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Improve handling of missing Metaworld

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This commit is contained in:
Dominik Moritz Roth 2023-10-12 15:34:36 +02:00
parent a5b10e11a3
commit 0c93280796
2 changed files with 56 additions and 52 deletions
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102
fancy_gym/meta/__init__.py
View File

@ -7,56 +7,64 @@ from ..envs.registry import register
from . import goal_object_change_mp_wrapper, goal_change_mp_wrapper, goal_endeffector_change_mp_wrapper, \
object_change_mp_wrapper
from . import metaworld_adapter
try:
import metaworld
except ModuleNotFoundError:
print('[FANCY GYM] Metaworld not avaible.')
else:
# Will only get executed, if import succeeds
metaworld_adapter.register_all_ML1()
from . import metaworld_adapter
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
metaworld_adapter.register_all_ML1()
# MetaWorld
_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:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
_object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
for _task in _object_change_envs:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=object_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
# MetaWorld
_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:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
_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",
"door-lock-v2", "door-open-v2", "door-unlock-v2", "hand-insert-v2",
"drawer-close-v2", "drawer-open-v2", "faucet-open-v2", "faucet-close-v2",
"handle-press-side-v2", "handle-press-v2", "handle-pull-side-v2",
"handle-pull-v2", "lever-pull-v2", "peg-insert-side-v2", "pick-place-wall-v2",
"reach-v2", "push-back-v2", "push-v2", "pick-place-v2", "peg-unplug-side-v2",
"soccer-v2", "stick-push-v2", "stick-pull-v2", "push-wall-v2", "reach-wall-v2",
"shelf-place-v2", "sweep-v2", "window-open-v2", "window-close-v2"
]
for _task in _goal_and_object_change_envs:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_object_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
_object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
for _task in _object_change_envs:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=object_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
_goal_and_endeffector_change_envs = ["basketball-v2"]
for _task in _goal_and_endeffector_change_envs:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_endeffector_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
_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",
"door-lock-v2", "door-open-v2", "door-unlock-v2", "hand-insert-v2",
"drawer-close-v2", "drawer-open-v2", "faucet-open-v2", "faucet-close-v2",
"handle-press-side-v2", "handle-press-v2", "handle-pull-side-v2",
"handle-pull-v2", "lever-pull-v2", "peg-insert-side-v2", "pick-place-wall-v2",
"reach-v2", "push-back-v2", "push-v2", "pick-place-v2", "peg-unplug-side-v2",
"soccer-v2", "stick-push-v2", "stick-pull-v2", "push-wall-v2", "reach-wall-v2",
"shelf-place-v2", "sweep-v2", "window-open-v2", "window-close-v2"
]
for _task in _goal_and_object_change_envs:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_object_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
_goal_and_endeffector_change_envs = ["basketball-v2"]
for _task in _goal_and_endeffector_change_envs:
register(
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_endeffector_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
`

6
fancy_gym/meta/metaworld_adapter.py
View File

@ -11,11 +11,7 @@ import numpy as np
from fancy_gym.utils.env_compatibility import EnvCompatibility
try:
import metaworld
except Exception:
print('[FANCY GYM] Metaworld not avaible')
import metaworld
class FixMetaworldHasIncorrectObsSpaceWrapper(gym.Wrapper, gym.utils.RecordConstructorArgs):
def __init__(self, env: gym.Env):