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This commit is contained in:
Maximilian Huettenrauch
2021-04-21 10:45:34 +02:00
parent f3d75b9a60
commit e482fc09f0
20 changed files with 629 additions and 261 deletions
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alr_envs/mujoco/balancing.py
+2 -2
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@@ -4,7 +4,7 @@ import numpy as np
from gym import utils
from gym.envs.mujoco import mujoco_env
from alr_envs.utils.utils import angle_normalize
import alr_envs.utils.utils as alr_utils
class BalancingEnv(mujoco_env.MujocoEnv, utils.EzPickle):
@@ -23,7 +23,7 @@ class BalancingEnv(mujoco_env.MujocoEnv, utils.EzPickle):
mujoco_env.MujocoEnv.__init__(self, os.path.join(os.path.dirname(__file__), "assets", file_name), 2)
def step(self, a):
angle = angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad")
angle = alr_utils.angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad")
reward = - np.abs(angle)
self.do_simulation(a, self.frame_skip)
alr_envs/mujoco/ball_in_a_cup/__init__.py
+1
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@@ -0,0 +1 @@
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_simple import ALRBallInACupEnv
alr_envs/mujoco/reacher/alr_reacher.py
+2 -2
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@@ -4,7 +4,7 @@ import numpy as np
from gym import utils
from gym.envs.mujoco import mujoco_env
from alr_envs.utils.utils import angle_normalize
import alr_envs.utils.utils as alr_utils
class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
@@ -47,7 +47,7 @@ class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
if self.balance:
reward_balance -= self.balance_weight * np.abs(
angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
alr_utils.angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
reward = reward_dist + reward_ctrl + angular_vel + reward_balance
self.do_simulation(a, self.frame_skip)