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context_changers.py
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context_changers.py
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import random
import numpy as np
class ContextChanger:
def __init__(self):
self.reset()
def reset(self):
raise NotImplementedError
def reset_env(self, env):
raise NotImplementedError
def change_env(self, env):
raise NotImplementedError
class NullContextChanger(ContextChanger):
def reset(self):
pass
def reset_env(self, env):
pass
def change_env(self, env):
pass
class ReacherHardContextChanger(ContextChanger):
def __init__(self, multi_reset=True):
self.multi_reset = multi_reset
self.is_reset = False
super().__init__()
def reset(self):
if not self.multi_reset and self.is_reset:
return
self.c1_pos = [random.random() * 0.6 - 0.3, random.random() * 0.6 - 0.3, 2.5e-6]
self.c2_pos = [random.random() * 0.6 - 0.3, random.random() * 0.6 - 0.3, 2.5e-6]
self.c3_pos = [random.random() * 0.6 - 0.3, random.random() * 0.6 - 0.3, 2.5e-6]
self.c4_pos = [random.random() * 0.6 - 0.3, random.random() * 0.6 - 0.3, 2.5e-6]
self.c5_pos = [random.random() * 0.6 - 0.3, random.random() * 0.6 - 0.3, 2.5e-6]
self.c1_visible = round(random.random())
self.c2_visible = round(random.random())
self.c3_visible = round(random.random())
self.c4_visible = round(random.random())
self.c5_visible = round(random.random())
self.c1_color = [random.random() * 0.5, random.random() * 0.5, random.random() * 0.5, self.c1_visible]
self.c2_color = [random.random() * 0.5, random.random() * 0.5, random.random() * 0.5, self.c2_visible]
self.c3_color = [random.random() * 0.5, random.random() * 0.5, random.random() * 0.5, self.c3_visible]
self.c4_color = [random.random() * 0.5, random.random() * 0.5, random.random() * 0.5, self.c4_visible]
self.c5_color = [random.random() * 0.5, random.random() * 0.5, random.random() * 0.5, self.c5_visible]
self.is_reset = True
def change_env(self, env):
env.physics.named.model.mat_texid['grid'] = -1
env.physics.named.model.geom_rgba['ground'] = [1., 1., 1., 1]
env.physics.named.data.geom_xpos['c1'] = self.c1_pos
env.physics.named.data.geom_xpos['c2'] = self.c2_pos
env.physics.named.data.geom_xpos['c3'] = self.c3_pos
env.physics.named.data.geom_xpos['c4'] = self.c4_pos
env.physics.named.data.geom_xpos['c5'] = self.c5_pos
env.physics.named.model.geom_rgba['c1'] = self.c1_color
env.physics.named.model.geom_rgba['c2'] = self.c2_color
env.physics.named.model.geom_rgba['c3'] = self.c3_color
env.physics.named.model.geom_rgba['c4'] = self.c4_color
env.physics.named.model.geom_rgba['c5'] = self.c5_color
def reset_env(self, env):
env.physics.named.model.mat_texid['grid'] = 1
env.physics.named.model.geom_rgba['ground'] = [0.5, 0.5, 0.5, 1]
env.physics.named.data.geom_xpos['c1'] = [0, 0, 2.5e-6]
env.physics.named.data.geom_xpos['c2'] = [0, 0, 2.5e-6]
env.physics.named.data.geom_xpos['c3'] = [0, 0, 2.5e-6]
env.physics.named.data.geom_xpos['c4'] = [0, 0, 2.5e-6]
env.physics.named.data.geom_xpos['c5'] = [0, 0, 2.5e-6]
env.physics.named.model.geom_rgba['c1'] = [0, 0, 0, 0]
env.physics.named.model.geom_rgba['c2'] = [0, 0, 0, 0]
env.physics.named.model.geom_rgba['c3'] = [0, 0, 0, 0]
env.physics.named.model.geom_rgba['c4'] = [0, 0, 0, 0]
env.physics.named.model.geom_rgba['c5'] = [0, 0, 0, 0]
class ReacherHardWCContextChanger(ContextChanger):
def __init__(self):
super().__init__()
def reset(self):
pass
def change_env(self, env):
env.physics.named.model.mat_texid['grid'] = -1
env.physics.named.model.geom_rgba['ground'] = [1., 1., 1., 1]
def reset_env(self, env):
env.physics.named.model.mat_texid['grid'] = 1
env.physics.named.model.geom_rgba['ground'] = [0.5, 0.5, 0.5, 1]
class WalkerRunContextChanger(ContextChanger):
def reset(self):
# self.ground_color = [random.random() * 0.5, random.random() * 0.5, random.random() * 0.5, 1]
self.floor = np.random.uniform([0., 0., 0., 1.], [0.5, 0.5, 0.5, 1])
def change_env(self, env):
pass
# env.physics.named.model.mat_texid['grid'] = -1
# env.physics.named.model.geom_rgba['floor'] = self.floor
def reset_env(self, env):
pass
# env.physics.named.model.mat_texid['grid'] = 1
# env.physics.named.model.geom_rgba['floor'] = [0.5, 0.5, 0.5, 1]