replaced all detpmp with promp

2021-11-30 16:11:32 +01:00
parent 655d52aa35
commit 8b88ce3476
20 changed files with 121 additions and 407 deletions
@@ -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