box2d_env.py 文件源码

def __init__(
            self, model_path, frame_skip=1, position_only=False,
            obs_noise=0.0, action_noise=0.0, template_string=None,
            template_args=None,
    ):
        self.full_model_path = model_path
        if template_string is None:
            if model_path.endswith(".mako"):
                with open(model_path) as template_file:
                    template = mako.template.Template(
                        template_file.read())
                template_string = template.render(
                    opts=template_args if template_args is not None else {},
                )
            else:
                with open(model_path, "r") as f:
                    template_string = f.read()
        world, extra_data = world_from_xml(template_string)
        self.world = world
        self.extra_data = extra_data
        self.initial_state = self._state
        self.viewer = None
        self.frame_skip = frame_skip
        self.timestep = self.extra_data.timeStep
        self.position_only = position_only
        self.obs_noise = obs_noise
        self.action_noise = action_noise
        self._action_bounds = None
        # cache the computation of position mask
        self._position_ids = None
        self._cached_obs = None
        self._cached_coms = {}