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unified API wrapper and updated examples

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This commit is contained in:
ottofabian
2021-07-02 13:09:56 +02:00
parent 6607d9cff9
commit 80933eba09
22 changed files with 383 additions and 485 deletions
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alr_envs/mujoco/beerpong/beerpong.py
+12 -10
View File
@@ -1,11 +1,15 @@
from gym import utils
import os
import numpy as np
from alr_envs.mujoco import alr_mujoco_env
from gym import utils
from gym.envs.mujoco import MujocoEnv
class ALRBeerpongEnv(alr_mujoco_env.AlrMujocoEnv, utils.EzPickle):
def __init__(self, n_substeps=4, apply_gravity_comp=True, reward_function=None):
class ALRBeerpongEnv(MujocoEnv, utils.EzPickle):
def __init__(self, model_path, frame_skip, n_substeps=4, apply_gravity_comp=True, reward_function=None):
utils.EzPickle.__init__(**locals())
MujocoEnv.__init__(self, model_path=model_path, frame_skip=frame_skip)
self._steps = 0
self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets",
@@ -25,12 +29,10 @@ class ALRBeerpongEnv(alr_mujoco_env.AlrMujocoEnv, utils.EzPickle):
self.j_max = np.array([2.6, 1.985, 2.8, 3.14159, 1.25, 1.5707, 2.7])
self.context = None
utils.EzPickle.__init__(self)
alr_mujoco_env.AlrMujocoEnv.__init__(self,
self.xml_path,
apply_gravity_comp=apply_gravity_comp,
n_substeps=n_substeps)
# alr_mujoco_env.AlrMujocoEnv.__init__(self,
# self.xml_path,
# apply_gravity_comp=apply_gravity_comp,
# n_substeps=n_substeps)
self.sim_time = 8 # seconds
self.sim_steps = int(self.sim_time / self.dt)
alr_envs/mujoco/beerpong/beerpong_simple.py
+10 -7
View File
@@ -1,11 +1,13 @@
from gym import utils
import os
import numpy as np
from alr_envs.mujoco import alr_mujoco_env
from gym.envs.mujoco import MujocoEnv
class ALRBeerpongEnv(alr_mujoco_env.AlrMujocoEnv, utils.EzPickle):
class ALRBeerpongEnv(MujocoEnv, utils.EzPickle):
def __init__(self, n_substeps=4, apply_gravity_comp=True, reward_function=None):
utils.EzPickle.__init__(**locals())
self._steps = 0
self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets",
@@ -26,11 +28,12 @@ class ALRBeerpongEnv(alr_mujoco_env.AlrMujocoEnv, utils.EzPickle):
self.context = None
utils.EzPickle.__init__(self)
alr_mujoco_env.AlrMujocoEnv.__init__(self,
self.xml_path,
apply_gravity_comp=apply_gravity_comp,
n_substeps=n_substeps)
MujocoEnv.__init__(self, model_path=self.xml_path, frame_skip=n_substeps)
# alr_mujoco_env.AlrMujocoEnv.__init__(self,
# self.xml_path,
# apply_gravity_comp=apply_gravity_comp,
# n_substeps=n_substeps)
self.sim_time = 8 # seconds
self.sim_steps = int(self.sim_time / self.dt)