MJCFCommon.py 文件源码

python
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项目:bullet-gym 作者: benelot 项目源码 文件源码
def __init__(self, model_xml, robot_name, timestep, frame_skip, action_dim, obs_dim, repeats):
        self.action_space = gym.spaces.Box(-1.0, 1.0, shape=(action_dim,))
        float_max = np.finfo(np.float32).max

        # obs space for problem is (R, obs_dim)
        #  R = number of repeats
        #  obs_dim d tuple
        self.state_shape = (repeats, obs_dim)
        self.observation_space = gym.spaces.Box(-float_max, float_max, shape=self.state_shape)
        # no state until reset.
        self.state = np.empty(self.state_shape, dtype=np.float32)
        self.frame_skip = frame_skip
        self.timestep = timestep
        self.model_xml = model_xml
        self.parts, self.joints, = self.getScene(p.loadMJCF(model_xml))
        self.robot_name = robot_name
        self.dt = timestep * frame_skip
        self.metadata = {
            'render.modes': ['human', 'rgb_array'],
            'video.frames_per_second': int(np.round(1.0 / timestep / frame_skip))
            }
        self._seed()
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