ssl_simplenav.py 文件源码

def __init__(self):
        self._seed()
        self.viewer = None

        self.world = Box2D.b2World((0,0))
        self.moon = None
        self.robots = [] 

        self.prev_reward = None

        high = np.array([np.inf]*8)  # useful range is -1 .. +1, but spikes can be higher
        self.observation_space = spaces.Box(-high, high)

        if self.continuous:
            # Action is two floats [main engine, left-right engines].
            # Up-Down: -1.0..-0.5 fire down engine, +0.5..+1.0 fire up engine, -0.5..0.5 off
            # Left-right:  -1.0..-0.5 fire left engine, +0.5..+1.0 fire right engine, -0.5..0.5 off
            self.action_space = spaces.Box(-1, +1, (2,))
        else:
            # Nop, fire left engine, up engine, right engin, down
            self.action_space = spaces.Discrete(5)

        self.hard_reset()