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wrappers updated

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This commit is contained in:
Fabian
2022-06-30 14:08:54 +02:00
parent fb4b857fb5
commit 3273f455c5
47 changed files with 219 additions and 722 deletions
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alr_envs/alr/classic_control/hole_reacher/mp_wrapper.py
+4 -20
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@@ -2,12 +2,12 @@ from typing import Tuple, Union
import numpy as np
from mp_env_api import MPEnvWrapper
from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(MPEnvWrapper):
@property
def active_obs(self):
class MPWrapper(RawInterfaceWrapper):
def get_context_mask(self):
return np.hstack([
[self.env.random_start] * self.env.n_links, # cos
[self.env.random_start] * self.env.n_links, # sin
@@ -18,14 +18,6 @@ class MPWrapper(MPEnvWrapper):
[False] # env steps
])
# @property
# def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
# return self._joint_angles.copy()
#
# @property
# def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
# return self._angle_velocity.copy()
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.current_pos
@@ -33,11 +25,3 @@ class MPWrapper(MPEnvWrapper):
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.current_vel
@property
def goal_pos(self) -> Union[float, int, np.ndarray, Tuple]:
raise ValueError("Goal position is not available and has to be learnt based on the environment.")
@property
def dt(self) -> Union[float, int]:
return self.env.dt
alr_envs/alr/classic_control/hole_reacher/new_mp_wrapper.py
-31
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@@ -1,31 +0,0 @@
from typing import Tuple, Union
import numpy as np
from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
class NewMPWrapper(RawInterfaceWrapper):
def get_context_mask(self):
return np.hstack([
[self.env.random_start] * self.env.n_links, # cos
[self.env.random_start] * self.env.n_links, # sin
[self.env.random_start] * self.env.n_links, # velocity
[self.env.initial_width is None], # hole width
# [self.env.hole_depth is None], # hole depth
[True] * 2, # x-y coordinates of target distance
[False] # env steps
])
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.current_pos
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.current_vel
@property
def dt(self) -> Union[float, int]:
return self.env.dt
alr_envs/alr/classic_control/simple_reacher/mp_wrapper.py
+4 -8
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@@ -2,12 +2,12 @@ from typing import Tuple, Union
import numpy as np
from mp_env_api import MPEnvWrapper
from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(MPEnvWrapper):
@property
def active_obs(self):
class MPWrapper(RawInterfaceWrapper):
def context_mask(self):
return np.hstack([
[self.env.random_start] * self.env.n_links, # cos
[self.env.random_start] * self.env.n_links, # sin
@@ -24,10 +24,6 @@ class MPWrapper(MPEnvWrapper):
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.current_vel
@property
def goal_pos(self) -> Union[float, int, np.ndarray, Tuple]:
raise ValueError("Goal position is not available and has to be learnt based on the environment.")
@property
def dt(self) -> Union[float, int]:
return self.env.dt
alr_envs/alr/classic_control/simple_reacher/new_mp_wrapper.py
-31
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@@ -1,31 +0,0 @@
from typing import Tuple, Union
import numpy as np
from mp_env_api import MPEnvWrapper
from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper):
def context_mask(self):
return np.hstack([
[self.env.random_start] * self.env.n_links, # cos
[self.env.random_start] * self.env.n_links, # sin
[self.env.random_start] * self.env.n_links, # velocity
[True] * 2, # x-y coordinates of target distance
[False] # env steps
])
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.current_pos
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.current_vel
@property
def dt(self) -> Union[float, int]:
return self.env.dt
alr_envs/alr/classic_control/viapoint_reacher/mp_wrapper.py
+3 -3
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@@ -2,12 +2,12 @@ from typing import Tuple, Union
import numpy as np
from mp_env_api import MPEnvWrapper
from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(MPEnvWrapper):
class MPWrapper(RawInterfaceWrapper):
@property
def active_obs(self):
def context_mask(self) -> np.ndarray:
return np.hstack([
[self.env.random_start] * self.env.n_links, # cos
[self.env.random_start] * self.env.n_links, # sin
alr_envs/alr/classic_control/viapoint_reacher/new_mp_wrapper.py
-2
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@@ -2,8 +2,6 @@ from typing import Tuple, Union
import numpy as np
from mp_env_api import MPEnvWrapper
from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper