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reacher adjustments

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Fabian
2022-05-05 16:48:59 +02:00
parent d313795cec
commit 1881c14a48
2 changed files with 9 additions and 4 deletions
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alr_envs/alr/mujoco/reacher/alr_reacher.py
+6 -2
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@@ -39,14 +39,18 @@ class ALRReacherEnv(MujocoEnv, utils.EzPickle):
reward_dist = 0.0
angular_vel = 0.0
reward_balance = 0.0
is_delayed = self.steps_before_reward > 0
reward_ctrl = - np.square(a).sum()
if self._steps >= self.steps_before_reward:
vec = self.get_body_com("fingertip") - self.get_body_com("target")
reward_dist -= self.reward_weight * np.linalg.norm(vec)
if self.steps_before_reward > 0:
if is_delayed:
# avoid giving this penalty for normal step based case
# angular_vel -= 10 * np.linalg.norm(self.sim.data.qvel.flat[:self.n_links])
angular_vel -= 10 * np.square(self.sim.data.qvel.flat[:self.n_links]).sum()
reward_ctrl = - 10 * np.square(a).sum()
if is_delayed:
# Higher control penalty for sparse reward per timestep
reward_ctrl *= 10
if self.balance:
reward_balance -= self.balance_weight * np.abs(