Make it not be broken

This commit is contained in:
Dominik Moritz Roth 2024-03-09 11:57:28 +01:00
parent 8edcc9bd92
commit c63f5b864c
4 changed files with 32 additions and 560 deletions

View File

@ -9,6 +9,7 @@ Based on `models`_ and `gym`_ (both ant and ant-v3).
from typing import Callable, Tuple from typing import Callable, Tuple
import numpy as np import numpy as np
from gym import spaces
from mujoco_maze.agent_model import AgentModel from mujoco_maze.agent_model import AgentModel
@ -41,6 +42,15 @@ class AntEnv(AgentModel):
MANUAL_COLLISION: bool = False MANUAL_COLLISION: bool = False
OBJBALL_TYPE: str = "freejoint" OBJBALL_TYPE: str = "freejoint"
metadata = {
"render_modes": [
"human",
"rgb_array",
"depth_array",
],
"render_fps": 10
}
def __init__( def __init__(
self, self,
file_path: str, file_path: str,
@ -51,7 +61,8 @@ class AntEnv(AgentModel):
self._forward_reward_weight = forward_reward_weight self._forward_reward_weight = forward_reward_weight
self._ctrl_cost_weight = ctrl_cost_weight self._ctrl_cost_weight = ctrl_cost_weight
self._forward_reward_fn = forward_reward_fn self._forward_reward_fn = forward_reward_fn
super().__init__(file_path, 5) self.observation_space = spaces.Box(low=-np.inf, high=np.inf)
super().__init__(file_path, 5, observation_space=self.observation_space)
def _forward_reward(self, xy_pos_before: np.ndarray) -> Tuple[float, np.ndarray]: def _forward_reward(self, xy_pos_before: np.ndarray) -> Tuple[float, np.ndarray]:
xy_pos_after = self.sim.data.qpos[:2].copy() xy_pos_after = self.sim.data.qpos[:2].copy()
@ -76,8 +87,8 @@ class AntEnv(AgentModel):
# No cfrc observation # No cfrc observation
return np.concatenate( return np.concatenate(
[ [
self.sim.data.qpos.flat[:15], # Ensures only ant obs. self.data.qpos.flat[:15], # Ensures only ant obs.
self.sim.data.qvel.flat[:14], self.data.qvel.flat[:14],
] ]
) )

View File

@ -16,6 +16,15 @@ class ReacherEnv(AgentModel):
FILE: str = "reacher.xml" FILE: str = "reacher.xml"
MANUAL_COLLISION: bool = False MANUAL_COLLISION: bool = False
metadata = {
"render_modes": [
"human",
"rgb_array",
"depth_array",
],
"render_fps": 10
}
def __init__( def __init__(
self, self,
file_path: str = None, file_path: str = None,

View File

@ -17,6 +17,15 @@ class SwimmerEnv(AgentModel):
FILE: str = "swimmer.xml" FILE: str = "swimmer.xml"
MANUAL_COLLISION: bool = False MANUAL_COLLISION: bool = False
metadata = {
"render_modes": [
"human",
"rgb_array",
"depth_array",
],
"render_fps": 10
}
def __init__( def __init__(
self, self,
file_path: str = None, file_path: str = None,

557
poetry.lock generated
View File

@ -1,557 +0,0 @@
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