dodox/mujoco_maze
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Fix intersection

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This commit is contained in:
kngwyu 2020-07-12 18:03:49 +09:00
parent c3ab9c9545
commit a67db885a2
2 changed files with 9 additions and 7 deletions
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14
mujoco_maze/maze_env.py
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@ -31,8 +31,7 @@ class MazeEnv(gym.Env):
maze_height: float = 0.5, maze_height: float = 0.5,
maze_size_scaling: float = 4.0, maze_size_scaling: float = 4.0,
inner_reward_scaling: float = 1.0, inner_reward_scaling: float = 1.0,
restitution_coef: float = 0.6, restitution_coef: float = 0.9,
collision_penalty: float = 0.001,
*args, *args,
**kwargs, **kwargs,
) -> None: ) -> None:
@ -50,7 +49,6 @@ class MazeEnv(gym.Env):
self._put_spin_near_agent = self._task.PUT_SPIN_NEAR_AGENT self._put_spin_near_agent = self._task.PUT_SPIN_NEAR_AGENT
self._top_down_view = top_down_view self._top_down_view = top_down_view
self._restitution_coef = restitution_coef self._restitution_coef = restitution_coef
self._collision_penalty = collision_penalty
self._maze_structure = structure = self._task.create_maze() self._maze_structure = structure = self._task.create_maze()
# Elevate the maze to allow for falling. # Elevate the maze to allow for falling.
@ -437,12 +435,16 @@ class MazeEnv(gym.Env):
old_pos = self.wrapped_env.get_xy() old_pos = self.wrapped_env.get_xy()
inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action) inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action)
new_pos = self.wrapped_env.get_xy() new_pos = self.wrapped_env.get_xy()
# Checks that new_position is in the wall
intersection = self._collision.detect_intersection(old_pos, new_pos) intersection = self._collision.detect_intersection(old_pos, new_pos)
if intersection is not None: if intersection is not None:
rest_vec = -self._restitution_coef * (new_pos - intersection) pos = intersection + (intersection - new_pos) * self._restitution_coef
pos = old_pos + rest_vec # Checks that pos is in the wall
intersection2 = self._collision.detect_intersection(old_pos, pos)
if intersection2 is not None:
# If pos is not in the wall, we give up computing the position
pos = old_pos
self.wrapped_env.set_collision(pos, self._restitution_coef) self.wrapped_env.set_collision(pos, self._restitution_coef)
inner_reward -= self._collision_penalty
else: else:
inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action) inner_next_obs, inner_reward, _, info = self.wrapped_env.step(action)
next_obs = self._get_obs() next_obs = self._get_obs()

2
mujoco_maze/point.py
View File

@ -81,7 +81,7 @@ class PointEnv(AgentModel):
qpos = self.sim.data.qpos.copy() qpos = self.sim.data.qpos.copy()
qpos[:2] = xy qpos[:2] = xy
qvel = self.sim.data.qvel.copy() qvel = self.sim.data.qvel.copy()
qvel[:2] = -restitution_coef * qvel[:2] qvel[:2] *= -restitution_coef
self.set_state(qpos, qvel) self.set_state(qpos, qvel)
def get_ori(self): def get_ori(self):