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ottofabian 2021-09-29 16:26:03 +02:00
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alr_envs/__init__.py
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from gym.envs.registration import register
from alr_envs import dmc, meta, open_ai
from alr_envs.utils.make_env_helpers import make, make_detpmp_env, make_dmp_env, make_rank
from alr_envs.utils import make_dmc
from alr_envs.stochastic_search.functions.f_rosenbrock import Rosenbrock
# Convenience function for all MP environments
from .alr import ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS
from .dmc import ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS
from .meta import ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS
from .open_ai import ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS
# Mujoco
register(
id='ALRReacher-v0',
entry_point='alr_envs.mujoco:ALRReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 0,
"n_links": 5,
"balance": False,
}
)
register(
id='ALRReacherSparse-v0',
entry_point='alr_envs.mujoco:ALRReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 200,
"n_links": 5,
"balance": False,
}
)
register(
id='ALRReacherSparseBalanced-v0',
entry_point='alr_envs.mujoco:ALRReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 200,
"n_links": 5,
"balance": True,
}
)
register(
id='ALRLongReacher-v0',
entry_point='alr_envs.mujoco:ALRReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 0,
"n_links": 7,
"balance": False,
}
)
register(
id='ALRLongReacherSparse-v0',
entry_point='alr_envs.mujoco:ALRReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 200,
"n_links": 7,
"balance": False,
}
)
register(
id='ALRLongReacherSparseBalanced-v0',
entry_point='alr_envs.mujoco:ALRReacherEnv',
max_episode_steps=200,
kwargs={
"steps_before_reward": 200,
"n_links": 7,
"balance": True,
}
)
## Balancing Reacher
register(
id='Balancing-v0',
entry_point='alr_envs.mujoco:BalancingEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
}
)
register(
id='ALRBallInACupSimple-v0',
entry_point='alr_envs.mujoco:ALRBallInACupEnv',
max_episode_steps=4000,
kwargs={
"simplified": True,
"reward_type": "no_context"
}
)
register(
id='ALRBallInACup-v0',
entry_point='alr_envs.mujoco:ALRBallInACupEnv',
max_episode_steps=4000,
kwargs={
"reward_type": "no_context"
}
)
register(
id='ALRBallInACupGoal-v0',
entry_point='alr_envs.mujoco:ALRBallInACupEnv',
max_episode_steps=4000,
kwargs={
"reward_type": "contextual_goal"
}
)
# Classic control
## Simple Reacher
register(
id='SimpleReacher-v0',
entry_point='alr_envs.classic_control:SimpleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 2,
}
)
register(
id='SimpleReacher-v1',
entry_point='alr_envs.classic_control:SimpleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 2,
"random_start": False
}
)
register(
id='LongSimpleReacher-v0',
entry_point='alr_envs.classic_control:SimpleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
}
)
register(
id='LongSimpleReacher-v1',
entry_point='alr_envs.classic_control:SimpleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
"random_start": False
}
)
## Viapoint Reacher
register(
id='ViaPointReacher-v0',
entry_point='alr_envs.classic_control.viapoint_reacher:ViaPointReacher',
max_episode_steps=200,
kwargs={
"n_links": 5,
"allow_self_collision": False,
"collision_penalty": 1000
}
)
## Hole Reacher
register(
id='HoleReacher-v0',
entry_point='alr_envs.classic_control.hole_reacher:HoleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
"random_start": True,
"allow_self_collision": False,
"allow_wall_collision": False,
"hole_width": None,
"hole_depth": 1,
"hole_x": None,
"collision_penalty": 100,
}
)
register(
id='HoleReacher-v1',
entry_point='alr_envs.classic_control.hole_reacher:HoleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
"random_start": False,
"allow_self_collision": False,
"allow_wall_collision": False,
"hole_width": 0.25,
"hole_depth": 1,
"hole_x": None,
"collision_penalty": 100,
}
)
register(
id='HoleReacher-v2',
entry_point='alr_envs.classic_control.hole_reacher:HoleReacherEnv',
max_episode_steps=200,
kwargs={
"n_links": 5,
"random_start": False,
"allow_self_collision": False,
"allow_wall_collision": False,
"hole_width": 0.25,
"hole_depth": 1,
"hole_x": 2,
"collision_penalty": 100,
}
)
# MP environments
## Simple Reacher
versions = ["SimpleReacher-v0", "SimpleReacher-v1", "LongSimpleReacher-v0", "LongSimpleReacher-v1"]
for v in versions:
name = v.split("-")
register(
id=f'{name[0]}DMP-{name[1]}',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
# max_episode_steps=1,
kwargs={
"name": f"alr_envs:{v}",
"num_dof": 2 if "long" not in v.lower() else 5,
"num_basis": 5,
"duration": 2,
"alpha_phase": 2,
"learn_goal": True,
"policy_type": "velocity",
"weights_scale": 50,
}
)
register(
id='ViaPointReacherDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
# max_episode_steps=1,
kwargs={
"name": "alr_envs:ViaPointReacher-v0",
"num_dof": 5,
"num_basis": 5,
"duration": 2,
"alpha_phase": 2,
"learn_goal": False,
"policy_type": "velocity",
"weights_scale": 50,
}
)
## Hole Reacher
versions = ["v0", "v1", "v2"]
for v in versions:
register(
id=f'HoleReacherDMP-{v}',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
# max_episode_steps=1,
kwargs={
"name": f"alr_envs:HoleReacher-{v}",
"num_dof": 5,
"num_basis": 5,
"duration": 2,
"learn_goal": True,
"alpha_phase": 2,
"bandwidth_factor": 2,
"policy_type": "velocity",
"weights_scale": 50,
"goal_scale": 0.1
}
)
register(
id=f'HoleReacherDetPMP-{v}',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env',
kwargs={
"name": f"alr_envs:HoleReacher-{v}",
"num_dof": 5,
"num_basis": 5,
"duration": 2,
"width": 0.025,
"policy_type": "velocity",
"weights_scale": 0.2,
"zero_start": True
}
)
# TODO: properly add final_pos
register(
id='HoleReacherFixedGoalDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
# max_episode_steps=1,
kwargs={
"name": "alr_envs:HoleReacher-v0",
"num_dof": 5,
"num_basis": 5,
"duration": 2,
"learn_goal": False,
"alpha_phase": 2,
"policy_type": "velocity",
"weights_scale": 50,
"goal_scale": 0.1
}
)
## Ball in Cup
register(
id='ALRBallInACupSimpleDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
kwargs={
"name": "alr_envs:ALRBallInACupSimple-v0",
"num_dof": 3,
"num_basis": 5,
"duration": 3.5,
"post_traj_time": 4.5,
"learn_goal": False,
"alpha_phase": 3,
"bandwidth_factor": 2.5,
"policy_type": "motor",
"weights_scale": 100,
"return_to_start": True
}
)
register(
id='ALRBallInACupDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
kwargs={
"name": "alr_envs:ALRBallInACup-v0",
"num_dof": 7,
"num_basis": 5,
"duration": 3.5,
"post_traj_time": 4.5,
"learn_goal": False,
"alpha_phase": 3,
"bandwidth_factor": 2.5,
"policy_type": "motor",
"weights_scale": 100,
"return_to_start": True
}
)
register(
id='ALRBallInACupSimpleDetPMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env',
kwargs={
"name": "alr_envs:ALRBallInACupSimple-v0",
"num_dof": 3,
"num_basis": 5,
"duration": 3.5,
"post_traj_time": 4.5,
"width": 0.0035,
# "off": -0.05,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
"zero_goal": True
}
)
register(
id='ALRBallInACupDetPMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env',
kwargs={
"name": "alr_envs:ALRBallInACupSimple-v0",
"num_dof": 7,
"num_basis": 5,
"duration": 3.5,
"post_traj_time": 4.5,
"width": 0.0035,
"policy_type": "motor",
"weights_scale": 0.2,
"zero_start": True,
"zero_goal": True
}
)
register(
id='ALRBallInACupGoalDMP-v0',
entry_point='alr_envs.utils.make_env_helpers:make_contextual_env',
kwargs={
"name": "alr_envs:ALRBallInACupGoal-v0",
"num_dof": 7,
"num_basis": 5,
"duration": 3.5,
"post_traj_time": 4.5,
"learn_goal": True,
"alpha_phase": 3,
"bandwidth_factor": 2.5,
"policy_type": "motor",
"weights_scale": 50,
"goal_scale": 0.1
}
)
# BBO functions
for dim in [5, 10, 25, 50, 100]:
register(
id=f'Rosenbrock{dim}-v0',
entry_point='alr_envs.stochastic_search:StochasticSearchEnv',
max_episode_steps=1,
kwargs={
"cost_f": Rosenbrock(dim),
}
)
ALL_MOTION_PRIMITIVE_ENVIRONMENTS = {
key: value + ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS[key] +
ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS[key] +
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS[key]
for key, value in ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS.items()}