reacher envs pass unittests

2021-11-30 12:05:19 +01:00
parent dc6df7a7c0
commit 655d52aa35
7 changed files with 24 additions and 10 deletions
@@ -25,7 +25,6 @@ class ViaPointReacherEnv(BaseReacherDirectEnv):
        self._goal = np.array((n_links, 0))

        # collision
-        self.allow_self_collision = allow_self_collision
        self.collision_penalty = collision_penalty

        state_bound = np.hstack([
@@ -96,7 +95,7 @@ class ViaPointReacherEnv(BaseReacherDirectEnv):
        reward -= 5e-8 * np.sum(acc ** 2)
        info = {"is_success": success,
                "is_collided": self._is_collided,
-                "end_effector": np.copy(env.end_effector)}
+                "end_effector": np.copy(self.end_effector)}

        return reward, info

@@ -114,6 +113,9 @@ class ViaPointReacherEnv(BaseReacherDirectEnv):
            self._steps
        ])

+    def _check_collisions(self) -> bool:
+        return self._check_self_collision()
+
    def render(self, mode='human'):
        goal_pos = self._goal.T
        via_pos = self._via_point.T