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updates and bugfix in detpmp_wrapper

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Maximilian Huettenrauch
2021-05-27 17:09:11 +02:00
parent f5f12c846f
commit 4aa31a004a
6 changed files with 46 additions and 35 deletions
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alr_envs/classic_control/hole_reacher.py
+3 -1
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@@ -73,12 +73,13 @@ class HoleReacherEnv(AlrEnv):
acc = (action - self._angle_velocity) / self.dt
self._angle_velocity = action
self._joint_angles = self._joint_angles + self.dt * self._angle_velocity
self._joint_angles = self._joint_angles + self.dt * self._angle_velocity # + 0.001 * np.random.randn(5)
self._update_joints()
reward, info = self._get_reward(acc)
info.update({"is_collided": self._is_collided})
self.end_effector_traj.append(np.copy(self.end_effector))
self._steps += 1
done = self._is_collided
@@ -101,6 +102,7 @@ class HoleReacherEnv(AlrEnv):
self._joints = np.zeros((self.n_links + 1, 2))
self._update_joints()
self._steps = 0
self.end_effector_traj = []
return self._get_obs().copy()