize_spawn_position,
randomize_spawn_rotation=randomize_spawn_rotation,
rotation_bias_factor=rotation_bias_factor,
aliveness_reward=aliveness_reward,
aliveness_threshold=aliveness_threshold,
contact_termination=contact_termination,
enable_global_task_observables=enable_global_task_observables,
physics_timestep=physics_timestep,
control_timestep=control_timestep)
if target is None:
target = target_sphere.TargetSphere()
self._target = target
self._rewarded_this_step = False
self._maze_arena.attach(target)
self._target_reward_scale = target_reward_scale
self._max_repeats = max_repeats
self._targets_obtained = 0
self._regenerate_maze_on_repeat = regenerate_maze_on_repeat
if enable_global_task_observables:
xpos_origin_callable = lambda phys: phys.bind(walker.root_body
).xpos
def _target_pos(physics, target=target):
return physics.bind(target.geom).xpos
walker.observables.add_egocentric_vector(
'target_0',
observable_lib.Generic(_target_pos),
origin_callable=xpos_origin_callable)
def __init__(self,
walker,
main_target,
maze_arena,
num_subtargets=20,
target_reward_scale=10.0,
subtarget_reward_scale=1.0,
subtarget_colors=((0, 0, 0.4), (0, 0, 0.7)),
randomize_spawn_position=True,
randomize_spawn_rotation=True,
rotation_bias_factor=0,
aliveness_reward=0.0,
aliveness_threshold=DEFAULT_ALIVE_THRESHOLD,
contact_termination=True,
physics_timestep=DEFAULT_PHYSICS_TIMESTEP,
control_timestep=DEFAULT_CONTROL_TIMESTEP):
super(RepeatSingleGoalMazeAugmentedWithTargets,
self).__init__(walker=walker,
target=main_target,
maze_arena=maze_arena,
target_reward_scale=target_reward_scale,
randomize_spawn_position=randomize_spawn_position,
randomize_spawn_rotation=randomize_spawn_rotation,
rotation_bias_factor=rotation_bias_factor,
aliveness_reward=aliveness_reward,
aliveness_threshold=aliveness_threshold,
contact_termination=contact_termination,
physics_timestep=physics_timestep,
control_timestep=control_timestep)
self._subtarget_reward_scale = subtarget_reward_scale
self._subtargets = []
for i in range(num_subtargets):
subtarget = target_sphere.TargetSphere(
radius=0.4,
rgb1=subtarget_colors[0],
rgb2=subtarget_colors[1],
name='subtarget_{}'.format(i))
self._subtargets.append(subtarget)
self._maze_arena.attach(subtarget)
self._subtarget_rewarded = None
