106 lines
3.4 KiB
Python
106 lines
3.4 KiB
Python
from alr_envs.utils.detpmp_env_wrapper import DetPMPEnvWrapper
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from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
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from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_simple import ALRBallInACupEnv as ALRBallInACupEnvSimple
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def make_contextual_env(rank, seed=0):
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"""
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Utility function for multiprocessed env.
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:param env_id: (str) the environment ID
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:param num_env: (int) the number of environments you wish to have in subprocesses
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:param seed: (int) the initial seed for RNG
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:param rank: (int) index of the subprocess
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:returns a function that generates an environment
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"""
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def _init():
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env = ALRBallInACupEnv()
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env = DetPMPEnvWrapper(env,
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num_dof=7,
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num_basis=5,
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width=0.005,
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policy_type="motor",
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start_pos=env.start_pos,
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duration=3.5,
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post_traj_time=4.5,
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dt=env.dt,
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weights_scale=0.5,
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zero_start=True,
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zero_goal=True
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)
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env.seed(seed + rank)
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return env
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return _init
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def make_env(rank, seed=0):
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"""
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Utility function for multiprocessed env.
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:param env_id: (str) the environment ID
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:param num_env: (int) the number of environments you wish to have in subprocesses
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:param seed: (int) the initial seed for RNG
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:param rank: (int) index of the subprocess
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:returns a function that generates an environment
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"""
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def _init():
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env = ALRBallInACupEnvSimple()
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env = DetPMPEnvWrapper(env,
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num_dof=7,
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num_basis=5,
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width=0.005,
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policy_type="motor",
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start_pos=env.start_pos,
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duration=3.5,
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post_traj_time=4.5,
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dt=env.dt,
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weights_scale=0.2,
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zero_start=True,
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zero_goal=True
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)
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env.seed(seed + rank)
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return env
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return _init
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def make_simple_env(rank, seed=0):
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"""
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Utility function for multiprocessed env.
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:param env_id: (str) the environment ID
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:param num_env: (int) the number of environments you wish to have in subprocesses
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:param seed: (int) the initial seed for RNG
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:param rank: (int) index of the subprocess
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:returns a function that generates an environment
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"""
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def _init():
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env = ALRBallInACupEnvSimple()
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env = DetPMPEnvWrapper(env,
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num_dof=3,
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num_basis=5,
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width=0.01,
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policy_type="motor",
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start_pos=env.start_pos[1::2],
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duration=3.5,
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post_traj_time=4.5,
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dt=env.dt,
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weights_scale=0.2,
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zero_start=True,
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zero_goal=True
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)
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env.seed(seed + rank)
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return env
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return _init
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