def __init__(self, env_type="train", sample_all=False, task_name=None):
del env_type
cls_dict = {}
args_kwargs = {}
for k in HARD_MODE_CLS_DICT.keys():
for task in HARD_MODE_CLS_DICT[k].keys():
cls_dict[task] = HARD_MODE_CLS_DICT[k][task]
args_kwargs[task] = HARD_MODE_ARGS_KWARGS[k][task]
assert len(cls_dict.keys()) == 50
if task_name is not None:
if task_name not in cls_dict:
raise ValueError("{} does not exist in MT50 tasks".format(
task_name))
cls_dict = {task_name: cls_dict[task_name]}
args_kwargs = {task_name: args_kwargs[task_name]}
super().__init__(
task_env_cls_dict=cls_dict,
task_args_kwargs=args_kwargs,
sample_goals=False,
obs_type='with_goal_id',
sample_all=sample_all,)
goals_dict = {
t: [e.goal.copy()]
for t, e in zip(self._task_names, self._task_envs)
}
self.discretize_goal_space(goals_dict)
assert self._fully_discretized
def __init__(self, env_type='train', sample_all=False):
assert env_type == 'train' or env_type == 'test'
Serializable.quick_init(self, locals())
cls_dict = {}
args_kwargs = {}
for k in HARD_MODE_CLS_DICT.keys():
for task in HARD_MODE_CLS_DICT[k].keys():
cls_dict[task] = HARD_MODE_CLS_DICT[k][task]
args_kwargs[task] = HARD_MODE_ARGS_KWARGS[k][task]
assert len(cls_dict.keys()) == 50
super().__init__(
task_env_cls_dict=cls_dict,
task_args_kwargs=args_kwargs,
sample_goals=False,
obs_type='with_goal_id',
sample_all=sample_all,)
goals_dict = {
t: [e.goal.copy()]
for t, e in zip(self._task_names, self._task_envs)
}
self.discretize_goal_space(goals_dict)
assert self._fully_discretized
def generate_mt50_env(mt_param):
from metaworld.envs.mujoco.env_dict import HARD_MODE_CLS_DICT, HARD_MODE_ARGS_KWARGS
cls_dict = {}
args_kwargs = {}
for k in HARD_MODE_CLS_DICT.keys():
for task in HARD_MODE_CLS_DICT[k].keys():
cls_dict[task] = HARD_MODE_CLS_DICT[k][task]
args_kwargs[task] = HARD_MODE_ARGS_KWARGS[k][task]
if "random_init" in mt_param:
for key in args_kwargs:
args_kwargs[key]["kwargs"]["random_init"]=mt_param["random_init"]
return generate_mt_env(cls_dict, args_kwargs, **mt_param), \
cls_dict, args_kwargs