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adjusted classic control environments to new interface

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This commit is contained in:
ottofabian
2021-05-12 17:48:57 +02:00
parent 95e9b8be47
commit 6ae195962c
14 changed files with 535 additions and 489 deletions
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alr_envs/utils/legacy/utils.py
+23 -34
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@@ -49,13 +49,13 @@ def make_holereacher_env(rank, seed=0):
"""
def _init():
_env = hr.HoleReacher(n_links=5,
allow_self_collision=False,
allow_wall_collision=False,
hole_width=0.25,
hole_depth=1,
hole_x=2,
collision_penalty=100)
_env = hr.HoleReacherEnv(n_links=5,
allow_self_collision=False,
allow_wall_collision=False,
hole_width=0.25,
hole_depth=1,
hole_x=2,
collision_penalty=100)
_env = DmpWrapper(_env,
num_dof=5,
@@ -89,13 +89,13 @@ def make_holereacher_fix_goal_env(rank, seed=0):
"""
def _init():
_env = hr.HoleReacher(n_links=5,
allow_self_collision=False,
allow_wall_collision=False,
hole_width=0.15,
hole_depth=1,
hole_x=1,
collision_penalty=100)
_env = hr.HoleReacherEnv(n_links=5,
allow_self_collision=False,
allow_wall_collision=False,
hole_width=0.15,
hole_depth=1,
hole_x=1,
collision_penalty=100)
_env = DmpWrapper(_env,
num_dof=5,
@@ -129,27 +129,16 @@ def make_holereacher_env_pmp(rank, seed=0):
"""
def _init():
_env = hr.HoleReacher(n_links=5,
allow_self_collision=False,
allow_wall_collision=False,
hole_width=0.15,
hole_depth=1,
hole_x=1,
collision_penalty=1000)
_env = hr.HoleReacherEnv(n_links=5,
allow_self_collision=False,
allow_wall_collision=False,
hole_width=0.15,
hole_depth=1,
hole_x=1,
collision_penalty=1000)
_env = DetPMPWrapper(_env,
num_dof=5,
num_basis=5,
width=0.02,
policy_type="velocity",
start_pos=_env._start_pos,
duration=2,
post_traj_time=0,
dt=_env.dt,
weights_scale=0.2,
zero_start=True,
zero_goal=False
)
_env = DetPMPWrapper(_env, num_dof=5, num_basis=5, width=0.02, duration=2, dt=_env.dt, post_traj_time=0,
policy_type="velocity", weights_scale=0.2, zero_start=True, zero_goal=False)
_env.seed(seed + rank)
return _env