Custom Environment

[team-daniel]

I would like to make a custom environment. For example, add a goal after pressing the buttons in Button2. Does anyone know how I would go about this or where to look into the documentation. I have looked myself but am unable to see anything.

Many thanks in advance!

[muchvo]

Can you explain more details about your situation? Especially the rules of your ideal environment.

[team-daniel]

Yes, thank you. Ideally, I would like a scenario such as SafetyButton0-v0 where the agent has to head to a goal after a number of button presses.

[muchvo]

Please check out this file. Perhaps reimplementing the two functions mentioned below can fulfill your requirements.

    @property
    def goal_achieved(self):
        """Whether the goal of task is achieved."""
        for contact in self.data.contact[: self.data.ncon]:
            geom_ids = [contact.geom1, contact.geom2]
            geom_names = sorted([self.model.geom(g).name for g in geom_ids])
            # pylint: disable-next=no-member
            if any(n == f'button{self.buttons.goal_button}' for n in geom_names) and any(
                n in self.agent.body_info.geom_names for n in geom_names
            ):
                return True
        return False

    def update_world(self):
        """Build a new goal position, maybe with resampling due to hazards."""
        # pylint: disable-next=no-member
        assert self.buttons.num > 0, 'Must have at least one button.'
        self.build_goal_button()
        self.last_dist_goal = self.dist_goal()
        self.buttons.reset_timer()  # pylint: disable=no-member

[team-daniel]

Sorry for the late reply. I have tried that this morning and it works perfectly thank you :)