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Added more tests

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This commit is contained in:
Fabian 2022-10-14 14:02:12 +02:00
parent 915ffbe928
commit 00f622e913
6 changed files with 89 additions and 7 deletions
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7
fancy_gym/black_box/factory/basis_generator_factory.py
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@ -1,4 +1,5 @@
from mp_pytorch.basis_gn import NormalizedRBFBasisGenerator, ZeroPaddingNormalizedRBFBasisGenerator
from mp_pytorch.basis_gn import NormalizedRBFBasisGenerator, ZeroPaddingNormalizedRBFBasisGenerator, \
ProDMPBasisGenerator
from mp_pytorch.phase_gn import PhaseGenerator
ALL_TYPES = ["rbf", "zero_rbf", "rhythmic"]
@ -10,6 +11,10 @@ def get_basis_generator(basis_generator_type: str, phase_generator: PhaseGenerat
return NormalizedRBFBasisGenerator(phase_generator, **kwargs)
elif basis_generator_type == "zero_rbf":
return ZeroPaddingNormalizedRBFBasisGenerator(phase_generator, **kwargs)
elif basis_generator_type == "prodmp":
from mp_pytorch.phase_gn import ExpDecayPhaseGenerator
assert isinstance(phase_generator, ExpDecayPhaseGenerator)
return ProDMPBasisGenerator(phase_generator, **kwargs)
elif basis_generator_type == "rhythmic":
raise NotImplementedError()
# return RhythmicBasisGenerator(phase_generator, **kwargs)

2
fancy_gym/dmc/__init__.py
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@ -2,7 +2,7 @@ from copy import deepcopy
from . import manipulation, suite
ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
from gym.envs.registration import register

3
fancy_gym/envs/__init__.py
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@ -17,7 +17,7 @@ from .mujoco.hopper_throw.hopper_throw_in_basket import MAX_EPISODE_STEPS_HOPPER
from .mujoco.reacher.reacher import ReacherEnv, MAX_EPISODE_STEPS_REACHER
from .mujoco.walker_2d_jump.walker_2d_jump import MAX_EPISODE_STEPS_WALKERJUMP
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
DEFAULT_BB_DICT_ProMP = {
"name": 'EnvName',
@ -205,7 +205,6 @@ register(
max_episode_steps=FIXED_RELEASE_STEP,
)
# movement Primitive Environments
## Simple Reacher

2
fancy_gym/meta/README.MD
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@ -1,6 +1,6 @@
# MetaWorld Wrappers
These are the Environment Wrappers for selected [Metaworld](https://meta-world.github.io/) environments in order to use our Motion Primitive gym interface with them.
These are the Environment Wrappers for selected [Metaworld](https://meta-world.github.io/) environments in order to use our Movement Primitive gym interface with them.
All Metaworld environments have a 39 dimensional observation space with the same structure. The tasks differ only in the objective and the initial observations that are randomized.
Unused observations are zeroed out. E.g. for `Button-Press-v2` the observation mask looks the following:
```python

80
fancy_gym/meta/__init__.py
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@ -5,7 +5,7 @@ from gym import register
from . import goal_object_change_mp_wrapper, goal_change_mp_wrapper, goal_endeffector_change_mp_wrapper, \
object_change_mp_wrapper
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
# MetaWorld
@ -28,11 +28,31 @@ DEFAULT_BB_DICT_ProMP = {
}
}
DEFAULT_BB_DICT_ProDMP = {
"name": 'EnvName',
"wrappers": [],
"trajectory_generator_kwargs": {
'trajectory_generator_type': 'prodmp'
},
"phase_generator_kwargs": {
'phase_generator_type': 'exp'
},
"controller_kwargs": {
'controller_type': 'metaworld',
},
"basis_generator_kwargs": {
'basis_generator_type': 'prodmp',
'num_basis': 5
}
}
_goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",
"plate-slide-side-v2", "plate-slide-back-side-v2"]
for _task in _goal_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_goal_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_goal_change_promp['wrappers'].append(goal_change_mp_wrapper.MPWrapper)
@ -45,10 +65,25 @@ for _task in _goal_change_envs:
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_goal_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_goal_change_prodmp['wrappers'].append(goal_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
_object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
for _task in _object_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_object_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_object_change_promp['wrappers'].append(object_change_mp_wrapper.MPWrapper)
@ -60,6 +95,18 @@ for _task in _object_change_envs:
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_object_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_object_change_prodmp['wrappers'].append(object_change_mp_wrapper.MPWrapper)
kwargs_dict_object_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_object_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
_goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press-wall-v2", "button-press-topdown-v2",
"button-press-topdown-wall-v2", "coffee-button-v2", "coffee-pull-v2",
"coffee-push-v2", "dial-turn-v2", "disassemble-v2", "door-close-v2",
@ -74,6 +121,8 @@ _goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press
for _task in _goal_and_object_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_goal_and_object_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_goal_and_object_change_promp['wrappers'].append(goal_object_change_mp_wrapper.MPWrapper)
@ -86,10 +135,26 @@ for _task in _goal_and_object_change_envs:
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_goal_and_object_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_goal_and_object_change_prodmp['wrappers'].append(goal_object_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_and_object_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_and_object_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
_goal_and_endeffector_change_envs = ["basketball-v2"]
for _task in _goal_and_endeffector_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_goal_and_endeffector_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_goal_and_endeffector_change_promp['wrappers'].append(goal_endeffector_change_mp_wrapper.MPWrapper)
@ -101,3 +166,16 @@ for _task in _goal_and_endeffector_change_envs:
kwargs=kwargs_dict_goal_and_endeffector_change_promp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_goal_and_endeffector_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_goal_and_endeffector_change_prodmp['wrappers'].append(goal_endeffector_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_and_endeffector_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_and_endeffector_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)

2
fancy_gym/open_ai/__init__.py
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@ -5,7 +5,7 @@ from gym import register
from . import mujoco
from .deprecated_needs_gym_robotics import robotics
ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
DEFAULT_BB_DICT_ProMP = {
"name": 'EnvName',