gym-compete/gym_compete/new_envs/agents/humanoid.py [32:39]:
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        ctrl_cost = .1 * np.square(action).sum()
        cfrc_ext = self.get_cfrc_ext()
        contact_cost = .5e-6 * np.square(cfrc_ext).sum()
        contact_cost = min(contact_cost, 10)
        qpos = self.get_qpos()
        agent_standing = qpos[2] >= 1.0
        survive = 5.0 if agent_standing else -5.
        reward = forward_reward - ctrl_cost - contact_cost + survive
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gym-compete/gym_compete/new_envs/agents/humanoid_blocker.py [22:29]:
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        ctrl_cost = .1 * np.square(action).sum()
        cfrc_ext = self.get_cfrc_ext()
        contact_cost = .5e-6 * np.square(cfrc_ext).sum()
        contact_cost = min(contact_cost, 10)
        qpos = self.get_qpos()
        agent_standing = qpos[2] >= 1.0
        survive = 5.0 if agent_standing else -5.
        reward = forward_reward - ctrl_cost - contact_cost + survive
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