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9acf9cd367
* add pygame GUI for frozen_lake.py env * add new line at EOF * pre-commit reformat * improve graphics * new images and dynamic window size * darker tile borders and fix ICC profile * pre-commit hook * adjust elf and stool size * Update frozen_lake.py * reformat * fix #2600 * #2600 * add rgb_array support * reformat * test render api change on FrozenLake * add render support for reset on frozenlake * add clock on pygame render * new render api for blackjack * new render api for cliffwalking * new render api for Env class * update reset method, lunar and Env * fix wrapper * fix reset lunar * new render api for box2d envs * new render api for mujoco envs * fix bug * new render api for classic control envs * fix tests * add render_mode None for CartPole * new render api for test fake envs * pre-commit hook * fix FrozenLake * fix FrozenLake * more render_mode to super - frozenlake * remove kwargs from frozen_lake new * pre-commit hook * add deprecated render method * add backwards compatibility * fix test * add _render * move pygame.init() (avoid pygame dependency on init) * fix pygame dependencies * remove collect_render() maintain multi-behaviours .render() * add type hints * fix renderer * don't call .render() with None * improve docstring * add single_rgb_array to all envs * remove None from metadata["render_modes"] * add type hints to test_env_checkers * fix lint * add comments to renderer * add comments to single_depth_array and single_state_pixels * reformat * add deprecation warnings and env.render_mode declaration * fix lint * reformat * fix tests * add docs * fix car racing determinism * remove warning test envs, customizable modes on renderer * remove commments and add todo for env_checker * fix car racing * replace render mode check with assert * update new mujoco * reformat * reformat * change metaclass definition * fix tests * implement mark suggestions (test, docs, sets) * check_render Co-authored-by: J K Terry <jkterry0@gmail.com>
43 lines
1.3 KiB
Python
43 lines
1.3 KiB
Python
from typing import Optional
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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 SwimmerEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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def __init__(self, render_mode: Optional[str] = None):
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mujoco_env.MujocoEnv.__init__(
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self, "swimmer.xml", 4, render_mode=render_mode, mujoco_bindings="mujoco_py"
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)
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utils.EzPickle.__init__(self)
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def step(self, a):
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ctrl_cost_coeff = 0.0001
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xposbefore = self.sim.data.qpos[0]
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self.do_simulation(a, self.frame_skip)
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xposafter = self.sim.data.qpos[0]
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self.renderer.render_step()
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reward_fwd = (xposafter - xposbefore) / self.dt
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reward_ctrl = -ctrl_cost_coeff * np.square(a).sum()
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reward = reward_fwd + reward_ctrl
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ob = self._get_obs()
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return ob, reward, False, dict(reward_fwd=reward_fwd, reward_ctrl=reward_ctrl)
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def _get_obs(self):
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qpos = self.sim.data.qpos
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qvel = self.sim.data.qvel
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return np.concatenate([qpos.flat[2:], qvel.flat])
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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
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+ self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nv),
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)
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return self._get_obs()
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