def __init__(self, *args, **kwargs):
super(CartpoleSwingupEnv, 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.
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, *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(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())