def __init__(self, *args, **kwargs):
""" Constants:
omega is always 0, and set a constant for background noise
"""
self.Om = np.array([[1,0,0],[0,1,0],[0,0,1]])
self.background = 2.0 #background noise
""" Variables:
These variables will be read along with the action:
two_theta: detector's rotation about the z-axis -- assume elastic scattering, so omega is always 0
theta: the angle at which our neutrons strike the plane
These variables are the two dimensions of our problem
chi: outer ring's rotation about the x-axis
phi: rotation of the eulerian cradle, varies between z- and y-axis rotation depending on how much chi rotated
"""
self.max_two_theta = 180
self.max_chi = 90
self.max_phi = 360
self.min_chi = -90
self.min_phi = 0
self.hit = 0
#Set up hkl and all actions
super(UBEnv, self).__init__(self.model_path("UB.xml.mako"),*args, **kwargs)
#Two independent bodies
self.ring = find_body(self.world, "ring") #chi
self.eu_cradle = find_body(self.world, "eu_cradle") #phi
self.detector = find_body(self.world, "detector") #theta
self.pivot = find_joint(self.world, "angular_axis") #pivot that enables angular movement
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
super(CartpoleSwingupEnvX,
self).__init__(self.model_path("cartpole.xml.mako"), *args,
**kwargs)
self.max_cart_pos = 3
self.max_reward_cart_pos = 3
self.cart = find_body(self.world, "cart")
self.pole = find_body(self.world, "pole")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
super(CartpoleSwingupEnvX, self).__init__(
self.model_path("cartpole.xml.mako"),
*args, **kwargs
)
self.max_cart_pos = 3
self.max_reward_cart_pos = 3
self.cart = find_body(self.world, "cart")
self.pole = find_body(self.world, "pole")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
self.max_pole_angle = .2
self.max_cart_pos = 2.4
self.max_cart_speed = 4.
self.max_pole_speed = 4.
super(CartpoleEnv, self).__init__(self.model_path("cartpole.xml.mako"),
*args, **kwargs)
self.cart = find_body(self.world, "cart")
self.pole = find_body(self.world, "pole")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
#self.dt = .1 # refresh rate
#self.on_goal = 0
super(ArmEnv, self).__init__(self.model_path("arm.xml.mako"), *args,
**kwargs)
self.arm1 = find_body(self.world, "arm1")
self.arm2 = find_body(self.world, "arm2")
self.point = find_body(self.world, "point")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
self.max_pole_angle = .2
self.max_cart_pos = 2.4
self.max_cart_speed = 4.
self.max_pole_speed = 4.
super(CartpoleEnv, self).__init__(
self.model_path("cartpole.xml.mako"),
*args, **kwargs
)
self.cart = find_body(self.world, "cart")
self.pole = find_body(self.world, "pole")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
# make sure mdp-level step is 100ms long
kwargs["frame_skip"] = kwargs.get("frame_skip", 2)
if kwargs.get("template_args", {}).get("noise", False):
self.link_len = (np.random.rand() - 0.5) + 1
else:
self.link_len = 1
kwargs["template_args"] = kwargs.get("template_args", {})
kwargs["template_args"]["link_len"] = self.link_len
super(ArmEnv, self).__init__(self.model_path("arm_env.xml.mako"),
*args, **kwargs)
self.arm1 = find_body(self.world, "arm1")
self.arm2 = find_body(self.world, "arm2")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
# make sure mdp-level step is 100ms long
kwargs["frame_skip"] = kwargs.get("frame_skip", 2)
if kwargs.get("template_args", {}).get("noise", False):
self.link_len = (np.random.rand()-0.5) + 1
else:
self.link_len = 1
kwargs["template_args"] = kwargs.get("template_args", {})
kwargs["template_args"]["link_len"] = self.link_len
super(DoublePendulumEnv, self).__init__(
self.model_path("double_pendulum.xml.mako"),
*args, **kwargs
)
self.link1 = find_body(self.world, "link1")
self.link2 = find_body(self.world, "link2")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, goal_len=None, *args, **kwargs):
# make sure mdp-level step is 100ms long
kwargs["frame_skip"] = kwargs.get("frame_skip", 2)
if kwargs.get("template_args", {}).get("noise", False):
self.link_len = (np.random.rand() - 0.5) + 1
else:
self.link_len = 1
if goal_len is not None:
self.link_len = goal_len
kwargs["template_args"] = kwargs.get("template_args", {})
kwargs["template_args"]["link_len"] = self.link_len
super(DoublePendulumEnvRand,
self).__init__(self.model_path("double_pendulum.xml.mako"),
*args, **kwargs)
self.link1 = find_body(self.world, "link1")
self.link2 = find_body(self.world, "link2")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, goal_len = None, *args, **kwargs):
goal_len = None
self.max_pole_angle = .2
if goal_len == None:
self.max_cart_pos = 2.4
else:
self.max_cart_pos = goal_len
self.max_cart_speed = 4.
self.max_pole_speed = 4.
self.reset_range = 0.05
super(CartpoleEnv_Rand, self).__init__(
self.model_path("cartpole.xml.mako"),
*args, **kwargs
)
self.cart = find_body(self.world, "cart")
self.pole = find_body(self.world, "pole")
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
Serializable.__init__(self, *args, **kwargs)
self.random_start = kwargs.pop("random_start", True)
self.random_start_range = kwargs.pop("random_start_range", 1.)
super(CarParkingEnv, self).__init__(
self.model_path("car_parking.xml"),
*args, **kwargs
)
self.goal = find_body(self.world, "goal")
self.car = find_body(self.world, "car")
self.wheels = [
body for body in self.world.bodies if "wheel" in _get_name(body)]
self.front_wheels = [
body for body in self.wheels if "front" in _get_name(body)]
self.max_deg = 30.
self.goal_radius = 1.
self.vel_thres = 1e-1
self.start_radius = 5.
def __init__(self, height_bonus=1., goal_cart_pos=0.6, *args, **kwargs):
super(MountainCarEnvX,
self).__init__(self.model_path("mountain_car.xml.mako"), *args,
**kwargs)
self.max_cart_pos = 2
self.goal_cart_pos = goal_cart_pos
self.height_bonus = height_bonus
self.cart = find_body(self.world, "cart")
Serializable.quick_init(self, locals())
def __init__(self, *args, **kwargs):
Serializable.__init__(self, *args, **kwargs)
self.random_start = kwargs.pop("random_start", True)
self.random_start_range = kwargs.pop("random_start_range", 1.)
super(CarParkingEnv, self).__init__(self.model_path("car_parking.xml"),
*args, **kwargs)
self.goal = find_body(self.world, "goal")
self.car = find_body(self.world, "car")
self.wheels = [
body for body in self.world.bodies if "wheel" in _get_name(body)
]
self.front_wheels = [
body for body in self.wheels if "front" in _get_name(body)
]
self.max_deg = 30.
self.goal_radius = 1.
self.vel_thres = 1e-1
self.start_radius = 5.
def __init__(self, *args, **kwargs):
# make sure mdp-level step is 100ms long
kwargs["frame_skip"] = kwargs.get("frame_skip", 2)
if kwargs.get("template_args", {}).get("noise", False):
self.link_len = (np.random.rand() - 0.5) + 1
else:
self.link_len = 1
kwargs["template_args"] = kwargs.get("template_args", {})
kwargs["template_args"]["link_len"] = self.link_len
super(DoublePendulumEnvX,
self).__init__(self.model_path("double_pendulum.xml.mako"),
*args, **kwargs)
self.link1 = find_body(self.world, "link1")
self.link2 = find_body(self.world, "link2")
self.reward_range = (-np.inf, np.inf)
self.unwrapped = None
self._configured = False
self.spec.id = 'DoublePendulumEnvX'
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
kwargs["frame_skip"] = kwargs.get("frame_skip", 2)
if kwargs.get("template_args", {}).get("noise", False):
self.link_len = (np.random.rand() - 0.5) + 1
else:
self.link_len = 1
kwargs["template_args"] = kwargs.get("template_args", {})
kwargs["template_args"]["link_len"] = self.link_len
#self.dt = .1 # refresh rate
#self.on_goal = 0
super(ArmEnv, self).__init__(self.model_path("arm_env.xml.mako"),
*args, **kwargs)
self.arm1 = find_body(self.world, "arm1")
self.arm2 = find_body(self.world, "arm2")
self.point = find_body(self.world, "point")
self.vertices = np.array([0.0, 0.0])
Serializable.__init__(self, *args, **kwargs)
def __init__(self,
height_bonus=1.,
goal_cart_pos=0.6,
*args, **kwargs):
super(MountainCarEnv, self).__init__(
self.model_path("mountain_car.xml.mako"),
*args, **kwargs
)
self.max_cart_pos = 2
self.goal_cart_pos = goal_cart_pos
self.height_bonus = height_bonus
self.cart = find_body(self.world, "cart")
Serializable.quick_init(self, locals())
def __init__(self, eps_sparse=None, *args, **kwargs):
self.eps_sparse = eps_sparse # how far from goal we receive a reward of 1
# make sure mdp-level step is 100ms long
kwargs["frame_skip"] = kwargs.get("frame_skip", 2)
if kwargs.get("template_args", {}).get("noise", False):
self.link_len = (np.random.rand() - 0.5) + 1
else:
self.link_len = 1
kwargs["template_args"] = kwargs.get("template_args", {})
kwargs["template_args"]["link_len"] = self.link_len
super(PendulumEnv, self).__init__(self.model_path("pendulum.xml.mako"),
*args, **kwargs)
self.link1 = find_body(self.world, "link1")
Serializable.__init__(self, *args, **kwargs)
def __init__(self,
opts,
height_bonus=1.,
goal_cart_pos=0.6,
*args,
**kwargs):
xmlpath = os.path.join(os.path.dirname(__file__),
'mountain_car.xml.mako')
super(SPMountainCarEnv, self).__init__(xmlpath, *args, **kwargs)
self.opts = opts
self.max_cart_pos = 2
self.goal_cart_pos = goal_cart_pos
self.height_bonus = height_bonus
self.cart = find_body(self.world, "cart")
Serializable.quick_init(self, locals())
self.total_step_count = 0
self.total_step_count_test = 0