def __init__(self, action_noise=0.0, file_path=None, template_args=None):
# compile template
if file_path is None:
if self.__class__.FILE is None:
raise "Mujoco file not specified"
file_path = osp.join(MODEL_DIR, self.__class__.FILE)
if file_path.endswith(".mako"):
lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
with open(file_path) as template_file:
template = mako.template.Template(
template_file.read(), lookup=lookup)
content = template.render(
opts=template_args if template_args is not None else {},
)
tmp_f, file_path = tempfile.mkstemp(text=True)
with open(file_path, 'w') as f:
f.write(content)
self.model = MjModel(file_path)
os.close(tmp_f)
else:
self.model = MjModel(file_path)
self.data = self.model.data
self.viewer = None
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.qpos_dim = self.init_qpos.size
self.qvel_dim = self.init_qvel.size
self.ctrl_dim = self.init_ctrl.size
self.action_noise = action_noise
if "frame_skip" in self.model.numeric_names:
frame_skip_id = self.model.numeric_names.index("frame_skip")
addr = self.model.numeric_adr.flat[frame_skip_id]
self.frame_skip = int(self.model.numeric_data.flat[addr])
else:
self.frame_skip = 1
if "init_qpos" in self.model.numeric_names:
init_qpos_id = self.model.numeric_names.index("init_qpos")
addr = self.model.numeric_adr.flat[init_qpos_id]
size = self.model.numeric_size.flat[init_qpos_id]
init_qpos = self.model.numeric_data.flat[addr:addr + size]
self.init_qpos = init_qpos
self.dcom = None
self.current_com = None
self.reset()
super(MujocoEnv, self).__init__()
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