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Merge pull request #11 from 1nf0rmagician/dmc_integration

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Introduce short version of the continuous mountain car env
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ottofabian 2021-08-25 17:31:36 +02:00 committed by GitHub
commit 0c00c1675f
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1 changed files with 33 additions and 1 deletions
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34
alr_envs/open_ai/__init__.py
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@ -5,8 +5,40 @@ from . import classic_control, mujoco, robotics
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
# Short Continuous Mountain Car
register(
id="MountainCarContinuous-v1",
entry_point="gym.envs.classic_control:Continuous_MountainCarEnv",
max_episode_steps=100,
reward_threshold=90.0,
)
# Open AI
# Classic Control
register(
id='ContinuousMountainCarDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
kwargs={
kwargs={
"name": "alr_envs:MountainCarContinuous-v1",
"wrappers": [classic_control.continuous_mountain_car.MPWrapper],
"mp_kwargs": {
"num_dof": 1,
"num_basis": 4,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "motor",
"policy_kwargs": {
"p_gains": 1.,
"d_gains": 1.
}
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ContinuousMountainCarDetPMP-v1")
register(
id='ContinuousMountainCarDetPMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
@ -16,7 +48,7 @@ register(
"mp_kwargs": {
"num_dof": 1,
"num_basis": 4,
"duration": 2,
"duration": 19.98,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,