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70 lines
2.1 KiB
Python
70 lines
2.1 KiB
Python
import numpy as np
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from gymnasium import utils
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from gymnasium.envs.mujoco import MuJocoPyEnv
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from gymnasium.spaces import Box
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class InvertedDoublePendulumEnv(MuJocoPyEnv, 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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],
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"render_fps": 20,
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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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MuJocoPyEnv.__init__(
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self,
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"inverted_double_pendulum.xml",
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5,
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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, **kwargs)
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def step(self, action):
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self.do_simulation(action, self.frame_skip)
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ob = self._get_obs()
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x, _, y = self.sim.data.site_xpos[0]
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dist_penalty = 0.01 * x**2 + (y - 2) ** 2
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v1, v2 = self.sim.data.qvel[1:3]
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vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
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alive_bonus = 10
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r = alive_bonus - dist_penalty - vel_penalty
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terminated = bool(y <= 1)
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if self.render_mode == "human":
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self.render()
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return ob, r, terminated, False, {}
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def _get_obs(self):
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return np.concatenate(
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[
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self.sim.data.qpos[:1], # cart x pos
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np.sin(self.sim.data.qpos[1:]), # link angles
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np.cos(self.sim.data.qpos[1:]),
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np.clip(self.sim.data.qvel, -10, 10),
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np.clip(self.sim.data.qfrc_constraint, -10, 10),
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]
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).ravel()
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def reset_model(self):
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self.set_state(
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self.init_qpos
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+ self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq),
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self.init_qvel + self.np_random.standard_normal(self.model.nv) * 0.1,
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)
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return self._get_obs()
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def viewer_setup(self):
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assert self.viewer is not None
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v = self.viewer
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v.cam.trackbodyid = 0
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v.cam.distance = self.model.stat.extent * 0.5
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v.cam.lookat[2] = 0.12250000000000005 # v.model.stat.center[2]
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