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Maximilian Huettenrauch 2021-04-13 09:51:34 +02:00
parent 4673a8c13b
commit 51e8503873
3 changed files with 16 additions and 15 deletions
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20
alr_envs/mujoco/ball_in_a_cup/assets/biac_base.xml
View File

@ -327,16 +327,16 @@
</body> </body>
</body> </body>
</body> </body>
<site name="context_point" pos="-0.20869846 -0.66376693 1.18088501" euler="-1.57 0 0" size="0.015" rgba="1 0 0 0.6" type="sphere"/> <!-- <site name="context_point" pos="-0.20869846 -0.66376693 1.18088501" euler="-1.57 0 0" size="0.015" rgba="1 0 0 0.6" type="sphere"/>-->
<site name="context_point1" pos="-0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point1" pos="-0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_point2" pos="-0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point2" pos="-0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_point3" pos="-0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point3" pos="-0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_point4" pos="-0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point4" pos="-0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_point5" pos="0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point5" pos="0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_point6" pos="0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point6" pos="0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_point7" pos="0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point7" pos="0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_point8" pos="0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/> <!-- <site name="context_point8" pos="0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
<site name="context_space" pos="0 -0.6 1.1165" euler="0 0 0" size="0.5 0.25 0.3" rgba="0 0 1 0.15" type="box"/> <!-- <site name="context_space" pos="0 -0.6 1.1165" euler="0 0 0" size="0.5 0.25 0.3" rgba="0 0 1 0.15" type="box"/>-->
<camera name="visualization" mode="targetbody" target="wam/wrist_yaw_link" pos="1.5 -0.4 2.2"/> <camera name="visualization" mode="targetbody" target="wam/wrist_yaw_link" pos="1.5 -0.4 2.2"/>
<camera name="experiment" mode="fixed" quat="0.44418059 0.41778323 0.54301123 0.57732103" pos="1.5 -0.3 1.33" /> <camera name="experiment" mode="fixed" quat="0.44418059 0.41778323 0.54301123 0.57732103" pos="1.5 -0.3 1.33" />
</worldbody> </worldbody>

2
dmp_env_wrapper_example.py
View File

@ -28,7 +28,7 @@ if __name__ == "__main__":
# params = np.hstack([50 * np.random.randn(n_samples, 25), np.tile(np.array([np.pi/2, -np.pi/4, -np.pi/4, -np.pi/4, -np.pi/4]), [n_samples, 1])]) # params = np.hstack([50 * np.random.randn(n_samples, 25), np.tile(np.array([np.pi/2, -np.pi/4, -np.pi/4, -np.pi/4, -np.pi/4]), [n_samples, 1])])
rew, info = test_env.rollout(params, render=False) rew, info = test_env.rollout(params, render=True)
print(rew) print(rew)
# out = env(params) # out = env(params)

9
dmp_pd_control_example.py
View File

@ -1,6 +1,7 @@
from alr_envs.mujoco.ball_in_a_cup.utils import make_env, make_simple_env, make_simple_dmp_env from alr_envs.mujoco.ball_in_a_cup.utils import make_env, make_simple_env, make_simple_dmp_env
from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv
import numpy as np import numpy as np
from gym import wrappers
if __name__ == "__main__": if __name__ == "__main__":
@ -21,10 +22,10 @@ if __name__ == "__main__":
non_vec_env = make_simple_dmp_env(0, 0)() non_vec_env = make_simple_dmp_env(0, 0)()
# params = 0.5 * np.random.randn(dim) # params = 0.5 * np.random.randn(dim)
params = np.array([[-2.04114375, -2.62248565, 1.35999138, 4.29883804, 0.09143854, params = np.array([-2.63357598, -1.04950296, -0.44330737, 0.52950017, 4.29247739,
8.1752235 , -1.47063842, 0.60865483, -3.1697385 , 10.95458786, 4.52473661, -0.05685977, -0.76796851, 3.71540499, 1.22631059,
2.81887935, 3.6400505 , 1.43011501, -4.36044191, -3.66816722]]) 2.20412438, 3.91588129, -0.12652723, -3.0788211 , 0.56204464])
out2 = non_vec_env.rollout(params, render=False) out2 = non_vec_env.rollout(params, render=True )
print(out2) print(out2)