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add random init options to box pushing

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This commit is contained in:
hongyi.zhou 2023-09-05 10:03:27 +02:00
parent d667cd0ff2
commit 025d83e2d3
1 changed files with 2 additions and 15 deletions
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17
fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
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@ -405,9 +405,9 @@ class BoxPushingTemporalSpatialSparse2(BoxPushingEnvBase):
return reward return reward
class BoxPushingBruceSparse(BoxPushingEnvBase): class BoxPushingNoConstraintSparse(BoxPushingEnvBase):
def __init__(self, frame_skip: int = 10): 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, def _get_reward(self, episode_end, box_pos, box_quat, target_pos, target_quat,
rod_tip_pos, rod_quat, qpos, qvel, action): rod_tip_pos, rod_quat, qpos, qvel, action):
@ -435,16 +435,3 @@ class BoxPushingBruceSparse(BoxPushingEnvBase):
box_rot_vel = box_rot_pos_vel[:3] box_rot_vel = box_rot_pos_vel[:3]
box_pos_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) 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']}")