class HumanoidFlagrunBulletEnv(HumanoidBulletEnv):
random_yaw = True
def __init__(self, render=False):
self.robot = HumanoidFlagrun()
HumanoidBulletEnv.__init__(self, self.robot, render)
def create_single_player_scene(self, bullet_client):
s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
s.zero_at_running_strip_start_line = False
return s
def step(self, a):
if not self.scene.multiplayer: # if multiplayer, action first applied to all robots, then global step() called, then _step() for all robots with the same actions
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # also calculates self.joints_at_limit
self._alive = float(
self.robot.alive_bonus(
state[0] + self.robot.initial_z,
self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch
done = self._isDone()
if not np.isfinite(state).all():
print("~INF~", state)
done = True
potential_old = self.potential
self.potential = self.robot.calc_potential()
progress = float(self.potential - potential_old)
feet_collision_cost = 0.0
for i, f in enumerate(
self.robot.feet
): # TODO: Maybe calculating feet contacts could be done within the robot code
contact_ids = set((x[2], x[4]) for x in f.contact_list())
#print("CONTACT OF '%d' WITH %d" % (contact_ids, ",".join(contact_names)) )
if (self.ground_ids & contact_ids):
#see Issue 63: https://github.com/openai/roboschool/issues/63
#feet_collision_cost += self.foot_collision_cost
self.robot.feet_contact[i] = 1.0
else:
self.robot.feet_contact[i] = 0.0
joints_at_limit_cost = float(-0.1 * self.robot.joints_at_limit)
jexcess = 0
for i in range(17):
if (abs(state[i*2+8]) > 1.0):
jexcess += (abs(state[i*2+8]) - 1.0)
joints_excess_cost = jexcess * -10.0
angle_offset_cost = (self.robot.angle_to_target * self.robot.angle_to_target) * -0.1
self.HUD(state, a, done)
return state, progress + 0.75 + joints_excess_cost + joints_at_limit_cost + angle_offset_cost , bool(done), {"progress" : progress}
def __init__(self, render=False): self.robot = HumanoidFlagrun() HumanoidBulletEnv.__init__(self, self.robot, render)
def __init__(self):
self.robot = HumanoidFlagrun()
HumanoidBulletEnv.__init__(self, self.robot)