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61a39f41bc
* Remove step initialization for mujoco obs spaces * remove step initialization for mujoco obs space * pre-commit pytest obs space mujoco
73 lines
2.1 KiB
Python
73 lines
2.1 KiB
Python
import numpy as np
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from gym import utils
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from gym.envs.mujoco import mujoco_env
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from gym.spaces import Box
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class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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metadata = {
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"render_modes": [
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"human",
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"rgb_array",
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"depth_array",
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"single_rgb_array",
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"single_depth_array",
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],
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"render_fps": 125,
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}
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def __init__(self, **kwargs):
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observation_space = Box(low=-np.inf, high=np.inf, shape=(11,), dtype=np.float64)
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mujoco_env.MujocoEnv.__init__(
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self,
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"hopper.xml",
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4,
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mujoco_bindings="mujoco_py",
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observation_space=observation_space,
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**kwargs
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)
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utils.EzPickle.__init__(self)
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def step(self, a):
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posbefore = self.sim.data.qpos[0]
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self.do_simulation(a, self.frame_skip)
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posafter, height, ang = self.sim.data.qpos[0:3]
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self.renderer.render_step()
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alive_bonus = 1.0
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reward = (posafter - posbefore) / self.dt
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reward += alive_bonus
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reward -= 1e-3 * np.square(a).sum()
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s = self.state_vector()
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done = not (
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np.isfinite(s).all()
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and (np.abs(s[2:]) < 100).all()
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and (height > 0.7)
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and (abs(ang) < 0.2)
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)
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ob = self._get_obs()
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return ob, reward, done, {}
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def _get_obs(self):
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return np.concatenate(
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[self.sim.data.qpos.flat[1:], np.clip(self.sim.data.qvel.flat, -10, 10)]
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)
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def reset_model(self):
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qpos = self.init_qpos + self.np_random.uniform(
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low=-0.005, high=0.005, size=self.model.nq
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)
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qvel = self.init_qvel + self.np_random.uniform(
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low=-0.005, high=0.005, size=self.model.nv
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)
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self.set_state(qpos, qvel)
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return self._get_obs()
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def viewer_setup(self):
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self.viewer.cam.trackbodyid = 2
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self.viewer.cam.distance = self.model.stat.extent * 0.75
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self.viewer.cam.lookat[2] = 1.15
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self.viewer.cam.elevation = -20
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