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Move mp_config out of metadata and onto MPWrappers

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This commit is contained in:
Dominik Moritz Roth 2023-07-20 10:56:30 +02:00
parent f6e1718c1a
commit 9d03542282
7 changed files with 71 additions and 83 deletions
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28
fancy_gym/envs/classic_control/hole_reacher/hole_reacher.py
View File

@ -15,34 +15,6 @@ MAX_EPISODE_STEPS_HOLEREACHER = 200
class HoleReacherEnv(BaseReacherDirectEnv):
metadata = {
'mp_config': {
'ProMP': {
'wrappers': [MPWrapper],
'controller_kwargs': {
'controller_type': 'velocity',
},
'trajectory_generator_kwargs': {
'weight_scale': 2,
},
},
'DMP': {
'wrappers': [MPWrapper],
'controller_kwargs': {
'controller_type': 'velocity',
},
'trajectory_generator_kwargs': {
# TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
'weight_scale': 500,
},
'phase_generator_kwargs': {
'alpha_phase': 2.5,
},
},
'ProDMP': {},
}
}
def __init__(self, n_links: int, hole_x: Union[None, float] = None, hole_depth: Union[None, float] = None,
hole_width: float = 1., random_start: bool = False, allow_self_collision: bool = False,
allow_wall_collision: bool = False, collision_penalty: float = 1000, rew_fct: str = "simple"):

24
fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py
View File

@ -7,6 +7,30 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {
'controller_kwargs': {
'controller_type': 'velocity',
},
'trajectory_generator_kwargs': {
'weight_scale': 2,
},
},
'DMP': {
'controller_kwargs': {
'controller_type': 'velocity',
},
'trajectory_generator_kwargs': {
# TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
'weight_scale': 500,
},
'phase_generator_kwargs': {
'alpha_phase': 2.5,
},
},
'ProDMP': {},
}
@property
def context_mask(self):
return np.hstack([

22
fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py
View File

@ -7,6 +7,28 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {
'controller_kwargs': {
'p_gains': 0.6,
'd_gains': 0.075,
},
},
'DMP': {
'controller_kwargs': {
'p_gains': 0.6,
'd_gains': 0.075,
},
'trajectory_generator_kwargs': {
'weight_scale': 50,
},
'phase_generator_kwargs': {
'alpha_phase': 2,
},
},
'ProDMP': {},
}
@property
def context_mask(self):
return np.hstack([

26
fancy_gym/envs/classic_control/simple_reacher/simple_reacher.py
View File

@ -16,32 +16,6 @@ class SimpleReacherEnv(BaseReacherTorqueEnv):
towards the end of the trajectory.
"""
metadata = {
'mp_config': {
'ProMP': {
'wrappers': [MPWrapper],
'controller_kwargs': {
'p_gains': 0.6,
'd_gains': 0.075,
},
},
'DMP': {
'wrappers': [MPWrapper],
'controller_kwargs': {
'p_gains': 0.6,
'd_gains': 0.075,
},
'trajectory_generator_kwargs': {
'weight_scale': 50,
},
'phase_generator_kwargs': {
'alpha_phase': 2,
},
},
'ProDMP': {},
}
}
def __init__(self, n_links: int, target: Union[None, Iterable] = None, random_start: bool = True,
allow_self_collision: bool = False, ):
super().__init__(n_links, random_start, allow_self_collision)

20
fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py
View File

@ -7,6 +7,26 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class MPWrapper(RawInterfaceWrapper):
mp_config = {
'ProMP': {
'controller_kwargs': {
'controller_type': 'velocity',
},
},
'DMP': {
'controller_kwargs': {
'controller_type': 'velocity',
},
'trajectory_generator_kwargs': {
'weight_scale': 50,
},
'phase_generator_kwargs': {
'alpha_phase': 2,
},
},
'ProDMP': {},
}
@property
def context_mask(self):
return np.hstack([

24
fancy_gym/envs/classic_control/viapoint_reacher/viapoint_reacher.py
View File

@ -12,30 +12,6 @@ from . import MPWrapper
class ViaPointReacherEnv(BaseReacherDirectEnv):
metadata = {
'mp_config': {
'ProMP': {
'wrappers': [MPWrapper],
'controller_kwargs': {
'controller_type': 'velocity',
},
},
'DMP': {
'wrappers': [MPWrapper],
'controller_kwargs': {
'controller_type': 'velocity',
},
'trajectory_generator_kwargs': {
'weight_scale': 50,
},
'phase_generator_kwargs': {
'alpha_phase': 2,
},
},
'ProDMP': {},
}
}
def __init__(self, n_links, random_start: bool = False, via_target: Union[None, Iterable] = None,
target: Union[None, Iterable] = None, allow_self_collision=False, collision_penalty=1000):

10
fancy_gym/envs/registry.py
View File

@ -142,14 +142,14 @@ def register_mp(id, mp_wrapper, mp_type):
def bb_env_constructor(underlying_id, mp_wrapper, mp_type, mp_config_override={}, **kwargs):
raw_underlying_env = gym_make(underlying_id, **kwargs)
underlying_env = mp_wrapper(raw_underlying_env)
env_metadata = underlying_env.metadata
metadata_config = copy.deepcopy(env_metadata.get('mp_config', {}).get(mp_type, {}))
global_inherit_defaults = env_metadata.get('mp_config', {}).get('inherit_defaults', True)
inherit_defaults = metadata_config.pop('inherit_defaults', global_inherit_defaults)
mp_config = underlying_env.get('mp_config', {})
active_mp_config = copy.deepcopy(mp_config.get(mp_type, {}))
global_inherit_defaults = mp_config.get('inherit_defaults', True)
inherit_defaults = active_mp_config.pop('inherit_defaults', global_inherit_defaults)
config = copy.deepcopy(_BB_DEFAULTS[mp_type]) if inherit_defaults else {}
nested_update(config, metadata_config)
nested_update(config, active_mp_config)
nested_update(config, mp_config_override)
wrappers = config.pop("wrappers")