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removed dependency on mujoco-py

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philipp
2022-07-13 13:28:39 +02:00
parent 2fbf42167f
commit b04e7c1dcd
17 changed files with 134 additions and 80 deletions
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alr_envs/envs/mujoco/walker_2d_jump/mp_wrapper.py
+2 -2
View File
@@ -16,8 +16,8 @@ class MPWrapper(RawInterfaceWrapper):
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
return self.env.data.qpos[3:9].copy()
return self.data.qpos[3:9].copy()
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.env.data.qvel[3:9].copy()
return self.data.qvel[3:9].copy()
alr_envs/envs/mujoco/walker_2d_jump/walker_2d_jump.py
+10 -4
View File
@@ -1,7 +1,7 @@
import os
from typing import Optional
from gym.envs.mujoco.walker2d_v3 import Walker2dEnv
from gym.envs.mujoco.walker2d_v4 import Walker2dEnv
import numpy as np
MAX_EPISODE_STEPS_WALKERJUMP = 300
@@ -36,9 +36,15 @@ class Walker2dJumpEnv(Walker2dEnv):
self._penalty = penalty
self.goal = 0
xml_file = os.path.join(os.path.dirname(__file__), "assets", xml_file)
super().__init__(xml_file, forward_reward_weight, ctrl_cost_weight, healthy_reward, terminate_when_unhealthy,
healthy_z_range, healthy_angle_range, reset_noise_scale,
exclude_current_positions_from_observation)
super().__init__(xml_file=xml_file,
forward_reward_weight=forward_reward_weight,
ctrl_cost_weight=ctrl_cost_weight,
healthy_reward=healthy_reward,
terminate_when_unhealthy=terminate_when_unhealthy,
healthy_z_range=healthy_z_range,
healthy_angle_range=healthy_angle_range,
reset_noise_scale=reset_noise_scale,
exclude_current_positions_from_observation=exclude_current_positions_from_observation)
def step(self, action):
self.current_step += 1