refactored meshes, cleaned up init -- now with DMP --

2022-07-06 11:29:04 +02:00
parent 78d48c4300
commit 2706af0b77
64 changed files with 109 additions and 162 deletions
@@ -58,7 +58,7 @@ class ReacherEnv(MujocoEnv, utils.EzPickle):
        return -self.reward_weight * np.linalg.norm(vec)

    def velocity_reward(self):
-        return -10 * np.square(self.sim.data.qvel.flat[:self.n_links]).sum() if self.sparse else 0.0
+        return -10 * np.square(self.data.qvel.flat[:self.n_links]).sum() if self.sparse else 0.0

    def viewer_setup(self):
        self.viewer.cam.trackbodyid = 0