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improve randomization hopperjump-v2

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Onur 2022-04-20 17:51:43 +02:00
parent 855ddcee4b
commit 77927e9157
1 changed files with 5 additions and 2 deletions
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alr_envs/alr/mujoco/hopper_jump/hopper_jump.py
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@ -100,8 +100,11 @@ class ALRHopperJumpRndmPosEnv(ALRHopperJumpEnv):
def reset_model(self): def reset_model(self):
noise_low = -self._reset_noise_scale noise_low = -self._reset_noise_scale
noise_high = self._reset_noise_scale noise_high = self._reset_noise_scale
rnd_vec = self.np_random.uniform(low=noise_low, high=noise_high, size=self.model.nq)
qpos = self.init_qpos + self.np_random.uniform(low=noise_low, high=noise_high, size=self.model.nq) rnd_vec[2] *= 0.05 # the angle around the y axis shouldn't be too high as the agent then falls down quickly and
# can not recover
rnd_vec[1] = np.clip(rnd_vec[1], 0, 0.3)
qpos = self.init_qpos + rnd_vec
qvel = self.init_qvel #+ self.np_random.uniform(low=noise_low, high=noise_high, size=self.model.nv) qvel = self.init_qvel #+ self.np_random.uniform(low=noise_low, high=noise_high, size=self.model.nv)
self.set_state(qpos, qvel) self.set_state(qpos, qvel)