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Added balancing reacher task and stochastic search task interface

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This commit is contained in:
ottofabian
2020-12-07 11:13:27 +01:00
parent 741f1cb636
commit 58131ef470
10 changed files with 236 additions and 67 deletions
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alr_envs/mujoco/alr_reacher.py
+14 -6
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@@ -1,15 +1,21 @@
import numpy as np
import os
import numpy as np
from gym import utils
from gym.envs.mujoco import mujoco_env
from alr_envs.utils.utils import angle_normalize
class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, steps_before_reward=200, n_links=5):
def __init__(self, steps_before_reward=200, n_links=5, balance=False):
self._steps = 0
self.steps_before_reward = steps_before_reward
self.n_links = n_links
self.balance = balance
self.balance_weight = 1.0
self.reward_weight = 1
if steps_before_reward == 200:
self.reward_weight = 200
@@ -29,20 +35,22 @@ class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def step(self, a):
self._steps += 1
reward_dist = 0
angular_vel = 0
reward_dist = 0.0
angular_vel = 0.0
if self._steps >= self.steps_before_reward:
vec = self.get_body_com("fingertip") - self.get_body_com("target")
reward_dist -= self.reward_weight * np.linalg.norm(vec)
angular_vel -= np.linalg.norm(self.sim.data.qvel.flat[:self.n_links])
reward_ctrl = - np.square(a).sum()
reward_balance = - self.balance_weight * np.abs(
angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
reward = reward_dist + reward_ctrl + angular_vel
reward = reward_dist + reward_ctrl + angular_vel + reward_balance
self.do_simulation(a, self.frame_skip)
ob = self._get_obs()
done = False
return ob, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl,
velocity=angular_vel,
velocity=angular_vel, reward_balance=reward_balance,
end_effector=self.get_body_com("fingertip").copy(),
goal=self.goal if hasattr(self, "goal") else None)