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Merge remote-tracking branch 'origin/44-added-tests-for-the-black-box-wrapper' into Add-ProDMP-envs

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Fabian
2022-10-24 09:38:27 +02:00
parent bea6543d9b 5ebd4225cc
commit 46824f5d41
5 changed files with 348 additions and 73 deletions
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fancy_gym/black_box/black_box_wrapper.py
+22 -14
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@@ -1,4 +1,4 @@
from typing import Tuple, Optional
from typing import Tuple, Optional, Callable
import gym
import numpy as np
@@ -19,8 +19,9 @@ class BlackBoxWrapper(gym.ObservationWrapper):
duration: float,
verbose: int = 1,
learn_sub_trajectories: bool = False,
replanning_schedule: Optional[callable] = None,
reward_aggregation: callable = np.sum
replanning_schedule: Optional[
Callable[[np.ndarray, np.ndarray, np.ndarray, np.ndarray, int], bool]] = None,
reward_aggregation: Callable[[np.ndarray], float] = np.sum
):
"""
gym.Wrapper for leveraging a black box approach with a trajectory generator.
@@ -73,24 +74,30 @@ class BlackBoxWrapper(gym.ObservationWrapper):
return observation.astype(self.observation_space.dtype)
def get_trajectory(self, action: np.ndarray) -> Tuple:
duration = self.duration
if self.learn_sub_trajectories:
duration = None
# reset with every new call as we need to set all arguments, such as tau, delay, again.
# If we do not do this, the traj_gen assumes we are continuing the trajectory.
self.traj_gen.reset()
clipped_params = np.clip(action, self.traj_gen_action_space.low, self.traj_gen_action_space.high)
self.traj_gen.set_params(clipped_params)
bc_time = np.array(0 if not self.do_replanning else self.current_traj_steps * self.dt)
# TODO we could think about initializing with the previous desired value in order to have a smooth transition
# at least from the planning point of view.
self.traj_gen.set_boundary_conditions(bc_time, self.current_pos, self.current_vel)
duration = None if self.learn_sub_trajectories else self.duration
self.traj_gen.set_duration(duration, self.dt)
# traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
trajectory = get_numpy(self.traj_gen.get_traj_pos())
position = get_numpy(self.traj_gen.get_traj_pos())
velocity = get_numpy(self.traj_gen.get_traj_vel())
if self.do_replanning:
# Remove first part of trajectory as this is already over
trajectory = trajectory[self.current_traj_steps:]
velocity = velocity[self.current_traj_steps:]
# if self.do_replanning:
# # Remove first part of trajectory as this is already over
# position = position[self.current_traj_steps:]
# velocity = velocity[self.current_traj_steps:]
return trajectory, velocity
return position, velocity
def _get_traj_gen_action_space(self):
"""This function can be used to set up an individual space for the parameters of the traj_gen."""
@@ -125,9 +132,9 @@ class BlackBoxWrapper(gym.ObservationWrapper):
# TODO remove this part, right now only needed for beer pong
mp_params, env_spec_params = self.env.episode_callback(action, self.traj_gen)
trajectory, velocity = self.get_trajectory(mp_params)
position, velocity = self.get_trajectory(mp_params)
trajectory_length = len(trajectory)
trajectory_length = len(position)
rewards = np.zeros(shape=(trajectory_length,))
if self.verbose >= 2:
actions = np.zeros(shape=(trajectory_length,) + self.env.action_space.shape)
@@ -137,7 +144,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
infos = dict()
done = False
for t, (pos, vel) in enumerate(zip(trajectory, velocity)):
for t, (pos, vel) in enumerate(zip(position, velocity)):
step_action = self.tracking_controller.get_action(pos, vel, self.current_pos, self.current_vel)
c_action = np.clip(step_action, self.env.action_space.low, self.env.action_space.high)
obs, c_reward, done, info = self.env.step(c_action)
@@ -163,7 +170,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
self.current_traj_steps += t + 1
if self.verbose >= 2:
infos['positions'] = trajectory
infos['positions'] = position
infos['velocities'] = velocity
infos['step_actions'] = actions[:t + 1]
infos['step_observations'] = observations[:t + 1]
@@ -180,4 +187,5 @@ class BlackBoxWrapper(gym.ObservationWrapper):
def reset(self, *, seed: Optional[int] = None, return_info: bool = False, options: Optional[dict] = None):
self.current_traj_steps = 0
self.traj_gen.reset()
return super(BlackBoxWrapper, self).reset()
fancy_gym/meta/object_change_mp_wrapper.py
+1 -1
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@@ -32,7 +32,7 @@ class MPWrapper(BaseMetaworldMPWrapper):
# Current observation
[False] * 3, # end-effector position
[False] * 1, # normalized gripper open distance
[False] * 3, # main object position
[True] * 3, # main object position
[False] * 4, # main object quaternion
[False] * 3, # secondary object position
[False] * 4, # secondary object quaternion
fancy_gym/utils/make_env_helpers.py
+9
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@@ -166,6 +166,15 @@ def make_bb(
# We have to learn the length when learning sub_trajectories trajectories
phase_kwargs['learn_tau'] = True
# set tau bounds to minimum of two env steps otherwise computing the velocity is not possible.
# maximum is full duration of one episode.
if phase_kwargs.get('learn_tau'):
phase_kwargs["tau_bound"] = [env.dt * 2, black_box_kwargs['duration']]
# Max delay is full duration minus two steps due to above reason
if phase_kwargs.get('learn_delay'):
phase_kwargs["delay_bound"] = [0, black_box_kwargs['duration'] - env.dt * 2]
phase_gen = get_phase_generator(**phase_kwargs)
basis_gen = get_basis_generator(phase_generator=phase_gen, **basis_kwargs)
controller = get_controller(**controller_kwargs)