def __init__(self, initial_goal=None, initial_qpos=None, distance_threshold=0.05, target_range=0.15, sparse_reward=False, control_method='position_control', *args, **kwargs): Serializable.__init__(self, *args, **kwargs) if initial_goal is None: self._initial_goal = np.array([0.8, 0.0, 0.]) else: self._initial_goal = initial_goal if initial_qpos is not None: self._initial_qpos = initial_qpos else: self._initial_qpos = { 'right_j0': -0.140923828125, 'right_j1': -1.2789248046875, 'right_j2': -3.043166015625, 'right_j3': -2.139623046875, 'right_j4': -0.047607421875, 'right_j5': -0.7052822265625, 'right_j6': -1.4102060546875, } self._distance_threshold = distance_threshold self._target_range = target_range self._sparse_reward = sparse_reward self._control_method = control_method self._goal = self._initial_goal self._grasped = False super(PickAndPlaceEnv, self).__init__(*args, **kwargs) self.env_setup(self._initial_qpos)
def __init__(self, block_size=0.025, *args, **kwargs): Serializable.__init__(self, *args, **kwargs) super(BlockStackingEnv, self).__init__(initial_goal=None, initial_qpos=None, *args, **kwargs) self._distance_threshold = block_size / 2. self._done = False
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, green_bin_center=(0.85, 0.25), red_bin_center=(0.85, 0.55), blue_bin_center=(0.85, -0.05), *args, **kwargs): Serializable.__init__(self, *args, **kwargs) self._green_bin_center = green_bin_center self._red_bin_center = red_bin_center self._blue_bin_center = blue_bin_center self._bin_radius = 0.08 self._green_done = False self._red_done = False self._blue_done = False super(BinSortingEnv, self).__init__(*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, *args, **kwargs): super(HalfCheetahEnv, self).__init__(*args, **kwargs) Serializable.__init__(self, *args, **kwargs)
def __init__(self, *args, **kwargs): super(AntEnv, self).__init__(*args, **kwargs) Serializable.__init__(self, *args, **kwargs)