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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
99 lines
2.8 KiB
Python
99 lines
2.8 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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def mass_center(model, sim):
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mass = np.expand_dims(model.body_mass, 1)
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xpos = sim.data.xipos
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return (np.sum(mass * xpos, 0) / np.sum(mass))[0]
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class HumanoidEnv(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": 67,
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}
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def __init__(self, **kwargs):
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observation_space = Box(
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low=-np.inf, high=np.inf, shape=(376,), dtype=np.float64
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)
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mujoco_env.MujocoEnv.__init__(
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self,
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"humanoid.xml",
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5,
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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 _get_obs(self):
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data = self.sim.data
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return np.concatenate(
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[
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data.qpos.flat[2:],
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data.qvel.flat,
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data.cinert.flat,
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data.cvel.flat,
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data.qfrc_actuator.flat,
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data.cfrc_ext.flat,
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]
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)
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def step(self, a):
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pos_before = mass_center(self.model, self.sim)
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self.do_simulation(a, self.frame_skip)
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pos_after = mass_center(self.model, self.sim)
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self.renderer.render_step()
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alive_bonus = 5.0
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data = self.sim.data
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lin_vel_cost = 1.25 * (pos_after - pos_before) / self.dt
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quad_ctrl_cost = 0.1 * np.square(data.ctrl).sum()
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quad_impact_cost = 0.5e-6 * np.square(data.cfrc_ext).sum()
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quad_impact_cost = min(quad_impact_cost, 10)
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reward = lin_vel_cost - quad_ctrl_cost - quad_impact_cost + alive_bonus
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qpos = self.sim.data.qpos
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done = bool((qpos[2] < 1.0) or (qpos[2] > 2.0))
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return (
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self._get_obs(),
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reward,
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done,
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dict(
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reward_linvel=lin_vel_cost,
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reward_quadctrl=-quad_ctrl_cost,
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reward_alive=alive_bonus,
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reward_impact=-quad_impact_cost,
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),
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)
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def reset_model(self):
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c = 0.01
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self.set_state(
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self.init_qpos + self.np_random.uniform(low=-c, high=c, size=self.model.nq),
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self.init_qvel
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+ self.np_random.uniform(
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low=-c,
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high=c,
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size=self.model.nv,
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),
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)
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return self._get_obs()
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def viewer_setup(self):
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self.viewer.cam.trackbodyid = 1
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self.viewer.cam.distance = self.model.stat.extent * 1.0
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self.viewer.cam.lookat[2] = 2.0
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self.viewer.cam.elevation = -20
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