added ABC to reacher base envs

alr_envs/alr/classic_control/base_reacher/base_reacher.py

@@ -1,5 +1,5 @@
 from typing import Iterable, Union
-from abc import ABCMeta, abstractmethod
+from abc import ABC, abstractmethod
 import gym
 import matplotlib.pyplot as plt
 import numpy as np
@@ -8,7 +8,7 @@ from gym.utils import seeding
 from alr_envs.alr.classic_control.utils import intersect
 
 
-class BaseReacherEnv(gym.Env):
+class BaseReacherEnv(gym.Env, ABC):
     """
     Base class for all reaching environments.
     """

alr_envs/alr/classic_control/base_reacher/base_reacher_direct.py

@@ -1,9 +1,11 @@
+from abc import ABC
+
 from gym import spaces
 import numpy as np
 from alr_envs.alr.classic_control.base_reacher.base_reacher import BaseReacherEnv
 
 
-class BaseReacherDirectEnv(BaseReacherEnv):
+class BaseReacherDirectEnv(BaseReacherEnv, ABC):
     """
     Base class for directly controlled reaching environments
     """
@@ -11,7 +13,7 @@ class BaseReacherDirectEnv(BaseReacherEnv):
                  allow_self_collision: bool = False):
         super().__init__(n_links, random_start, allow_self_collision)
 
-        self.max_vel = 10 * np.pi
+        self.max_vel = 2 * np.pi
         action_bound = np.ones((self.n_links,)) * self.max_vel
         self.action_space = spaces.Box(low=-action_bound, high=action_bound, shape=action_bound.shape)
 

alr_envs/alr/classic_control/base_reacher/base_reacher_torque.py

@@ -1,9 +1,11 @@
+from abc import ABC
+
 from gym import spaces
 import numpy as np
 from alr_envs.alr.classic_control.base_reacher.base_reacher import BaseReacherEnv
 
 
-class BaseReacherTorqueEnv(BaseReacherEnv):
+class BaseReacherTorqueEnv(BaseReacherEnv, ABC):
     """
     Base class for torque controlled reaching environments
     """
@@ -20,10 +22,7 @@ class BaseReacherTorqueEnv(BaseReacherEnv):
         A single step with action in torque space
         """
 
-        # action = self._add_action_noise(action)
-        ac = np.clip(action, -self.max_torque, self.max_torque)
-
-        self._angle_velocity = self._angle_velocity + self.dt * ac
+        self._angle_velocity = self._angle_velocity + self.dt * action
         self._joint_angles = self._joint_angles + self.dt * self._angle_velocity
         self._update_joints()