5d871806eb
add a normalize in the setRotation axis/angle to be sure. Add more code from the DeepMimic project, training doesn't work yet.
46 lines
1.1 KiB
Python
46 lines
1.1 KiB
Python
import numpy as np
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from pybullet_envs.deep_mimic.env.env import Env
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class Path(object):
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def __init__(self):
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self.clear()
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return
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def pathlength(self):
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return len(self.actions)
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def is_valid(self):
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valid = True
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l = self.pathlength()
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valid &= len(self.states) == l + 1
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valid &= len(self.goals) == l + 1
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valid &= len(self.actions) == l
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valid &= len(self.logps) == l
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valid &= len(self.rewards) == l
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valid &= len(self.flags) == l
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return valid
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def check_vals(self):
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for vals in [self.states, self.goals, self.actions, self.logps,
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self.rewards]:
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for v in vals:
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if not np.isfinite(v).all():
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return False
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return True
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def clear(self):
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self.states = []
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self.goals = []
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self.actions = []
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self.logps = []
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self.rewards = []
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self.flags = []
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self.terminate = Env.Terminate.Null
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return
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def get_pathlen(self):
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return len(self.rewards)
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def calc_return(self):
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return sum(self.rewards) |