From 025d83e2d374afce26c93292b4b86b1dd63e2995 Mon Sep 17 00:00:00 2001 From: "hongyi.zhou" Date: Tue, 5 Sep 2023 10:03:27 +0200 Subject: [PATCH] add random init options to box pushing --- .../envs/mujoco/box_pushing/box_pushing_env.py | 17 ++--------------- 1 file changed, 2 insertions(+), 15 deletions(-) diff --git a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py index 7ecd214..e3c9160 100644 --- a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py +++ b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py @@ -405,9 +405,9 @@ class BoxPushingTemporalSpatialSparse2(BoxPushingEnvBase): return reward -class BoxPushingBruceSparse(BoxPushingEnvBase): +class BoxPushingNoConstraintSparse(BoxPushingEnvBase): def __init__(self, frame_skip: int = 10): - super(BoxPushingBruceSparse, self).__init__(frame_skip=frame_skip) + super(BoxPushingNoConstraintSparse, self).__init__(frame_skip=frame_skip) def _get_reward(self, episode_end, box_pos, box_quat, target_pos, target_quat, rod_tip_pos, rod_quat, qpos, qvel, action): @@ -435,16 +435,3 @@ class BoxPushingBruceSparse(BoxPushingEnvBase): box_rot_vel = box_rot_pos_vel[:3] box_pos_vel = box_rot_pos_vel[3:] return -rot_coeff * np.linalg.norm(box_rot_vel) - pos_coeff * np.linalg.norm(box_pos_vel) - - - -if __name__=="__main__": - import fancy_gym - env = fancy_gym.make("BoxPushingDenseProDMP-v0", seed=0) - env.reset() - for i in range(1000): - env.render(mode="human") - obs, rew, done, info = env.step(env.action_space.sample()) - if done: - env.reset() - # print(f"box_end_velocity: {info['box_end_vel']}")