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New fall and carry

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This commit is contained in:
Yuji Kanagawa 2021-10-02 22:55:47 +09:00
parent 98fe8b977e
commit 30c845fb0c
1 changed files with 16 additions and 20 deletions
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36
mujoco_maze/maze_task.py
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@ -211,13 +211,13 @@ class GoalRewardMultiPush(GoalRewardUMaze):
def create_maze() -> List[List[MazeCell]]: def create_maze() -> List[List[MazeCell]]:
E, B, R, M = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.ROBOT, MazeCell.XY_BLOCK E, B, R, M = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.ROBOT, MazeCell.XY_BLOCK
return [ return [
[B, B, B, B, B], [B, B, B, B, B, B],
[B, B, E, B, B], [B, B, B, E, B, B],
[B, E, M, E, B], [B, E, E, M, E, B],
[B, R, E, B, B], [B, E, R, E, B, B],
[B, E, M, E, B], [B, E, E, M, E, B],
[B, B, E, B, B], [B, B, B, E, B, B],
[B, B, B, B, B], [B, B, B, B, B, B],
] ]
@ -259,22 +259,21 @@ class GoalRewardMultiFall(GoalRewardUMaze):
MAZE_SIZE_SCALING: Scaling = Scaling(ant=2.0, point=None, swimmer=None) MAZE_SIZE_SCALING: Scaling = Scaling(ant=2.0, point=None, swimmer=None)
OBSERVE_BLOCKS: bool = True OBSERVE_BLOCKS: bool = True
def __init__(self, scale: float, goal: Tuple[int, int] = (0.0, 4.0)) -> None: def __init__(self, scale: float, goal: Tuple[int, int] = (3.0, 1.0)) -> None:
super().__init__(scale) super().__init__(scale)
self.goals = [MazeGoal(np.array([*goal, 0.5]) * scale)] self.goals = [MazeGoal(np.array([*goal, 0.5]) * scale)]
@staticmethod @staticmethod
def create_maze() -> List[List[MazeCell]]: def create_maze() -> List[List[MazeCell]]:
E, B, C, R = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.CHASM, MazeCell.ROBOT E, B, C, R = MazeCell.EMPTY, MazeCell.BLOCK, MazeCell.CHASM, MazeCell.ROBOT
M = MazeCell.YZ_BLOCK M = MazeCell.XYZ_BLOCK
return [ return [
[B, B, B, B, B, B, B, B, B], [B, B, B, B, B, B],
[B, E, C, E, R, E, C, E, B], [B, R, E, C, E, B],
[B, E, C, E, M, E, C, E, B], [B, E, M, C, E, B],
[B, E, C, E, E, E, C, E, B], [B, C, C, B, B, B],
[B, B, B, C, C, C, B, B, B], [B, E, E, B, B, B],
[B, B, B, E, E, E, B, B, B], [B, B, B, B, B, B],
[B, B, B, B, B, B, B, B, B],
] ]
@ -553,10 +552,8 @@ class GoalRewardBlockCarry(MazeTask):
return [ return [
[B, B, B, B, B], [B, B, B, B, B],
[B, E, E, E, B], [B, E, E, E, B],
[B, E, E, E, B],
[B, R, M, E, B], [B, R, M, E, B],
[B, E, E, E, B], [B, E, E, E, B],
[B, E, E, E, B],
[B, B, B, B, B], [B, B, B, B, B],
] ]
@ -678,7 +675,7 @@ class GoalRewardSmallBilliard(GoalRewardBilliard):
MAZE_SIZE_SCALING: Scaling = Scaling(ant=1.5, point=4.0, swimmer=None) MAZE_SIZE_SCALING: Scaling = Scaling(ant=1.5, point=4.0, swimmer=None)
OBJECT_BALL_SIZE: float = 0.5 OBJECT_BALL_SIZE: float = 0.5
def __init__(self, scale: float, goal: Tuple[float, float] = (-21.0, -2.0)) -> None: def __init__(self, scale: float, goal: Tuple[float, float] = (-1.0, -2.0)) -> None:
super().__init__(scale, goal) super().__init__(scale, goal)
@staticmethod @staticmethod
@ -690,7 +687,6 @@ class GoalRewardSmallBilliard(GoalRewardBilliard):
[B, E, E, E, B], [B, E, E, E, B],
[B, E, M, E, B], [B, E, M, E, B],
[B, E, R, E, B], [B, E, R, E, B],
[B, E, E, E, B],
[B, B, B, B, B], [B, B, B, B, B],
] ]