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Do not use goal

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This commit is contained in:
kngwyu 2020-05-29 22:56:09 +09:00
parent 2ee4e78945
commit 7c20df20d7
3 changed files with 1 additions and 15 deletions
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1
mujoco_maze/assets/ant.xml
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@ -66,7 +66,6 @@
</body> </body>
</body> </body>
</body> </body>
</worldbody> </worldbody>
<actuator> <actuator>
<motor joint="hip_4" ctrlrange="-30.0 30.0" ctrllimited="true" /> <motor joint="hip_4" ctrlrange="-30.0 30.0" ctrllimited="true" />

2
mujoco_maze/assets/point.xml
View File

@ -22,8 +22,6 @@
<joint name='bally' type='slide' axis='0 1 0' pos='0 0 0' /> <joint name='bally' type='slide' axis='0 1 0' pos='0 0 0' />
<joint name='rot' type='hinge' axis='0 0 1' pos='0 0 0' limited="false" /> <joint name='rot' type='hinge' axis='0 0 1' pos='0 0 0' limited="false" />
</body> </body>
<!-- Goal / target position -->
<geom name="target" type="sphere" size="0.5" pos="0 8 0" rgba="1. 0. 0. 0.6" />
</worldbody> </worldbody>
<actuator> <actuator>
<!-- Those are just dummy actuators for providing ranges --> <!-- Those are just dummy actuators for providing ranges -->

13
mujoco_maze/maze_env.py
View File

@ -263,9 +263,6 @@ class MazeEnv(gym.Env):
_, file_path = tempfile.mkstemp(text=True, suffix=".xml") _, file_path = tempfile.mkstemp(text=True, suffix=".xml")
tree.write(file_path) tree.write(file_path)
x, y, _ = map(float, tree.find(".//geom[@name='target']").attrib["pos"].split())
self.goal_xy = np.array([x, y])
self.wrapped_env = self.MODEL_CLASS(*args, file_path=file_path, **kwargs) self.wrapped_env = self.MODEL_CLASS(*args, file_path=file_path, **kwargs)
def get_ori(self): def get_ori(self):
@ -532,23 +529,15 @@ class MazeEnv(gym.Env):
return True return True
return False return False
def _is_in_goal_position(self, pos):
return np.linalg.norm(pos - self.goal_xy) <= 0.6
def step(self, action): def step(self, action):
self.t += 1 self.t += 1
goal_reward = 0.0
if self._manual_collision: if self._manual_collision:
old_pos = self.wrapped_env.get_xy() old_pos = self.wrapped_env.get_xy()
inner_next_obs, inner_reward, done, info = self.wrapped_env.step(action) inner_next_obs, inner_reward, done, info = self.wrapped_env.step(action)
new_pos = self.wrapped_env.get_xy() new_pos = self.wrapped_env.get_xy()
if self._is_in_collision(new_pos): if self._is_in_collision(new_pos):
self.wrapped_env.set_xy(old_pos) self.wrapped_env.set_xy(old_pos)
if self._is_in_goal_position(new_pos):
goal_reward = 1.0
done = True
else: else:
inner_next_obs, inner_reward, done, info = self.wrapped_env.step(action) inner_next_obs, inner_reward, done, info = self.wrapped_env.step(action)
next_obs = self._get_obs() next_obs = self._get_obs()
return next_obs, inner_reward + goal_reward, done, info return next_obs, inner_reward, False, info