def _build_rodent_two_touch_env():
"""Build environment where a rodent touches targets."""
walker = walkers.Rat(
observable_options={'egocentric_camera': dict(enabled=True)}, )
arena_floor = arenas.floors.Floor(size=(10., 10.),
aesthetic='outdoor_natural')
task_reach = tasks.reach.TwoTouch(
walker=walker,
arena=arena_floor,
target_builders=[
functools.partial(props.target_sphere.TargetSphereTwoTouch,
radius=0.025),
],
randomize_spawn_rotation=True,
target_type_rewards=[25.],
shuffle_target_builders=False,
target_area=(1.5, 1.5),
physics_timestep=0.001,
control_timestep=.02)
raw_env = composer.Environment(time_limit=30,
task=task_reach,
strip_singleton_obs_buffer_dim=True)
return raw_env
def _build_rodent_corridor_gaps():
"""Build environment where a rodent runs over gaps."""
walker = walkers.Rat(
observable_options={'egocentric_camera': dict(enabled=True)}, )
platform_length = distributions.Uniform(low=0.4, high=0.8)
gap_length = distributions.Uniform(low=0.05, high=0.2)
arena = arenas.corridors.GapsCorridor(corridor_width=2,
platform_length=platform_length,
gap_length=gap_length,
corridor_length=40,
aesthetic='outdoor_natural')
rodent_task = tasks.corridors.RunThroughCorridor(walker=walker,
arena=arena,
walker_spawn_position=(5,
0,
0),
walker_spawn_rotation=0,
target_velocity=1.0,
contact_termination=False,
terminate_at_height=-0.3,
physics_timestep=0.001,
control_timestep=.02)
raw_env = composer.Environment(time_limit=30,
task=rodent_task,
strip_singleton_obs_buffer_dim=True)
return raw_env
def _build_rodent_escape_env():
"""Build environment where a rodent escapes from a bowl."""
walker = walkers.Rat(
observable_options={'egocentric_camera': dict(enabled=True)}, )
arena = arenas.bowl.Bowl(size=(20., 20.), aesthetic='outdoor_natural')
locomotion_task = tasks.escape.Escape(walker=walker,
arena=arena,
physics_timestep=0.001,
control_timestep=.02)
raw_env = composer.Environment(time_limit=20,
task=locomotion_task,
strip_singleton_obs_buffer_dim=True)
return raw_env
def _build_rodent_maze_env():
"""Build environment where a rodent runs to targets."""
walker = walkers.Rat(
observable_options={'egocentric_camera': dict(enabled=True)}, )
wall_textures = arenas.labmaze_textures.WallTextures(style='style_01')
arena = arenas.mazes.RandomMazeWithTargets(x_cells=11,
y_cells=11,
xy_scale=.5,
z_height=.3,
max_rooms=4,
room_min_size=4,
room_max_size=5,
spawns_per_room=1,
targets_per_room=3,
wall_textures=wall_textures,
aesthetic='outdoor_natural')
rodent_task = tasks.random_goal_maze.ManyGoalsMaze(
walker=walker,
maze_arena=arena,
target_builder=functools.partial(props.target_sphere.TargetSphere,
radius=0.05,
height_above_ground=.125,
rgb1=(0, 0, 0.4),
rgb2=(0, 0, 0.7)),
target_reward_scale=50.,
contact_termination=False,
control_timestep=.02,
physics_timestep=0.001)
raw_env = composer.Environment(time_limit=30,
task=rodent_task,
strip_singleton_obs_buffer_dim=True)
return raw_env