naming convention and running tests
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@ -71,8 +71,8 @@ class BlackBoxWrapper(gym.ObservationWrapper):
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def observation(self, observation):
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# return context space if we are
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mask = self.env.context_mask
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if self.is_time_aware:
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mask = np.append(mask, False)
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# if self.is_time_aware:
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# mask = np.append(mask, False)
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obs = observation[mask] if self.return_context_observation else observation
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# cast dtype because metaworld returns incorrect that throws gym error
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return obs.astype(self.observation_space.dtype)
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@ -17,8 +17,8 @@ DEFAULT_BB_DICT_ProMP = {
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},
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"controller_kwargs": {
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'controller_type': 'motor',
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"p_gains": 1.0,
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"d_gains": 0.1,
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"p_gains": 50.,
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"d_gains": 1.,
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},
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"basis_generator_kwargs": {
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'basis_generator_type': 'zero_rbf',
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@ -38,8 +38,8 @@ DEFAULT_BB_DICT_DMP = {
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},
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"controller_kwargs": {
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'controller_type': 'motor',
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"p_gains": 1.0,
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"d_gains": 0.1,
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"p_gains": 50.,
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"d_gains": 1.,
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},
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"basis_generator_kwargs": {
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'basis_generator_type': 'rbf',
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@ -51,200 +51,73 @@ DEFAULT_BB_DICT_DMP = {
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kwargs_dict_bic_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_bic_dmp['name'] = f"dmc:ball_in_cup-catch"
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kwargs_dict_bic_dmp['wrappers'].append(suite.ball_in_cup.MPWrapper)
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# bandwidth_factor=2
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kwargs_dict_bic_dmp['phase_generator_kwargs']['alpha_phase'] = 2
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kwargs_dict_bic_dmp['trajectory_generator_kwargs']['weight_scale'] = 10 # TODO: weight scale 1, but goal scale 0.1
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kwargs_dict_bic_dmp['controller_kwargs']['p_gains'] = 50
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kwargs_dict_bic_dmp['controller_kwargs']['d_gains'] = 1
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register(
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id=f'dmc_ball_in_cup-catch_dmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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# max_episode_steps=1,
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kwargs=kwargs_dict_bic_dmp
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# {
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# "name": f"ball_in_cup-catch",
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# "time_limit": 20,
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# "episode_length": 1000,
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# "wrappers": [suite.ball_in_cup.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 2,
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# "num_basis": 5,
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# "duration": 20,
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# "learn_goal": True,
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# "alpha_phase": 2,
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# "bandwidth_factor": 2,
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# "policy_type": "motor",
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# "goal_scale": 0.1,
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# "policy_kwargs": {
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# "p_gains": 50,
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# "d_gains": 1
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
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kwargs_dict_bic_promp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_bic_promp['name'] = f"dmc:ball_in_cup-catch"
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kwargs_dict_bic_promp['wrappers'].append(suite.ball_in_cup.MPWrapper)
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kwargs_dict_bic_promp['controller_kwargs']['p_gains'] = 50
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kwargs_dict_bic_promp['controller_kwargs']['d_gains'] = 1
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register(
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id=f'dmc_ball_in_cup-catch_promp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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kwargs=kwargs_dict_bic_promp
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# {
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# "name": f"ball_in_cup-catch",
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# "time_limit": 20,
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# "episode_length": 1000,
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# "wrappers": [suite.ball_in_cup.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 2,
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# "num_basis": 5,
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# "duration": 20,
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# "policy_type": "motor",
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# "zero_start": True,
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# "policy_kwargs": {
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# "p_gains": 50,
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# "d_gains": 1
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_ball_in_cup-catch_promp-v0")
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kwargs_dict_reacher_easy_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_reacher_easy_dmp['name'] = f"dmc:reacher-easy"
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kwargs_dict_reacher_easy_dmp['wrappers'].append(suite.reacher.MPWrapper)
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# bandwidth_factor=2
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kwargs_dict_reacher_easy_dmp['phase_generator_kwargs']['alpha_phase'] = 2
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# TODO: weight scale 50, but goal scale 0.1
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kwargs_dict_reacher_easy_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
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kwargs_dict_reacher_easy_dmp['controller_kwargs']['p_gains'] = 50
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kwargs_dict_reacher_easy_dmp['controller_kwargs']['d_gains'] = 1
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register(
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id=f'dmc_reacher-easy_dmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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# max_episode_steps=1,
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kwargs=kwargs_dict_bic_dmp
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# {
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# "name": f"reacher-easy",
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# "time_limit": 20,
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# "episode_length": 1000,
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# "wrappers": [suite.reacher.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 2,
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# "num_basis": 5,
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# "duration": 20,
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# "learn_goal": True,
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# "alpha_phase": 2,
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# "bandwidth_factor": 2,
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# "policy_type": "motor",
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# "weights_scale": 50,
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# "goal_scale": 0.1,
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# "policy_kwargs": {
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# "p_gains": 50,
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# "d_gains": 1
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
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kwargs_dict_reacher_easy_promp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_reacher_easy_promp['name'] = f"dmc:reacher-easy"
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kwargs_dict_reacher_easy_promp['wrappers'].append(suite.reacher.MPWrapper)
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kwargs_dict_reacher_easy_promp['controller_kwargs']['p_gains'] = 50
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kwargs_dict_reacher_easy_promp['controller_kwargs']['d_gains'] = 1
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kwargs_dict_reacher_easy_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
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register(
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id=f'dmc_reacher-easy_promp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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kwargs=kwargs_dict_reacher_easy_promp
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# {
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# "name": f"reacher-easy",
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# "time_limit": 20,
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# "episode_length": 1000,
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# "wrappers": [suite.reacher.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 2,
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# "num_basis": 5,
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# "duration": 20,
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# "policy_type": "motor",
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# "weights_scale": 0.2,
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# "zero_start": True,
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# "policy_kwargs": {
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# "p_gains": 50,
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# "d_gains": 1
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-easy_promp-v0")
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kwargs_dict_reacher_hard_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_reacher_hard_dmp['name'] = f"dmc:reacher-hard"
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kwargs_dict_reacher_hard_dmp['wrappers'].append(suite.reacher.MPWrapper)
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# bandwidth_factor = 2
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kwargs_dict_reacher_hard_dmp['phase_generator_kwargs']['alpha_phase'] = 2
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# TODO: weight scale 50, but goal scale 0.1
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kwargs_dict_reacher_hard_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
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kwargs_dict_reacher_hard_dmp['controller_kwargs']['p_gains'] = 50
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kwargs_dict_reacher_hard_dmp['controller_kwargs']['d_gains'] = 1
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register(
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id=f'dmc_reacher-hard_dmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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# max_episode_steps=1,
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kwargs=kwargs_dict_reacher_hard_dmp
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# {
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# "name": f"reacher-hard",
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# "time_limit": 20,
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# "episode_length": 1000,
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# "wrappers": [suite.reacher.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 2,
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# "num_basis": 5,
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# "duration": 20,
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# "learn_goal": True,
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# "alpha_phase": 2,
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# "bandwidth_factor": 2,
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# "policy_type": "motor",
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# "weights_scale": 50,
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# "goal_scale": 0.1,
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# "policy_kwargs": {
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# "p_gains": 50,
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# "d_gains": 1
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
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kwargs_dict_reacher_hard_promp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_reacher_hard_promp['name'] = f"dmc:reacher-hard"
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kwargs_dict_reacher_hard_promp['wrappers'].append(suite.reacher.MPWrapper)
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kwargs_dict_reacher_hard_promp['controller_kwargs']['p_gains'] = 50
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kwargs_dict_reacher_hard_promp['controller_kwargs']['d_gains'] = 1
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kwargs_dict_reacher_hard_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
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register(
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id=f'dmc_reacher-hard_promp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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kwargs=kwargs_dict_reacher_hard_promp
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# {
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# "name": f"reacher-hard",
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# "time_limit": 20,
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# "episode_length": 1000,
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# "wrappers": [suite.reacher.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 2,
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# "num_basis": 5,
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# "duration": 20,
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# "policy_type": "motor",
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# "weights_scale": 0.2,
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# "zero_start": True,
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# "policy_kwargs": {
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# "p_gains": 50,
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# "d_gains": 1
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-hard_promp-v0")
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@ -255,38 +128,16 @@ for _task in _dmc_cartpole_tasks:
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kwargs_dict_cartpole_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_cartpole_dmp['name'] = f"dmc:cartpole-{_task}"
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kwargs_dict_cartpole_dmp['wrappers'].append(suite.cartpole.MPWrapper)
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# bandwidth_factor = 2
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kwargs_dict_cartpole_dmp['phase_generator_kwargs']['alpha_phase'] = 2
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kwargs_dict_cartpole_dmp['trajectory_generator_kwargs'][
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'weight_scale'] = 500 # TODO: weight scale 50, but goal scale 0.1
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# TODO: weight scale 50, but goal scale 0.1
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kwargs_dict_cartpole_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
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kwargs_dict_cartpole_dmp['controller_kwargs']['p_gains'] = 10
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kwargs_dict_cartpole_dmp['controller_kwargs']['d_gains'] = 10
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register(
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id=_env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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# max_episode_steps=1,
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kwargs=kwargs_dict_cartpole_dmp
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# {
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# "name": f"cartpole-{_task}",
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# # "time_limit": 1,
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# "camera_id": 0,
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# "episode_length": 1000,
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# "wrappers": [suite.cartpole.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 1,
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# "num_basis": 5,
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# "duration": 10,
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# "learn_goal": True,
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# "alpha_phase": 2,
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# "bandwidth_factor": 2,
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# "policy_type": "motor",
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# "weights_scale": 50,
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# "goal_scale": 0.1,
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# "policy_kwargs": {
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# "p_gains": 10,
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# "d_gains": 10
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
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@ -301,31 +152,13 @@ for _task in _dmc_cartpole_tasks:
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id=_env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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kwargs=kwargs_dict_cartpole_promp
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# {
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# "name": f"cartpole-{_task}",
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# # "time_limit": 1,
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# "camera_id": 0,
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# "episode_length": 1000,
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# "wrappers": [suite.cartpole.MPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 1,
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# "num_basis": 5,
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# "duration": 10,
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# "policy_type": "motor",
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# "weights_scale": 0.2,
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# "zero_start": True,
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# "policy_kwargs": {
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# "p_gains": 10,
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# "d_gains": 10
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
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kwargs_dict_cartpole2poles_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_cartpole2poles_dmp['name'] = f"dmc:cartpole-two_poles"
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kwargs_dict_cartpole2poles_dmp['wrappers'].append(suite.cartpole.TwoPolesMPWrapper)
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# bandwidth_factor = 2
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kwargs_dict_cartpole2poles_dmp['phase_generator_kwargs']['alpha_phase'] = 2
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# TODO: weight scale 50, but goal scale 0.1
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kwargs_dict_cartpole2poles_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
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@ -335,30 +168,7 @@ _env_id = f'dmc_cartpole-two_poles_dmp-v0'
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register(
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id=_env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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# max_episode_steps=1,
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kwargs=kwargs_dict_cartpole2poles_dmp
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# {
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# "name": f"cartpole-two_poles",
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# # "time_limit": 1,
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# "camera_id": 0,
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# "episode_length": 1000,
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# "wrappers": [suite.cartpole.TwoPolesMPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 1,
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# "num_basis": 5,
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# "duration": 10,
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# "learn_goal": True,
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# "alpha_phase": 2,
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# "bandwidth_factor": 2,
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# "policy_type": "motor",
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# "weights_scale": 50,
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# "goal_scale": 0.1,
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# "policy_kwargs": {
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# "p_gains": 10,
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# "d_gains": 10
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
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@ -373,31 +183,13 @@ register(
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id=_env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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kwargs=kwargs_dict_cartpole2poles_promp
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# {
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# "name": f"cartpole-two_poles",
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# # "time_limit": 1,
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# "camera_id": 0,
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# "episode_length": 1000,
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# "wrappers": [suite.cartpole.TwoPolesMPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 1,
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# "num_basis": 5,
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# "duration": 10,
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# "policy_type": "motor",
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# "weights_scale": 0.2,
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# "zero_start": True,
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# "policy_kwargs": {
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# "p_gains": 10,
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# "d_gains": 10
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# }
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# }
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# }
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)
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ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
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kwargs_dict_cartpole3poles_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
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kwargs_dict_cartpole3poles_dmp['name'] = f"dmc:cartpole-three_poles"
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kwargs_dict_cartpole3poles_dmp['wrappers'].append(suite.cartpole.ThreePolesMPWrapper)
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# bandwidth_factor = 2
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kwargs_dict_cartpole3poles_dmp['phase_generator_kwargs']['alpha_phase'] = 2
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# TODO: weight scale 50, but goal scale 0.1
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kwargs_dict_cartpole3poles_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
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@ -407,30 +199,7 @@ _env_id = f'dmc_cartpole-three_poles_dmp-v0'
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register(
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id=_env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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# max_episode_steps=1,
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kwargs=kwargs_dict_cartpole3poles_dmp
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# {
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# "name": f"cartpole-three_poles",
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# # "time_limit": 1,
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# "camera_id": 0,
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# "episode_length": 1000,
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# "wrappers": [suite.cartpole.ThreePolesMPWrapper],
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# "traj_gen_kwargs": {
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# "num_dof": 1,
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# "num_basis": 5,
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# "duration": 10,
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# "learn_goal": True,
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# "alpha_phase": 2,
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# "bandwidth_factor": 2,
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# "policy_type": "motor",
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# "weights_scale": 50,
|
||||
# "goal_scale": 0.1,
|
||||
# "policy_kwargs": {
|
||||
# "p_gains": 10,
|
||||
# "d_gains": 10
|
||||
# }
|
||||
# }
|
||||
# }
|
||||
)
|
||||
ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
||||
|
||||
@ -445,25 +214,6 @@ register(
|
||||
id=_env_id,
|
||||
entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_cartpole3poles_promp
|
||||
# {
|
||||
# "name": f"cartpole-three_poles",
|
||||
# # "time_limit": 1,
|
||||
# "camera_id": 0,
|
||||
# "episode_length": 1000,
|
||||
# "wrappers": [suite.cartpole.ThreePolesMPWrapper],
|
||||
# "traj_gen_kwargs": {
|
||||
# "num_dof": 1,
|
||||
# "num_basis": 5,
|
||||
# "duration": 10,
|
||||
# "policy_type": "motor",
|
||||
# "weights_scale": 0.2,
|
||||
# "zero_start": True,
|
||||
# "policy_kwargs": {
|
||||
# "p_gains": 10,
|
||||
# "d_gains": 10
|
||||
# }
|
||||
# }
|
||||
# }
|
||||
)
|
||||
ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
||||
|
||||
@ -478,25 +228,7 @@ kwargs_dict_mani_reach_site_features_dmp['controller_kwargs']['controller_type']
|
||||
register(
|
||||
id=f'dmc_manipulation-reach_site_dmp-v0',
|
||||
entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
|
||||
# max_episode_steps=1,
|
||||
kwargs=kwargs_dict_mani_reach_site_features_dmp
|
||||
# {
|
||||
# "name": f"manipulation-reach_site_features",
|
||||
# # "time_limit": 1,
|
||||
# "episode_length": 250,
|
||||
# "wrappers": [manipulation.reach_site.MPWrapper],
|
||||
# "traj_gen_kwargs": {
|
||||
# "num_dof": 9,
|
||||
# "num_basis": 5,
|
||||
# "duration": 10,
|
||||
# "learn_goal": True,
|
||||
# "alpha_phase": 2,
|
||||
# "bandwidth_factor": 2,
|
||||
# "policy_type": "velocity",
|
||||
# "weights_scale": 50,
|
||||
# "goal_scale": 0.1,
|
||||
# }
|
||||
# }
|
||||
)
|
||||
ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
|
||||
|
||||
@ -509,19 +241,5 @@ register(
|
||||
id=f'dmc_manipulation-reach_site_promp-v0',
|
||||
entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_mani_reach_site_features_promp
|
||||
# {
|
||||
# "name": f"manipulation-reach_site_features",
|
||||
# # "time_limit": 1,
|
||||
# "episode_length": 250,
|
||||
# "wrappers": [manipulation.reach_site.MPWrapper],
|
||||
# "traj_gen_kwargs": {
|
||||
# "num_dof": 9,
|
||||
# "num_basis": 5,
|
||||
# "duration": 10,
|
||||
# "policy_type": "velocity",
|
||||
# "weights_scale": 0.2,
|
||||
# "zero_start": True,
|
||||
# }
|
||||
# }
|
||||
)
|
||||
ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_manipulation-reach_site_promp-v0")
|
||||
|
Loading…
Reference in New Issue
Block a user