Add interface for envs controlable by a PD Controller and add more infos to mp_wrapper info return value

2021-06-21 16:27:48 +02:00
parent 746d408a76
commit 4279414656
12 changed files with 169 additions and 86 deletions
@@ -16,8 +16,6 @@ class ALRBallInACupEnv(alr_mujoco_env.AlrMujocoEnv, utils.EzPickle):
        self._q_vel = []
        # self.weight_matrix_scale = 50
        self.max_ctrl = np.array([150., 125., 40., 60., 5., 5., 2.])
-        self.p_gains = 1 / self.max_ctrl * np.array([200, 300, 100, 100, 10, 10, 2.5])
-        self.d_gains = 1 / self.max_ctrl * np.array([7, 15, 5, 2.5, 0.3, 0.3, 0.05])

        self.j_min = np.array([-2.6, -1.985, -2.8, -0.9, -4.55, -1.5707, -2.7])
        self.j_max = np.array([2.6, 1.985, 2.8, 3.14159, 1.25, 1.5707, 2.7])