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ALso fix broken swimmer

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This commit is contained in:
Dominik Moritz Roth 2024-03-09 12:02:19 +01:00
parent c63f5b864c
commit a19f232c03
1 changed files with 3 additions and 1 deletions
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mujoco_maze/swimmer.py
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@ -11,6 +11,7 @@ import numpy as np
from mujoco_maze.agent_model import AgentModel
from mujoco_maze.ant import ForwardRewardFn, forward_reward_vnorm
from gym import spaces
class SwimmerEnv(AgentModel):
@ -36,7 +37,8 @@ class SwimmerEnv(AgentModel):
self._forward_reward_weight = forward_reward_weight
self._ctrl_cost_weight = ctrl_cost_weight
self._forward_reward_fn = forward_reward_fn
super().__init__(file_path, 4)
self.observation_space = spaces.Box(low=-np.inf, high=np.inf)
super().__init__(file_path, 4, self.observation_space)
def _forward_reward(self, xy_pos_before: np.ndarray) -> Tuple[float, np.ndarray]:
xy_pos_after = self.sim.data.qpos[:2].copy()