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updated incorrect angle normalization.

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Fabian
2021-03-22 15:25:22 +01:00
parent b7b5af03ba
commit 89439f7532
2 changed files with 10 additions and 8 deletions
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alr_envs/mujoco/alr_reacher.py
+3 -2
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@@ -8,7 +8,9 @@ from alr_envs.utils.utils import angle_normalize
class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self, steps_before_reward=200, n_links=5, balance=True):
def __init__(self, steps_before_reward=200, n_links=5, balance=True, file_name=None):
utils.EzPickle.__init__(**locals())
self._steps = 0
self.steps_before_reward = steps_before_reward
self.n_links = n_links
@@ -29,7 +31,6 @@ class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
else:
raise ValueError(f"Invalid number of links {n_links}, only 5 or 7 allowed.")
utils.EzPickle.__init__(steps_before_reward=steps_before_reward, n_links=n_links, balance=balance)
mujoco_env.MujocoEnv.__init__(self, os.path.join(os.path.dirname(__file__), "assets", file_name), 2)
def step(self, a):