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e913bc81b8
* feat: add `isort` to `pre-commit` * ci: skip `__init__.py` file for `isort` * ci: make `isort` mandatory in lint pipeline * docs: add a section on Git hooks * ci: check isort diff * fix: isort from master branch * docs: add pre-commit badge * ci: update black + bandit versions * feat: add PR template * refactor: PR template * ci: remove bandit * docs: add Black badge * ci: try to remove all `|| true` statements * ci: remove lint_python job - Remove `lint_python` CI job - Move `pyupgrade` job to `pre-commit` workflow * fix: avoid messing with typing * docs: add a note on running `pre-cpmmit` manually * ci: apply `pre-commit` to the whole codebase
50 lines
1.5 KiB
Python
50 lines
1.5 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 (
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np.isfinite(s).all()
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and (np.abs(s[2:]) < 100).all()
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and (height > 0.7)
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and (abs(ang) < 0.2)
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)
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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:], 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(
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low=-0.005, high=0.005, size=self.model.nq
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)
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qvel = self.init_qvel + self.np_random.uniform(
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low=-0.005, high=0.005, size=self.model.nv
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)
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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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