2016-05-23 15:01:25 +08:00
|
|
|
import numpy as np
|
|
|
|
|
from gym.envs.mujoco import mujoco_env
|
|
|
|
|
from gym import utils
|
|
|
|
|
|
|
|
|
|
def mass_center(model):
|
|
|
|
|
mass = model.body_mass
|
|
|
|
|
xpos = model.data.xipos
|
|
|
|
|
return (np.sum(mass * xpos, 0) / np.sum(mass))[0]
|
|
|
|
|
|
|
|
|
|
class HumanoidStandupEnv(mujoco_env.MujocoEnv, utils.EzPickle):
|
|
|
|
|
def __init__(self):
|
|
|
|
|
mujoco_env.MujocoEnv.__init__(self, 'humanoidstandup.xml', 5)
|
|
|
|
|
utils.EzPickle.__init__(self)
|
|
|
|
|
|
|
|
|
|
def _get_obs(self):
|
|
|
|
|
data = self.model.data
|
|
|
|
|
return np.concatenate([data.qpos.flat[2:],
|
|
|
|
|
data.qvel.flat,
|
|
|
|
|
data.cinert.flat,
|
|
|
|
|
data.cvel.flat,
|
|
|
|
|
data.qfrc_actuator.flat,
|
|
|
|
|
data.cfrc_ext.flat])
|
|
|
|
|
|
|
|
|
|
def _step(self, a):
|
|
|
|
|
pos_before = self.model.data.qpos
|
|
|
|
|
self.do_simulation(a, self.frame_skip)
|
|
|
|
|
pos_after = self.model.data.qpos
|
|
|
|
|
data = self.model.data
|
|
|
|
|
qpos = self.model.data.qpos
|
|
|
|
|
uph_cost=(pos_after[2]-pos_before[2]) / self.model.opt.timestep
|
|
|
|
|
|
|
|
|
|
quad_ctrl_cost = 0.1 * np.square(data.ctrl).sum()
|
|
|
|
|
quad_impact_cost = .5e-6 * np.square(data.cfrc_ext).sum()
|
|
|
|
|
quad_impact_cost = min(quad_impact_cost, 10)
|
|
|
|
|
reward = uph_cost - quad_ctrl_cost - quad_impact_cost
|
|
|
|
|
|
|
|
|
|
done = bool((pos_after[1] - pos_before[1] > 15.0) or (pos_after[0] - pos_before[0] > 15.0))
|
2016-05-27 00:34:49 -07:00
|
|
|
return self._get_obs(), reward[0], done, dict(reward_linup=uph_cost, reward_quadctrl=-quad_ctrl_cost, reward_impact=-quad_impact_cost)
|
2016-05-23 15:01:25 +08:00
|
|
|
|
|
|
|
|
def reset_model(self):
|
|
|
|
|
c = 0.01
|
|
|
|
|
self.set_state(
|
|
|
|
|
self.init_qpos + np.random.uniform(low=-c, high=c, size=self.model.nq),
|
|
|
|
|
self.init_qvel + np.random.uniform(low=-c, high=c, size=self.model.nv,)
|
|
|
|
|
)
|
|
|
|
|
return self._get_obs()
|
|
|
|
|
|
|
|
|
|
def viewer_setup(self):
|
|
|
|
|
self.viewer.cam.trackbodyid = 1
|
|
|
|
|
self.viewer.cam.distance = self.model.stat.extent * 1.0
|
|
|
|
|
self.viewer.cam.lookat[2] += .8
|
|
|
|
|
self.viewer.cam.elevation = -20
|
