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bp frameskip sanity check

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This commit is contained in:
Onur
2022-05-29 13:32:45 +02:00
parent 3cc1cd1456
commit 9b4a0f89b6
3 changed files with 5 additions and 11 deletions
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alr_envs/alr/mujoco/beerpong/beerpong.py
+1 -6
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@@ -177,12 +177,7 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
@property
def dt(self):
return super(ALRBeerBongEnv, self).dt()*self.repeat_action
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)
return super(ALRBeerBongEnv, self).dt*self.repeat_action
if __name__ == "__main__":
env = ALRBeerBongEnv(rndm_goal=True)
alr_envs/alr/mujoco/beerpong/new_mp_wrapper.py
-1
View File
@@ -39,7 +39,6 @@ class NewMPWrapper(EpisodicWrapper):
def _episode_callback(self, action: np.ndarray) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
if self.mp.learn_tau:
self.env.env.release_step = action[0]/self.env.dt # Tau value
# self.env.env.release_step = np.clip(action[0]/self.env.dt, 20, 260) # Tau value
return action, None
else:
return action, None