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contextual bp working

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This commit is contained in:
Onur
2022-01-31 17:03:49 +01:00
parent be5b287ae1
commit bcebf1077c
2 changed files with 10 additions and 4 deletions
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alr_envs/alr/mujoco/beerpong/beerpong.py
+9 -3
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@@ -13,9 +13,15 @@ CUP_POS_MAX = np.array([0.32, -1.2])
class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
def __init__(self, frame_skip=1, apply_gravity_comp=True, noisy=False,
rndm_goal=False, cup_goal_pos=[-0.3, -1.2]):
self._steps = 0
rndm_goal=False, cup_goal_pos=None):
if cup_goal_pos is None:
cup_goal_pos = [-0.3, -1.2, 0.840]
elif len(cup_goal_pos)==2:
cup_goal_pos = np.array(cup_goal_pos)
cup_goal_pos = np.insert(cup_goal_pos, 2, 0.80)
self.cup_goal_pos = np.array(cup_goal_pos)
self._steps = 0
self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets",
"beerpong_wo_cup" + ".xml")
@@ -43,7 +49,7 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
else:
self.noise_std = 0
self.cup_goal_pos = np.array(cup_goal_pos.append(0.840))
reward_function = BeerPongReward
self.reward_function = reward_function()