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| import numpy as np | |
| from gym import utils | |
| from gym.envs.mujoco import MuJocoPyEnv | |
| from gym.spaces import Box | |
| class PusherEnv(MuJocoPyEnv, utils.EzPickle): | |
| metadata = { | |
| "render_modes": [ | |
| "human", | |
| "rgb_array", | |
| "depth_array", | |
| ], | |
| "render_fps": 20, | |
| } | |
| def __init__(self, **kwargs): | |
| utils.EzPickle.__init__(self, **kwargs) | |
| observation_space = Box(low=-np.inf, high=np.inf, shape=(23,), dtype=np.float64) | |
| MuJocoPyEnv.__init__( | |
| self, "pusher.xml", 5, observation_space=observation_space, **kwargs | |
| ) | |
| def step(self, a): | |
| vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm") | |
| vec_2 = self.get_body_com("object") - self.get_body_com("goal") | |
| reward_near = -np.linalg.norm(vec_1) | |
| reward_dist = -np.linalg.norm(vec_2) | |
| reward_ctrl = -np.square(a).sum() | |
| reward = reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near | |
| self.do_simulation(a, self.frame_skip) | |
| if self.render_mode == "human": | |
| self.render() | |
| ob = self._get_obs() | |
| return ( | |
| ob, | |
| reward, | |
| False, | |
| False, | |
| dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl), | |
| ) | |
| def viewer_setup(self): | |
| assert self.viewer is not None | |
| self.viewer.cam.trackbodyid = -1 | |
| self.viewer.cam.distance = 4.0 | |
| def reset_model(self): | |
| qpos = self.init_qpos | |
| self.goal_pos = np.asarray([0, 0]) | |
| while True: | |
| self.cylinder_pos = np.concatenate( | |
| [ | |
| self.np_random.uniform(low=-0.3, high=0, size=1), | |
| self.np_random.uniform(low=-0.2, high=0.2, size=1), | |
| ] | |
| ) | |
| if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17: | |
| break | |
| qpos[-4:-2] = self.cylinder_pos | |
| qpos[-2:] = self.goal_pos | |
| qvel = self.init_qvel + self.np_random.uniform( | |
| low=-0.005, high=0.005, size=self.model.nv | |
| ) | |
| qvel[-4:] = 0 | |
| self.set_state(qpos, qvel) | |
| return self._get_obs() | |
| def _get_obs(self): | |
| return np.concatenate( | |
| [ | |
| self.sim.data.qpos.flat[:7], | |
| self.sim.data.qvel.flat[:7], | |
| self.get_body_com("tips_arm"), | |
| self.get_body_com("object"), | |
| self.get_body_com("goal"), | |
| ] | |
| ) | |