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Clean up mountain car environment (#1961)

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* Clean up mountain car environment.

* Add whitespace around division operator.
This commit is contained in:
InstanceLabs
2020-06-19 23:13:15 +02:00
committed by GitHub
parent abef916ca2
commit d4e596bf65
1 changed files with 52 additions and 35 deletions
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41
gym/envs/classic_control/mountain_car.py
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@@ -2,7 +2,6 @@
http://incompleteideas.net/sutton/MountainCar/MountainCar1.cp http://incompleteideas.net/sutton/MountainCar/MountainCar1.cp
permalink: https://perma.cc/6Z2N-PFWC permalink: https://perma.cc/6Z2N-PFWC
""" """
import math import math
import numpy as np import numpy as np
@@ -11,6 +10,7 @@ import gym
from gym import spaces from gym import spaces
from gym.utils import seeding from gym.utils import seeding
class MountainCarEnv(gym.Env): class MountainCarEnv(gym.Env):
""" """
Description: Description:
@@ -67,13 +67,19 @@ class MountainCarEnv(gym.Env):
self.force = 0.001 self.force = 0.001
self.gravity = 0.0025 self.gravity = 0.0025
self.low = np.array([self.min_position, -self.max_speed], dtype=np.float32) self.low = np.array(
self.high = np.array([self.max_position, self.max_speed], dtype=np.float32) [self.min_position, -self.max_speed], dtype=np.float32
)
self.high = np.array(
[self.max_position, self.max_speed], dtype=np.float32
)
self.viewer = None self.viewer = None
self.action_space = spaces.Discrete(3) self.action_space = spaces.Discrete(3)
self.observation_space = spaces.Box(self.low, self.high, dtype=np.float32) self.observation_space = spaces.Box(
self.low, self.high, dtype=np.float32
)
self.seed() self.seed()
@@ -89,9 +95,12 @@ class MountainCarEnv(gym.Env):
velocity = np.clip(velocity, -self.max_speed, self.max_speed) velocity = np.clip(velocity, -self.max_speed, self.max_speed)
position += velocity position += velocity
position = np.clip(position, self.min_position, self.max_position) position = np.clip(position, self.min_position, self.max_position)
if (position==self.min_position and velocity<0): velocity = 0 if (position == self.min_position and velocity < 0):
velocity = 0
done = bool(position >= self.goal_position and velocity >= self.goal_velocity) done = bool(
position >= self.goal_position and velocity >= self.goal_velocity
)
reward = -1.0 reward = -1.0
self.state = (position, velocity) self.state = (position, velocity)
@@ -113,7 +122,6 @@ class MountainCarEnv(gym.Env):
carwidth = 40 carwidth = 40
carheight = 20 carheight = 20
if self.viewer is None: if self.viewer is None:
from gym.envs.classic_control import rendering from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height) self.viewer = rendering.Viewer(screen_width, screen_height)
@@ -135,11 +143,15 @@ class MountainCarEnv(gym.Env):
self.viewer.add_geom(car) self.viewer.add_geom(car)
frontwheel = rendering.make_circle(carheight / 2.5) frontwheel = rendering.make_circle(carheight / 2.5)
frontwheel.set_color(.5, .5, .5) frontwheel.set_color(.5, .5, .5)
frontwheel.add_attr(rendering.Transform(translation=(carwidth/4,clearance))) frontwheel.add_attr(
rendering.Transform(translation=(carwidth / 4, clearance))
)
frontwheel.add_attr(self.cartrans) frontwheel.add_attr(self.cartrans)
self.viewer.add_geom(frontwheel) self.viewer.add_geom(frontwheel)
backwheel = rendering.make_circle(carheight / 2.5) backwheel = rendering.make_circle(carheight / 2.5)
backwheel.add_attr(rendering.Transform(translation=(-carwidth/4,clearance))) backwheel.add_attr(
rendering.Transform(translation=(-carwidth / 4, clearance))
)
backwheel.add_attr(self.cartrans) backwheel.add_attr(self.cartrans)
backwheel.set_color(.5, .5, .5) backwheel.set_color(.5, .5, .5)
self.viewer.add_geom(backwheel) self.viewer.add_geom(backwheel)
@@ -148,18 +160,23 @@ class MountainCarEnv(gym.Env):
flagy2 = flagy1 + 50 flagy2 = flagy1 + 50
flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2)) flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2))
self.viewer.add_geom(flagpole) self.viewer.add_geom(flagpole)
flag = rendering.FilledPolygon([(flagx, flagy2), (flagx, flagy2-10), (flagx+25, flagy2-5)]) flag = rendering.FilledPolygon(
[(flagx, flagy2), (flagx, flagy2 - 10), (flagx + 25, flagy2 - 5)]
)
flag.set_color(.8, .8, 0) flag.set_color(.8, .8, 0)
self.viewer.add_geom(flag) self.viewer.add_geom(flag)
pos = self.state[0] pos = self.state[0]
self.cartrans.set_translation((pos-self.min_position)*scale, self._height(pos)*scale) self.cartrans.set_translation(
(pos-self.min_position) * scale, self._height(pos) * scale
)
self.cartrans.set_rotation(math.cos(3 * pos)) self.cartrans.set_rotation(math.cos(3 * pos))
return self.viewer.render(return_rgb_array=mode == 'rgb_array') return self.viewer.render(return_rgb_array=mode == 'rgb_array')
def get_keys_to_action(self): def get_keys_to_action(self):
return {():1,(276,):0,(275,):2,(275,276):1} #control with left and right arrow keys # Control with left and right arrow keys.
return {(): 1, (276,): 0, (275,): 2, (275, 276): 1}
def close(self): def close(self):
if self.viewer: if self.viewer: