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refractoring of projection layer, improved modularization of code

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ottofabian
2020-12-11 09:46:35 +01:00
parent 768ae14655
commit b8f0c91a90
3 changed files with 7 additions and 4 deletions
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alr_envs/mujoco/alr_reacher.py
+5 -2
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@@ -37,13 +37,16 @@ class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
reward_dist = 0.0
angular_vel = 0.0
reward_balance = 0.0
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)
angular_vel -= np.linalg.norm(self.sim.data.qvel.flat[:self.n_links])
reward_ctrl = - np.square(a).sum()
reward_balance = - self.balance_weight * np.abs(
angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
if self.balance:
reward_balance = - self.balance_weight * np.abs(
angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
reward = reward_dist + reward_ctrl + angular_vel + reward_balance
self.do_simulation(a, self.frame_skip)