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Register new env variants (Bruce Vers)

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Dominik Moritz Roth 2024-01-28 12:37:53 +01:00
parent 9fce6fff42
commit a67637c714
1 changed files with 42 additions and 1 deletions
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43
fancy_gym/envs/__init__.py
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@ -26,7 +26,7 @@ from .mujoco.walker_2d_jump.walker_2d_jump import MAX_EPISODE_STEPS_WALKERJUMP
from .mujoco.box_pushing.box_pushing_env import BoxPushingDense, BoxPushingTemporalSparse, \ from .mujoco.box_pushing.box_pushing_env import BoxPushingDense, BoxPushingTemporalSparse, \
BoxPushingTemporalSpatialSparse, MAX_EPISODE_STEPS_BOX_PUSHING BoxPushingTemporalSpatialSparse, MAX_EPISODE_STEPS_BOX_PUSHING
from .mujoco.table_tennis.table_tennis_env import TableTennisEnv, TableTennisWind, TableTennisGoalSwitching, \ from .mujoco.table_tennis.table_tennis_env import TableTennisEnv, TableTennisWind, TableTennisGoalSwitching, \
MAX_EPISODE_STEPS_TABLE_TENNIS MAX_EPISODE_STEPS_TABLE_TENNIS, MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER
from .mujoco.table_tennis.mp_wrapper import TT_MPWrapper as MPWrapper_TableTennis from .mujoco.table_tennis.mp_wrapper import TT_MPWrapper as MPWrapper_TableTennis
from .mujoco.table_tennis.mp_wrapper import TT_MPWrapper_Replan as MPWrapper_TableTennis_Replan from .mujoco.table_tennis.mp_wrapper import TT_MPWrapper_Replan as MPWrapper_TableTennis_Replan
from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper as MPWrapper_TableTennis_VelObs from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper as MPWrapper_TableTennis_VelObs
@ -135,6 +135,19 @@ register(
} }
) )
register(
id='fancy/HopperJumpMarkov-v0',
entry_point='fancy_gym.envs.mujoco:HopperJumpMarkovRew',
mp_wrapper=mujoco.hopper_jump.MPWrapper,
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
kwargs={
"sparse": False,
"healthy_reward": 1.0,
"contact_weight": 0.0,
"height_weight": 3.0,
}
)
# TODO: Add [MPs] later when finished (old TODO I moved here during refactor) # TODO: Add [MPs] later when finished (old TODO I moved here during refactor)
register( register(
id='fancy/AntJump-v0', id='fancy/AntJump-v0',
@ -290,6 +303,34 @@ register(
} }
) )
register(
id='TableTennisRndRobot-v0',
entry_point='fancy_gym.envs.mujoco:TableTennisRandomInit',
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS,
kwargs={
'random_pos_scale': 0.1,
'random_vel_scale': 0.0,
}
)
register(
id='TableTennisMarkovian-v0',
entry_point='fancy_gym.envs.mujoco:TableTennisMarkovian',
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER,
kwargs={
}
)
register(
id='TableTennisRndRobotMarkovian-v0',
entry_point='fancy_gym.envs.mujoco:TableTennisMarkovian',
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER,
kwargs={
'random_pos_scale': 0.1,
'random_vel_scale': 0.0,
}
)
# Air Hockey environments # Air Hockey environments
for env_mode in ["7dof-hit", "7dof-defend", "3dof-hit", "3dof-defend", "7dof-hit-airhockit2023", "7dof-defend-airhockit2023"]: for env_mode in ["7dof-hit", "7dof-defend", "3dof-hit", "3dof-defend", "7dof-hit-airhockit2023", "7dof-defend-airhockit2023"]:
register( register(