def __init__(self, x_min=-20.0, x_max=20.0, seed=0, **kwargs):
super().__init__(**kwargs)
self.seed = seed
rng = np.random.RandomState(self.seed)
gap_centers = np.arange(0.5, x_max, 0.7)
gap_centers += rng.normal(0.0, 0.05, size=gap_centers.shape)
gap_widths = np.zeros(len(gap_centers))
for i in range(len(gap_widths)):
gap_widths[i] = rng.uniform(min(0.06 * (i + 1), 0.2),
min(0.12 * (i + 1), 0.4))
platform_x_min = np.concatenate(
([x_min], gap_centers + 0.5 * gap_widths))
platform_x_max = np.concatenate(
(gap_centers - 0.5 * gap_widths, [x_max]))
platform_x = 0.5 * (platform_x_min + platform_x_max)
platform_half_widths = 0.5 * (platform_x_max - platform_x_min)
self.platform_x = platform_x
self.platforms = [
rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [half_width, 1.0, 10.0])
for half_width in platform_half_widths
]
self.floor_x = 0.5 * (x_min + x_max)
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.5,
[0.5 * (x_max - x_min), 1.0, 10.0])
self.objective_fn.base_dir_weight = np.array([-1.0, 0.0, 0.0])
self.objective_fn.base_up_weight = np.array([0.0, 1.0, 0.0])
self.objective_fn.base_vel_weight = np.array([3.0, 0.0, 0.0])
def __init__(self, seed=0, **kwargs):
super().__init__(horizon=32, **kwargs)
self.seed = seed
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [20.0, 1.0, 10.0])
self.wall = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [0.05, 0.5, 0.25])
self.side_wall = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [20, 0.5, 0.05])
def __init__(self, seed=0, **kwargs):
super().__init__(**kwargs)
self.seed = seed
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [20.0, 1.0, 10.0])
self.bump = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [0.1, 0.2, 10.0])
self.objective_fn.base_dir_weight = np.array([-1.0, 0.0, 0.0])
self.objective_fn.base_up_weight = np.array([0.0, 1.0, 0.0])
self.objective_fn.base_vel_weight = np.array([8.0, 0.0, 0.0])
def __init__(self, seed=0, **kwargs):
super().__init__(horizon=32, **kwargs)
self.seed = seed
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [20.0, 1.0, 10.0])
self.wall = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [0.05, 0.5, 0.45])
self.side_wall = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [20, 0.5, 0.05])
self.objective_fn.base_dir_weight = np.array([-1.0, 0.0, 0.0])
self.objective_fn.base_up_weight = np.array([0.0, 1.0, 0.0])
self.objective_fn.base_vel_weight = np.array([8.0, 0.0, 0.0])
def __init__(self, x_min=-20.0, x_max=20.0, seed=0, **kwargs):
super().__init__(**kwargs)
self.seed = seed
rng = np.random.RandomState(self.seed)
gap_centers = np.arange(0.5, x_max, 1.0)
gap_centers += rng.normal(0.0, 0.1, size=gap_centers.shape)
gap_widths = np.linspace(0.1, 0.5, num=len(gap_centers))
platform_x_min = np.concatenate(
([x_min], gap_centers + 0.5 * gap_widths))
platform_x_max = np.concatenate(
(gap_centers - 0.5 * gap_widths, [x_max]))
platform_x = 0.5 * (platform_x_min + platform_x_max)
platform_half_widths = 0.5 * (platform_x_max - platform_x_min)
self.platform_x = platform_x
self.platforms = [
rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [half_width, 1.0, 10.0])
for half_width in platform_half_widths
]
self.floor_x = 0.5 * (x_min + x_max)
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.5,
[0.5 * (x_max - x_min), 1.0, 10.0])
def __init__(self, x_min=-20.0, x_max=20.0, seed=0, **kwargs):
super().__init__(**kwargs)
self.seed = seed
rng = np.random.RandomState(self.seed)
edge_x = np.arange(0.0, x_max, 0.3)
# edge_x += rng.normal(0.0, 0.1, size=edge_x.shape)
platform_x_min = np.concatenate(([x_min], edge_x))
platform_x_max = np.concatenate((edge_x, [x_max]))
platform_x = 0.5 * (platform_x_min + platform_x_max)
platform_half_widths = 0.5 * (platform_x_max - platform_x_min)
self.platform_x = platform_x
self.platforms = [
rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [half_width, 5.0, 10.0])
for half_width in platform_half_widths
]
def __init__(self, seed=0, **kwargs):
super().__init__(**kwargs)
self.seed = seed
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [20.0, 1.0, 10.0])
self.bump = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [0.1, 0.2, 10.0])
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.5, [40.0, 1.0, 10.0])
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.floor = rd.Prop(rd.PropShape.BOX, 0.0, 0.05, [20.0, 1.0, 10.0])
self.floor.color = [0.8, 0.9, 1.0]