def __init__(self,
xml_file='model.xml',
reset_noise_scale=0.05,
context=np.array([0.68, 0.9, 0.85])):
utils.EzPickle.__init__(**locals())
self.p_gains = np.array([200, 300, 100, 100, 10 * 2, 10 * 2, 2.5 * 2])
self.d_gains = np.array([7, 15, 5, 2.5, 0.3 * 1.41, 0.3 * 1.41, 0.05 * 1.41])
self._reset_noise_scale = reset_noise_scale
self.context = context
xml_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "data", "barrett")
xml_path = os.path.join(xml_dir, xml_file)
self.step = self.dummy_step
# We fix the first and third joint so that the robot only moves in the plane
self.des_pos = np.zeros(7)
self._target_pos = None
MujocoEnv.__init__(self, xml_path, 5)
self.init_qpos = np.array([0., 0.4, 0., 1.5, 0., 0., 0.])
self.init_qvel = np.array([0., 0., 0., 0., 0., 0., 0.])
self.step = self.real_step
self.ball_body_id = self.sim.model._body_name2id["ball"]
self.net_body_id = self.sim.model._body_name2id["wam/net"]
self.ball_geom_id = self.sim.model._geom_name2id["ball_geom"]
self.net_geom_id = self.sim.model._geom_name2id["net_geom"]
self.ground_geom_id = self.sim.model._geom_name2id["ground"]
def __init__(self,
goal=(0, -1),
arm_object_distance_cost_coeff=0,
goal_object_distance_cost_coeff=1.0,
ctrl_cost_coeff=0.1):
"""
goal (`list`): List of two elements denoting the x and y coordinates of
the goal location. Either of the coordinate can also be a string
'any' to make the reward not to depend on the corresponding
coordinate.
arm_distance_coeff ('float'): Coefficient for the arm-to-object distance
cost.
goal_distance_coeff ('float'): Coefficient for the object-to-goal
distance cost.
"""
self._goal_mask = [coordinate != 'any' for coordinate in goal]
self._goal = np.array(goal)[self._goal_mask].astype(np.float32)
self._arm_object_distance_cost_coeff = arm_object_distance_cost_coeff
self._goal_object_distance_cost_coeff = goal_object_distance_cost_coeff
self._ctrl_cost_coeff = ctrl_cost_coeff
MujocoEnv.__init__(self, model_path=self.MODEL_PATH, frame_skip=5)
self.model.stat.extent = 10
def __init__(self, xml_filename="hopper.xml"):
utils.EzPickle.__init__(self)
assets_path = os.path.join(os.path.dirname(__file__), "assets")
xml_path = os.path.join(assets_path, xml_filename)
self.direction = [-1, 1][np.random.randint(0, 1)]
MujocoEnv.__init__(self, xml_path, 2)
def __init__(self):
utils.EzPickle.__init__(self)
self._striked = False
self._min_strike_dist = np.inf
self.strike_threshold = 0.2
MujocoEnv.__init__(
self,
os.path.join(os.path.dirname(__file__), "assets",
'striker3dof_backlash.xml'), 5)
def render(self,
mode='human',
width=1024,
height=600,
camera_id=None,
camera_name=None):
return MujocoEnv.render(self, mode, width, height, camera_id, camera_name)
def __init__(self, xml_filename="hopper.xml"):
utils.EzPickle.__init__(self)
assets_path = os.path.join(os.path.dirname(__file__), "assets")
xml_path = os.path.join(assets_path, xml_filename)
self.direction = [-1, 1][np.random.randint(1, 2)]
MujocoEnv.__init__(self, xml_path, 2)
self.body_mass_length = len(self.model.body_mass)
self.geom_friction_length = len(self.model.geom_friction)
self.geom_size_length = len(self.model.geom_size)
# Example environment randomizations
self.random_mass()
self.random_gravity()
self.random_friction()
self.random_thickness()
def __init__(self,
params,
num_balls=None,
particle_size=0.05,
ctrl=0.1,
seed=0):
seed = seeding.create_seed(seed)
rng = np.random.RandomState(seed)
self.rewards = create_reward(params, rng)
if num_balls is None:
num_balls = len(self.rewards)
self.num_targets = num_balls
self.particle_size = particle_size
self.ctrl = ctrl
num_cats = len(self.rewards)
assert num_cats >= num_balls
model = billiards_model(num_cats, particle_size=particle_size)
with model.asfile() as f:
MujocoEnv.__init__(self, f.name, 5)
utils.EzPickle.__init__(self, params, num_balls, particle_size,
seed)
def __init__(self, model_path: str = "hopper.xml", frame_skip: int = 4):
MujocoEnv.__init__(self, model_path=model_path, frame_skip=frame_skip)
def __init__(self, model_path: str = "half_cheetah.xml", frame_skip: int = 5):
MujocoEnv.__init__(self, model_path=model_path, frame_skip=frame_skip)
def __init__(self, xml_filename="hopper.xml"):
utils.EzPickle.__init__(self)
assets_path = os.path.join(os.path.dirname(__file__), "assets")
xml_path = os.path.join(assets_path, xml_filename)
MujocoEnv.__init__(self, xml_path, 2)