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Adopt new interface structure

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This commit is contained in:
Marcel 2021-07-05 09:16:36 +02:00
parent 37c4ab8a41
commit 0046ade102
10 changed files with 25 additions and 53 deletions
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8
alr_envs/__init__.py
View File

@ -573,7 +573,7 @@ register(
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
kwargs={
"name": "gym.envs.classic_control:MountainCarContinuous-v0",
"wrappers": [continuous_mountain_car.PositionalWrapper, continuous_mountain_car.MPWrapper],
"wrappers": [continuous_mountain_car.MPWrapper],
"mp_kwargs": {
"num_dof": 1,
"num_basis": 4,
@ -594,7 +594,7 @@ register(
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
kwargs={
"name": "gym.envs.mujoco:Reacher-v2",
"wrappers": [reacher_v2.PositionalWrapper, reacher_v2.MPWrapper],
"wrappers": [reacher_v2.MPWrapper],
"mp_kwargs": {
"num_dof": 2,
"num_basis": 6,
@ -615,7 +615,7 @@ register(
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchSlideDense-v1",
"wrappers": [fetch.PositionalWrapper, fetch.MPWrapper],
"wrappers": [fetch.MPWrapper],
"mp_kwargs": {
"num_dof": 4,
"num_basis": 5,
@ -632,7 +632,7 @@ register(
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchReachDense-v1",
"wrappers": [fetch.PositionalWrapper, fetch.MPWrapper],
"wrappers": [fetch.MPWrapper],
"mp_kwargs": {
"num_dof": 4,
"num_basis": 5,

1
alr_envs/open_ai/continuous_mountain_car/__init__.py
View File

@ -1,2 +1 @@
from alr_envs.open_ai.continuous_mountain_car.positional_wrapper import PositionalWrapper
from alr_envs.open_ai.continuous_mountain_car.mp_wrapper import MPWrapper

9
alr_envs/open_ai/continuous_mountain_car/mp_wrapper.py
View File

@ -1,12 +1,17 @@
from typing import Union
import numpy as np
from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper
class MPWrapper(MPEnvWrapper):
@property
def start_pos(self):
raise ValueError("Start position is not available")
def current_vel(self) -> Union[float, int, np.ndarray]:
return np.array([self.state[1]])
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return np.array([self.state[0]])
@property
def goal_pos(self):

13
alr_envs/open_ai/continuous_mountain_car/positional_wrapper.py
View File

@ -1,13 +0,0 @@
from typing import Union
import numpy as np
from mp_env_api.env_wrappers.positional_env_wrapper import PositionalEnvWrapper
class PositionalWrapper(PositionalEnvWrapper):
@property
def current_vel(self) -> Union[float, int, np.ndarray]:
return np.array([self.state[1]])
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return np.array([self.state[0]])

1
alr_envs/open_ai/fetch/__init__.py
View File

@ -1,2 +1 @@
from alr_envs.open_ai.fetch.positional_wrapper import PositionalWrapper
from alr_envs.open_ai.fetch.mp_wrapper import MPWrapper

10
alr_envs/open_ai/fetch/mp_wrapper.py
View File

@ -1,13 +1,17 @@
from typing import Union
from gym import spaces
import numpy as np
from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper
class MPWrapper(MPEnvWrapper):
@property
def start_pos(self):
return self.initial_gripper_xpos
def current_vel(self) -> Union[float, int, np.ndarray]:
return self.unwrapped._get_obs()["observation"][-5:-1]
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return self.unwrapped._get_obs()["observation"][:4]
@property
def goal_pos(self):

13
alr_envs/open_ai/fetch/positional_wrapper.py
View File

@ -1,13 +0,0 @@
from typing import Union
import numpy as np
from mp_env_api.env_wrappers.positional_env_wrapper import PositionalEnvWrapper
class PositionalWrapper(PositionalEnvWrapper):
@property
def current_vel(self) -> Union[float, int, np.ndarray]:
return self.unwrapped._get_obs()["observation"][-5:-1]
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return self.unwrapped._get_obs()["observation"][:4]

1
alr_envs/open_ai/reacher_v2/__init__.py
View File

@ -1,2 +1 @@
from alr_envs.open_ai.reacher_v2.positional_wrapper import PositionalWrapper
from alr_envs.open_ai.reacher_v2.mp_wrapper import MPWrapper

9
alr_envs/open_ai/reacher_v2/mp_wrapper.py
View File

@ -1,13 +1,18 @@
from typing import Union
import numpy as np
from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper
class MPWrapper(MPEnvWrapper):
@property
def start_pos(self):
raise ValueError("Start position is not available")
def current_vel(self) -> Union[float, int, np.ndarray]:
return self.sim.data.qvel[:2]
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return self.sim.data.qpos[:2]
@property
def goal_pos(self):

13
alr_envs/open_ai/reacher_v2/positional_wrapper.py
View File

@ -1,13 +0,0 @@
from typing import Union
import numpy as np
from mp_env_api.env_wrappers.positional_env_wrapper import PositionalEnvWrapper
class PositionalWrapper(PositionalEnvWrapper):
@property
def current_vel(self) -> Union[float, int, np.ndarray]:
return self.sim.data.qvel[:2]
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return self.sim.data.qpos[:2]