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Add MP-Wrapper for new TT variants with random init robot position

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This commit is contained in:
Dominik Moritz Roth 2024-02-10 11:28:17 +01:00
parent 9faaae4785
commit ad2f20a557
2 changed files with 16 additions and 0 deletions
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4
fancy_gym/envs/__init__.py
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@ -29,6 +29,7 @@ from .mujoco.table_tennis.table_tennis_env import TableTennisEnv, TableTennisWin
MAX_EPISODE_STEPS_TABLE_TENNIS, MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER 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 TTRndRobot_MPWrapper as MPWrapper_TableTennis_Rnd
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
from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper_Replan as MPWrapper_TableTennis_VelObs_Replan from .mujoco.table_tennis.mp_wrapper import TTVelObs_MPWrapper_Replan as MPWrapper_TableTennis_VelObs_Replan
@ -306,6 +307,7 @@ register(
register( register(
id='fancy/TableTennisRndRobot-v0', id='fancy/TableTennisRndRobot-v0',
entry_point='fancy_gym.envs.mujoco:TableTennisRandomInit', entry_point='fancy_gym.envs.mujoco:TableTennisRandomInit',
mp_wrapper=MPWrapper_TableTennis_Rnd,
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS, max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS,
kwargs={ kwargs={
'random_pos_scale': 0.1, 'random_pos_scale': 0.1,
@ -315,6 +317,7 @@ register(
register( register(
id='fancy/TableTennisMarkovian-v0', id='fancy/TableTennisMarkovian-v0',
mp_wrapper=MPWrapper_TableTennis,
entry_point='fancy_gym.envs.mujoco:TableTennisMarkovian', entry_point='fancy_gym.envs.mujoco:TableTennisMarkovian',
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER, max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER,
kwargs={ kwargs={
@ -323,6 +326,7 @@ register(
register( register(
id='fancy/TableTennisRndRobotMarkovian-v0', id='fancy/TableTennisRndRobotMarkovian-v0',
mp_wrapper=MPWrapper_TableTennis_Rnd,
entry_point='fancy_gym.envs.mujoco:TableTennisMarkovian', entry_point='fancy_gym.envs.mujoco:TableTennisMarkovian',
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER, max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS_MARKOV_VER,
kwargs={ kwargs={

12
fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
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@ -151,3 +151,15 @@ class TTVelObs_MPWrapper_Replan(TT_MPWrapper_Replan):
[True] * 2, # target landing position [True] * 2, # target landing position
# [True] * 1, # time # [True] * 1, # time
]) ])
class TTRndRobot_MPWrapper(TT_MPWrapper):
@property
def context_mask(self):
return np.hstack([
[True] * 7, # joints position
[False] * 7, # joints velocity
[True] * 2, # position ball x, y
[False] * 1, # position ball z
[True] * 2, # target landing position
# [True] * 1, # time
])