New domain and task

[michtesar]

Suppose I would like to write my own domain and task.

I copied humanoid.xml and humanoid.py, renamed to the same name and also in all occurrence in those files. I included init.py from suite and added import for the new suit I just copied.

Since there is no proper documentation I assume making this as playground is the best, right? I know I can register Gym environments in init.py very easily. Is there any way how to develop my own domain and task? Thank you!

[alimuldal]

You would need to create a containers.TaggedTasks() instance in your new module (called SUITE by convention), and then for each new task that you want to add, wrap the function that returns the environment using the @SUITE.add decorator (optional: provide some string tags).

For example:

from dm_control.utils import containers

SUITE = containers.TaggedTasks()

@SUITE.add('some_tag', 'some_other_tag')
def my_new_task(time_limit=_DEFAULT_TIME_LIMIT, random=None, environment_kwargs=None):
   ...
   return control.Environment(...)

Then in dm_control/suite/__init__.py you just need to import the module containing your new tasks. The tasks will then be loadable using suite.load(domain='my_module_name', task='my_new_task', ...).

[aaronsnoswell]

(For future readers): also see some of the comments on #46.

[lucasjinreal]

How to specific xml file of my model here? @alimuldal I don't want change dm_contrl source code, is there a way to call it inside my own script? (the env I created.)