Returns the Fish Swim task.
(time_limit=_DEFAULT_TIME_LIMIT, random=None, environment_kwargs=None)
| 57 | |
| 58 | @SUITE.add('benchmarking') |
| 59 | def swim(time_limit=_DEFAULT_TIME_LIMIT, random=None, environment_kwargs=None): |
| 60 | """Returns the Fish Swim task.""" |
| 61 | physics = Physics.from_xml_string(*get_model_and_assets()) |
| 62 | task = Swim(random=random) |
| 63 | environment_kwargs = environment_kwargs or {} |
| 64 | return control.Environment( |
| 65 | physics, task, control_timestep=_CONTROL_TIMESTEP, time_limit=time_limit, |
| 66 | **environment_kwargs) |
| 67 | |
| 68 | |
| 69 | class Physics(mujoco.Physics): |
nothing calls this directly
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