def __init__(self,
initial_goal=None,
initial_qpos=None,
distance_threshold=0.05,
target_range=0.15,
sparse_reward=False,
control_method='position_control',
*args,
**kwargs):
Serializable.__init__(self, *args, **kwargs)
if initial_goal is None:
self._initial_goal = np.array([0.8, 0.0, 0.])
else:
self._initial_goal = initial_goal
if initial_qpos is not None:
self._initial_qpos = initial_qpos
else:
self._initial_qpos = {
'right_j0': -0.140923828125,
'right_j1': -1.2789248046875,
'right_j2': -3.043166015625,
'right_j3': -2.139623046875,
'right_j4': -0.047607421875,
'right_j5': -0.7052822265625,
'right_j6': -1.4102060546875,
}
self._distance_threshold = distance_threshold
self._target_range = target_range
self._sparse_reward = sparse_reward
self._control_method = control_method
self._goal = self._initial_goal
self._grasped = False
super(PickAndPlaceEnv, self).__init__(*args, **kwargs)
self.env_setup(self._initial_qpos)
def __init__(self, block_size=0.025, *args, **kwargs):
Serializable.__init__(self, *args, **kwargs)
super(BlockStackingEnv, self).__init__(initial_goal=None,
initial_qpos=None,
*args,
**kwargs)
self._distance_threshold = block_size / 2.
self._done = False
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.
self.reset_range = 0.05
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(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,
green_bin_center=(0.85, 0.25),
red_bin_center=(0.85, 0.55),
blue_bin_center=(0.85, -0.05),
*args,
**kwargs):
Serializable.__init__(self, *args, **kwargs)
self._green_bin_center = green_bin_center
self._red_bin_center = red_bin_center
self._blue_bin_center = blue_bin_center
self._bin_radius = 0.08
self._green_done = False
self._red_done = False
self._blue_done = False
super(BinSortingEnv, self).__init__(*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, *args, **kwargs):
super(HalfCheetahEnv, self).__init__(*args, **kwargs)
Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs):
super(AntEnv, self).__init__(*args, **kwargs)
Serializable.__init__(self, *args, **kwargs)
