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added ABC to reacher base envs

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This commit is contained in:
Maximilian Huettenrauch 2021-11-30 10:33:04 +01:00
parent df87885c81
commit dc6df7a7c0
3 changed files with 10 additions and 9 deletions
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4
alr_envs/alr/classic_control/base_reacher/base_reacher.py
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@ -1,5 +1,5 @@
from typing import Iterable, Union from typing import Iterable, Union
from abc import ABCMeta, abstractmethod from abc import ABC, abstractmethod
import gym import gym
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
import numpy as np import numpy as np
@ -8,7 +8,7 @@ from gym.utils import seeding
from alr_envs.alr.classic_control.utils import intersect from alr_envs.alr.classic_control.utils import intersect
class BaseReacherEnv(gym.Env): class BaseReacherEnv(gym.Env, ABC):
""" """
Base class for all reaching environments. Base class for all reaching environments.
""" """

6
alr_envs/alr/classic_control/base_reacher/base_reacher_direct.py
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@ -1,9 +1,11 @@
from abc import ABC
from gym import spaces from gym import spaces
import numpy as np import numpy as np
from alr_envs.alr.classic_control.base_reacher.base_reacher import BaseReacherEnv 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 Base class for directly controlled reaching environments
""" """
@ -11,7 +13,7 @@ class BaseReacherDirectEnv(BaseReacherEnv):
allow_self_collision: bool = False): allow_self_collision: bool = False):
super().__init__(n_links, random_start, allow_self_collision) 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 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) self.action_space = spaces.Box(low=-action_bound, high=action_bound, shape=action_bound.shape)

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