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updated envs and registering

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This commit is contained in:
ottofabian
2021-06-25 16:17:22 +02:00
parent 0a1e55d97b
commit c8742e2934
9 changed files with 248 additions and 179 deletions
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alr_envs/classic_control/__init__.py
+1 -1
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@@ -1,3 +1,3 @@
from alr_envs.classic_control.hole_reacher.hole_reacher import HoleReacherEnv
from alr_envs.classic_control.viapoint_reacher.viapoint_reacher import ViaPointReacher
from alr_envs.classic_control.simple_reacher.simple_reacher import SimpleReacherEnv
from alr_envs.classic_control.hole_reacher.hole_reacher import HoleReacherEnv
alr_envs/classic_control/hole_reacher/hole_reacher.py
+31 -27
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@@ -21,14 +21,14 @@ class HoleReacherEnv(gym.Env):
self.random_start = random_start
# provided initial parameters
self.hole_x = hole_x # x-position of center of hole
self.hole_width = hole_width # width of hole
self.hole_depth = hole_depth # depth of hole
self.initial_x = hole_x # x-position of center of hole
self.initial_width = hole_width # width of hole
self.initial_depth = hole_depth # depth of hole
# temp container for current env state
self._tmp_hole_x = None
self._tmp_hole_width = None
self._tmp_hole_depth = None
self._tmp_x = None
self._tmp_width = None
self._tmp_depth = None
self._goal = None # x-y coordinates for reaching the center at the bottom of the hole
# collision
@@ -69,6 +69,10 @@ class HoleReacherEnv(gym.Env):
def dt(self) -> Union[float, int]:
return self._dt
@property
def start_pos(self):
return self._start_pos
def step(self, action: np.ndarray):
"""
A single step with an action in joint velocity space
@@ -110,13 +114,13 @@ class HoleReacherEnv(gym.Env):
return self._get_obs().copy()
def _generate_hole(self):
self._tmp_hole_x = self.np_random.uniform(1, 3.5, 1) if self.hole_x is None else np.copy(self.hole_x)
self._tmp_hole_width = self.np_random.uniform(0.15, 0.5, 1) if self.hole_width is None else np.copy(
self.hole_width)
self._tmp_x = self.np_random.uniform(1, 3.5, 1) if self.initial_x is None else np.copy(self.initial_x)
self._tmp_width = self.np_random.uniform(0.15, 0.5, 1) if self.initial_width is None else np.copy(
self.initial_width)
# TODO we do not want this right now.
self._tmp_hole_depth = self.np_random.uniform(1, 1, 1) if self.hole_depth is None else np.copy(
self.hole_depth)
self._goal = np.hstack([self._tmp_hole_x, -self._tmp_hole_depth])
self._tmp_depth = self.np_random.uniform(1, 1, 1) if self.initial_depth is None else np.copy(
self.initial_depth)
self._goal = np.hstack([self._tmp_x, -self._tmp_depth])
def _update_joints(self):
"""
@@ -164,7 +168,7 @@ class HoleReacherEnv(gym.Env):
np.cos(theta),
np.sin(theta),
self._angle_velocity,
self._tmp_hole_width,
self._tmp_width,
# self._tmp_hole_depth,
self.end_effector - self._goal,
self._steps
@@ -192,7 +196,7 @@ class HoleReacherEnv(gym.Env):
def _check_wall_collision(self, line_points):
# all points that are before the hole in x
r, c = np.where(line_points[:, :, 0] < (self._tmp_hole_x - self._tmp_hole_width / 2))
r, c = np.where(line_points[:, :, 0] < (self._tmp_x - self._tmp_width / 2))
# check if any of those points are below surface
nr_line_points_below_surface_before_hole = np.sum(line_points[r, c, 1] < 0)
@@ -201,7 +205,7 @@ class HoleReacherEnv(gym.Env):
return True
# all points that are after the hole in x
r, c = np.where(line_points[:, :, 0] > (self._tmp_hole_x + self._tmp_hole_width / 2))
r, c = np.where(line_points[:, :, 0] > (self._tmp_x + self._tmp_width / 2))
# check if any of those points are below surface
nr_line_points_below_surface_after_hole = np.sum(line_points[r, c, 1] < 0)
@@ -210,11 +214,11 @@ class HoleReacherEnv(gym.Env):
return True
# all points that are above the hole
r, c = np.where((line_points[:, :, 0] > (self._tmp_hole_x - self._tmp_hole_width / 2)) & (
line_points[:, :, 0] < (self._tmp_hole_x + self._tmp_hole_width / 2)))
r, c = np.where((line_points[:, :, 0] > (self._tmp_x - self._tmp_width / 2)) & (
line_points[:, :, 0] < (self._tmp_x + self._tmp_width / 2)))
# check if any of those points are below surface
nr_line_points_below_surface_in_hole = np.sum(line_points[r, c, 1] < -self._tmp_hole_depth)
nr_line_points_below_surface_in_hole = np.sum(line_points[r, c, 1] < -self._tmp_depth)
if nr_line_points_below_surface_in_hole > 0:
return True
@@ -257,17 +261,17 @@ class HoleReacherEnv(gym.Env):
def _set_patches(self):
if self.fig is not None:
self.fig.gca().patches = []
left_block = patches.Rectangle((-self.n_links, -self._tmp_hole_depth),
self.n_links + self._tmp_hole_x - self._tmp_hole_width / 2,
self._tmp_hole_depth,
left_block = patches.Rectangle((-self.n_links, -self._tmp_depth),
self.n_links + self._tmp_x - self._tmp_width / 2,
self._tmp_depth,
fill=True, edgecolor='k', facecolor='k')
right_block = patches.Rectangle((self._tmp_hole_x + self._tmp_hole_width / 2, -self._tmp_hole_depth),
self.n_links - self._tmp_hole_x + self._tmp_hole_width / 2,
self._tmp_hole_depth,
right_block = patches.Rectangle((self._tmp_x + self._tmp_width / 2, -self._tmp_depth),
self.n_links - self._tmp_x + self._tmp_width / 2,
self._tmp_depth,
fill=True, edgecolor='k', facecolor='k')
hole_floor = patches.Rectangle((self._tmp_hole_x - self._tmp_hole_width / 2, -self._tmp_hole_depth),
self._tmp_hole_width,
1 - self._tmp_hole_depth,
hole_floor = patches.Rectangle((self._tmp_x - self._tmp_width / 2, -self._tmp_depth),
self._tmp_width,
1 - self._tmp_depth,
fill=True, edgecolor='k', facecolor='k')
# Add the patch to the Axes
alr_envs/classic_control/hole_reacher/hole_reacher_mp_wrapper.py
+3 -3
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@@ -12,7 +12,7 @@ class HoleReacherMPWrapper(MPEnvWrapper):
[self.env.random_start] * self.env.n_links, # cos
[self.env.random_start] * self.env.n_links, # sin
[self.env.random_start] * self.env.n_links, # velocity
[self.env.hole_width is None], # hole width
[self.env.initial_width is None], # hole width
# [self.env.hole_depth is None], # hole depth
[True] * 2, # x-y coordinates of target distance
[False] # env steps
@@ -20,7 +20,7 @@ class HoleReacherMPWrapper(MPEnvWrapper):
@property
def start_pos(self) -> Union[float, int, np.ndarray]:
return self._start_pos
return self.env.start_pos
@property
def goal_pos(self) -> Union[float, int, np.ndarray]:
@@ -28,4 +28,4 @@ class HoleReacherMPWrapper(MPEnvWrapper):
@property
def dt(self) -> Union[float, int]:
return self.env.dt
return self.env.dt
alr_envs/classic_control/simple_reacher/simple_reacher.py
+12 -5
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@@ -22,15 +22,18 @@ class SimpleReacherEnv(gym.Env):
self.random_start = random_start
# provided initial parameters
self.inital_target = target
# temp container for current env state
self._goal = None
self._joints = None
self._joint_angles = None
self._angle_velocity = None
self._start_pos = np.zeros(self.n_links)
self._start_vel = np.zeros(self.n_links)
self._target = target # provided target value
self._goal = None # updated goal value, does not change when target != None
self.max_torque = 1
self.steps_before_reward = 199
@@ -56,6 +59,10 @@ class SimpleReacherEnv(gym.Env):
def dt(self) -> Union[float, int]:
return self._dt
@property
def start_pos(self):
return self._start_pos
def step(self, action: np.ndarray):
"""
A single step with action in torque space
@@ -129,14 +136,14 @@ class SimpleReacherEnv(gym.Env):
def _generate_goal(self):
if self._target is None:
if self.inital_target is None:
total_length = np.sum(self.link_lengths)
goal = np.array([total_length, total_length])
while np.linalg.norm(goal) >= total_length:
goal = self.np_random.uniform(low=-total_length, high=total_length, size=2)
else:
goal = np.copy(self._target)
goal = np.copy(self.inital_target)
self._goal = goal
alr_envs/classic_control/simple_reacher/simple_reacher_mp_wrapper.py
+1 -1
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@@ -18,7 +18,7 @@ class SimpleReacherMPWrapper(MPEnvWrapper):
@property
def start_pos(self):
return self._start_pos
return self.env.start_pos
@property
def goal_pos(self):
alr_envs/classic_control/viapoint_reacher/viapoint_reacher.py
+12 -8
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@@ -10,7 +10,7 @@ from alr_envs.classic_control.utils import check_self_collision
class ViaPointReacher(gym.Env):
def __init__(self, n_links, random_start: bool = True, via_target: Union[None, Iterable] = None,
def __init__(self, n_links, random_start: bool = False, via_target: Union[None, Iterable] = None,
target: Union[None, Iterable] = None, allow_self_collision=False, collision_penalty=1000):
self.n_links = n_links
@@ -19,8 +19,8 @@ class ViaPointReacher(gym.Env):
self.random_start = random_start
# provided initial parameters
self.target = target # provided target value
self.via_target = via_target # provided via point target value
self.intitial_target = target # provided target value
self.initial_via_target = via_target # provided via point target value
# temp container for current env state
self._via_point = np.ones(2)
@@ -63,6 +63,10 @@ class ViaPointReacher(gym.Env):
def dt(self):
return self._dt
@property
def start_pos(self):
return self._start_pos
def step(self, action: np.ndarray):
"""
a single step with an action in joint velocity space
@@ -107,22 +111,22 @@ class ViaPointReacher(gym.Env):
total_length = np.sum(self.link_lengths)
# rejection sampled point in inner circle with 0.5*Radius
if self.via_target is None:
if self.initial_via_target is None:
via_target = np.array([total_length, total_length])
while np.linalg.norm(via_target) >= 0.5 * total_length:
via_target = self.np_random.uniform(low=-0.5 * total_length, high=0.5 * total_length, size=2)
else:
via_target = np.copy(self.via_target)
via_target = np.copy(self.initial_via_target)
# rejection sampled point in outer circle
if self.target is None:
if self.intitial_target is None:
goal = np.array([total_length, total_length])
while np.linalg.norm(goal) >= total_length or np.linalg.norm(goal) <= 0.5 * total_length:
goal = self.np_random.uniform(low=-total_length, high=total_length, size=2)
else:
goal = np.copy(self.target)
goal = np.copy(self.intitial_target)
self.via_target = via_target
self._via_point = via_target
self._goal = goal
def _update_joints(self):
alr_envs/classic_control/viapoint_reacher/viapoint_reacher_mp_wrapper.py
+3 -2
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@@ -12,18 +12,19 @@ class ViaPointReacherMPWrapper(MPEnvWrapper):
[self.env.random_start] * self.env.n_links, # cos
[self.env.random_start] * self.env.n_links, # sin
[self.env.random_start] * self.env.n_links, # velocity
[self.env.via_target is None] * 2, # x-y coordinates of via point distance
[self.env.initial_via_target is None] * 2, # x-y coordinates of via point distance
[True] * 2, # x-y coordinates of target distance
[False] # env steps
])
@property
def start_pos(self) -> Union[float, int, np.ndarray]:
return self._start_pos
return self.env.start_pos
@property
def goal_pos(self) -> Union[float, int, np.ndarray]:
raise ValueError("Goal position is not available and has to be learnt based on the environment.")
@property
def dt(self) -> Union[float, int]:
return self.env.dt