def after_step()

in gym-compete/gym_compete/new_envs/agents/ant_fighter.py [0:0]

• 18 lines of code
• 2 McCabe index (conditional complexity)

    def after_step(self, action):
        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()
        center_reward = - np.sqrt(np.sum((0. - qpos[:2])**2))
        agent_standing = qpos[2] - self.arena_height >=  0.28
        survive = 5.0 if agent_standing else -5.
        reward = center_reward - ctrl_cost - contact_cost + survive
        # reward = survive

        reward_info = dict()
        # reward_info['reward_forward'] = forward_reward
        reward_info['reward_center'] = center_reward
        reward_info['reward_ctrl'] = ctrl_cost
        reward_info['reward_contact'] = contact_cost
        reward_info['reward_survive'] = survive
        reward_info['reward_move'] = reward

        done = bool(qpos[2] - self.arena_height <= 0.28)

        return reward, done, reward_info