add prodmp to test_black_box

fancy_gym/envs/__init__.py

@@ -503,7 +503,7 @@ for _v in _versions:
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 0.3
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0
-    kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 4
+    kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 0
     kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['alpha'] = 10.
     kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try
     kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3

fancy_gym/examples/example_sim_env.py

@@ -0,0 +1,9 @@
+import gym_blockpush
+import gym
+
+env = gym.make("blockpush-v0")
+env.start()
+env.scene.reset()
+for i in range(100):
+    env.step(env.action_space.sample())
+    env.render()

fancy_gym/examples/examples_movement_primitives.py

@@ -157,17 +157,17 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 if __name__ == '__main__':
     render = True
     # DMP
-    example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
+    # example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
 
     # ProMP
-    example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
-    example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
+    # example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
+    # example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
 
     # ProDMP
     example_mp("BoxPushingDenseProDMP-v0", seed=10, iterations=16, render=render)
 
     # Altered basis functions
-    obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)
+    # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)
 
     # Custom MP
-    example_fully_custom_mp(seed=10, iterations=1, render=render)
+    # example_fully_custom_mp(seed=10, iterations=1, render=render)

fancy_gym/utils/make_env_helpers.py

@@ -175,6 +175,9 @@ def make_bb(
     if phase_kwargs.get('learn_delay'):
         phase_kwargs["delay_bound"] = [0, black_box_kwargs['duration'] - env.dt * 2]
 
+    if traj_gen_kwargs['trajectory_generator_type'] == 'prodmp':
+        assert basis_kwargs['basis_generator_type'] == 'prodmp', 'prodmp trajectory generator requires prodmp basis generator'
+
     phase_gen = get_phase_generator(**phase_kwargs)
     basis_gen = get_basis_generator(phase_generator=phase_gen, **basis_kwargs)
     controller = get_controller(**controller_kwargs)