hill_env.py 文件源码

def __init__(self,
                 difficulty=1.0,
                 texturedir='/tmp/mujoco_textures',
                 hfield_dir='/tmp/mujoco_terrains',
                 regen_terrain=True,
                 *args, **kwargs):
        Serializable.quick_init(self, locals())

        self.difficulty = max(difficulty, self.MIN_DIFFICULTY)
        self.texturedir = texturedir
        self.hfield_dir = hfield_dir

        model_cls = self.__class__.MODEL_CLASS
        if model_cls is None:
            raise "MODEL_CLASS unspecified!"

        template_file_name = 'hill_' + model_cls.__module__.split('.')[-1] + '.xml.mako'

        template_options=dict(
            difficulty=self.difficulty,
            texturedir=self.texturedir,
            hfield_file=os.path.join(self.hfield_dir, self.HFIELD_FNAME))

        file_path = os.path.join(MODEL_DIR, template_file_name)
        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_options)

        tmp_f, file_path = tempfile.mkstemp(text=True)
        with open(file_path, 'w') as f:
            f.write(content)

        if self._iam_terrain_generator(regen_terrain):
            self._gen_terrain(regen_terrain)
            os.remove(self._get_lock_path())

        inner_env = model_cls(*args, file_path=file_path, **kwargs)  # file to the robot specifications
        ProxyEnv.__init__(self, inner_env)  # here is where the robot env will be initialized

        os.close(tmp_f)