(self, env)
return reward * self._weight
Get the reward without side effects.
Get the reward without side effects.
Get the reward without side effects .
def reward(self, env):
    """Get the reward without side effects."""
    del env

    pose_reward = self._calc_reward_pose()
    velocity_reward = self._calc_reward_velocity()
    end_effector_reward = self._calc_reward_end_effector()
    root_pose_reward = self._calc_reward_root_pose()
    root_velocity_reward = self._calc_reward_root_velocity()

    reward = self._pose_weight * pose_reward \
             + self._velocity_weight * velocity_reward \
             + self._end_effector_weight * end_effector_reward \
             + self._root_pose_weight * root_pose_reward \
             + self._root_velocity_weight * root_velocity_reward

    return reward * self._weight
def reward ( self , env ) : del env pose_reward = self . _calc_reward_pose ( ) velocity_reward = self . _calc_reward_velocity ( ) end_effector_reward = self . _calc_reward_end_effector ( ) root_pose_reward = self . _calc_reward_root_pose ( ) root_velocity_reward = self . _calc_reward_root_velocity ( ) reward = self . _pose_weight * pose_reward + self . _velocity_weight * velocity_reward + self . _end_effector_weight * end_effector_reward + self . _root_pose_weight * root_pose_reward + self . _root_velocity_weight * root_velocity_reward return reward * self . _weight