(random_state=None)
return composer.Environment(time_limit=30,
                              task=task,
                              random_state=random_state,
                              strip_singleton_obs_buffer_dim=True)
Requires a CMU humanoid to find all items in a maze.
Requires a CMU humanoid to find all items in a maze.
Requires a CMU humanoid to find all items in a maze .
def cmu_humanoid_maze_forage(random_state=None):
  """Requires a CMU humanoid to find all items in a maze."""

  # Build a position-controlled CMU humanoid walker.
  walker = cmu_humanoid.CMUHumanoidPositionControlled(
      observable_options={'egocentric_camera': dict(enabled=True)})

  # Build a maze with rooms and targets.
  skybox_texture = labmaze_textures.SkyBox(style='sky_03')
  wall_textures = labmaze_textures.WallTextures(style='style_01')
  floor_textures = labmaze_textures.FloorTextures(style='style_01')
  arena = mazes.RandomMazeWithTargets(
      x_cells=11,
      y_cells=11,
      xy_scale=3,
      max_rooms=4,
      room_min_size=4,
      room_max_size=5,
      spawns_per_room=1,
      targets_per_room=3,
      skybox_texture=skybox_texture,
      wall_textures=wall_textures,
      floor_textures=floor_textures,
  )

  # Build a task that rewards the agent for obtaining targets.
  task = random_goal_maze.ManyGoalsMaze(
      walker=walker,
      maze_arena=arena,
      target_builder=functools.partial(
          target_sphere.TargetSphere,
          radius=0.4,
          rgb1=(0, 0, 0.4),
          rgb2=(0, 0, 0.7)),
      target_reward_scale=50.,
      physics_timestep=0.005,
      control_timestep=0.03,
  )

  return composer.Environment(time_limit=30,
                              task=task,
                              random_state=random_state,
                              strip_singleton_obs_buffer_dim=True)
def cmu_humanoid_maze_forage ( random_state = None ) : # Build a position-controlled CMU humanoid walker. walker = cmu_humanoid . CMUHumanoidPositionControlled ( observable_options = { 'egocentric_camera' : dict ( enabled = True ) } ) # Build a maze with rooms and targets. skybox_texture = labmaze_textures . SkyBox ( style = 'sky_03' ) wall_textures = labmaze_textures . WallTextures ( style = 'style_01' ) floor_textures = labmaze_textures . FloorTextures ( style = 'style_01' ) arena = mazes . RandomMazeWithTargets ( x_cells = 11 , y_cells = 11 , xy_scale = 3 , max_rooms = 4 , room_min_size = 4 , room_max_size = 5 , spawns_per_room = 1 , targets_per_room = 3 , skybox_texture = skybox_texture , wall_textures = wall_textures , floor_textures = floor_textures , ) # Build a task that rewards the agent for obtaining targets. task = random_goal_maze . ManyGoalsMaze ( walker = walker , maze_arena = arena , target_builder = functools . partial ( target_sphere . TargetSphere , radius = 0.4 , rgb1 = ( 0 , 0 , 0.4 ) , rgb2 = ( 0 , 0 , 0.7 ) ) , target_reward_scale = 50. , physics_timestep = 0.005 , control_timestep = 0.03 , ) return composer . Environment ( time_limit = 30 , task = task , random_state = random_state , strip_singleton_obs_buffer_dim = True )