def __init__(self, CentipedeLegNum=4, is_crippled=False):
# get the path of the environments
if is_crippled:
xml_name = 'CpCentipede' + self.get_env_num_str(CentipedeLegNum) + \
'.xml'
else:
xml_name = 'Centipede' + self.get_env_num_str(CentipedeLegNum) + \
'.xml'
self.xml_path = os.path.join(init_path.get_base_dir(), 'environments',
'assets', xml_name)
self.xml_path = str(os.path.abspath(self.xml_path))
self.num_body = int(np.ceil(CentipedeLegNum / 2.0))
self._control_cost_coeff = .5 * 4 / CentipedeLegNum
self._contact_cost_coeff = 0.5 * 1e-3 * 4 / CentipedeLegNum
self.torso_geom_id = 1 + np.array(range(self.num_body)) * 5
# make sure the centipede is not born to be end of episode
self.body_qpos_id = 6 + 6 + np.array(range(self.num_body)) * 6
self.body_qpos_id[-1] = 5
self._get_joint_names()
mujoco_env.MujocoEnv.__init__(self, self.xml_path, 5)
utils.EzPickle.__init__(self)
def __init__(self):
# get the path of the environments
xml_name = 'WalkersKangaroo.xml'
xml_name = modify_xml(xml_name)
xml_path = os.path.join(os.path.join(init_path.get_base_dir(),
'environments', 'assets', xml_name))
xml_path = str(os.path.abspath(xml_path))
mujoco_env.MujocoEnv.__init__(self, xml_path, 4)
utils.EzPickle.__init__(self)
def __init__(self, num=None):
xml_name = 'WalkersFullcheetah.xml'
xml_name = modify_xml(xml_name, num)
xml_path = os.path.join(os.path.join(init_path.get_base_dir(),
'environments', 'assets', xml_name))
xml_path = str(os.path.abspath(xml_path))
self.num = num
mujoco_env.MujocoEnv.__init__(self, xml_path, 4)
utils.EzPickle.__init__(self)
def __init__(self, pod_number=3):
# get the path of the environments
xml_name = 'InvPendulum' + self.get_env_num_str(pod_number) + '.xml'
xml_path = os.path.join(
os.path.join(init_path.get_base_dir(), 'environments', 'assets',
xml_name))
xml_path = str(os.path.abspath(xml_path))
self.num_body = pod_number
mujoco_env.MujocoEnv.__init__(self, xml_path, 5)
utils.EzPickle.__init__(self)
def __init__(self):
xml_path = os.path.join(init_path.get_base_dir(), 'environments',
'assets', 'ant_with_goal.xml')
self.radius = 2.0
self.xml_path = xml_path
self._set_goal()
mujoco_env.MujocoEnv.__init__(self, xml_path, 5)
utils.EzPickle.__init__(self)
self._goal_idx = self.sim.model.site_name2id(
"goal") # internal usage to randomly reset the location
"""
For reproducibility, you might want to open these lines to set the goals in advance
self.train_goals = pickle.load(open('./environments/assets/goals/ant_train.pkl', "rb"))
self.eval_goals = pickle.load(open('./environments/assets/goals/ant_eval.pkl', "rb"))
"""
self._get_joint_names()
def __init__(self, pod_number=2):
# get the path of the environments
xml_name = 'Reacher' + self.get_env_num_str(pod_number) + '.xml'
xml_path = os.path.join(os.path.join(init_path.get_base_dir(),
'environments', 'assets', xml_name))
xml_path = str(os.path.abspath(xml_path))
# the environment coeff
self.num_body = pod_number + 1
self._task_indicator = -1.0
self._ctrl_coeff = 2.0 / (self.num_body / 2 + 1)
# norm the max penalty to be 1, max norm is self.num_body * 0.1 * 2
self._dist_coeff = 2.0 / self.num_body
mujoco_env.MujocoEnv.__init__(self, xml_path, 2)
utils.EzPickle.__init__(self)
def __init__(self, pod_number=3, is_crippled=False):
# get the path of the environments
if is_crippled:
xml_name = 'CrippledSnake' + self.get_env_num_str(pod_number) + \
'.xml'
else:
xml_name = 'Snake' + self.get_env_num_str(pod_number) + '.xml'
xml_path = os.path.join(
os.path.join(init_path.get_base_dir(), 'environments', 'assets',
xml_name))
xml_path = str(os.path.abspath(xml_path))
self.num_body = pod_number
self._direction = 0
self.ctrl_cost_coeff = 0.0001 / pod_number * 3
mujoco_env.MujocoEnv.__init__(self, xml_path, 4)
utils.EzPickle.__init__(self)
def __init__(self):
xml_path = os.path.join(init_path.get_base_dir(), 'environments',
'assets', 'ant.xml')
self.xml_path = xml_path
mujoco_env.MujocoEnv.__init__(self, xml_path, 5)
utils.EzPickle.__init__(self)