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This commit is contained in:
Maximilian Huettenrauch 2021-02-26 17:34:31 +01:00
parent 27d7da6774
commit 1d8b22245d
3 changed files with 45 additions and 4 deletions
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43
alr_envs/classic_control/utils.py
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@ -1,6 +1,7 @@
from alr_envs.classic_control.hole_reacher import HoleReacher from alr_envs.classic_control.hole_reacher import HoleReacher
from alr_envs.classic_control.viapoint_reacher import ViaPointReacher from alr_envs.classic_control.viapoint_reacher import ViaPointReacher
from alr_envs.utils.dmp_env_wrapper import DmpEnvWrapper from alr_envs.utils.dmp_env_wrapper import DmpEnvWrapper
from alr_envs.utils.detpmp_env_wrapper import DetPMPEnvWrapper
def make_viapointreacher_env(rank, seed=0): def make_viapointreacher_env(rank, seed=0):
@ -53,7 +54,7 @@ def make_holereacher_env(rank, seed=0):
hole_width=0.15, hole_width=0.15,
hole_depth=1, hole_depth=1,
hole_x=1, hole_x=1,
collision_penalty=100000) collision_penalty=1000)
_env = DmpEnvWrapper(_env, _env = DmpEnvWrapper(_env,
num_dof=5, num_dof=5,
@ -66,6 +67,46 @@ def make_holereacher_env(rank, seed=0):
policy_type="velocity", policy_type="velocity",
weights_scale=100, weights_scale=100,
) )
_env.seed(seed + rank)
return _env
return _init
def make_holereacher_env_pmp(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
_env = HoleReacher(num_links=5,
allow_self_collision=False,
allow_wall_collision=False,
hole_width=0.15,
hole_depth=1,
hole_x=1,
collision_penalty=1000)
_env = DetPMPEnvWrapper(_env,
num_dof=5,
num_basis=5,
width=0.005,
policy_type="velocity",
start_pos=_env.start_pos,
duration=2,
post_traj_time=0,
dt=_env.dt,
weights_scale=0.15,
zero_start=True,
zero_goal=False
)
_env.seed(seed + rank) _env.seed(seed + rank)
return _env return _env

2
alr_envs/mujoco/ball_in_a_cup/utils.py
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@ -60,7 +60,7 @@ def make_env(rank, seed=0):
duration=3.5, duration=3.5,
post_traj_time=4.5, post_traj_time=4.5,
dt=env.dt, dt=env.dt,
weights_scale=0.15, weights_scale=0.25,
zero_start=True, zero_start=True,
zero_goal=True zero_goal=True
) )

4
alr_envs/utils/detpmp_env_wrapper.py
View File

@ -34,7 +34,7 @@ class DetPMPEnvWrapper(gym.Wrapper):
self.post_traj_steps = int(post_traj_time / dt) self.post_traj_steps = int(post_traj_time / dt)
self.start_pos = start_pos self.start_pos = start_pos
self.zero_centered = zero_start self.zero_start = zero_start
policy_class = get_policy_class(policy_type) policy_class = get_policy_class(policy_type)
self.policy = policy_class(env) self.policy = policy_class(env)
@ -55,7 +55,7 @@ class DetPMPEnvWrapper(gym.Wrapper):
params = np.reshape(params, newshape=(self.num_basis, self.num_dof)) * self.weights_scale params = np.reshape(params, newshape=(self.num_basis, self.num_dof)) * self.weights_scale
self.pmp.set_weights(self.duration, params) self.pmp.set_weights(self.duration, params)
t, des_pos, des_vel, des_acc = self.pmp.compute_trajectory(1 / self.dt, 1.) t, des_pos, des_vel, des_acc = self.pmp.compute_trajectory(1 / self.dt, 1.)
if self.zero_centered: if self.zero_start:
des_pos += self.start_pos[None, :] des_pos += self.start_pos[None, :]
if self.post_traj_steps > 0: if self.post_traj_steps > 0: