class InvertedPendulumBulletEnv(MujocoXmlBaseBulletEnv):
def __init__(self):
self.robot = InvertedPendulum()
MujocoXmlBaseBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8,
timestep=0.0165,
frame_skip=1)
def _step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.robot.swingup:
reward = np.cos(self.robot.theta)
done = False
else:
reward = 1.0
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.0, 0, 0, 0.5)
class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedPendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
def _step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.robot.swingup:
reward = np.cos(self.robot.theta)
done = False
else:
reward = 1.0
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0,1.2,1.0, 0,0,0.5)
class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedPendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
initial_boundary_path = ROOT + "/initial_space/" + self.__class__.__name__ + "-v0/boundary.npy"
boundary = np.load(initial_boundary_path)
self.initial_space = spaces.Box(low=boundary[0], high=boundary[1])
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client,
gravity=9.8,
timestep=0.0165,
frame_skip=1)
def reset(self, **kwargs):
if (self.stateId >= 0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self, **kwargs)
if (self.stateId < 0):
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.robot.swingup:
reward = np.cos(self.robot.theta)
done = False
else:
reward = 1.0
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.0, 0, 0, 0.5)
class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedPendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client,
gravity=9.8,
timestep=0.0165,
frame_skip=1)
def _reset(self):
if (self.stateId >= 0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
if (self.stateId < 0):
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def _step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.robot.swingup:
reward = np.cos(self.robot.theta)
done = False
else:
reward = 1.0
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.0, 0, 0, 0.5)
class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedPendulum()
MJCFBaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def create_single_player_scene(self, bullet_client):
return SingleRobotEmptyScene(bullet_client, gravity=9.8, timestep=0.0165, frame_skip=1)
def reset(self):
if (self.stateId >= 0):
#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = MJCFBaseBulletEnv.reset(self)
if (self.stateId < 0):
self.stateId = self._p.saveState()
#print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def step(self, a):
self.robot.apply_action(a)
self.scene.global_step()
state = self.robot.calc_state() # sets self.pos_x self.pos_y
vel_penalty = 0
if self.robot.swingup:
reward = np.cos(self.robot.theta)
done = False
else:
reward = 1.0
done = np.abs(self.robot.theta) > .2
self.rewards = [float(reward)]
self.HUD(state, a, done)
return state, sum(self.rewards), done, {}
def camera_adjust(self):
self.camera.move_and_look_at(0, 1.2, 1.0, 0, 0, 0.5)