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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/hole_reacher/hole_reacher.py
+31 -27
View File
@@ -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
View File
@@ -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