dodox/fancy_gym
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

fixes in holereacher

Browse Source
This commit is contained in:
Maximilian Huettenrauch 2021-01-15 17:16:52 +01:00
parent b7400c477d
commit 2d9e7fb3eb
1 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
alr_envs/classic_control/hole_reacher.py
View File

@ -38,6 +38,7 @@ class HoleReacher(gym.Env):
self.weight_matrix_scale = 50 # for the holereacher, the dmp weights become quite large compared to the values of the goal attractor. this scaling is to ensure they are on similar scale for the optimizer
self._dt = 0.01
self.time_limit = 2
action_bound = np.pi * np.ones((self.num_links,))
state_bound = np.hstack([
@ -103,9 +104,7 @@ class HoleReacher(gym.Env):
reward -= 1e-6 * np.sum(acc**2)
if self._steps == 180:
reward -= (0.1 * np.sum(vel**2) ** 2
+ 1e-3 * np.sum(action**2)
)
reward -= 0.1 * np.sum(vel**2) ** 2
if self._is_collided:
reward -= self.collision_penalty
@ -114,7 +113,9 @@ class HoleReacher(gym.Env):
self._steps += 1
return self._get_obs().copy(), reward, self._is_collided, info
done = self._steps * self._dt > self.time_limit or self._is_collided
return self._get_obs().copy(), reward, done, info
def _update_joints(self):
"""
@ -301,12 +302,12 @@ if __name__ == '__main__':
# test with random actions
ac = 2 * env.action_space.sample()
# ac[0] += np.pi/2
obs, rew, done, info = env.step(ac)
obs, rew, d, info = env.step(ac)
env.render(mode=render_mode)
print(rew)
if done:
if d:
break
env.close()