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merge master into table-tennis-dev branch

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This commit is contained in:
Hongyi Zhou 2022-12-01 11:46:09 +01:00
parent 3a502ce831
commit a9a1d05497
2 changed files with 11 additions and 14 deletions
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9
fancy_gym/black_box/black_box_wrapper.py
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@ -145,11 +145,10 @@ class BlackBoxWrapper(gym.ObservationWrapper):
def step(self, action: np.ndarray): def step(self, action: np.ndarray):
""" This function generates a trajectory based on a MP and then does the usual loop over reset and step""" """ This function generates a trajectory based on a MP and then does the usual loop over reset and step"""
# TODO remove this part, right now only needed for beer pong
# mp_params, env_spec_params, proceed = self.env.episode_callback(action, self.traj_gen)
position, velocity = self.get_trajectory(action) position, velocity = self.get_trajectory(action)
position, velocity = self.env.set_episode_arguments(action, position, velocity)
traj_is_valid = self.env.preprocessing_and_validity_callback(action, position, velocity) traj_is_valid = self.env.preprocessing_and_validity_callback(action, position, velocity)
# insert validation here
trajectory_length = len(position) trajectory_length = len(position)
rewards = np.zeros(shape=(trajectory_length,)) rewards = np.zeros(shape=(trajectory_length,))
if self.verbose >= 2: if self.verbose >= 2:
@ -167,8 +166,6 @@ class BlackBoxWrapper(gym.ObservationWrapper):
else: else:
self.plan_steps += 1 self.plan_steps += 1
for t, (pos, vel) in enumerate(zip(position, velocity)): for t, (pos, vel) in enumerate(zip(position, velocity)):
current_pos = self.current_pos
current_vel = self.current_vel
step_action = self.tracking_controller.get_action(pos, vel, self.current_pos, self.current_vel) step_action = self.tracking_controller.get_action(pos, vel, self.current_pos, self.current_vel)
c_action = np.clip(step_action, self.env.action_space.low, self.env.action_space.high) c_action = np.clip(step_action, self.env.action_space.low, self.env.action_space.high)
obs, c_reward, done, info = self.env.step(c_action) obs, c_reward, done, info = self.env.step(c_action)
@ -186,7 +183,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
if self.render_kwargs: if self.render_kwargs:
self.env.render(**self.render_kwargs) self.env.render(**self.render_kwargs)
if done or (self.replanning_schedule(self.current_pos, self.current_vel, obs, c_action, if done or (self.replanning_schedule(self.current_pos, self.current_vel, obs, c_action,
t + 1 + self.current_traj_steps) t + 1 + self.current_traj_steps)
and self.plan_steps < self.max_planning_times): and self.plan_steps < self.max_planning_times):

16
fancy_gym/examples/examples_movement_primitives.py
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@ -161,16 +161,16 @@ if __name__ == '__main__':
# ProMP # ProMP
# example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render) # example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
# example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render) example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
# example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render) example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
# example_mp("TableTennisWindProMP-v0", seed=10, iterations=20, render=render) example_mp("TableTennisWindProMP-v0", seed=10, iterations=20, render=render)
# example_mp("TableTennisGoalSwitchingProMP-v0", seed=10, iterations=20, render=render) example_mp("TableTennisGoalSwitchingProMP-v0", seed=10, iterations=20, render=render)
# ProDMP # ProDMP
# example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render) example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
example_mp("TableTennis4DProDMP-v0", seed=10, iterations=2000, render=render) example_mp("TableTennis4DProDMP-v0", seed=10, iterations=20, render=render)
# example_mp("TableTennisWindProDMP-v0", seed=10, iterations=20, render=render) example_mp("TableTennisWindProDMP-v0", seed=10, iterations=20, render=render)
# example_mp("TableTennisGoalSwitchingProDMP-v0", seed=10, iterations=20, render=render) example_mp("TableTennisGoalSwitchingProDMP-v0", seed=10, iterations=20, render=render)
# Altered basis functions # Altered basis functions
# obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render) # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)