def __init__(self, display=True):
RoboschoolMujocoXmlEnv.__init__(self,
'reacher.xml',
'body0',
action_dim=2,
obs_dim=9)
low = np.ones([self.VIDEO_H, self.VIDEO_W, 3]) * -255
high = np.ones([self.VIDEO_H, self.VIDEO_W, 3]) * 255
self.metadata = {"video": gym.spaces.Box(low, high)}
force = 0.3
self._action_set = np.array(
((force, 0), (-force, 0), (0, force), (0, -force), (0, 0)),
dtype=float)
self._action_set_keys = [0, 1, 2, 3, 4]
self.display = display
self.screen = None
self.transpose = True
if self.display:
if self.transpose:
self.video_size = self.VIDEO_W, self.VIDEO_H
else:
self.video_size = self.VIDEO_H, self.VIDEO_W
self.screen = pygame.display.set_mode(self.video_size)
self.clock = pygame.time.Clock()
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
RoboschoolMujocoXmlEnv.__init__(self, fn, robot_name, action_dim,
obs_dim)
self.power = power
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
def __init__(self, swingup=False):
self.swingup = swingup
RoboschoolMujocoXmlEnv.__init__(self,
'inverted_pendulum.xml',
'cart',
action_dim=1,
obs_dim=5)
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(self,
'reacher.xml',
'body0',
action_dim=2,
obs_dim=9)
self.history = {}
def _robo_init(self, model_xml, robot_name, action_dim, obs_dim):
RoboschoolForwardWalkerServo.__init__(self, power=0.30)
RoboschoolMujocoXmlEnv.__init__(self,
model_xml,
robot_name,
action_dim=action_dim,
obs_dim=obs_dim)
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(self,
os.path.join(
path_to_roboschool,
'mujoco_assets/reacher.xml'),
'body0',
action_dim=2,
obs_dim=9)
def _robo_init(self, model_xml, robot_name, action_dim):
if self.servo:
RoboschoolForwardWalkerServo.__init__(self, power=2.5)
else:
RoboschoolForwardWalker.__init__(self, power=2.5)
RoboschoolMujocoXmlEnv.__init__(self,
model_xml,
robot_name,
action_dim=action_dim, obs_dim=70)
def __init__(self):
self.action_dim = 3
self.obs_dim = 9
RoboschoolMujocoXmlEnv.__init__(self,
self.definitionFile,
'body0',
action_dim=self.action_dim,
obs_dim=self.obs_dim)
self.theta = np.zeros(self.action_dim)
self.theta_dot = np.zeros(self.action_dim)
def __init__(self, swingup=True):
self.swingup = swingup
RoboschoolMujocoXmlEnv.__init__(self,
"inverted_pendulum.xml",
"cart",
action_dim=1,
obs_dim=5)
self.threshold = 0.8
self.max_reward = 1
self.min_reward = 0
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(self, 'reacher_line.xml', 'body0', action_dim=2, obs_dim=9)
low = np.ones([self.VIDEO_H,self.VIDEO_W,3]) * -255
high = np.ones([self.VIDEO_H,self.VIDEO_W,3]) * 255
self.metadata = {"video": gym.spaces.Box(low, high)}
force = 0.3
self._action_set = np.array(((force, 0),
(-force, 0),
(0, force),
(0, -force),
(0, 0)), dtype=float)
self._action_set_keys = [0, 1, 2, 3, 4]
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(self,
'reacher.xml',
'body0',
action_dim=2,
obs_dim=9)
low = np.ones([self.VIDEO_H, self.VIDEO_W, 3]) * -255
high = np.ones([self.VIDEO_H, self.VIDEO_W, 3]) * 255
self.observation_space = gym.spaces.Box(low, high)
force = 0.3
self._action_set = np.array(
((force, 0), (-force, 0), (0, force), (0, -force), (0, 0)),
dtype=float)
self._action_set_keys = [0, 1, 2, 3, 4]
self.action_space = spaces.Discrete(len(self._action_set))
def _reset(self):
motor_state = RoboschoolMujocoXmlEnv._reset(self)
aux_state = np.array([motor_state[-3], motor_state[-1]])
return self._render("rgb_array", False), {
'motor': motor_state,
"aux": aux_state
}
def __init__(self, initial_position: Optional[float] = None):
RoboschoolMujocoXmlEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
self.initial_position = initial_position if initial_position is not None else 0.0
self.np_random.uniform(low=-.1, high=.1)
def __init__(self):
warn("Not prepared yet, please.")
RoboschoolMujocoXmlEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(self,
self.definitionFile,
'body0',
action_dim=2,
obs_dim=9)
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
RoboschoolMujocoXmlEnv.__init__(self, fn, robot_name, action_dim,
obs_dim)
RoboschoolForwardWalker.__init__(self, power)
def _reset(self):
motor_state = RoboschoolMujocoXmlEnv._reset(self)
return self._render("rgb_array", False) # , {'motor': motor_state}
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(self,
'reacher2d7.xml',
'body0',
action_dim=self._DOF,
obs_dim=(4 + self._DOF * 2))
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(
self, 'demo.xml', 'floor', action_dim=1, obs_dim=1)
self.history = []
def __init__(self):
RoboschoolMujocoXmlEnv.__init__(
self, self._ROBOT_DESCRIPTION, 'body0', action_dim=self._DOF, obs_dim=self._OBS_DIMS)
