| 519 | |
| 520 | |
| 521 | class PendulumEnv(EnvBase): |
| 522 | metadata = { |
| 523 | "render_modes": ["human", "rgb_array"], |
| 524 | "render_fps": 30, |
| 525 | } |
| 526 | batch_locked = False |
| 527 | |
| 528 | def __init__(self, td_params=None, seed=None, device="cpu"): |
| 529 | if td_params is None: |
| 530 | td_params = self.gen_params() |
| 531 | |
| 532 | super().__init__(device=device, batch_size=[]) |
| 533 | self._make_spec(td_params) |
| 534 | if seed is None: |
| 535 | seed = torch.empty((), dtype=torch.int64).random_().item() |
| 536 | self.set_seed(seed) |
| 537 | |
| 538 | # Helpers: _make_step and gen_params |
| 539 | gen_params = staticmethod(gen_params) |
| 540 | _make_spec = _make_spec |
| 541 | |
| 542 | # Mandatory methods: _step, _reset and _set_seed |
| 543 | _reset = _reset |
| 544 | _step = staticmethod(_step) |
| 545 | _set_seed = _set_seed |
| 546 | |
| 547 | |
| 548 | ###################################################################### |