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removed deprecated envs

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Dominik Moritz Roth 2023-07-20 11:48:19 +02:00
parent dbf2be1006
commit 83d5d39b42
1 changed files with 0 additions and 230 deletions
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230
fancy_gym/envs/__init__.py
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@ -394,233 +394,3 @@ for _v in _versions:
kwargs=kwargs_dict_tt_prodmp
)
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
#
# ## Walker2DJump
# _versions = ['Walker2DJump-v0']
# for _v in _versions:
# _name = _v.split("-")
# _env_id = f'{_name[0]}ProMP-{_name[1]}'
# kwargs_dict_walker2d_jump_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
# kwargs_dict_walker2d_jump_promp['wrappers'].append(mujoco.walker_2d_jump.MPWrapper)
# kwargs_dict_walker2d_jump_promp['name'] = _v
# gym_register(
# id=_env_id,
# entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
# kwargs=kwargs_dict_walker2d_jump_promp
# )
# ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# Depricated, we will not provide non random starts anymore
"""
gym_register(
id='SimpleReacher-v1',
entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 2,
"random_start": False
}
)
gym_register(
id='LongSimpleReacher-v1',
entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
"random_start": False
}
)
gym_register(
id='HoleReacher-v1',
entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
"random_start": False,
"allow_self_collision": False,
"allow_wall_collision": False,
"hole_width": 0.25,
"hole_depth": 1,
"hole_x": None,
"collision_penalty": 100,
}
)
gym_register(
id='HoleReacher-v2',
entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
"random_start": False,
"allow_self_collision": False,
"allow_wall_collision": False,
"hole_width": 0.25,
"hole_depth": 1,
"hole_x": 2,
"collision_penalty": 1,
}
)
# CtxtFree are v0, Contextual are v1
gym_register(
id='AntJump-v0',
entry_point='fancy_gym.envs.mujoco:AntJumpEnv',
max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
kwargs={
"max_episode_steps": MAX_EPISODE_STEPS_ANTJUMP,
"context": False
}
)
# CtxtFree are v0, Contextual are v1
gym_register(
id='HalfCheetahJump-v0',
entry_point='fancy_gym.envs.mujoco:HalfCheetahJumpEnv',
max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
kwargs={
"max_episode_steps": MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
"context": False
}
)
gym_register(
id='HopperJump-v0',
entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
kwargs={
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP,
"context": False,
"healthy_reward": 1.0
}
)
"""
# Deprecated used for CorL paper
"""
_vs = np.arange(101).tolist() + [1e-5, 5e-5, 1e-4, 5e-4, 1e-3, 5e-3, 1e-2, 5e-2, 1e-1, 5e-1]
for i in _vs:
_env_id = f'ALRReacher{i}-v0'
gym_register(
id=_env_id,
entry_point='fancy_gym.envs.mujoco:ReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 0,
"n_links": 5,
"balance": False,
'_ctrl_cost_weight': i
}
)
_env_id = f'ALRReacherSparse{i}-v0'
gym_register(
id=_env_id,
entry_point='fancy_gym.envs.mujoco:ReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 200,
"n_links": 5,
"balance": False,
'_ctrl_cost_weight': i
}
)
_vs = np.arange(101).tolist() + [1e-5, 5e-5, 1e-4, 5e-4, 1e-3, 5e-3, 1e-2, 5e-2, 1e-1, 5e-1]
for i in _vs:
_env_id = f'ALRReacher{i}ProMP-v0'
gym_register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"{_env_id.replace('ProMP', '')}",
"wrappers": [mujoco.reacher.MPWrapper],
"mp_kwargs": {
"num_dof": 5,
"num_basis": 5,
"duration": 4,
"policy_type": "motor",
# "weights_scale": 5,
"n_zero_basis": 1,
"zero_start": True,
"policy_kwargs": {
"p_gains": 1,
"d_gains": 0.1
}
}
}
)
_env_id = f'ALRReacherSparse{i}ProMP-v0'
gym_register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"{_env_id.replace('ProMP', '')}",
"wrappers": [mujoco.reacher.MPWrapper],
"mp_kwargs": {
"num_dof": 5,
"num_basis": 5,
"duration": 4,
"policy_type": "motor",
# "weights_scale": 5,
"n_zero_basis": 1,
"zero_start": True,
"policy_kwargs": {
"p_gains": 1,
"d_gains": 0.1
}
}
}
)
gym_register(
id='HopperJumpOnBox-v0',
entry_point='fancy_gym.envs.mujoco:HopperJumpOnBoxEnv',
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
kwargs={
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
"context": False
}
)
gym_register(
id='HopperThrow-v0',
entry_point='fancy_gym.envs.mujoco:HopperThrowEnv',
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
kwargs={
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROW,
"context": False
}
)
gym_register(
id='HopperThrowInBasket-v0',
entry_point='fancy_gym.envs.mujoco:HopperThrowInBasketEnv',
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
kwargs={
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
"context": False
}
)
gym_register(
id='Walker2DJump-v0',
entry_point='fancy_gym.envs.mujoco:Walker2dJumpEnv',
max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
kwargs={
"max_episode_steps": MAX_EPISODE_STEPS_WALKERJUMP,
"context": False
}
)
gym_register(id='TableTennis2DCtxt-v1',
entry_point='fancy_gym.envs.mujoco:TTEnvGym',
max_episode_steps=MAX_EPISODE_STEPS,
kwargs={'ctxt_dim': 2, 'fixed_goal': True})
gym_register(
id='BeerPong-v0',
entry_point='fancy_gym.envs.mujoco:BeerBongEnv',
max_episode_steps=300,
kwargs={
"rndm_goal": False,
"cup_goal_pos": [0.1, -2.0],
"frame_skip": 2
}
)
"""