def _build_humanoid_walls_env(): """Build humanoid walker walls environment.""" walker = walkers.CMUHumanoidPositionControlled( name='walker', observable_options={'egocentric_camera': dict(enabled=True)}, ) wall_width = distributions.Uniform(low=1, high=7) wall_height = distributions.Uniform(low=2.5, high=4.0) swap_wall_side = distributions.Bernoulli(prob=0.5) wall_r = distributions.Uniform(low=0.5, high=0.6) wall_g = distributions.Uniform(low=0.21, high=0.41) wall_rgba = colors.RgbVariation(r=wall_r, g=wall_g, b=0, alpha=1) arena = arenas.WallsCorridor(wall_gap=5.0, wall_width=wall_width, wall_height=wall_height, swap_wall_side=swap_wall_side, wall_rgba=wall_rgba, corridor_width=10, corridor_length=100) humanoid_task = tasks.RunThroughCorridor( walker=walker, arena=arena, walker_spawn_rotation=1.57, # pi / 2 physics_timestep=0.005, control_timestep=0.03) raw_env = composer.Environment(time_limit=30, task=humanoid_task, strip_singleton_obs_buffer_dim=True) return raw_env
def _build_humanoid_corridor_env(): """Build humanoid walker walls environment.""" walker = walkers.CMUHumanoidPositionControlled( name='walker', observable_options={'egocentric_camera': dict(enabled=True)}, ) arena = arenas.EmptyCorridor(corridor_width=10, corridor_length=100) humanoid_task = tasks.RunThroughCorridor( walker=walker, arena=arena, walker_spawn_rotation=1.57, # pi / 2 physics_timestep=0.005, control_timestep=0.03) raw_env = composer.Environment(time_limit=30, task=humanoid_task, strip_singleton_obs_buffer_dim=True) return raw_env
def _build_humanoid_corridor_gaps(): """Build humanoid walker walls environment.""" walker = walkers.CMUHumanoidPositionControlled( name='walker', observable_options={'egocentric_camera': dict(enabled=True)}, ) platform_length = distributions.Uniform(low=0.3, high=2.5) gap_length = distributions.Uniform(low=0.75, high=1.25) arena = arenas.GapsCorridor(corridor_width=10, platform_length=platform_length, gap_length=gap_length, corridor_length=100) humanoid_task = tasks.RunThroughCorridor( walker=walker, arena=arena, walker_spawn_position=(2, 0, 0), walker_spawn_rotation=1.57, # pi / 2 physics_timestep=0.005, control_timestep=0.03) raw_env = composer.Environment(time_limit=30, task=humanoid_task, strip_singleton_obs_buffer_dim=True) return raw_env
def _make_wrong_walker(name): return walkers.CMUHumanoidPositionControlled( include_face=False, model_version='2020', scale_default=True, name=name)