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Ensure mp_config defined for all envs, even if just using defaults.

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This commit is contained in:
Dominik Moritz Roth 2023-09-17 17:29:26 +02:00
parent 7f95923cf4
commit 0629d1260c
5 changed files with 23 additions and 0 deletions
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2
fancy_gym/dmc/suite/reacher/mp_wrapper.py
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@ -10,6 +10,7 @@ class MPWrapper(RawInterfaceWrapper):
'ProMP': { 'ProMP': {
'controller_kwargs': { 'controller_kwargs': {
'p_gains': 50.0, 'p_gains': 50.0,
'd_gains': 1.0,
}, },
'trajectory_generator_kwargs': { 'trajectory_generator_kwargs': {
'weights_scale': 0.2, 'weights_scale': 0.2,
@ -18,6 +19,7 @@ class MPWrapper(RawInterfaceWrapper):
'DMP': { 'DMP': {
'controller_kwargs': { 'controller_kwargs': {
'p_gains': 50.0, 'p_gains': 50.0,
'd_gains': 1.0,
}, },
'phase_generator': { 'phase_generator': {
'alpha_phase': 2, 'alpha_phase': 2,

6
fancy_gym/envs/mujoco/half_cheetah_jump/mp_wrapper.py
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@ -6,6 +6,12 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper): class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {},
'DMP': {},
'ProDMP': {},
}
@property @property
def context_mask(self) -> np.ndarray: def context_mask(self) -> np.ndarray:
return np.hstack([ return np.hstack([

5
fancy_gym/envs/mujoco/hopper_jump/mp_wrapper.py
View File

@ -6,6 +6,11 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper): class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {},
'DMP': {},
'ProDMP': {},
}
# Random x goal + random init pos # Random x goal + random init pos
@property @property

5
fancy_gym/envs/mujoco/hopper_throw/mp_wrapper.py
View File

@ -6,6 +6,11 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper): class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {},
'DMP': {},
'ProDMP': {},
}
@property @property
def context_mask(self): def context_mask(self):

5
fancy_gym/envs/mujoco/walker_2d_jump/mp_wrapper.py
View File

@ -6,6 +6,11 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper): class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {},
'DMP': {},
'ProDMP': {},
}
@property @property
def context_mask(self): def context_mask(self):