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restructuring

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This commit is contained in:
Fabian
2022-06-29 09:37:18 +02:00
parent 8fe6a83271
commit 02b8a65bab
23 changed files with 280 additions and 339 deletions
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alr_envs/mp/controllers/meta_world_controller.py
+2 -2
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@@ -6,8 +6,8 @@ from alr_envs.mp.controllers.base_controller import BaseController
class MetaWorldController(BaseController):
"""
A Metaworld Controller. Using position and velocity information from a provided environment,
the controller calculates a response based on the desired position and velocity.
Unlike the other Controllers, this is a special controller for MetaWorld environments.
the tracking_controller calculates a response based on the desired position and velocity.
Unlike the other Controllers, this is a special tracking_controller for MetaWorld environments.
They use a position delta for the xyz coordinates and a raw position for the gripper opening.
:param env: A position environment
alr_envs/mp/controllers/pd_controller.py
+1 -1
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@@ -6,7 +6,7 @@ from alr_envs.mp.controllers.base_controller import BaseController
class PDController(BaseController):
"""
A PD-Controller. Using position and velocity information from a provided environment,
the controller calculates a response based on the desired position and velocity
the tracking_controller calculates a response based on the desired position and velocity
:param env: A position environment
:param p_gains: Factors for the proportional gains
alr_envs/mp/controllers/pos_controller.py
+1 -1
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@@ -3,7 +3,7 @@ from alr_envs.mp.controllers.base_controller import BaseController
class PosController(BaseController):
"""
A Position Controller. The controller calculates a response only based on the desired position.
A Position Controller. The tracking_controller calculates a response only based on the desired position.
"""
def get_action(self, des_pos, des_vel, c_pos, c_vel):
return des_pos
alr_envs/mp/controllers/vel_controller.py
+1 -1
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@@ -3,7 +3,7 @@ from alr_envs.mp.controllers.base_controller import BaseController
class VelController(BaseController):
"""
A Velocity Controller. The controller calculates a response only based on the desired velocity.
A Velocity Controller. The tracking_controller calculates a response only based on the desired velocity.
"""
def get_action(self, des_pos, des_vel, c_pos, c_vel):
return des_vel