Returns stacker task with 4 boxes.
(fully_observable=True, time_limit=_TIME_LIMIT, random=None,
environment_kwargs=None)
| 69 | |
| 70 | @SUITE.add('hard') |
| 71 | def stack_4(fully_observable=True, time_limit=_TIME_LIMIT, random=None, |
| 72 | environment_kwargs=None): |
| 73 | """Returns stacker task with 4 boxes.""" |
| 74 | n_boxes = 4 |
| 75 | physics = Physics.from_xml_string(*make_model(n_boxes=n_boxes)) |
| 76 | task = Stack(n_boxes=n_boxes, |
| 77 | fully_observable=fully_observable, |
| 78 | random=random) |
| 79 | environment_kwargs = environment_kwargs or {} |
| 80 | return control.Environment( |
| 81 | physics, task, control_timestep=_CONTROL_TIMESTEP, time_limit=time_limit, |
| 82 | **environment_kwargs) |
| 83 | |
| 84 | |
| 85 | class Physics(mujoco.Physics): |
nothing calls this directly
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