Python gym.envs.mujoco.mujoco_env.MujocoEnv() Examples

The following are 30 code examples of gym.envs.mujoco.mujoco_env.MujocoEnv(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module gym.envs.mujoco.mujoco_env , or try the search function .
Example #1
Source File: reacher_env.py    From me-trpo with MIT License 6 votes vote down vote up 
def __init__(self):
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(self, 'reacher.xml', 2)

    # def _step(self, a):
    #     # x = self._get_obs()[None]
    #     # assert np.allclose(self.get_body_com("fingertip")[:2], get_fingertips(x)),\
    #     # str(self.get_body_com("fingertip")) + " "+ str(get_fingertips(x))
    #     vec = self.get_body_com("fingertip")-self.get_body_com("target")
    #     reward_dist = - np.linalg.norm(vec[:2])
    #     reward_ctrl = - np.square(a).sum()*0.01
    #     reward = reward_dist + reward_ctrl
    #     self.do_simulation(a, self.frame_skip)
    #     ob = self._get_obs()
    #     done = False
    #     return ob, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
Example #2
Source File: centipede_env.py    From neural_graph_evolution with MIT License 6 votes vote down vote up 
def __init__(self, CentipedeLegNum=4, is_crippled=False):

        # get the path of the environments
        if is_crippled:
            xml_name = 'CpCentipede' + self.get_env_num_str(CentipedeLegNum) + \
                '.xml'
        else:
            xml_name = 'Centipede' + self.get_env_num_str(CentipedeLegNum) + \
                '.xml'
        xml_path = os.path.join(init_path.get_base_dir(),
                                'environments', 'assets',
                                xml_name)
        xml_path = str(os.path.abspath(xml_path))
        self.num_body = int(np.ceil(CentipedeLegNum / 2.0))
        self._control_cost_coeff = .5 * 4 / CentipedeLegNum
        self._contact_cost_coeff = 0.5 * 1e-3 * 4 / CentipedeLegNum

        self.torso_geom_id = 1 + np.array(range(self.num_body)) * 5
        # make sure the centipede is not born to be end of episode
        self.body_qpos_id = 6 + 6 + np.array(range(self.num_body)) * 6
        self.body_qpos_id[-1] = 5

        mujoco_env.MujocoEnv.__init__(self, xml_path, 5)

        utils.EzPickle.__init__(self)
Example #3
Source File: snake_env.py    From neural_graph_evolution with MIT License 6 votes vote down vote up 
def __init__(self, pod_number=3, is_crippled=False):

        # get the path of the environments
        if is_crippled:
            xml_name = 'CrippledSnake' + self.get_env_num_str(pod_number) + \
                '.xml'
        else:
            xml_name = 'Snake' + self.get_env_num_str(pod_number) + '.xml'
        xml_path = os.path.join(os.path.join(init_path.get_base_dir(),
                                'environments', 'assets', xml_name))
        xml_path = str(os.path.abspath(xml_path))
        self.num_body = pod_number
        self._direction = 0
        self.ctrl_cost_coeff = 0.0001 / pod_number * 3

        mujoco_env.MujocoEnv.__init__(self, xml_path, 4)
        utils.EzPickle.__init__(self)
Example #4
Source File: reacher_env.py    From neural_graph_evolution with MIT License 6 votes vote down vote up 
def __init__(self, pod_number=2):

        # get the path of the environments
        xml_name = 'Reacher' + self.get_env_num_str(pod_number) + '.xml'
        xml_path = os.path.join(os.path.join(init_path.get_base_dir(),
                                'environments', 'assets', xml_name))
        xml_path = str(os.path.abspath(xml_path))

        # the environment coeff
        self.num_body = pod_number + 1
        self._task_indicator = -1.0

        self._ctrl_coeff = 2.0 / (self.num_body / 2 + 1)
        # norm the max penalty to be 1, max norm is self.num_body * 0.1 * 2
        self._dist_coeff = 2.0 / self.num_body

        mujoco_env.MujocoEnv.__init__(self, xml_path, 2)
        utils.EzPickle.__init__(self)
Example #5
Source File: point_maze_env.py    From imitation with MIT License 6 votes vote down vote up 
def __init__(
        self,
        direction=1,
        maze_length=0.6,
        sparse_reward=False,
        no_reward=False,
        include_vel=False,
        episode_length=100,
    ):
        utils.EzPickle.__init__(self)
        self.sparse_reward = sparse_reward
        self.no_reward = no_reward
        self.include_vel = include_vel
        self.max_episode_length = episode_length
        self.direction = direction
        self.length = maze_length

        self.episode_length = 0

        model = point_mass_maze(direction=self.direction, length=self.length)
        with model.asfile() as f:
            mujoco_env.MujocoEnv.__init__(self, f.name, 5)
Example #6
Source File: swimmer_v3.py    From DQN-DDPG_Stock_Trading with MIT License 6 votes vote down vote up 
def __init__(self,
                 xml_file='swimmer.xml',
                 forward_reward_weight=1.0,
                 ctrl_cost_weight=1e-4,
                 reset_noise_scale=0.1,
                 exclude_current_positions_from_observation=True):
        utils.EzPickle.__init__(**locals())

        self._forward_reward_weight = forward_reward_weight
        self._ctrl_cost_weight = ctrl_cost_weight

        self._reset_noise_scale = reset_noise_scale

        self._exclude_current_positions_from_observation = (
            exclude_current_positions_from_observation)

        mujoco_env.MujocoEnv.__init__(self, xml_file, 4)
Example #7
Source File: visual_pointmass.py    From inverse_rl with MIT License 6 votes vote down vote up 
def __init__(self, direction=1, maze_length=0.6,
                 sparse_reward=False, no_reward=False, episode_length=100, grayscale=True,
                 width=64, height=64):
        utils.EzPickle.__init__(self)
        self.sparse_reward = sparse_reward
        self.no_reward = no_reward
        self.max_episode_length = episode_length
        self.direction = direction
        self.length = maze_length

        self.width = width
        self.height = height
        self.grayscale=grayscale

        self.episode_length = 0

        model = point_mass_maze(direction=self.direction, length=self.length, borders=False)
        with model.asfile() as f:
            mujoco_env.MujocoEnv.__init__(self, f.name, 5)

        if self.grayscale:
            self.observation_space = Box(0, 1, shape=(width, height))
        else:
            self.observation_space = Box(0, 1, shape=(width, height, 3))
Example #8
Source File: reacher.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self):
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(self, 'reacher.xml', 2)
Example #9
Source File: walker2d.py    From DQN-DDPG_Stock_Trading with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, "walker2d.xml", 4)
        utils.EzPickle.__init__(self)
Example #10
Source File: ant.py    From DQN-DDPG_Stock_Trading with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, 'ant.xml', 5)
        utils.EzPickle.__init__(self)
Example #11
Source File: humanoidstandup.py    From DQN-DDPG_Stock_Trading with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, 'humanoidstandup.xml', 5)
        utils.EzPickle.__init__(self)
Example #12
Source File: half_cheetah.py    From DQN-DDPG_Stock_Trading with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, 'half_cheetah.xml', 5)
        utils.EzPickle.__init__(self)
Example #13
Source File: inverted_double_pendulum.py    From DQN-DDPG_Stock_Trading with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, 'inverted_double_pendulum.xml', 5)
        utils.EzPickle.__init__(self)
Example #14
Source File: pusher.py    From DQN-DDPG_Stock_Trading with MIT License 5 votes vote down vote up 
def __init__(self):
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(self, 'pusher.xml', 5)
Example #15
Source File: multi_ant.py    From multiagent-gail with MIT License 5 votes vote down vote up 
def setup(self):
        self.seed()

        self.gen_xml(out_file=self.out_file_path, og_file=self.base_file_path)

        mujoco_env.MujocoEnv.__init__(self, self.out_file_path, 5)
        self.legs = [AntLeg(self.model, i, self.n_legs, pos_noise=self.pos_noise, vel_noise=self.vel_noise,
                            force_noise=self.force_noise) for i in range(self.n_legs)]
Example #16
Source File: multi_ant.py    From multiagent-gail with MIT License 5 votes vote down vote up 
def __init__(self,
                 n_legs=4,
                 ts=0.02,
                 integrator='RK4',
                 leg_length=0.282,
                 out_file="multi_ant.xml",
                 base_file="ant_og.xml",
                 reward_mech='local',
                 pos_noise=1e-3,
                 vel_noise=1e-3,
                 force_noise=1e-3
                 ):
        EzPickle.__init__(self, n_legs, ts, integrator, leg_length,
                          out_file, base_file, reward_mech,
                          pos_noise, vel_noise, force_noise)
        self.n_legs = n_legs
        self.ts = ts
        self.integrator = integrator
        self.leg_length = leg_length
        self.out_file = out_file
        self.base_file = base_file
        self._reward_mech = reward_mech

        self.pos_noise = pos_noise
        self.vel_noise = vel_noise
        self.force_noise = force_noise

        self.legs = None
        self.out_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), self.out_file)
        self.base_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), self.base_file)

        self.gen_xml(out_file=self.out_file_path, og_file=self.base_file_path)

        mujoco_env.MujocoEnv.__init__(self, self.out_file_path, 5)
        self.legs = [AntLeg(self.model, i, n_legs, pos_noise=pos_noise, vel_noise=vel_noise, force_noise=force_noise)
                     for i in range(self.n_legs)]
Example #17
Source File: walker2d.py    From multiagent-gail with MIT License 5 votes vote down vote up 
def __init__(self, target_vel):
        self.target_vel = target_vel
        mujoco_env.MujocoEnv.__init__(self, "walker2d.xml", 4)
        utils.EzPickle.__init__(self)
Example #18
Source File: reacher_7dof_env.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self, distance_metric_order=None, goal_dim_weights=None):
        self._desired_xyz = np.zeros(3)
        Serializable.quick_init(self, locals())
        MultitaskEnv.__init__(
            self,
            distance_metric_order=distance_metric_order,
            goal_dim_weights=goal_dim_weights,
        )
        mujoco_env.MujocoEnv.__init__(
            self,
            get_asset_xml('reacher_7dof.xml'),
            5,
        )
        self.observation_space = Box(
            np.array([
                -2.28, -0.52, -1.4, -2.32, -1.5, -1.094, -1.5,  # joint
                -3, -3, -3, -3, -3, -3, -3, # velocity
                -0.75, -1.25, -0.2,  # EE xyz

            ]),
            np.array([
                1.71, 1.39, 1.7, 0, 1.5, 0, 1.5,  # joints
                3, 3, 3, 3, 3, 3, 3,  # velocity
                0.75, 0.25, 0.6,  # EE xyz
            ])
        )
Example #19
Source File: meta_ant.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self, full_xml_path, meta_params):
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(self, full_xml_path, 2)
        self.env_meta_params = meta_params
Example #20
Source File: reacher.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self, full_xml_path, meta_params):
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(self, full_xml_path, 2)
        self.env_meta_params = meta_params
Example #21
Source File: hopper.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self, full_xml_path, meta_params):
        mujoco_env.MujocoEnv.__init__(self, full_xml_path, 2)
        utils.EzPickle.__init__(self)
        self.env_meta_params = meta_params
Example #22
Source File: multi_ant.py    From MADRL with MIT License 5 votes vote down vote up 
def setup(self):
        self.seed()

        self.gen_xml(out_file=self.out_file_path, og_file=self.base_file_path)

        mujoco_env.MujocoEnv.__init__(self, self.out_file_path, 5)
        self.legs = [AntLeg(self.model, i, self.n_legs, pos_noise=self.pos_noise, vel_noise=self.vel_noise,
            force_noise=self.force_noise) for i in range(self.n_legs)]
Example #23
Source File: hopper.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, 'hopper.xml', 4)
        utils.EzPickle.__init__(self)
Example #24
Source File: state_matching_pusher_env_no_obj.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self, obs_with_time=True, episode_len=500):
        self.timestep = 0.0
        self.episode_len = episode_len
        self.obs_with_time = obs_with_time
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(
            self,
            os.path.join(os.path.dirname(__file__), "assets", 'state_matching_pusher_no_obj.xml'),
            5
        )
Example #25
Source File: state_matching_pusher_env.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self, obs_with_time=True, episode_len=200):
        self.timestep = 0.0
        self.episode_len = episode_len
        self.obs_with_time = obs_with_time
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(
            self,
            os.path.join(os.path.dirname(__file__), "assets", 'state_matching_pusher.xml'),
            5
        )
Example #26
Source File: halfcheetah_rand_vel.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self):
        self.target_velocity = 0.0
        mujoco_env.MujocoEnv.__init__(self, 'half_cheetah.xml', 5)
        utils.EzPickle.__init__(self)
Example #27
Source File: half_cheetah.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, 'half_cheetah.xml', 5)
        utils.EzPickle.__init__(self)
Example #28
Source File: mujoco_env.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(
            self,
            model_path,
            frame_skip=1,
            model_path_is_local=True,
            automatically_set_obs_and_action_space=False,
    ):
        if model_path_is_local:
            model_path = get_asset_xml(model_path)
        if automatically_set_obs_and_action_space:
            mujoco_env.MujocoEnv.__init__(self, model_path, frame_skip)
        else:
            """
            Code below is copy/pasted from MujocoEnv's __init__ function.
            """
            if model_path.startswith("/"):
                fullpath = model_path
            else:
                fullpath = os.path.join(os.path.dirname(__file__), "assets", model_path)
            if not path.exists(fullpath):
                raise IOError("File %s does not exist" % fullpath)
            self.frame_skip = frame_skip
            self.model = mujoco_py.MjModel(fullpath)
            self.data = self.model.data
            self.viewer = None

            self.metadata = {
                'render.modes': ['human', 'rgb_array'],
                'video.frames_per_second': int(np.round(1.0 / self.dt))
            }

            self.init_qpos = self.model.data.qpos.ravel().copy()
            self.init_qvel = self.model.data.qvel.ravel().copy()
            self._seed()
Example #29
Source File: base_inverted_pendulum.py    From rl_swiss with MIT License 5 votes vote down vote up 
def __init__(self, full_xml_path):
        utils.EzPickle.__init__(self)
        mujoco_env.MujocoEnv.__init__(self, full_xml_path, 2)
Example #30
Source File: walker_env.py    From me-trpo with MIT License 5 votes vote down vote up 
def __init__(self):
        mujoco_env.MujocoEnv.__init__(self, "walker2d.xml", 4)
        utils.EzPickle.__init__(self)