
    ni                     t    S r SSKJr  SSKJr  SSKJr  SSKJr  SSKJr  S r	S r
S	 rS
 rS rS rS rS rg)z/Example configurations using the PPO algorithm.    )absolute_import)division)print_function)ppo)networksc                      [         R                  n SnSnSn[        R                  n[	        SSSS9nSnSnS	nS
n	Sn
SnSnSnSnSnSnSnSnSnSnSn[        5       $ )zDefault configuration for PPO.
      Fz.*z.*/policy/.*z.*/value/.*)allpolicyvalue)   d   g?AdamOptimizer2   g-C6?ga2U0*3?gQ?g{Gz?        )r   PPOAlgorithmr   ForwardGaussianPolicydictlocals)	algorithm
num_agentseval_episodesuse_gpunetworkweight_summariespolicy_layersvalue_layersinit_mean_factorinit_logstdupdate_everypolicy_optimizervalue_optimizerupdate_epochs_policyupdate_epochs_value	policy_lrvalue_lrdiscount	kl_targetkl_cutoff_factorkl_cutoff_coefkl_init_penaltys                         g/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/agents/scripts/configs.pydefaultr1      s     )*-'**'eO>R-,+,$#/)(()./	/    c                  d    [        5       R                  [        5       5        Sn SnSn[        5       $ )z4Configuration for the pendulum classic control task.zPendulum-v0r   g    .Ar   updater1   env
max_lengthstepss      r0   pendulumr:   9   s(    (//')#*
%	/r2   c                  d    [        5       R                  [        5       5        Sn SnSn[        5       $ )z-Configuration for MuJoCo's half cheetah task.zHalfCheetah-v1r       cAr4   r6   s      r0   cheetahr=   C   s(    (//')#*
%	/r2   c                  d    [        5       R                  [        5       5        Sn SnSn[        5       $ )z'Configuration for MuJoCo's walker task.zWalker2d-v1r   r<   r4   r6   s      r0   walkerr?   M   (    (//')#*
%	/r2   c                  d    [        5       R                  [        5       5        Sn SnSn[        5       $ )z(Configuration for MuJoCo's reacher task.z
Reacher-v1r   r<   r4   r6   s      r0   reacherrB   W   s(    (//')#*
%	/r2   c                  d    [        5       R                  [        5       5        Sn SnSn[        5       $ )z'Configuration for MuJoCo's hopper task.z	Hopper-v1r   g    sAr4   r6   s      r0   hopperrD   a   s(    (//')#*
%	/r2   c                  d    [        5       R                  [        5       5        Sn SnSn[        5       $ )z$Configuration for MuJoCo's ant task.zAnt-v1r       ׇAr4   r6   s      r0   antrG   k   s(    (//')#*
%	/r2   c                  d    [        5       R                  [        5       5        Sn SnSn[        5       $ )z)Configuration for MuJoCo's humanoid task.zHumanoid-v1r   rF   r4   r6   s      r0   humanoidrI   u   r@   r2   N)__doc__
__future__r   r   r   pybullet_envs.minitaur.agentsr   %pybullet_envs.minitaur.agents.scriptsr   r1   r:   r=   r?   rB   rD   rG   rI    r2   r0   <module>rO      sC    6 &  % . :>r2   