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Merge remote-tracking branch 'origin/clean_api' into clean_api

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# Conflicts:
#	alr_envs/alr/mujoco/reacher/__init__.py
This commit is contained in:
Onur
2022-06-30 14:56:06 +02:00
parent f31d85451f c3a8352c63
commit 60bdeef687
7 changed files with 17 additions and 122 deletions
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alr_envs/alr/mujoco/reacher/mp_wrapper.py
+10 -26
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@@ -1,4 +1,4 @@
from typing import Union
from typing import Union, Tuple
import numpy as np
@@ -8,37 +8,21 @@ from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper):
@property
def context_mask(self) -> np.ndarray:
def context_mask(self):
return np.concatenate([
[False] * self.n_links, # cos
[False] * self.n_links, # sin
[False] * self.env.n_links, # cos
[False] * self.env.n_links, # sin
[True] * 2, # goal position
[False] * self.n_links, # angular velocity
[False] * self.env.n_links, # angular velocity
[False] * 3, # goal distance
# self.get_body_com("target"), # only return target to make problem harder
[False], # step
])
# @property
# def active_obs(self):
# return np.concatenate([
# [True] * self.n_links, # cos, True
# [True] * self.n_links, # sin, True
# [True] * 2, # goal position
# [True] * self.n_links, # angular velocity, True
# [True] * 3, # goal distance
# # self.get_body_com("target"), # only return target to make problem harder
# [False], # step
# ])
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.sim.data.qpos.flat[:self.env.n_links]
@property
def current_vel(self) -> Union[float, int, np.ndarray]:
return self.sim.data.qvel.flat[:self.n_links]
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return self.sim.data.qpos.flat[:self.n_links]
@property
def dt(self) -> Union[float, int]:
return self.env.dt
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.sim.data.qvel.flat[:self.env.n_links]
alr_envs/alr/mujoco/reacher/new_mp_wrapper.py
-28
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@@ -1,28 +0,0 @@
from alr_envs.mp.black_box_wrapper import BlackBoxWrapper
from typing import Union, Tuple
import numpy as np
from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper):
@property
def context_mask(self):
return np.concatenate([
[False] * self.env.n_links, # cos
[False] * self.env.n_links, # sin
[True] * 2, # goal position
[False] * self.env.n_links, # angular velocity
[False] * 3, # goal distance
# self.get_body_com("target"), # only return target to make problem harder
[False], # step
])
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.sim.data.qpos.flat[:self.env.n_links]
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.sim.data.qvel.flat[:self.env.n_links]