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SimpleReacher state space changed

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This commit is contained in:
ottofabian 2020-08-31 11:26:32 +02:00
parent aec332ff0c
commit 7f4f52ab10
1 changed files with 19 additions and 7 deletions
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26
alr_envs/classic_control/simple_reacher.py
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@ -1,4 +1,5 @@
import os import os
import time
import gym import gym
import numpy as np import numpy as np
@ -32,13 +33,15 @@ class SimpleReacherEnv(gym.Env, utils.EzPickle):
self._angle_velocity = None self._angle_velocity = None
self.max_torque = 1 # 10 self.max_torque = 1 # 10
self.steps_before_reward = 0
action_bound = np.ones((self.n_links,)) action_bound = np.ones((self.n_links,))
state_bound = np.hstack([ state_bound = np.hstack([
[np.pi] * self.n_links, [np.pi] * self.n_links, # cos
[np.inf] * self.n_links, [np.pi] * self.n_links, # sin
[np.inf] * self.n_links, # velocity
[np.inf] * 2, # x-y coordinates of target distance [np.inf] * 2, # x-y coordinates of target distance
[np.inf] # TODO: Maybe [np.inf] # env steps, because reward start after n steps TODO: Maybe
]) ])
self.action_space = spaces.Box(low=-action_bound, high=action_bound, shape=action_bound.shape) self.action_space = spaces.Box(low=-action_bound, high=action_bound, shape=action_bound.shape)
self.observation_space = spaces.Box(low=-state_bound, high=state_bound, shape=state_bound.shape) self.observation_space = spaces.Box(low=-state_bound, high=state_bound, shape=state_bound.shape)
@ -83,7 +86,14 @@ class SimpleReacherEnv(gym.Env, utils.EzPickle):
return np.clip(action, lb, ub) return np.clip(action, lb, ub)
def _get_obs(self): def _get_obs(self):
return np.hstack([self._joint_angle, self._angle_velocity, self.end_effector - self._goal_pos, self._steps]) theta = self._joint_angle
return np.hstack([
np.cos(theta),
np.sin(theta),
self._angle_velocity,
self.end_effector - self._goal_pos,
self._steps
])
def _update_joints(self): def _update_joints(self):
""" """
@ -100,7 +110,7 @@ class SimpleReacherEnv(gym.Env, utils.EzPickle):
distance = 0 distance = 0
# TODO: Is this the best option # TODO: Is this the best option
if self._steps > 150: if self._steps >= self.steps_before_reward:
distance = np.exp(-0.1 * diff ** 2).mean() distance = np.exp(-0.1 * diff ** 2).mean()
# distance -= (diff ** 2).mean() # distance -= (diff ** 2).mean()
@ -115,6 +125,7 @@ class SimpleReacherEnv(gym.Env, utils.EzPickle):
self._angle_velocity = np.zeros(self.n_links) self._angle_velocity = np.zeros(self.n_links)
self._joints = np.zeros((self.n_links + 1, 2)) self._joints = np.zeros((self.n_links + 1, 2))
self._update_joints() self._update_joints()
self._steps = 0
self._goal_pos = self._get_random_goal() self._goal_pos = self._get_random_goal()
return self._get_obs().copy() return self._get_obs().copy()
@ -154,8 +165,9 @@ class SimpleReacherEnv(gym.Env, utils.EzPickle):
lim = np.sum(self.link_lengths) + 0.5 lim = np.sum(self.link_lengths) + 0.5
plt.xlim([-lim, lim]) plt.xlim([-lim, lim])
plt.ylim([-lim, lim]) plt.ylim([-lim, lim])
plt.draw() # plt.draw()
plt.pause(0.0001) # plt.pause(1e-4) pushed window to foreground, which is annoying.
self.fig.canvas.flush_events()
def close(self): def close(self):
del self.fig del self.fig