def __init__(self, config, is_discrete=False, mode="RGBD", gpu_count=0):
self.config = self.parse_config(config)
self.gui = self.config["mode"] == "gui"
self.model_id = self.config["model_id"]
self.timestep = self.config["speed"]["timestep"]
self.frame_skip = self.config["speed"]["frameskip"]
self.resolution = self.config["resolution"]
self.tracking_camera = tracking_camera
target_orn, target_pos = self.config["target_orn"], self.config[
"target_pos"]
initial_orn, initial_pos = self.config["initial_orn"], self.config[
"initial_pos"]
self.total_reward = 0
self.total_frame = 0
self.flag_timeout = 1
CameraRobotEnv.__init__(self,
config,
gpu_count,
scene_type="stadium",
use_filler=False)
self.robot_introduce(
Ant(initial_pos, initial_orn, is_discrete=is_discrete, env=self))
self.scene_introduce()
if self.gui:
self.visualid = p.createVisualShape(
p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.5, 0.5, 0.5],
rgbaColor=[1, 0, 0, 0.7])
self.lastid = None
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
def __init__(self, config, gpu_count=0):
self.config = self.parse_config(config)
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self,
self.config,
gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Ant(self.config, env=self))
self.scene_introduce()
self.gui = self.config["mode"] == "gui"
self.total_reward = 0
self.total_frame = 0
self.flag_timeout = 1
self.visualid = -1
self.lastid = None
if self.gui:
self.visualid = p.createVisualShape(
p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.2, 0.2, 0.2],
rgbaColor=[1, 0, 0, 0.7])
self.colisionid = p.createCollisionShape(
p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.2, 0.5, 0.2])
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
def __init__(self, config, is_discrete=False, gpu_count=0):
self.config = self.parse_config(config)
self.gui = self.config["mode"] == "gui"
self.model_id = self.config["model_id"]
self.timestep = self.config["speed"]["timestep"]
self.frame_skip = self.config["speed"]["frameskip"]
self.resolution = self.config["resolution"]
self.tracking_camera = tracking_camera
target_orn, target_pos = self.config["target_orn"], self.config[
"target_pos"]
initial_orn, initial_pos = self.config["initial_orn"], self.config[
"initial_pos"]
self.total_reward = 0
self.total_frame = 0
CameraRobotEnv.__init__(self,
config,
gpu_count,
scene_type="building",
use_filler=self.config["use_filler"])
self.robot_introduce(
Ant(initial_pos,
initial_orn,
is_discrete=is_discrete,
target_pos=target_pos,
resolution=self.resolution,
env=self))
self.scene_introduce()
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
def __init__(self, config, gpu_count=0):
self.config = self.parse_config(config)
assert(self.config["envname"] == self.__class__.__name__ or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self, self.config, gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Ant(self.config, env=self))
self.scene_introduce()
self.gui = self.config["mode"] == "gui"
self.total_reward = 0
self.total_frame = 0
