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a9d7fc7dd1
* remove vertical camera motion on env.reset() * In MuJoCo envs, don't reset viewers on environment reset. If the user moves around the camera in the viewer, allow them to keep the camera wherever they put it. * Docstring update.
41 lines
1.4 KiB
Python
41 lines
1.4 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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class HopperEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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def __init__(self):
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mujoco_env.MujocoEnv.__init__(self, 'hopper.xml', 4)
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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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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 (np.isfinite(s).all() and (np.abs(s[2:]) < 100).all() and
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(height > .7) and (abs(ang) < .2))
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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:],
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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(low=-.005, high=.005, size=self.model.nq)
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qvel = self.init_qvel + self.np_random.uniform(low=-.005, high=.005, size=self.model.nv)
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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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