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safety

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Onur 2022-05-29 11:59:02 +02:00
parent f1a96c055b
commit 863ef77e5e
1 changed files with 13 additions and 4 deletions
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17
alr_envs/alr/mujoco/beerpong/beerpong.py
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@ -106,6 +106,10 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
return self._get_obs()
def step(self, a):
# if a.shape[0] == 8: # we learn also when to release the ball
# self._release_step = a[-1]
# self._release_step = np.clip(self._release_step, 50, 250)
# self.release_step = 0.5/self.dt
reward_dist = 0.0
angular_vel = 0.0
applied_action = a
@ -172,11 +176,16 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
[self._steps],
])
# TODO
@property
def active_obs(self):
return np.hstack([
[False] * 7, # cos
[False] * 7, # sin
[True] * 2, # xy position of cup
[False] # env steps
])
class ALRBeerPongStepEnv(ALRBeerBongEnv):
def __init__(self, frame_skip=1, apply_gravity_comp=True, noisy=False,
rndm_goal=False, cup_goal_pos=None):
super(ALRBeerPongStepEnv, self).__init__(frame_skip, apply_gravity_comp, noisy, rndm_goal, cup_goal_pos)
if __name__ == "__main__":
env = ALRBeerBongEnv(rndm_goal=True)