def __init__(self, *args, **kwargs):
super().__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")
# Always call Serializable constructor last
Serializable.quick_init(self, locals())
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):
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().__init__(self.model_path("cartpole.xml.mako"), *args, **kwargs)
self.cart = find_body(self.world, "cart")
self.pole = find_body(self.world, "pole")
# Always call Serializable constructor last
Serializable.quick_init(self, locals())
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 forward_dynamics(self, action):
if len(action) != flat_dim(self.action_space) + 1:
raise ValueError('incorrect action dimension: expected %d but got '
'%d' % (flat_dim(self.action_space), len(action)))
lb, ub = self.action_bounds
action = np.clip(action, lb, ub)
for ctrl, act in zip(self.extra_data.controls, action):
if ctrl.typ == "force":
for name in ctrl.bodies:
body = find_body(self.world, name)
direction = np.array(ctrl.direction)
direction = direction / np.linalg.norm(direction)
world_force = body.GetWorldVector(direction * act)
world_point = body.GetWorldPoint(ctrl.anchor)
body.ApplyForce(world_force, world_point, wake=True)
elif ctrl.typ == "torque":
assert ctrl.joint
joint = find_joint(self.world, ctrl.joint)
joint.motorEnabled = True
# forces the maximum allowed torque to be taken
if act > 0:
joint.motorSpeed = 1e5
else:
joint.motorSpeed = -1e5
joint.maxMotorTorque = abs(act)
else:
raise NotImplementedError
self.before_world_step(action)
self.world.Step(self.extra_data.timeStep,
self.extra_data.velocityIterations,
self.extra_data.positionIterations)
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())
def __init__(self, height_bonus=1., goal_cart_pos=0.6, *args, **kwargs):
super().__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")
# Always call Serializable constructor last
Serializable.quick_init(self, locals())
def __init__(self,
random_start=True,
random_start_range=1.0,
*args,
**kwargs):
self.random_start = random_start
self.random_start_range = random_start_range
super().__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.
# Always call Serializable constructor last
Serializable.quick_init(self, locals())
