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updated setup.py

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This commit is contained in:
Fabian 2022-12-05 14:07:45 +01:00
parent 46824f5d41
commit 5cbefb2b11
3 changed files with 11 additions and 7 deletions
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2
fancy_gym/black_box/black_box_wrapper.py
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@ -166,7 +166,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
t + 1 + self.current_traj_steps): t + 1 + self.current_traj_steps):
break break
infos.update({k: v[:t] for k, v in infos.items()}) infos.update({k: v[:t + 1] for k, v in infos.items()})
self.current_traj_steps += t + 1 self.current_traj_steps += t + 1
if self.verbose >= 2: if self.verbose >= 2:

15
fancy_gym/meta/__init__.py
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@ -13,7 +13,8 @@ DEFAULT_BB_DICT_ProMP = {
"name": 'EnvName', "name": 'EnvName',
"wrappers": [], "wrappers": [],
"trajectory_generator_kwargs": { "trajectory_generator_kwargs": {
'trajectory_generator_type': 'promp' 'trajectory_generator_type': 'promp',
'weights_scale': 10,
}, },
"phase_generator_kwargs": { "phase_generator_kwargs": {
'phase_generator_type': 'linear' 'phase_generator_type': 'linear'
@ -32,17 +33,22 @@ DEFAULT_BB_DICT_ProDMP = {
"name": 'EnvName', "name": 'EnvName',
"wrappers": [], "wrappers": [],
"trajectory_generator_kwargs": { "trajectory_generator_kwargs": {
'trajectory_generator_type': 'prodmp' 'trajectory_generator_type': 'prodmp',
'auto_scale_basis': True,
'weights_scale': 10,
'goal_scale': 0.
}, },
"phase_generator_kwargs": { "phase_generator_kwargs": {
'phase_generator_type': 'exp' 'phase_generator_type': 'exp',
# 'alpha_phase' : 3,
}, },
"controller_kwargs": { "controller_kwargs": {
'controller_type': 'metaworld', 'controller_type': 'metaworld',
}, },
"basis_generator_kwargs": { "basis_generator_kwargs": {
'basis_generator_type': 'prodmp', 'basis_generator_type': 'prodmp',
'num_basis': 5 'num_basis': 3,
'alpha': 10
} }
} }
@ -148,7 +154,6 @@ for _task in _goal_and_object_change_envs:
) )
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id) ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
_goal_and_endeffector_change_envs = ["basketball-v2"] _goal_and_endeffector_change_envs = ["basketball-v2"]
for _task in _goal_and_endeffector_change_envs: for _task in _goal_and_endeffector_change_envs:
task_id_split = _task.split("-") task_id_split = _task.split("-")

1
test/test_metaworld_envs.py
View File

@ -9,7 +9,6 @@ from test.utils import run_env, run_env_determinism
METAWORLD_IDS = [f'metaworld:{env.split("-goal-observable")[0]}' for env, _ in METAWORLD_IDS = [f'metaworld:{env.split("-goal-observable")[0]}' for env, _ in
ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE.items()] ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE.items()]
METAWORLD_MP_IDS = chain(*fancy_gym.ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values()) METAWORLD_MP_IDS = chain(*fancy_gym.ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values())
print(METAWORLD_MP_IDS)
SEED = 1 SEED = 1