2021-01-14 17:10:03 +01:00
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from alr_envs.classic_control.hole_reacher import HoleReacher
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from alr_envs.utils.dmp_env_wrapper import DmpEnvWrapperVel
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def make_env(rank, seed=0):
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"""
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Utility function for multiprocessed env.
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:param env_id: (str) the environment ID
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:param num_env: (int) the number of environments you wish to have in subprocesses
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:param seed: (int) the initial seed for RNG
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:param rank: (int) index of the subprocess
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:returns a function that generates an environment
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"""
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def _init():
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env = HoleReacher(num_links=5,
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allow_self_collision=False,
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allow_wall_collision=False,
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hole_width=0.15,
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hole_depth=1,
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hole_x=1,
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collision_penalty=100000)
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env = DmpEnvWrapperVel(env,
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num_dof=5,
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num_basis=5,
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duration=2,
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2021-02-11 12:32:32 +01:00
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dt=env.dt,
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2021-01-14 17:10:03 +01:00
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learn_goal=True)
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env.seed(seed + rank)
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return env
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return _init
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