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Add noise

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This commit is contained in:
Mustafa Enes Batur 2023-12-03 22:37:08 +01:00
parent 6afb5880db
commit fde5e33be6
1 changed files with 10 additions and 0 deletions
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fancy_gym/envs/mujoco/air_hockey/seven_dof/airhockit_base_env.py
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@ -11,15 +11,24 @@ class AirhocKIT2023BaseEnv(AirHockeySingle):
obs_high = np.hstack([[np.inf] * 37]) obs_high = np.hstack([[np.inf] * 37])
self.wrapper_obs_space = spaces.Box(low=obs_low, high=obs_high, dtype=np.float64) self.wrapper_obs_space = spaces.Box(low=obs_low, high=obs_high, dtype=np.float64)
self.wrapper_act_space = spaces.Box(low=np.repeat(-100., 6), high=np.repeat(100., 6)) self.wrapper_act_space = spaces.Box(low=np.repeat(-100., 6), high=np.repeat(100., 6))
self.noise = False
# We don't need puck yaw observations # We don't need puck yaw observations
def filter_obs(self, obs): def filter_obs(self, obs):
obs = np.hstack([obs[0:2], obs[3:5], obs[6:12], obs[13:19], obs[20:]]) obs = np.hstack([obs[0:2], obs[3:5], obs[6:12], obs[13:19], obs[20:]])
return obs return obs
# These are roughly the noise levels for a noisy environment, turned-off by default, enable in the constructor
def add_noise(self, obs):
if not self.noise:
return
obs[self.env_info["puck_pos_ids"]] += np.random.normal(0, 0.001, 3)
obs[self.env_info["puck_vel_ids"]] += np.random.normal(0, 0.1, 3)
def reset(self): def reset(self):
self.last_acceleration = np.repeat(0., 6) self.last_acceleration = np.repeat(0., 6)
obs = super().reset() obs = super().reset()
self.add_noise(obs)
self.interp_pos = obs[self.env_info["joint_pos_ids"]][:-1] self.interp_pos = obs[self.env_info["joint_pos_ids"]][:-1]
self.interp_vel = obs[self.env_info["joint_vel_ids"]][:-1] self.interp_vel = obs[self.env_info["joint_vel_ids"]][:-1]
@ -43,6 +52,7 @@ class AirhocKIT2023BaseEnv(AirHockeySingle):
self.last_acceleration += jerk * 0.02 self.last_acceleration += jerk * 0.02
obs, rew, done, info = super().step(abs_action) obs, rew, done, info = super().step(abs_action)
self.add_noise(obs)
self.last_planned_world_pos = self._fk(self.interp_pos) self.last_planned_world_pos = self._fk(self.interp_pos)
obs = np.hstack([ obs = np.hstack([
obs, self.interp_pos, self.interp_vel, self.last_acceleration, self.last_planned_world_pos obs, self.interp_pos, self.interp_vel, self.last_acceleration, self.last_planned_world_pos