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mp wrapper fixes

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This commit is contained in:
Fabian
2022-07-06 09:05:35 +02:00
parent eddef33d9a
commit 6704c9d63a
43 changed files with 302 additions and 608 deletions
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alr_envs/alr/mujoco/reacher/assets/reacher_5links.xml
+1 -1
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@@ -41,7 +41,7 @@
<body name="target" pos=".1 -.1 .01">
<!-- <joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>-->
<!-- <joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>-->
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.7 .7" ref=".1" stiffness="0" type="slide"/>
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.7 .7" ref=".1" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.7 .7" ref="-.1" stiffness="0" type="slide"/>
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
</body>
alr_envs/alr/mujoco/reacher/mp_wrapper.py
+3 -4
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@@ -15,14 +15,13 @@ class MPWrapper(RawInterfaceWrapper):
[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
# [False], # step
])
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.sim.data.qpos.flat[:self.env.n_links]
return self.env.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]
return self.env.data.qvel.flat[:self.env.n_links]
alr_envs/alr/mujoco/reacher/reacher.py
+2 -2
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@@ -94,12 +94,12 @@ class ReacherEnv(MujocoEnv, utils.EzPickle):
return self._get_obs()
def _get_obs(self):
theta = self.sim.data.qpos.flat[:self.n_links]
theta = self.data.qpos.flat[:self.n_links]
target = self.get_body_com("target")
return np.concatenate([
np.cos(theta),
np.sin(theta),
target[:2], # x-y of goal position
self.sim.data.qvel.flat[:self.n_links], # angular velocity
self.data.qvel.flat[:self.n_links], # angular velocity
self.get_body_com("fingertip") - target, # goal distance
])