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cdd212db4b
* Fix autodetect dtype warnings * Use warnings module for gym logger * Fix warning in tests
122 lines
4.2 KiB
Python
122 lines
4.2 KiB
Python
"""
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http://incompleteideas.net/sutton/MountainCar/MountainCar1.cp
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permalink: https://perma.cc/6Z2N-PFWC
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"""
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import math
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import numpy as np
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import gym
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from gym import spaces
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from gym.utils import seeding
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class MountainCarEnv(gym.Env):
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metadata = {
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'render.modes': ['human', 'rgb_array'],
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'video.frames_per_second': 30
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}
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def __init__(self):
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self.min_position = -1.2
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self.max_position = 0.6
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self.max_speed = 0.07
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self.goal_position = 0.5
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self.low = np.array([self.min_position, -self.max_speed])
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self.high = np.array([self.max_position, self.max_speed])
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self.viewer = None
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self.action_space = spaces.Discrete(3)
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self.observation_space = spaces.Box(self.low, self.high, dtype=np.float32)
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self.seed()
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self.reset()
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def seed(self, seed=None):
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self.np_random, seed = seeding.np_random(seed)
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return [seed]
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def step(self, action):
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assert self.action_space.contains(action), "%r (%s) invalid" % (action, type(action))
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position, velocity = self.state
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velocity += (action-1)*0.001 + math.cos(3*position)*(-0.0025)
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velocity = np.clip(velocity, -self.max_speed, self.max_speed)
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position += velocity
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position = np.clip(position, self.min_position, self.max_position)
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if (position==self.min_position and velocity<0): velocity = 0
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done = bool(position >= self.goal_position)
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reward = -1.0
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self.state = (position, velocity)
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return np.array(self.state), reward, done, {}
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def reset(self):
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self.state = np.array([self.np_random.uniform(low=-0.6, high=-0.4), 0])
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return np.array(self.state)
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def _height(self, xs):
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return np.sin(3 * xs)*.45+.55
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def render(self, mode='human'):
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screen_width = 600
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screen_height = 400
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world_width = self.max_position - self.min_position
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scale = screen_width/world_width
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carwidth=40
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carheight=20
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if self.viewer is None:
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from gym.envs.classic_control import rendering
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self.viewer = rendering.Viewer(screen_width, screen_height)
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xs = np.linspace(self.min_position, self.max_position, 100)
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ys = self._height(xs)
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xys = list(zip((xs-self.min_position)*scale, ys*scale))
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self.track = rendering.make_polyline(xys)
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self.track.set_linewidth(4)
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self.viewer.add_geom(self.track)
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clearance = 10
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l,r,t,b = -carwidth/2, carwidth/2, carheight, 0
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car = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
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car.add_attr(rendering.Transform(translation=(0, clearance)))
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self.cartrans = rendering.Transform()
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car.add_attr(self.cartrans)
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self.viewer.add_geom(car)
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frontwheel = rendering.make_circle(carheight/2.5)
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frontwheel.set_color(.5, .5, .5)
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frontwheel.add_attr(rendering.Transform(translation=(carwidth/4,clearance)))
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frontwheel.add_attr(self.cartrans)
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self.viewer.add_geom(frontwheel)
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backwheel = rendering.make_circle(carheight/2.5)
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backwheel.add_attr(rendering.Transform(translation=(-carwidth/4,clearance)))
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backwheel.add_attr(self.cartrans)
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backwheel.set_color(.5, .5, .5)
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self.viewer.add_geom(backwheel)
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flagx = (self.goal_position-self.min_position)*scale
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flagy1 = self._height(self.goal_position)*scale
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flagy2 = flagy1 + 50
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flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2))
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self.viewer.add_geom(flagpole)
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flag = rendering.FilledPolygon([(flagx, flagy2), (flagx, flagy2-10), (flagx+25, flagy2-5)])
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flag.set_color(.8,.8,0)
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self.viewer.add_geom(flag)
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pos = self.state[0]
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self.cartrans.set_translation((pos-self.min_position)*scale, self._height(pos)*scale)
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self.cartrans.set_rotation(math.cos(3 * pos))
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return self.viewer.render(return_rgb_array = mode=='rgb_array')
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def close(self):
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if self.viewer:
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self.viewer.close()
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self.viewer = None
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