added promp wrapped environments

alr_envs/__init__.py

@@ -1,5 +1,5 @@
 from alr_envs import dmc, meta, open_ai
-from alr_envs.utils.make_env_helpers import make, make_detpmp_env, make_dmp_env, make_rank
+from alr_envs.utils.make_env_helpers import make, make_detpmp_env, make_dmp_env, make_promp_env, make_rank
 from alr_envs.utils import make_dmc
 
 # Convenience function for all MP environments

alr_envs/alr/__init__.py

@@ -9,7 +9,7 @@ from .mujoco.ball_in_a_cup.biac_pd import ALRBallInACupPDEnv
 from .mujoco.reacher.alr_reacher import ALRReacherEnv
 from .mujoco.reacher.balancing import BalancingEnv
 
-ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
+ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
 
 # Classic Control
 ## Simple Reacher
@@ -308,6 +308,25 @@ for _v in _versions:
     )
     ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
+    _env_id = f'HoleReacherProMP-{_v}'
+    register(
+        id=_env_id,
+        entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
+        kwargs={
+            "name": f"alr_envs:HoleReacher-{_v}",
+            "wrappers": [classic_control.hole_reacher.MPWrapper],
+            "mp_kwargs": {
+                "num_dof": 5,
+                "num_basis": 5,
+                "duration": 2,
+                "policy_type": "velocity",
+                "weights_scale": 0.2,
+                "zero_start": True
+            }
+        }
+    )
+    ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
+
     _env_id = f'HoleReacherDetPMP-{_v}'
     register(
         id=_env_id,

alr_envs/dmc/__init__.py

@@ -1,6 +1,6 @@
 from . import manipulation, suite
 
-ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
+ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
 
 from gym.envs.registration import register
 

alr_envs/examples/examples_motion_primitives.py

@@ -147,10 +147,13 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 
 
 if __name__ == '__main__':
-    render = False
+    render = True
     # DMP
     example_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=1, render=render)
 
+    # ProMP
+    example_mp("alr_envs:HoleReacherProMP-v1", seed=10, iterations=1, render=render)
+
     # DetProMP
     example_mp("alr_envs:HoleReacherDetPMP-v1", seed=10, iterations=1, render=render)
 

alr_envs/meta/__init__.py

@@ -3,7 +3,7 @@ from gym import register
 from . import goal_object_change_mp_wrapper, goal_change_mp_wrapper, goal_endeffector_change_mp_wrapper, \
     object_change_mp_wrapper
 
-ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
+ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
 
 # MetaWorld
 

alr_envs/open_ai/__init__.py

@@ -3,7 +3,7 @@ from gym.wrappers import FlattenObservation
 
 from . import classic_control, mujoco, robotics
 
-ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
 
 # Short Continuous Mountain Car
 register(

alr_envs/utils/make_env_helpers.py

@@ -7,6 +7,7 @@ from gym.envs.registration import EnvSpec
 from mp_env_api import MPEnvWrapper
 from mp_env_api.mp_wrappers.detpmp_wrapper import DetPMPWrapper
 from mp_env_api.mp_wrappers.dmp_wrapper import DmpWrapper
+from mp_env_api.mp_wrappers.promp_wrapper import ProMPWrapper
 
 
 def make_rank(env_id: str, seed: int, rank: int = 0, return_callable=True, **kwargs):
@@ -132,6 +133,26 @@ def make_dmp_env(env_id: str, wrappers: Iterable, seed=1, mp_kwargs={}, **kwargs
     return DmpWrapper(_env, **mp_kwargs)
 
 
+def make_promp_env(env_id: str, wrappers: Iterable, seed=1, mp_kwargs={}, **kwargs):
+    """
+    This can also be used standalone for manually building a custom ProMP environment.
+    Args:
+        env_id: base_env_name,
+        wrappers: list of wrappers (at least an MPEnvWrapper),
+        mp_kwargs: dict of at least {num_dof: int, num_basis: int, width: int}
+
+    Returns: ProMP wrapped gym env
+
+    """
+    _verify_time_limit(mp_kwargs.get("duration", None), kwargs.get("time_limit", None))
+
+    _env = _make_wrapped_env(env_id=env_id, wrappers=wrappers, seed=seed, **kwargs)
+
+    _verify_dof(_env, mp_kwargs.get("num_dof"))
+
+    return ProMPWrapper(_env, **mp_kwargs)
+
+
 def make_detpmp_env(env_id: str, wrappers: Iterable, seed=1, mp_kwargs={}, **kwargs):
     """
     This can also be used standalone for manually building a custom Det ProMP environment.
@@ -140,7 +161,7 @@ def make_detpmp_env(env_id: str, wrappers: Iterable, seed=1, mp_kwargs={}, **kwa
         wrappers: list of wrappers (at least an MPEnvWrapper),
         mp_kwargs: dict of at least {num_dof: int, num_basis: int, width: int}
 
-    Returns: DMP wrapped gym env
+    Returns: Det ProMP wrapped gym env
 
     """
     _verify_time_limit(mp_kwargs.get("duration", None), kwargs.get("time_limit", None))
@@ -171,6 +192,26 @@ def make_dmp_env_helper(**kwargs):
                         mp_kwargs=kwargs.pop("mp_kwargs"), **kwargs)
 
 
+def make_promp_env_helper(**kwargs):
+    """
+    Helper function for registering ProMP gym environments.
+    This can also be used standalone for manually building a custom ProMP environment.
+    Args:
+        **kwargs: expects at least the following:
+        {
+        "name": base_env_name,
+        "wrappers": list of wrappers (at least an MPEnvWrapper),
+        "mp_kwargs": dict of at least {num_dof: int, num_basis: int, width: int}
+        }
+
+    Returns: ProMP wrapped gym env
+
+    """
+    seed = kwargs.pop("seed", None)
+    return make_promp_env(env_id=kwargs.pop("name"), wrappers=kwargs.pop("wrappers"), seed=seed,
+                          mp_kwargs=kwargs.pop("mp_kwargs"), **kwargs)
+
+
 def make_detpmp_env_helper(**kwargs):
     """
     Helper function for registering ProMP gym environments.