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Onur
2022-05-05 18:50:20 +02:00
parent a26b9f463b
commit 2cc1ab759c
11 changed files with 250 additions and 129 deletions
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alr_envs/utils/make_env_helpers.py
+2 -3
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@@ -156,12 +156,11 @@ def make_mp_from_kwargs(
ep_wrapper_kwargs['duration'] = dummy_env.spec.max_episode_steps*dummy_env.dt
if phase_kwargs.get('tau', None) is None:
phase_kwargs['tau'] = ep_wrapper_kwargs['duration']
action_dim = mp_kwargs.pop('num_dof', None)
action_dim = action_dim if action_dim is not None else np.prod(dummy_env.action_space.shape).item()
mp_kwargs['action_dim'] = mp_kwargs.get('action_dim', np.prod(dummy_env.action_space.shape).item())
phase_gen = get_phase_generator(**phase_kwargs)
basis_gen = get_basis_generator(phase_generator=phase_gen, **basis_kwargs)
controller = get_controller(**controller_kwargs)
mp = get_movement_primitive(action_dim=action_dim, basis_generator=basis_gen, **mp_kwargs)
mp = get_movement_primitive(basis_generator=basis_gen, **mp_kwargs)
_env = _make_wrapped_env(env_id=env_id, wrappers=wrappers, mp=mp, controller=controller,
ep_wrapper_kwargs=ep_wrapper_kwargs, seed=seed, **kwargs)
return _env