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
@@ -1,72 +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