def turn_hard(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None): """Returns the hard Turn task.""" physics = Physics.from_xml_string(*get_model_and_assets()) task = Turn(target_radius=_HARD_TARGET_SIZE, random=random) environment_kwargs = environment_kwargs or {} return control.Environment( physics, task, time_limit=time_limit, control_timestep=_CONTROL_TIMESTEP, **environment_kwargs)
def run(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None): """Returns the run task.""" physics = [] for body_length in params: physic = Physics.from_xml_string(*get_model_and_assets(body_length)) physics.append(physic) task = Cheetah(random=random) environment_kwargs = environment_kwargs or {} return control.Environment(physics, task, time_limit=time_limit, **environment_kwargs)
def two_poles(time_limit=_DEFAULT_TIME_LIMIT, random=None, environment_kwargs=None): """Returns the Cartpole Balance task with two poles.""" physics = Physics.from_xml_string(*get_model_and_assets(num_poles=2)) task = Balance(swing_up=True, sparse=False, random=random) environment_kwargs = environment_kwargs or {} return control.Environment(physics, task, time_limit=time_limit, **environment_kwargs)
def spin(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None): """Returns the Spin task.""" physics = [] for length in params: physic = Physics.from_xml_string(*get_model_and_assets(length)) physics.append(physic) task = Spin(random=random) environment_kwargs = environment_kwargs or {} return control.Environment( physics, task, time_limit=time_limit, control_timestep=_CONTROL_TIMESTEP, **environment_kwargs)
def swingup(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None): """Returns the Cartpole Swing-Up task.""" physics = [] for pole_length in params: physic = Physics.from_xml_string(*get_model_and_assets(pole_length)) physics.append(physic) task = Balance(swing_up=True, sparse=False, random=random) environment_kwargs = environment_kwargs or {} return control.Environment(physics, task, time_limit=time_limit, **environment_kwargs)
def catch(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None): """Returns the Ball-in-Cup task.""" physics = [] for ball_size in params: physic = Physics.from_xml_string(*get_model_and_assets(ball_size)) physics.append(physic) task = BallInCup(random=random) environment_kwargs = environment_kwargs or {} return control.Environment(physics, task, time_limit=time_limit, control_timestep=_CONTROL_TIMESTEP, **environment_kwargs)
def walk(time_limit=_DEFAULT_TIME_LIMIT, random=None, params=None, environment_kwargs=None): """Returns the Walk task.""" physics = [] for leg_length in params: physic = Physics.from_xml_string(*get_model_and_assets(leg_length)) physics.append(physic) task = PlanarWalker(move_speed=_WALK_SPEED, random=random) environment_kwargs = environment_kwargs or {} return control.Environment(physics, task, time_limit=time_limit, control_timestep=_CONTROL_TIMESTEP, **environment_kwargs)