47 lines
1.3 KiB
Python
47 lines
1.3 KiB
Python
from alr_envs.classic_control.simple_reacher import SimpleReacherEnv
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from gym import spaces
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import numpy as np
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class EpisodicSimpleReacherEnv(SimpleReacherEnv):
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def __init__(self, n_links, random_start=True):
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super(EpisodicSimpleReacherEnv, self).__init__(n_links, random_start)
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# self._goal_pos = None
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if random_start:
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state_bound = np.hstack([
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[np.pi] * self.n_links, # cos
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[np.pi] * self.n_links, # sin
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[np.inf] * self.n_links, # velocity
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])
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else:
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state_bound = np.empty(0, )
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state_bound = np.hstack([
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state_bound,
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[np.inf] * 2, # x-y coordinates of goal
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])
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self.observation_space = spaces.Box(low=-state_bound, high=state_bound, shape=state_bound.shape)
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@property
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def start_pos(self):
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return self._start_pos
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# @property
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# def goal_pos(self):
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# return self._goal_pos
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def _get_obs(self):
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if self.random_start:
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theta = self._joint_angle
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return np.hstack([
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np.cos(theta),
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np.sin(theta),
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self._angle_velocity,
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self._goal,
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])
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else:
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return self._goal
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