improved project structure and exposed methods

2021-08-25 17:16:20 +02:00
parent 031dba541a
commit c443b06fef
160 changed files with 1010 additions and 1575 deletions
@@ -1,3 +1,130 @@
-from alr_envs.open_ai.mujoco import reacher_v2
-from alr_envs.open_ai.robotics import fetch
-from alr_envs.open_ai.classic_control import continuous_mountain_car
+from gym import register
+from gym.wrappers import FlattenObservation
+
+from . import classic_control, mujoco, robotics
+
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
+
+# Open AI
+# Classic Control
+register(
+    id='ContinuousMountainCarDetPMP-v0',
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": "gym.envs.classic_control:MountainCarContinuous-v0",
+        "wrappers": [classic_control.continuous_mountain_car.MPWrapper],
+        "mp_kwargs": {
+            "num_dof": 1,
+            "num_basis": 4,
+            "duration": 2,
+            "post_traj_time": 0,
+            "width": 0.02,
+            "zero_start": True,
+            "policy_type": "motor",
+            "policy_kwargs": {
+                "p_gains": 1.,
+                "d_gains": 1.
+            }
+        }
+    }
+)
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ContinuousMountainCarDetPMP-v0")
+
+register(
+    id='ReacherDetPMP-v2',
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": "gym.envs.mujoco:Reacher-v2",
+        "wrappers": [mujoco.reacher_v2.MPWrapper],
+        "mp_kwargs": {
+            "num_dof": 2,
+            "num_basis": 6,
+            "duration": 1,
+            "post_traj_time": 0,
+            "width": 0.02,
+            "zero_start": True,
+            "policy_type": "motor",
+            "policy_kwargs": {
+                "p_gains": .6,
+                "d_gains": .075
+            }
+        }
+    }
+)
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ReacherDetPMP-v2")
+
+register(
+    id='FetchSlideDenseDetPMP-v1',
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": "gym.envs.robotics:FetchSlideDense-v1",
+        "wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
+        "mp_kwargs": {
+            "num_dof": 4,
+            "num_basis": 5,
+            "duration": 2,
+            "post_traj_time": 0,
+            "width": 0.02,
+            "zero_start": True,
+            "policy_type": "position"
+        }
+    }
+)
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchSlideDenseDetPMP-v1")
+
+register(
+    id='FetchSlideDetPMP-v1',
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": "gym.envs.robotics:FetchSlide-v1",
+        "wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
+        "mp_kwargs": {
+            "num_dof": 4,
+            "num_basis": 5,
+            "duration": 2,
+            "post_traj_time": 0,
+            "width": 0.02,
+            "zero_start": True,
+            "policy_type": "position"
+        }
+    }
+)
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchSlideDetPMP-v1")
+
+register(
+    id='FetchReachDenseDetPMP-v1',
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": "gym.envs.robotics:FetchReachDense-v1",
+        "wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
+        "mp_kwargs": {
+            "num_dof": 4,
+            "num_basis": 5,
+            "duration": 2,
+            "post_traj_time": 0,
+            "width": 0.02,
+            "zero_start": True,
+            "policy_type": "position"
+        }
+    }
+)
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchReachDenseDetPMP-v1")
+
+register(
+    id='FetchReachDetPMP-v1',
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": "gym.envs.robotics:FetchReach-v1",
+        "wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
+        "mp_kwargs": {
+            "num_dof": 4,
+            "num_basis": 5,
+            "duration": 2,
+            "post_traj_time": 0,
+            "width": 0.02,
+            "zero_start": True,
+            "policy_type": "position"
+        }
+    }
+)
+ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("FetchReachDetPMP-v1")
@@ -0,0 +1 @@
+from . import continuous_mountain_car
@@ -0,0 +1 @@
+from . import reacher_v2
@@ -0,0 +1 @@
+from . import fetch