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Fix: BP was not returning new infos (smoothness metrics)

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Dominik Moritz Roth 2024-02-02 16:51:18 +01:00
parent c9ea8cb167
commit 2b0c7d8652
2 changed files with 5 additions and 1 deletions
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2
fancy_gym/envs/mujoco/__init__.py
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@ -1,7 +1,7 @@
from .ant_jump.ant_jump import AntJumpEnv from .ant_jump.ant_jump import AntJumpEnv
from .beerpong.beerpong import BeerPongEnv, BeerPongEnvStepBasedEpisodicReward from .beerpong.beerpong import BeerPongEnv, BeerPongEnvStepBasedEpisodicReward
from .half_cheetah_jump.half_cheetah_jump import HalfCheetahJumpEnv from .half_cheetah_jump.half_cheetah_jump import HalfCheetahJumpEnv
from .hopper_jump.hopper_jump import HopperJumpEnv from .hopper_jump.hopper_jump import HopperJumpEnv, HopperJumpMarkovRew
from .hopper_jump.hopper_jump_on_box import HopperJumpOnBoxEnv from .hopper_jump.hopper_jump_on_box import HopperJumpOnBoxEnv
from .hopper_throw.hopper_throw import HopperThrowEnv from .hopper_throw.hopper_throw import HopperThrowEnv
from .hopper_throw.hopper_throw_in_basket import HopperThrowInBasketEnv from .hopper_throw.hopper_throw_in_basket import HopperThrowInBasketEnv

4
fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
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@ -97,11 +97,15 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
obs = self._get_obs() obs = self._get_obs()
box_goal_pos_dist = 0. if not episode_end else np.linalg.norm(box_pos - target_pos) box_goal_pos_dist = 0. if not episode_end else np.linalg.norm(box_pos - target_pos)
box_goal_quat_dist = 0. if not episode_end else rotation_distance(box_quat, target_quat) box_goal_quat_dist = 0. if not episode_end else rotation_distance(box_quat, target_quat)
mean_squared_jerk, maximum_jerk, dimensionless_jerk = (0.0,0.0,0.0) if not episode_end else self.calculate_smoothness_metrics(np.array(self.velocity_profile), self.dt)
infos = { infos = {
'episode_end': episode_end, 'episode_end': episode_end,
'box_goal_pos_dist': box_goal_pos_dist, 'box_goal_pos_dist': box_goal_pos_dist,
'box_goal_rot_dist': box_goal_quat_dist, 'box_goal_rot_dist': box_goal_quat_dist,
'episode_energy': 0. if not episode_end else self._episode_energy, 'episode_energy': 0. if not episode_end else self._episode_energy,
'mean_squared_jerk': mean_squared_jerk,
'maximum_jerk': maximum_jerk,
'dimensionless_jerk': dimensionless_jerk,
'is_success': True if episode_end and box_goal_pos_dist < 0.05 and box_goal_quat_dist < 0.5 else False, 'is_success': True if episode_end and box_goal_pos_dist < 0.05 and box_goal_quat_dist < 0.5 else False,
'num_steps': self._steps 'num_steps': self._steps
} }