updated via point reacher example to new structure

alr_envs/classic_control/viapoint_reacher.py

@@ -7,9 +7,10 @@ from gym.utils import seeding
 
 from alr_envs.classic_control.utils import check_self_collision
 from mp_env_api.envs.mp_env import MpEnv
+from mp_env_api.envs.mp_env_wrapper import MPEnvWrapper
 
 
-class ViaPointReacher(MpEnv):
+class ViaPointReacher(gym.Env):
 
     def __init__(self, n_links, random_start: bool = True, via_target: Union[None, Iterable] = None,
                  target: Union[None, Iterable] = None, allow_self_collision=False, collision_penalty=1000):
@@ -20,8 +21,8 @@ class ViaPointReacher(MpEnv):
         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.target = target  # provided target value
+        self.via_target = via_target  # provided via point target value
 
         # temp container for current env state
         self._via_point = np.ones(2)
@@ -39,7 +40,7 @@ class ViaPointReacher(MpEnv):
         self._start_vel = np.zeros(self.n_links)
         self.weight_matrix_scale = 1
 
-        self.dt = 0.01
+        self._dt = 0.01
 
         action_bound = np.pi * np.ones((self.n_links,))
         state_bound = np.hstack([
@@ -60,6 +61,10 @@ class ViaPointReacher(MpEnv):
         self._steps = 0
         self.seed()
 
+    @property
+    def dt(self):
+        return self._dt
+
     def step(self, action: np.ndarray):
         """
         a single step with an action in joint velocity space
@@ -104,22 +109,22 @@ class ViaPointReacher(MpEnv):
         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.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.via_target)
 
         # rejection sampled point in outer circle
-        if self._target is None:
+        if self.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.target)
 
-        self._via_target = via_target
+        self.via_target = via_target
         self._goal = goal
 
     def _update_joints(self):
@@ -266,25 +271,6 @@ class ViaPointReacher(MpEnv):
 
                 plt.pause(0.01)
 
-    @property
-    def active_obs(self):
-        return np.hstack([
-            [self.random_start] * self.n_links,  # cos
-            [self.random_start] * self.n_links,  # sin
-            [self.random_start] * self.n_links,  # velocity
-            [self._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
-
-    @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.")
-
     def seed(self, seed=None):
         self.np_random, seed = seeding.np_random(seed)
         return [seed]
@@ -298,24 +284,25 @@ class ViaPointReacher(MpEnv):
             plt.close(self.fig)
 
 
-if __name__ == '__main__':
-    nl = 5
-    render_mode = "human"  # "human" or "partial" or "final"
-    env = ViaPointReacher(n_links=nl, allow_self_collision=False)
-    env.reset()
-    env.render(mode=render_mode)
+class ViaPointReacherMPWrapper(MPEnvWrapper):
+    @property
+    def active_obs(self):
+        return np.hstack([
+            [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
+            [True] * 2,  # x-y coordinates of target distance
+            [False]  # env steps
+        ])
 
-    for i in range(300):
-        # objective.load_result("/tmp/cma")
-        # test with random actions
-        ac = env.action_space.sample()
-        # ac[0] += np.pi/2
-        obs, rew, d, info = env.step(ac)
-        env.render(mode=render_mode)
+    @property
+    def start_pos(self) -> Union[float, int, np.ndarray]:
+        return self._start_pos
 
-        print(rew)
+    @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.")
 
-        if d:
-            break
-
-    env.close()
+    def dt(self) -> Union[float, int]:
+        return self.env.dt