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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
74 lines
2.2 KiB
Python
74 lines
2.2 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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def mass_center(model, sim):
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mass = np.expand_dims(model.body_mass, 1)
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xpos = sim.data.xipos
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return (np.sum(mass * xpos, 0) / np.sum(mass))[0]
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class HumanoidEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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def __init__(self):
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mujoco_env.MujocoEnv.__init__(self, "humanoid.xml", 5)
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utils.EzPickle.__init__(self)
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def _get_obs(self):
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data = self.sim.data
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return np.concatenate(
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[
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data.qpos.flat[2:],
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data.qvel.flat,
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data.cinert.flat,
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data.cvel.flat,
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data.qfrc_actuator.flat,
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data.cfrc_ext.flat,
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]
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)
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def step(self, a):
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pos_before = mass_center(self.model, self.sim)
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self.do_simulation(a, self.frame_skip)
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pos_after = mass_center(self.model, self.sim)
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alive_bonus = 5.0
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data = self.sim.data
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lin_vel_cost = 1.25 * (pos_after - pos_before) / self.dt
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quad_ctrl_cost = 0.1 * np.square(data.ctrl).sum()
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quad_impact_cost = 0.5e-6 * np.square(data.cfrc_ext).sum()
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quad_impact_cost = min(quad_impact_cost, 10)
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reward = lin_vel_cost - quad_ctrl_cost - quad_impact_cost + alive_bonus
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qpos = self.sim.data.qpos
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done = bool((qpos[2] < 1.0) or (qpos[2] > 2.0))
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return (
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self._get_obs(),
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reward,
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done,
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dict(
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reward_linvel=lin_vel_cost,
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reward_quadctrl=-quad_ctrl_cost,
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reward_alive=alive_bonus,
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reward_impact=-quad_impact_cost,
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),
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)
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def reset_model(self):
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c = 0.01
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self.set_state(
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self.init_qpos + self.np_random.uniform(low=-c, high=c, size=self.model.nq),
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self.init_qvel
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+ self.np_random.uniform(
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low=-c,
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high=c,
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size=self.model.nv,
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),
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)
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return self._get_obs()
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def viewer_setup(self):
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self.viewer.cam.trackbodyid = 1
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self.viewer.cam.distance = self.model.stat.extent * 1.0
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self.viewer.cam.lookat[2] = 2.0
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self.viewer.cam.elevation = -20
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