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Pass noise as parameter

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This commit is contained in:
Mustafa Enes Batur 2023-12-06 19:47:00 +01:00
parent fde5e33be6
commit 86abbe0d97
3 changed files with 6 additions and 7 deletions
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5
fancy_gym/envs/mujoco/air_hockey/seven_dof/airhockit_base_env.py
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@ -5,20 +5,19 @@ from fancy_gym.envs.mujoco.air_hockey.seven_dof.env_single import AirHockeySingl
from fancy_gym.envs.mujoco.air_hockey.utils import inverse_kinematics, forward_kinematics, jacobian
class AirhocKIT2023BaseEnv(AirHockeySingle):
def __init__(self, **kwargs):
def __init__(self, noise=False, **kwargs):
super().__init__(**kwargs)
obs_low = np.hstack([[-np.inf] * 37])
obs_high = np.hstack([[np.inf] * 37])
self.wrapper_obs_space = spaces.Box(low=obs_low, high=obs_high, dtype=np.float64)
self.wrapper_act_space = spaces.Box(low=np.repeat(-100., 6), high=np.repeat(100., 6))
self.noise = False
self.noise = noise
# We don't need puck yaw observations
def filter_obs(self, obs):
obs = np.hstack([obs[0:2], obs[3:5], obs[6:12], obs[13:19], obs[20:]])
return obs
# These are roughly the noise levels for a noisy environment, turned-off by default, enable in the constructor
def add_noise(self, obs):
if not self.noise:
return

4
fancy_gym/envs/mujoco/air_hockey/seven_dof/defend.py
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@ -46,8 +46,8 @@ class AirHockeyDefend(AirHockeySingle):
return super().is_absorbing(state)
class AirHockeyDefendAirhocKIT2023(AirhocKIT2023BaseEnv):
def __init__(self, gamma=0.99, horizon=200, viewer_params={}):
super().__init__(gamma=gamma, horizon=horizon, viewer_params=viewer_params)
def __init__(self, gamma=0.99, horizon=200, viewer_params={}, **kwargs):
super().__init__(gamma=gamma, horizon=horizon, viewer_params=viewer_params, **kwargs)
self.init_velocity_range = (1, 3)
self.start_range = np.array([[0.4, 0.75], [-0.4, 0.4]]) # Table Frame
self._setup_metrics()

4
fancy_gym/envs/mujoco/air_hockey/seven_dof/hit.py
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@ -57,8 +57,8 @@ class AirHockeyHit(AirHockeySingle):
return super(AirHockeyHit, self).is_absorbing(obs)
class AirHockeyHitAirhocKIT2023(AirhocKIT2023BaseEnv):
def __init__(self, gamma=0.99, horizon=500, moving_init=True, viewer_params={}):
super().__init__(gamma=gamma, horizon=horizon, viewer_params=viewer_params)
def __init__(self, gamma=0.99, horizon=500, moving_init=True, viewer_params={}, **kwargs):
super().__init__(gamma=gamma, horizon=horizon, viewer_params=viewer_params, **kwargs)
self.moving_init = moving_init
hit_width = self.env_info['table']['width'] / 2 - self.env_info['puck']['radius'] - \