mirror of
https://github.com/Farama-Foundation/Gymnasium.git
synced 2025-08-01 06:07:08 +00:00
6af4a5b9b2
* all envs run offscreen * render works * changed mujoco-py version * Bump versions * Update version and README * Same versioning for all mujoco envs * Fix typo * Fix version * Bump version again * Revert "Fix version" This reverts commit decc5779811801deb6ae9fad697dfe247d2bdd94.
58 lines
1.9 KiB
Python
58 lines
1.9 KiB
Python
import numpy as np
|
|
from gym import utils
|
|
from gym.envs.mujoco import mujoco_env
|
|
|
|
import mujoco_py
|
|
|
|
class PusherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
|
|
def __init__(self):
|
|
utils.EzPickle.__init__(self)
|
|
mujoco_env.MujocoEnv.__init__(self, 'pusher.xml', 5)
|
|
|
|
def _step(self, a):
|
|
vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm")
|
|
vec_2 = self.get_body_com("object") - self.get_body_com("goal")
|
|
|
|
reward_near = - np.linalg.norm(vec_1)
|
|
reward_dist = - np.linalg.norm(vec_2)
|
|
reward_ctrl = - np.square(a).sum()
|
|
reward = reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near
|
|
|
|
self.do_simulation(a, self.frame_skip)
|
|
ob = self._get_obs()
|
|
done = False
|
|
return ob, reward, done, dict(reward_dist=reward_dist,
|
|
reward_ctrl=reward_ctrl)
|
|
|
|
def viewer_setup(self):
|
|
self.viewer.cam.trackbodyid = -1
|
|
self.viewer.cam.distance = 4.0
|
|
|
|
def reset_model(self):
|
|
qpos = self.init_qpos
|
|
|
|
self.goal_pos = np.asarray([0, 0])
|
|
while True:
|
|
self.cylinder_pos = np.concatenate([
|
|
self.np_random.uniform(low=-0.3, high=0, size=1),
|
|
self.np_random.uniform(low=-0.2, high=0.2, size=1)])
|
|
if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17:
|
|
break
|
|
|
|
qpos[-4:-2] = self.cylinder_pos
|
|
qpos[-2:] = self.goal_pos
|
|
qvel = self.init_qvel + self.np_random.uniform(low=-0.005,
|
|
high=0.005, size=self.model.nv)
|
|
qvel[-4:] = 0
|
|
self.set_state(qpos, qvel)
|
|
return self._get_obs()
|
|
|
|
def _get_obs(self):
|
|
return np.concatenate([
|
|
self.sim.data.qpos.flat[:7],
|
|
self.sim.data.qvel.flat[:7],
|
|
self.get_body_com("tips_arm"),
|
|
self.get_body_com("object"),
|
|
self.get_body_com("goal"),
|
|
])
|