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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/meta/__init__.py
+13 -17
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@@ -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)