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< h1 > DeepMind Control Examples< a class = "headerlink" href = "#deepmind-control-examples" title = "Permalink to this heading" > < / a > < / h1 >
< div class = "highlight-python notranslate" > < div class = "highlight" > < pre > < span > < / span > < span class = "linenos" > 1< / span > < span class = "kn" > import< / span > < span class = "nn" > gymnasium< / span > < span class = "k" > as< / span > < span class = "nn" > gym< / span >
< span class = "linenos" > 2< / span > < span class = "kn" > import< / span > < span class = "nn" > fancy_gym< / span >
< span class = "linenos" > 3< / span >
< span class = "linenos" > 4< / span >
< span class = "linenos" > 5< / span > < span class = "k" > def< / span > < span class = "nf" > example_dmc< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "o" > =< / span > < span class = "s2" > " dm_control/fish-swim" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1000< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "kc" > True< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 6< / span > < span class = "w" > < / span > < span class = "sd" > " " " < / span >
< span class = "linenos" > 7< / span > < span class = "sd" > Example for running a DMC based env in the step based setting.< / span >
< span class = "linenos" > 8< / span > < span class = "sd" > The env_id has to be specified as `domain_name:task_name` or< / span >
< span class = "linenos" > 9< / span > < span class = "sd" > for manipulation tasks as `domain_name:manipulation-environment_name`< / span >
< span class = "linenos" > 10< / span >
< span class = "linenos" > 11< / span > < span class = "sd" > Args:< / span >
< span class = "linenos" > 12< / span > < span class = "sd" > env_id: Either `domain_name-task_name` or `manipulation-environment_name`< / span >
< span class = "linenos" > 13< / span > < span class = "sd" > seed: seed for deterministic behaviour< / span >
< span class = "linenos" > 14< / span > < span class = "sd" > iterations: Number of rollout steps to run< / span >
< span class = "linenos" > 15< / span > < span class = "sd" > render: Render the episode< / span >
< span class = "linenos" > 16< / span >
< span class = "linenos" > 17< / span > < span class = "sd" > Returns:< / span >
< span class = "linenos" > 18< / span >
< span class = "linenos" > 19< / span > < span class = "sd" > " " " < / span >
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< span class = "linenos" > 20< / span > < span class = "n" > env< / span > < span class = "o" > =< / span > < span class = "n" > gym< / span > < span class = "o" > .< / span > < span class = "n" > make< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "p" > ,< / span > < span class = "n" > render_mode< / span > < span class = "o" > =< / span > < span class = "s1" > ' human' < / span > < span class = "k" > if< / span > < span class = "n" > render< / span > < span class = "k" > else< / span > < span class = "kc" > None< / span > < span class = "p" > )< / span >
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< span class = "linenos" > 21< / span > < span class = "n" > rewards< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span >
< span class = "linenos" > 22< / span > < span class = "n" > obs< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > (< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "n" > seed< / span > < span class = "p" > )< / span >
< span class = "linenos" > 23< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "s2" > " observation shape:" < / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > observation_space< / span > < span class = "o" > .< / span > < span class = "n" > shape< / span > < span class = "p" > )< / span >
< span class = "linenos" > 24< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "s2" > " action shape:" < / span > < span class = "p" > ,< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > shape< / span > < span class = "p" > )< / span >
< span class = "linenos" > 25< / span >
< span class = "linenos" > 26< / span > < span class = "k" > for< / span > < span class = "n" > i< / span > < span class = "ow" > in< / span > < span class = "nb" > range< / span > < span class = "p" > (< / span > < span class = "n" > iterations< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 27< / span > < span class = "n" > ac< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > sample< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 28< / span > < span class = "k" > if< / span > < span class = "n" > render< / span > < span class = "p" > :< / span >
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< span class = "linenos" > 29< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > render< / span > < span class = "p" > ()< / span >
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< span class = "linenos" > 30< / span > < span class = "n" > obs< / span > < span class = "p" > ,< / span > < span class = "n" > reward< / span > < span class = "p" > ,< / span > < span class = "n" > terminated< / span > < span class = "p" > ,< / span > < span class = "n" > truncated< / span > < span class = "p" > ,< / span > < span class = "n" > info< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > step< / span > < span class = "p" > (< / span > < span class = "n" > ac< / span > < span class = "p" > )< / span >
< span class = "linenos" > 31< / span > < span class = "n" > rewards< / span > < span class = "o" > +=< / span > < span class = "n" > reward< / span >
< span class = "linenos" > 32< / span >
< span class = "linenos" > 33< / span > < span class = "k" > if< / span > < span class = "n" > terminated< / span > < span class = "ow" > or< / span > < span class = "n" > truncated< / span > < span class = "p" > :< / span >
< span class = "linenos" > 34< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "n" > env_id< / span > < span class = "p" > ,< / span > < span class = "n" > rewards< / span > < span class = "p" > )< / span >
< span class = "linenos" > 35< / span > < span class = "n" > rewards< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span >
< span class = "linenos" > 36< / span > < span class = "n" > obs< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 37< / span >
< span class = "linenos" > 38< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > close< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 39< / span > < span class = "k" > del< / span > < span class = "n" > env< / span >
< span class = "linenos" > 40< / span >
< span class = "linenos" > 41< / span >
< span class = "linenos" > 42< / span > < span class = "k" > def< / span > < span class = "nf" > example_custom_dmc_and_mp< / span > < span class = "p" > (< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "kc" > True< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 43< / span > < span class = "w" > < / span > < span class = "sd" > " " " < / span >
< span class = "linenos" > 44< / span > < span class = "sd" > Example for running a custom movement primitive based environments.< / span >
< span class = "linenos" > 45< / span > < span class = "sd" > Our already registered environments follow the same structure.< / span >
< span class = "linenos" > 46< / span > < span class = "sd" > Hence, this also allows to adjust hyperparameters of the movement primitives.< / span >
< span class = "linenos" > 47< / span > < span class = "sd" > Yet, we recommend the method above if you are just interested in chaining those parameters for existing tasks.< / span >
< span class = "linenos" > 48< / span > < span class = "sd" > We appreciate PRs for custom environments (especially MP wrappers of existing tasks)< / span >
< span class = "linenos" > 49< / span > < span class = "sd" > for our repo: https://github.com/ALRhub/fancy_gym/< / span >
< span class = "linenos" > 50< / span > < span class = "sd" > Args:< / span >
< span class = "linenos" > 51< / span > < span class = "sd" > seed: seed for deterministic behaviour< / span >
< span class = "linenos" > 52< / span > < span class = "sd" > iterations: Number of rollout steps to run< / span >
< span class = "linenos" > 53< / span > < span class = "sd" > render: Render the episode< / span >
< span class = "linenos" > 54< / span >
< span class = "linenos" > 55< / span > < span class = "sd" > Returns:< / span >
< span class = "linenos" > 56< / span >
< span class = "linenos" > 57< / span > < span class = "sd" > " " " < / span >
< span class = "linenos" > 58< / span >
< span class = "linenos" > 59< / span > < span class = "c1" > # Base DMC name, according to structure of above example< / span >
< span class = "linenos" > 60< / span > < span class = "n" > base_env_id< / span > < span class = "o" > =< / span > < span class = "s2" > " dm_control/ball_in_cup-catch" < / span >
< span class = "linenos" > 61< / span >
< span class = "linenos" > 62< / span > < span class = "c1" > # Replace this wrapper with the custom wrapper for your environment by inheriting from the RawInterfaceWrapper.< / span >
< span class = "linenos" > 63< / span > < span class = "c1" > # You can also add other gym.Wrappers in case they are needed.< / span >
< span class = "linenos" > 64< / span > < span class = "n" > wrappers< / span > < span class = "o" > =< / span > < span class = "p" > [< / span > < span class = "n" > fancy_gym< / span > < span class = "o" > .< / span > < span class = "n" > dmc< / span > < span class = "o" > .< / span > < span class = "n" > suite< / span > < span class = "o" > .< / span > < span class = "n" > ball_in_cup< / span > < span class = "o" > .< / span > < span class = "n" > MPWrapper< / span > < span class = "p" > ]< / span >
< span class = "linenos" > 65< / span > < span class = "c1" > # # For a ProMP< / span >
< span class = "linenos" > 66< / span > < span class = "n" > trajectory_generator_kwargs< / span > < span class = "o" > =< / span > < span class = "p" > {< / span > < span class = "s1" > ' trajectory_generator_type' < / span > < span class = "p" > :< / span > < span class = "s1" > ' promp' < / span > < span class = "p" > }< / span >
< span class = "linenos" > 67< / span > < span class = "n" > phase_generator_kwargs< / span > < span class = "o" > =< / span > < span class = "p" > {< / span > < span class = "s1" > ' phase_generator_type' < / span > < span class = "p" > :< / span > < span class = "s1" > ' linear' < / span > < span class = "p" > }< / span >
< span class = "linenos" > 68< / span > < span class = "n" > controller_kwargs< / span > < span class = "o" > =< / span > < span class = "p" > {< / span > < span class = "s1" > ' controller_type' < / span > < span class = "p" > :< / span > < span class = "s1" > ' motor' < / span > < span class = "p" > ,< / span >
< span class = "linenos" > 69< / span > < span class = "s2" > " p_gains" < / span > < span class = "p" > :< / span > < span class = "mf" > 1.0< / span > < span class = "p" > ,< / span >
< span class = "linenos" > 70< / span > < span class = "s2" > " d_gains" < / span > < span class = "p" > :< / span > < span class = "mf" > 0.1< / span > < span class = "p" > ,< / span > < span class = "p" > }< / span >
< span class = "linenos" > 71< / span > < span class = "n" > basis_generator_kwargs< / span > < span class = "o" > =< / span > < span class = "p" > {< / span > < span class = "s1" > ' basis_generator_type' < / span > < span class = "p" > :< / span > < span class = "s1" > ' zero_rbf' < / span > < span class = "p" > ,< / span >
< span class = "linenos" > 72< / span > < span class = "s1" > ' num_basis' < / span > < span class = "p" > :< / span > < span class = "mi" > 5< / span > < span class = "p" > ,< / span >
< span class = "linenos" > 73< / span > < span class = "s1" > ' num_basis_zero_start' < / span > < span class = "p" > :< / span > < span class = "mi" > 1< / span >
< span class = "linenos" > 74< / span > < span class = "p" > }< / span >
< span class = "linenos" > 75< / span >
< span class = "linenos" > 76< / span > < span class = "c1" > # For a DMP< / span >
< span class = "linenos" > 77< / span > < span class = "c1" > # trajectory_generator_kwargs = {' trajectory_generator_type' : ' dmp' }< / span >
< span class = "linenos" > 78< / span > < span class = "c1" > # phase_generator_kwargs = {' phase_generator_type' : ' exp' ,< / span >
< span class = "linenos" > 79< / span > < span class = "c1" > # ' alpha_phase' : 2}< / span >
< span class = "linenos" > 80< / span > < span class = "c1" > # controller_kwargs = {' controller_type' : ' motor' ,< / span >
< span class = "linenos" > 81< / span > < span class = "c1" > # " p_gains" : 1.0,< / span >
< span class = "linenos" > 82< / span > < span class = "c1" > # " d_gains" : 0.1,< / span >
< span class = "linenos" > 83< / span > < span class = "c1" > # }< / span >
< span class = "linenos" > 84< / span > < span class = "c1" > # basis_generator_kwargs = {' basis_generator_type' : ' rbf' ,< / span >
< span class = "linenos" > 85< / span > < span class = "c1" > # ' num_basis' : 5< / span >
< span class = "linenos" > 86< / span > < span class = "c1" > # }< / span >
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< span class = "linenos" > 87< / span > < span class = "n" > base_env< / span > < span class = "o" > =< / span > < span class = "n" > gym< / span > < span class = "o" > .< / span > < span class = "n" > make< / span > < span class = "p" > (< / span > < span class = "n" > base_env_id< / span > < span class = "p" > ,< / span > < span class = "n" > render_mode< / span > < span class = "o" > =< / span > < span class = "s1" > ' human' < / span > < span class = "k" > if< / span > < span class = "n" > render< / span > < span class = "k" > else< / span > < span class = "kc" > None< / span > < span class = "p" > )< / span >
< span class = "linenos" > 88< / span > < span class = "n" > env< / span > < span class = "o" > =< / span > < span class = "n" > fancy_gym< / span > < span class = "o" > .< / span > < span class = "n" > make_bb< / span > < span class = "p" > (< / span > < span class = "n" > env< / span > < span class = "o" > =< / span > < span class = "n" > base_env< / span > < span class = "p" > ,< / span > < span class = "n" > wrappers< / span > < span class = "o" > =< / span > < span class = "n" > wrappers< / span > < span class = "p" > ,< / span > < span class = "n" > black_box_kwargs< / span > < span class = "o" > =< / span > < span class = "p" > {},< / span >
< span class = "linenos" > 89< / span > < span class = "n" > traj_gen_kwargs< / span > < span class = "o" > =< / span > < span class = "n" > trajectory_generator_kwargs< / span > < span class = "p" > ,< / span > < span class = "n" > controller_kwargs< / span > < span class = "o" > =< / span > < span class = "n" > controller_kwargs< / span > < span class = "p" > ,< / span >
< span class = "linenos" > 90< / span > < span class = "n" > phase_kwargs< / span > < span class = "o" > =< / span > < span class = "n" > phase_generator_kwargs< / span > < span class = "p" > ,< / span > < span class = "n" > basis_kwargs< / span > < span class = "o" > =< / span > < span class = "n" > basis_generator_kwargs< / span > < span class = "p" > ,< / span >
< span class = "linenos" > 91< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "n" > seed< / span > < span class = "p" > )< / span >
< span class = "linenos" > 92< / span >
< span class = "linenos" > 93< / span > < span class = "c1" > # This renders the full MP trajectory< / span >
< span class = "linenos" > 94< / span > < span class = "c1" > # It is only required to call render() once in the beginning, which renders every consecutive trajectory.< / span >
< span class = "linenos" > 95< / span > < span class = "c1" > # Resetting to no rendering, can be achieved by render(mode=None).< / span >
< span class = "linenos" > 96< / span > < span class = "c1" > # It is also possible to change them mode multiple times when< / span >
< span class = "linenos" > 97< / span > < span class = "c1" > # e.g. only every nth trajectory should be displayed.< / span >
< span class = "linenos" > 98< / span > < span class = "k" > if< / span > < span class = "n" > render< / span > < span class = "p" > :< / span >
< span class = "linenos" > 99< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > render< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 100< / span >
< span class = "linenos" > 101< / span > < span class = "n" > rewards< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span >
< span class = "linenos" > 102< / span > < span class = "n" > obs< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 103< / span >
< span class = "linenos" > 104< / span > < span class = "c1" > # number of samples/full trajectories (multiple environment steps)< / span >
< span class = "linenos" > 105< / span > < span class = "k" > for< / span > < span class = "n" > i< / span > < span class = "ow" > in< / span > < span class = "nb" > range< / span > < span class = "p" > (< / span > < span class = "n" > iterations< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 106< / span > < span class = "n" > ac< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > action_space< / span > < span class = "o" > .< / span > < span class = "n" > sample< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 107< / span > < span class = "n" > obs< / span > < span class = "p" > ,< / span > < span class = "n" > reward< / span > < span class = "p" > ,< / span > < span class = "n" > terminated< / span > < span class = "p" > ,< / span > < span class = "n" > truncated< / span > < span class = "p" > ,< / span > < span class = "n" > info< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > step< / span > < span class = "p" > (< / span > < span class = "n" > ac< / span > < span class = "p" > )< / span >
< span class = "linenos" > 108< / span > < span class = "n" > rewards< / span > < span class = "o" > +=< / span > < span class = "n" > reward< / span >
< span class = "linenos" > 109< / span >
< span class = "linenos" > 110< / span > < span class = "k" > if< / span > < span class = "n" > terminated< / span > < span class = "ow" > or< / span > < span class = "n" > truncated< / span > < span class = "p" > :< / span >
< span class = "linenos" > 111< / span > < span class = "nb" > print< / span > < span class = "p" > (< / span > < span class = "n" > base_env_id< / span > < span class = "p" > ,< / span > < span class = "n" > rewards< / span > < span class = "p" > )< / span >
< span class = "linenos" > 112< / span > < span class = "n" > rewards< / span > < span class = "o" > =< / span > < span class = "mi" > 0< / span >
< span class = "linenos" > 113< / span > < span class = "n" > obs< / span > < span class = "o" > =< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > reset< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 114< / span >
< span class = "linenos" > 115< / span > < span class = "n" > env< / span > < span class = "o" > .< / span > < span class = "n" > close< / span > < span class = "p" > ()< / span >
< span class = "linenos" > 116< / span > < span class = "k" > del< / span > < span class = "n" > env< / span >
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< span class = "linenos" > 117< / span >
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< span class = "linenos" > 118< / span > < span class = "k" > def< / span > < span class = "nf" > main< / span > < span class = "p" > (< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "kc" > False< / span > < span class = "p" > ):< / span >
< span class = "linenos" > 119< / span > < span class = "c1" > # # Standard DMC Suite tasks< / span >
< span class = "linenos" > 120< / span > < span class = "n" > example_dmc< / span > < span class = "p" > (< / span > < span class = "s2" > " dm_control/fish-swim" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1000< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 121< / span > < span class = "c1" > #< / span >
< span class = "linenos" > 122< / span > < span class = "c1" > # # Manipulation tasks< / span >
< span class = "linenos" > 123< / span > < span class = "c1" > # # Disclaimer: The vision versions are currently not integrated and yield an error< / span >
< span class = "linenos" > 124< / span > < span class = "n" > example_dmc< / span > < span class = "p" > (< / span > < span class = "s2" > " dm_control/reach_site_features" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 250< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 125< / span > < span class = "c1" > #< / span >
< span class = "linenos" > 126< / span > < span class = "c1" > # # Gym + DMC hybrid task provided in the MP framework< / span >
< span class = "linenos" > 127< / span > < span class = "n" > example_dmc< / span > < span class = "p" > (< / span > < span class = "s2" > " dm_control_ProMP/ball_in_cup-catch-v0" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 128< / span >
< span class = "linenos" > 129< / span > < span class = "c1" > # Custom DMC task # Different seed, because the episode is longer for this example and the name+seed combo is< / span >
< span class = "linenos" > 130< / span > < span class = "c1" > # already registered above< / span >
< span class = "linenos" > 131< / span > < span class = "n" > example_custom_dmc_and_mp< / span > < span class = "p" > (< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 11< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 132< / span >
< span class = "linenos" > 133< / span > < span class = "c1" > # # Standard DMC Suite tasks< / span >
< span class = "linenos" > 134< / span > < span class = "n" > example_dmc< / span > < span class = "p" > (< / span > < span class = "s2" > " dm_control/fish-swim" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1000< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 135< / span > < span class = "c1" > #< / span >
< span class = "linenos" > 136< / span > < span class = "c1" > # # Manipulation tasks< / span >
< span class = "linenos" > 137< / span > < span class = "c1" > # # Disclaimer: The vision versions are currently not integrated and yield an error< / span >
< span class = "linenos" > 138< / span > < span class = "n" > example_dmc< / span > < span class = "p" > (< / span > < span class = "s2" > " dm_control/reach_site_features" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 250< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 139< / span > < span class = "c1" > #< / span >
< span class = "linenos" > 140< / span > < span class = "c1" > # # Gym + DMC hybrid task provided in the MP framework< / span >
< span class = "linenos" > 141< / span > < span class = "n" > example_dmc< / span > < span class = "p" > (< / span > < span class = "s2" > " dm_control_ProMP/ball_in_cup-catch-v0" < / span > < span class = "p" > ,< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 10< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 142< / span >
< span class = "linenos" > 143< / span > < span class = "c1" > # Custom DMC task # Different seed, because the episode is longer for this example and the name+seed combo is< / span >
< span class = "linenos" > 144< / span > < span class = "c1" > # already registered above< / span >
< span class = "linenos" > 145< / span > < span class = "n" > example_custom_dmc_and_mp< / span > < span class = "p" > (< / span > < span class = "n" > seed< / span > < span class = "o" > =< / span > < span class = "mi" > 11< / span > < span class = "p" > ,< / span > < span class = "n" > iterations< / span > < span class = "o" > =< / span > < span class = "mi" > 1< / span > < span class = "p" > ,< / span > < span class = "n" > render< / span > < span class = "o" > =< / span > < span class = "n" > render< / span > < span class = "p" > )< / span >
< span class = "linenos" > 146< / span >
< span class = "linenos" > 147< / span > < span class = "k" > if< / span > < span class = "vm" > __name__< / span > < span class = "o" > ==< / span > < span class = "s1" > ' __main__' < / span > < span class = "p" > :< / span >
< span class = "linenos" > 148< / span > < span class = "n" > main< / span > < span class = "p" > ()< / span >
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