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replaced all detpmp with promp

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This commit is contained in:
Maximilian Huettenrauch
2021-11-30 16:11:32 +01:00
parent 655d52aa35
commit 8b88ce3476
20 changed files with 121 additions and 407 deletions
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alr_envs/__init__.py
+1 -1
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@@ -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_promp_env, make_rank
from alr_envs.utils.make_env_helpers import make, 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
+12 -65
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@@ -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": [], "ProMP": [], "DetPMP": []}
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
# Classic Control
## Simple Reacher
@@ -213,8 +213,12 @@ for _v in _versions:
"duration": 2,
"alpha_phase": 2,
"learn_goal": True,
"policy_type": "velocity",
"policy_type": "motor",
"weights_scale": 50,
"policy_kwargs": {
"p_gains": .6,
"d_gains": .075
}
}
}
)
@@ -233,33 +237,16 @@ for _v in _versions:
"duration": 2,
"policy_type": "motor",
"weights_scale": 1,
"zero_start": True
"zero_start": True,
"policy_kwargs": {
"p_gains": .6,
"d_gains": .075
}
}
}
)
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_env_id = f'{_name[0]}DetPMP-{_name[1]}'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
# max_episode_steps=1,
kwargs={
"name": f"alr_envs:{_v}",
"wrappers": [classic_control.simple_reacher.MPWrapper],
"mp_kwargs": {
"num_dof": 2 if "long" not in _v.lower() else 5,
"num_basis": 5,
"duration": 2,
"width": 0.025,
"policy_type": "velocity",
"weights_scale": 0.2,
"zero_start": True
}
}
)
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
# Viapoint reacher
register(
id='ViaPointReacherDMP-v0',
@@ -291,7 +278,7 @@ register(
"num_dof": 5,
"num_basis": 5,
"duration": 2,
"policy_type": "motor",
"policy_type": "velocity",
"weights_scale": 1,
"zero_start": True
}
@@ -299,26 +286,6 @@ register(
)
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ViaPointReacherProMP-v0")
register(
id='ViaPointReacherDetPMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
# max_episode_steps=1,
kwargs={
"name": "alr_envs:ViaPointReacher-v0",
"wrappers": [classic_control.viapoint_reacher.MPWrapper],
"mp_kwargs": {
"num_dof": 5,
"num_basis": 5,
"duration": 2,
"width": 0.025,
"policy_type": "velocity",
"weights_scale": 0.2,
"zero_start": True
}
}
)
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ViaPointReacherDetPMP-v0")
## Hole Reacher
_versions = ["v0", "v1", "v2"]
for _v in _versions:
@@ -363,23 +330,3 @@ for _v in _versions:
}
)
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_env_id = f'HoleReacherDetPMP-{_v}'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_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,
"width": 0.025,
"policy_type": "velocity",
"weights_scale": 0.2,
"zero_start": True
}
}
)
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
alr_envs/alr/classic_control/README.MD
+1 -1
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@@ -18,4 +18,4 @@
|`ALRBallInACupDMP-v0`| A DMP provides a trajectory for the `ALRBallInACup-v0` task. | 4000 | 35
|`ALRBallInACupGoalDMP-v0`| A DMP provides a trajectory for the `ALRBallInACupGoal-v0` task. | 4000 | 35 | 3
[//]: |`HoleReacherDetPMP-v0`|
[//]: |`HoleReacherProMPP-v0`|
alr_envs/alr/classic_control/viapoint_reacher/viapoint_reacher.py
-1
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@@ -5,7 +5,6 @@ import matplotlib.pyplot as plt
import numpy as np
from gym.utils import seeding
from alr_envs.alr.classic_control.utils import check_self_collision
from alr_envs.alr.classic_control.base_reacher.base_reacher_direct import BaseReacherDirectEnv
alr_envs/alr/mujoco/ball_in_a_cup/utils.py
-107
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@@ -1,107 +0,0 @@
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
from mp_env_api.mp_wrappers.detpmp_wrapper import DetPMPWrapper
from mp_env_api.mp_wrappers.dmp_wrapper import DmpWrapper
def make_contextual_env(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
env = ALRBallInACupEnv(reward_type="contextual_goal")
env = DetPMPWrapper(env, num_dof=7, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
policy_type="motor", weights_scale=0.5, zero_start=True, zero_goal=True)
env.seed(seed + rank)
return env
return _init
def _make_env(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
env = ALRBallInACupEnv(reward_type="simple")
env = DetPMPWrapper(env, num_dof=7, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
policy_type="motor", weights_scale=0.2, zero_start=True, zero_goal=True)
env.seed(seed + rank)
return env
return _init
def make_simple_env(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
env = ALRBallInACupEnv(reward_type="simple")
env = DetPMPWrapper(env, num_dof=3, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
policy_type="motor", weights_scale=0.25, zero_start=True, zero_goal=True, off=-0.1)
env.seed(seed + rank)
return env
return _init
def make_simple_dmp_env(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
_env = ALRBallInACupEnv(reward_type="simple")
_env = DmpWrapper(_env,
num_dof=3,
num_basis=5,
duration=3.5,
post_traj_time=4.5,
bandwidth_factor=2.5,
dt=_env.dt,
learn_goal=False,
alpha_phase=3,
start_pos=_env.start_pos[1::2],
final_pos=_env.start_pos[1::2],
policy_type="motor",
weights_scale=100,
)
_env.seed(seed + rank)
return _env
return _init
alr_envs/alr/mujoco/beerpong/utils.py
-72
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@@ -1,72 +0,0 @@
from alr_envs.utils.mps.detpmp_wrapper import DetPMPWrapper
from alr_envs.alr.mujoco.beerpong.beerpong import ALRBeerpongEnv
from alr_envs.alr.mujoco.beerpong.beerpong_simple import ALRBeerpongEnv as ALRBeerpongEnvSimple
def make_contextual_env(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
env = ALRBeerpongEnv()
env = DetPMPWrapper(env, num_dof=7, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
policy_type="motor", weights_scale=0.5, zero_start=True, zero_goal=True)
env.seed(seed + rank)
return env
return _init
def _make_env(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
env = ALRBeerpongEnvSimple()
env = DetPMPWrapper(env, num_dof=7, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
policy_type="motor", weights_scale=0.25, zero_start=True, zero_goal=True)
env.seed(seed + rank)
return env
return _init
def make_simple_env(rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the initial seed for RNG
:param rank: (int) index of the subprocess
:returns a function that generates an environment
"""
def _init():
env = ALRBeerpongEnvSimple()
env = DetPMPWrapper(env, num_dof=3, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
policy_type="motor", weights_scale=0.5, zero_start=True, zero_goal=True)
env.seed(seed + rank)
return env
return _init
alr_envs/dmc/README.MD
+3 -3
View File
@@ -11,9 +11,9 @@ environments in order to use our Motion Primitive gym interface with them.
|Name| Description|Trajectory Horizon|Action Dimension|Context Dimension
|---|---|---|---|---|
|`dmc_ball_in_cup-catch_detpmp-v0`| A DetPmP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000 | 10 | 2
|`dmc_ball_in_cup-catch_promp-v0`| A ProMP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000 | 10 | 2
|`dmc_ball_in_cup-catch_dmp-v0`| A DMP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000| 10 | 2
|`dmc_reacher-easy_detpmp-v0`| A DetPmP wrapped version of the "easy" task for the "reacher" environment. | 1000 | 10 | 4
|`dmc_reacher-easy_promp-v0`| A ProMP wrapped version of the "easy" task for the "reacher" environment. | 1000 | 10 | 4
|`dmc_reacher-easy_dmp-v0`| A DMP wrapped version of the "easy" task for the "reacher" environment. | 1000| 10 | 4
|`dmc_reacher-hard_detpmp-v0`| A DetPmP wrapped version of the "hard" task for the "reacher" environment.| 1000 | 10 | 4
|`dmc_reacher-hard_promp-v0`| A ProMP wrapped version of the "hard" task for the "reacher" environment.| 1000 | 10 | 4
|`dmc_reacher-hard_dmp-v0`| A DMP wrapped version of the "hard" task for the "reacher" environment. | 1000 | 10 | 4
alr_envs/dmc/__init__.py
+22 -29
View File
@@ -1,6 +1,6 @@
from . import manipulation, suite
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
from gym.envs.registration import register
@@ -34,8 +34,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
register(
id=f'dmc_ball_in_cup-catch_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_ball_in_cup-catch_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"ball_in_cup-catch",
"time_limit": 20,
@@ -45,7 +45,6 @@ register(
"num_dof": 2,
"num_basis": 5,
"duration": 20,
"width": 0.025,
"policy_type": "motor",
"zero_start": True,
"policy_kwargs": {
@@ -55,7 +54,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_ball_in_cup-catch_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_ball_in_cup-catch_promp-v0")
register(
id=f'dmc_reacher-easy_dmp-v0',
@@ -86,8 +85,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
register(
id=f'dmc_reacher-easy_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_reacher-easy_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"reacher-easy",
"time_limit": 20,
@@ -97,7 +96,6 @@ register(
"num_dof": 2,
"num_basis": 5,
"duration": 20,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -108,7 +106,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_reacher-easy_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-easy_promp-v0")
register(
id=f'dmc_reacher-hard_dmp-v0',
@@ -139,8 +137,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
register(
id=f'dmc_reacher-hard_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_reacher-hard_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"reacher-hard",
"time_limit": 20,
@@ -150,7 +148,6 @@ register(
"num_dof": 2,
"num_basis": 5,
"duration": 20,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -161,7 +158,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_reacher-hard_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-hard_promp-v0")
_dmc_cartpole_tasks = ["balance", "balance_sparse", "swingup", "swingup_sparse"]
@@ -196,10 +193,10 @@ for _task in _dmc_cartpole_tasks:
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
_env_id = f'dmc_cartpole-{_task}_detpmp-v0'
_env_id = f'dmc_cartpole-{_task}_promp-v0'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"cartpole-{_task}",
# "time_limit": 1,
@@ -210,7 +207,6 @@ for _task in _dmc_cartpole_tasks:
"num_dof": 1,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -221,7 +217,7 @@ for _task in _dmc_cartpole_tasks:
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_env_id = f'dmc_cartpole-two_poles_dmp-v0'
register(
@@ -253,10 +249,10 @@ register(
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
_env_id = f'dmc_cartpole-two_poles_detpmp-v0'
_env_id = f'dmc_cartpole-two_poles_promp-v0'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"cartpole-two_poles",
# "time_limit": 1,
@@ -267,7 +263,6 @@ register(
"num_dof": 1,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -278,7 +273,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_env_id = f'dmc_cartpole-three_poles_dmp-v0'
register(
@@ -310,10 +305,10 @@ register(
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
_env_id = f'dmc_cartpole-three_poles_detpmp-v0'
_env_id = f'dmc_cartpole-three_poles_promp-v0'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"cartpole-three_poles",
# "time_limit": 1,
@@ -324,7 +319,6 @@ register(
"num_dof": 1,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
@@ -335,7 +329,7 @@ register(
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# DeepMind Manipulation
@@ -364,8 +358,8 @@ register(
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
register(
id=f'dmc_manipulation-reach_site_detpmp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id=f'dmc_manipulation-reach_site_promp-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"manipulation-reach_site_features",
# "time_limit": 1,
@@ -375,11 +369,10 @@ register(
"num_dof": 9,
"num_basis": 5,
"duration": 10,
"width": 0.025,
"policy_type": "velocity",
"weights_scale": 0.2,
"zero_start": True,
}
}
)
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_manipulation-reach_site_detpmp-v0")
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_manipulation-reach_site_promp-v0")
alr_envs/examples/examples_dmc.py
+2 -2
View File
@@ -84,7 +84,7 @@ def example_custom_dmc_and_mp(seed=1, iterations=1, render=True):
}
env = alr_envs.make_dmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs, **kwargs)
# OR for a deterministic ProMP (other mp_kwargs are required, see metaworld_examples):
# env = alr_envs.make_detpmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_args)
# env = alr_envs.make_promp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_args)
# This renders the full MP trajectory
# It is only required to call render() once in the beginning, which renders every consecutive trajectory.
@@ -128,7 +128,7 @@ if __name__ == '__main__':
example_dmc("manipulation-reach_site_features", seed=10, iterations=250, render=render)
# Gym + DMC hybrid task provided in the MP framework
example_dmc("dmc_ball_in_cup-catch_detpmp-v0", seed=10, iterations=1, render=render)
example_dmc("dmc_ball_in_cup-catch_promp-v0", seed=10, iterations=1, render=render)
# Custom DMC task
# Different seed, because the episode is longer for this example and the name+seed combo is already registered above
alr_envs/examples/examples_metaworld.py
+2 -2
View File
@@ -76,7 +76,7 @@ def example_custom_dmc_and_mp(seed=1, iterations=1, render=True):
"policy_type": "metaworld", # custom controller type for metaworld environments
}
env = alr_envs.make_detpmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs)
env = alr_envs.make_promp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs)
# OR for a DMP (other mp_kwargs are required, see dmc_examples):
# env = alr_envs.make_dmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs, **kwargs)
@@ -122,7 +122,7 @@ if __name__ == '__main__':
example_dmc("button-press-v2", seed=10, iterations=500, render=render)
# MP + MetaWorld hybrid task provided in the our framework
example_dmc("ButtonPressDetPMP-v2", seed=10, iterations=1, render=render)
example_dmc("ButtonPressProMP-v2", seed=10, iterations=1, render=render)
# Custom MetaWorld task
example_custom_dmc_and_mp(seed=10, iterations=1, render=render)
alr_envs/examples/examples_motion_primitives.py
+2 -2
View File
@@ -126,7 +126,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
}
env = alr_envs.make_dmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs)
# OR for a deterministic ProMP:
# env = make_detpmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs)
# env = make_promp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs)
if render:
env.render(mode="human")
@@ -147,7 +147,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
if __name__ == '__main__':
render = True
render = False
# DMP
example_mp("alr_envs:HoleReacherDMP-v1", seed=10, iterations=1, render=render)
alr_envs/examples/examples_open_ai.py
+5 -5
View File
@@ -6,7 +6,7 @@ def example_mp(env_name, seed=1):
Example for running a motion primitive based version of a OpenAI-gym environment, which is already registered.
For more information on motion primitive specific stuff, look at the mp examples.
Args:
env_name: DetPMP env_id
env_name: ProMP env_id
seed: seed
Returns:
@@ -35,7 +35,7 @@ if __name__ == '__main__':
# example_mp("ReacherDMP-v2")
# DetProMP
example_mp("ContinuousMountainCarDetPMP-v0")
example_mp("ReacherDetPMP-v2")
example_mp("FetchReachDenseDetPMP-v1")
example_mp("FetchSlideDenseDetPMP-v1")
example_mp("ContinuousMountainCarProMP-v0")
example_mp("ReacherProMP-v2")
example_mp("FetchReachDenseProMP-v1")
example_mp("FetchSlideDenseProMP-v1")
alr_envs/examples/pd_control_gain_tuning.py
+3 -3
View File
@@ -2,7 +2,7 @@ import numpy as np
from matplotlib import pyplot as plt
from alr_envs import dmc, meta
from alr_envs.utils.make_env_helpers import make_detpmp_env
from alr_envs.utils.make_env_helpers import make_promp_env
# This might work for some environments, however, please verify either way the correct trajectory information
# for your environment are extracted below
@@ -26,8 +26,8 @@ mp_kwargs = {
kwargs = dict(time_limit=2, episode_length=100)
env = make_detpmp_env(env_id, wrappers, seed=SEED, mp_kwargs=mp_kwargs,
**kwargs)
env = make_promp_env(env_id, wrappers, seed=SEED, mp_kwargs=mp_kwargs,
**kwargs)
# Plot difference between real trajectory and target MP trajectory
env.reset()
alr_envs/meta/__init__.py
+13 -17
View File
@@ -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": [], "ProMP": [], "DetPMP": []}
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
# MetaWorld
@@ -12,10 +12,10 @@ _goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "pl
for _task in _goal_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
_env_id = f'{name}DetPMP-{task_id_split[-1]}'
_env_id = f'{name}ProMP-{task_id_split[-1]}'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": _task,
"wrappers": [goal_change_mp_wrapper.MPWrapper],
@@ -24,22 +24,21 @@ for _task in _goal_change_envs:
"num_basis": 5,
"duration": 6.25,
"post_traj_time": 0,
"width": 0.025,
"zero_start": True,
"policy_type": "metaworld",
}
}
)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
for _task in _object_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
_env_id = f'{name}DetPMP-{task_id_split[-1]}'
_env_id = f'{name}ProMP-{task_id_split[-1]}'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": _task,
"wrappers": [object_change_mp_wrapper.MPWrapper],
@@ -48,13 +47,12 @@ for _task in _object_change_envs:
"num_basis": 5,
"duration": 6.25,
"post_traj_time": 0,
"width": 0.025,
"zero_start": True,
"policy_type": "metaworld",
}
}
)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press-wall-v2", "button-press-topdown-v2",
"button-press-topdown-wall-v2", "coffee-button-v2", "coffee-pull-v2",
@@ -70,10 +68,10 @@ _goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press
for _task in _goal_and_object_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
_env_id = f'{name}DetPMP-{task_id_split[-1]}'
_env_id = f'{name}ProMP-{task_id_split[-1]}'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": _task,
"wrappers": [goal_object_change_mp_wrapper.MPWrapper],
@@ -82,22 +80,21 @@ for _task in _goal_and_object_change_envs:
"num_basis": 5,
"duration": 6.25,
"post_traj_time": 0,
"width": 0.025,
"zero_start": True,
"policy_type": "metaworld",
}
}
)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
_goal_and_endeffector_change_envs = ["basketball-v2"]
for _task in _goal_and_endeffector_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
_env_id = f'{name}DetPMP-{task_id_split[-1]}'
_env_id = f'{name}ProMP-{task_id_split[-1]}'
register(
id=_env_id,
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": _task,
"wrappers": [goal_endeffector_change_mp_wrapper.MPWrapper],
@@ -106,10 +103,9 @@ for _task in _goal_and_endeffector_change_envs:
"num_basis": 5,
"duration": 6.25,
"post_traj_time": 0,
"width": 0.025,
"zero_start": True,
"policy_type": "metaworld",
}
}
)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
alr_envs/open_ai/README.MD
+4 -4
View File
@@ -8,7 +8,7 @@ These environments are wrapped-versions of their OpenAI-gym counterparts.
|Name| Description|Trajectory Horizon|Action Dimension|Context Dimension
|---|---|---|---|---|
|`ContinuousMountainCarDetPMP-v0`| A DetPmP wrapped version of the ContinuousMountainCar-v0 environment. | 100 | 1
|`ReacherDetPMP-v2`| A DetPmP wrapped version of the Reacher-v2 environment. | 50 | 2
|`FetchSlideDenseDetPMP-v1`| A DetPmP wrapped version of the FetchSlideDense-v1 environment. | 50 | 4
|`FetchReachDenseDetPMP-v1`| A DetPmP wrapped version of the FetchReachDense-v1 environment. | 50 | 4
|`ContinuousMountainCarProMP-v0`| A ProMP wrapped version of the ContinuousMountainCar-v0 environment. | 100 | 1
|`ReacherProMP-v2`| A ProMP wrapped version of the Reacher-v2 environment. | 50 | 2
|`FetchSlideDenseProMP-v1`| A ProMP wrapped version of the FetchSlideDense-v1 environment. | 50 | 4
|`FetchReachDenseProMP-v1`| A ProMP wrapped version of the FetchReachDense-v1 environment. | 50 | 4
alr_envs/open_ai/__init__.py
+22 -29
View File
@@ -3,7 +3,7 @@ from gym.wrappers import FlattenObservation
from . import classic_control, mujoco, robotics
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
# Short Continuous Mountain Car
register(
@@ -16,8 +16,8 @@ register(
# Open AI
# Classic Control
register(
id='ContinuousMountainCarDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='ContinuousMountainCarProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "alr_envs:MountainCarContinuous-v1",
"wrappers": [classic_control.continuous_mountain_car.MPWrapper],
@@ -26,7 +26,6 @@ register(
"num_basis": 4,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "motor",
"policy_kwargs": {
@@ -36,11 +35,11 @@ register(
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ContinuousMountainCarDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ContinuousMountainCarProMP-v1")
register(
id='ContinuousMountainCarDetPMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='ContinuousMountainCarProMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.classic_control:MountainCarContinuous-v0",
"wrappers": [classic_control.continuous_mountain_car.MPWrapper],
@@ -49,7 +48,6 @@ register(
"num_basis": 4,
"duration": 19.98,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "motor",
"policy_kwargs": {
@@ -59,11 +57,11 @@ register(
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ContinuousMountainCarDetPMP-v0")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ContinuousMountainCarProMP-v0")
register(
id='ReacherDetPMP-v2',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='ReacherProMP-v2',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.mujoco:Reacher-v2",
"wrappers": [mujoco.reacher_v2.MPWrapper],
@@ -72,7 +70,6 @@ register(
"num_basis": 6,
"duration": 1,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "motor",
"policy_kwargs": {
@@ -82,11 +79,11 @@ register(
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ReacherDetPMP-v2")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ReacherProMP-v2")
register(
id='FetchSlideDenseDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchSlideDenseProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchSlideDense-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -95,17 +92,16 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchSlideDenseDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideDenseProMP-v1")
register(
id='FetchSlideDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchSlideProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchSlide-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -114,17 +110,16 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchSlideDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideProMP-v1")
register(
id='FetchReachDenseDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchReachDenseProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchReachDense-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -133,17 +128,16 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchReachDenseDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachDenseProMP-v1")
register(
id='FetchReachDetPMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
id='FetchReachProMP-v1',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": "gym.envs.robotics:FetchReach-v1",
"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
@@ -152,10 +146,9 @@ register(
"num_basis": 5,
"duration": 2,
"post_traj_time": 0,
"width": 0.02,
"zero_start": True,
"policy_type": "position"
}
}
)
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchReachDetPMP-v1")
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachProMP-v1")
alr_envs/utils/make_env_helpers.py
+6 -41
View File
@@ -1,3 +1,4 @@
import warnings
from typing import Iterable, Type, Union
import gym
@@ -5,7 +6,6 @@ import numpy as np
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
@@ -48,6 +48,11 @@ def make(env_id: str, seed, **kwargs):
Returns: Gym environment
"""
if any([det_pmp in env_id for det_pmp in ["DetPMP", "detpmp"]]):
warnings.warn("DetPMP is deprecated and converted to ProMP")
env_id = env_id.replace("DetPMP", "ProMP")
env_id = env_id.replace("detpmp", "promp")
try:
# Add seed to kwargs in case it is a predefined gym+dmc hybrid environment.
if env_id.startswith("dmc"):
@@ -153,26 +158,6 @@ def make_promp_env(env_id: str, wrappers: Iterable, seed=1, mp_kwargs={}, **kwar
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.
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: Det 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 DetPMPWrapper(_env, **mp_kwargs)
def make_dmp_env_helper(**kwargs):
"""
Helper function for registering a DMP gym environments.
@@ -212,26 +197,6 @@ def make_promp_env_helper(**kwargs):
mp_kwargs=kwargs.pop("mp_kwargs"), **kwargs)
def make_detpmp_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: DMP wrapped gym env
"""
seed = kwargs.pop("seed", None)
return make_detpmp_env(env_id=kwargs.pop("name"), wrappers=kwargs.pop("wrappers"), seed=seed,
mp_kwargs=kwargs.pop("mp_kwargs"), **kwargs)
def _verify_time_limit(mp_time_limit: Union[None, float], env_time_limit: Union[None, float]):
"""
When using DMC check if a manually specified time limit matches the trajectory duration the MP receives.