improved project structure and exposed methods
This commit is contained in:
ottofabian
parent
031dba541a
commit
c443b06fef
@ -1,946 +1,15 @@
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from gym.envs.registration import register
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from alr_envs import dmc, meta, open_ai
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from gym.wrappers import FlattenObservation
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from alr_envs.utils.make_env_helpers import make, make_detpmp_env, make_dmp_env, make_rank
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from alr_envs.utils import make_dmc
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from alr_envs import classic_control, dmc, open_ai, meta
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from alr_envs.utils.make_env_helpers import make_dmp_env
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from alr_envs.utils.make_env_helpers import make_detpmp_env
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from alr_envs.utils.make_env_helpers import make
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from alr_envs.utils.make_env_helpers import make_rank
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# Convenience function for all MP environments
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# Convenience function for all MP environments
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ALL_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
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from .alr import ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
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from .dmc import ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
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from .meta import ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS
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ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
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from .open_ai import ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS
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ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
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# Mujoco
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ALL_MOTION_PRIMITIVE_ENVIRONMENTS = {
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key: value + ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS[key] +
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## Reacher
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS[key] +
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register(
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ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS[key]
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id='ALRReacher-v0',
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for key, value in ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS.items()}
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entry_point='alr_envs.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 0,
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"n_links": 5,
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"balance": False,
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}
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)
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register(
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id='ALRReacherSparse-v0',
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entry_point='alr_envs.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 5,
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"balance": False,
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}
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)
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register(
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id='ALRReacherSparseBalanced-v0',
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entry_point='alr_envs.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 5,
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"balance": True,
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}
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)
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register(
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id='ALRLongReacher-v0',
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entry_point='alr_envs.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 0,
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"n_links": 7,
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"balance": False,
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}
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)
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register(
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id='ALRLongReacherSparse-v0',
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entry_point='alr_envs.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 7,
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"balance": False,
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}
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)
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register(
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id='ALRLongReacherSparseBalanced-v0',
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entry_point='alr_envs.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 7,
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"balance": True,
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}
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)
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## Balancing Reacher
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register(
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id='Balancing-v0',
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entry_point='alr_envs.mujoco:BalancingEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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}
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)
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# Classic control
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## Simple Reacher
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register(
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id='SimpleReacher-v0',
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entry_point='alr_envs.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 2,
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}
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)
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register(
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id='SimpleReacher-v1',
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entry_point='alr_envs.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 2,
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"random_start": False
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}
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)
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register(
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id='LongSimpleReacher-v0',
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entry_point='alr_envs.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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}
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)
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register(
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id='LongSimpleReacher-v1',
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entry_point='alr_envs.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False
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}
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)
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## Viapoint Reacher
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register(
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id='ViaPointReacher-v0',
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entry_point='alr_envs.classic_control:ViaPointReacher',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"allow_self_collision": False,
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"collision_penalty": 1000
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}
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)
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## Hole Reacher
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register(
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id='HoleReacher-v0',
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entry_point='alr_envs.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": True,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": None,
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"hole_depth": 1,
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"hole_x": None,
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"collision_penalty": 100,
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}
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)
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register(
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id='HoleReacher-v1',
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entry_point='alr_envs.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": 0.25,
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"hole_depth": 1,
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"hole_x": None,
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"collision_penalty": 100,
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}
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)
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register(
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id='HoleReacher-v2',
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entry_point='alr_envs.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": 0.25,
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"hole_depth": 1,
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"hole_x": 2,
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"collision_penalty": 100,
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}
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)
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# Motion Primitive Environments
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## Simple Reacher
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versions = ["SimpleReacher-v0", "SimpleReacher-v1", "LongSimpleReacher-v0", "LongSimpleReacher-v1"]
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for v in versions:
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name = v.split("-")
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env_id = f'{name[0]}DMP-{name[1]}'
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register(
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id=env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"alr_envs:{v}",
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"wrappers": [classic_control.simple_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 2 if "long" not in v.lower() else 5,
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"num_basis": 5,
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"duration": 20,
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"alpha_phase": 2,
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"learn_goal": True,
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"policy_type": "velocity",
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"weights_scale": 50,
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(env_id)
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env_id = f'{name[0]}DetPMP-{name[1]}'
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register(
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id=env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"alr_envs:{v}",
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"wrappers": [classic_control.simple_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 2 if "long" not in v.lower() else 5,
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"num_basis": 5,
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"duration": 20,
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"width": 0.025,
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"policy_type": "velocity",
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"weights_scale": 0.2,
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"zero_start": True
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
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register(
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id='ViaPointReacherDMP-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": "alr_envs:ViaPointReacher-v0",
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"wrappers": [classic_control.viapoint_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"learn_goal": True,
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"alpha_phase": 2,
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"policy_type": "velocity",
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"weights_scale": 50,
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("ViaPointReacherDMP-v0")
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register(
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id='ViaPointReacherDetPMP-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": "alr_envs:ViaPointReacher-v0",
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"wrappers": [classic_control.viapoint_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"width": 0.025,
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"policy_type": "velocity",
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"weights_scale": 0.2,
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"zero_start": True
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ViaPointReacherDetPMP-v0")
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## Hole Reacher
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versions = ["v0", "v1", "v2"]
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for v in versions:
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env_id = f'HoleReacherDMP-{v}'
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register(
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id=env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"alr_envs:HoleReacher-{v}",
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"wrappers": [classic_control.hole_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "velocity",
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"weights_scale": 50,
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"goal_scale": 0.1
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(env_id)
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env_id = f'HoleReacherDetPMP-{v}'
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register(
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id=env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"alr_envs:HoleReacher-{v}",
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"wrappers": [classic_control.hole_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"width": 0.025,
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"policy_type": "velocity",
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"weights_scale": 0.2,
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"zero_start": True
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
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## Deep Mind Control Suite (DMC)
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### Suite
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register(
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id=f'dmc_ball_in_cup-catch_dmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"ball_in_cup-catch",
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"time_limit": 20,
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"episode_length": 1000,
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"wrappers": [dmc.suite.ball_in_cup.MPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
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"num_basis": 5,
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"duration": 20,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "motor",
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"goal_scale": 0.1,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
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register(
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id=f'dmc_ball_in_cup-catch_detpmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"ball_in_cup-catch",
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"time_limit": 20,
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"episode_length": 1000,
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"wrappers": [dmc.suite.ball_in_cup.MPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 20,
|
|
||||||
"width": 0.025,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 50,
|
|
||||||
"d_gains": 1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_ball_in_cup-catch_detpmp-v0")
|
|
||||||
|
|
||||||
register(
|
|
||||||
id=f'dmc_reacher-easy_dmp-v0',
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
||||||
# max_episode_steps=1,
|
|
||||||
kwargs={
|
|
||||||
"name": f"reacher-easy",
|
|
||||||
"time_limit": 20,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.reacher.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 2,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 20,
|
|
||||||
"learn_goal": True,
|
|
||||||
"alpha_phase": 2,
|
|
||||||
"bandwidth_factor": 2,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 50,
|
|
||||||
"goal_scale": 0.1,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 50,
|
|
||||||
"d_gains": 1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
|
|
||||||
|
|
||||||
register(
|
|
||||||
id=f'dmc_reacher-easy_detpmp-v0',
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": f"reacher-easy",
|
|
||||||
"time_limit": 20,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.reacher.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 2,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 20,
|
|
||||||
"width": 0.025,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 0.2,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 50,
|
|
||||||
"d_gains": 1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_reacher-easy_detpmp-v0")
|
|
||||||
|
|
||||||
register(
|
|
||||||
id=f'dmc_reacher-hard_dmp-v0',
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
||||||
# max_episode_steps=1,
|
|
||||||
kwargs={
|
|
||||||
"name": f"reacher-hard",
|
|
||||||
"time_limit": 20,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.reacher.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 2,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 20,
|
|
||||||
"learn_goal": True,
|
|
||||||
"alpha_phase": 2,
|
|
||||||
"bandwidth_factor": 2,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 50,
|
|
||||||
"goal_scale": 0.1,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 50,
|
|
||||||
"d_gains": 1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
|
|
||||||
|
|
||||||
register(
|
|
||||||
id=f'dmc_reacher-hard_detpmp-v0',
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": f"reacher-hard",
|
|
||||||
"time_limit": 20,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.reacher.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 2,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 20,
|
|
||||||
"width": 0.025,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 0.2,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 50,
|
|
||||||
"d_gains": 1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_reacher-hard_detpmp-v0")
|
|
||||||
|
|
||||||
dmc_cartpole_tasks = ["balance", "balance_sparse", "swingup", "swingup_sparse"]
|
|
||||||
|
|
||||||
for task in dmc_cartpole_tasks:
|
|
||||||
env_id = f'dmc_cartpole-{task}_dmp-v0'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
||||||
# max_episode_steps=1,
|
|
||||||
kwargs={
|
|
||||||
"name": f"cartpole-{task}",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"camera_id": 0,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.cartpole.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 1,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"learn_goal": True,
|
|
||||||
"alpha_phase": 2,
|
|
||||||
"bandwidth_factor": 2,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 50,
|
|
||||||
"goal_scale": 0.1,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 10,
|
|
||||||
"d_gains": 10
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(env_id)
|
|
||||||
|
|
||||||
env_id = f'dmc_cartpole-{task}_detpmp-v0'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": f"cartpole-{task}",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"camera_id": 0,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.cartpole.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 1,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"width": 0.025,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 0.2,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 10,
|
|
||||||
"d_gains": 10
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
|
|
||||||
|
|
||||||
env_id = f'dmc_cartpole-two_poles_dmp-v0'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
||||||
# max_episode_steps=1,
|
|
||||||
kwargs={
|
|
||||||
"name": f"cartpole-two_poles",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"camera_id": 0,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.cartpole.TwoPolesMPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 1,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"learn_goal": True,
|
|
||||||
"alpha_phase": 2,
|
|
||||||
"bandwidth_factor": 2,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 50,
|
|
||||||
"goal_scale": 0.1,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 10,
|
|
||||||
"d_gains": 10
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(env_id)
|
|
||||||
|
|
||||||
env_id = f'dmc_cartpole-two_poles_detpmp-v0'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": f"cartpole-two_poles",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"camera_id": 0,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.cartpole.TwoPolesMPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 1,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"width": 0.025,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 0.2,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 10,
|
|
||||||
"d_gains": 10
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
|
|
||||||
|
|
||||||
env_id = f'dmc_cartpole-three_poles_dmp-v0'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
||||||
# max_episode_steps=1,
|
|
||||||
kwargs={
|
|
||||||
"name": f"cartpole-three_poles",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"camera_id": 0,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.cartpole.ThreePolesMPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 1,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"learn_goal": True,
|
|
||||||
"alpha_phase": 2,
|
|
||||||
"bandwidth_factor": 2,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 50,
|
|
||||||
"goal_scale": 0.1,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 10,
|
|
||||||
"d_gains": 10
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(env_id)
|
|
||||||
|
|
||||||
env_id = f'dmc_cartpole-three_poles_detpmp-v0'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": f"cartpole-three_poles",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"camera_id": 0,
|
|
||||||
"episode_length": 1000,
|
|
||||||
"wrappers": [dmc.suite.cartpole.ThreePolesMPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 1,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"width": 0.025,
|
|
||||||
"policy_type": "motor",
|
|
||||||
"weights_scale": 0.2,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_kwargs": {
|
|
||||||
"p_gains": 10,
|
|
||||||
"d_gains": 10
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
|
|
||||||
|
|
||||||
### Manipulation
|
|
||||||
|
|
||||||
register(
|
|
||||||
id=f'dmc_manipulation-reach_site_dmp-v0',
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
||||||
# max_episode_steps=1,
|
|
||||||
kwargs={
|
|
||||||
"name": f"manipulation-reach_site_features",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"episode_length": 250,
|
|
||||||
"wrappers": [dmc.manipulation.reach.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 9,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"learn_goal": True,
|
|
||||||
"alpha_phase": 2,
|
|
||||||
"bandwidth_factor": 2,
|
|
||||||
"policy_type": "velocity",
|
|
||||||
"weights_scale": 50,
|
|
||||||
"goal_scale": 0.1,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
|
|
||||||
|
|
||||||
register(
|
|
||||||
id=f'dmc_manipulation-reach_site_detpmp-v0',
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": f"manipulation-reach_site_features",
|
|
||||||
# "time_limit": 1,
|
|
||||||
"episode_length": 250,
|
|
||||||
"wrappers": [dmc.manipulation.reach.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 9,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 10,
|
|
||||||
"width": 0.025,
|
|
||||||
"policy_type": "velocity",
|
|
||||||
"weights_scale": 0.2,
|
|
||||||
"zero_start": True,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_manipulation-reach_site_detpmp-v0")
|
|
||||||
|
|
||||||
## Open AI
|
|
||||||
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": [open_ai.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": [open_ai.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, open_ai.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, open_ai.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, open_ai.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, open_ai.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")
|
|
||||||
|
|
||||||
# MetaWorld
|
|
||||||
|
|
||||||
goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",
|
|
||||||
]
|
|
||||||
for task in goal_change_envs:
|
|
||||||
task_id_split = task.split("-")
|
|
||||||
name = "".join([s.capitalize() for s in task_id_split[:-1]])
|
|
||||||
env_id = f'{name}DetPMP-{task_id_split[-1]}'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": task,
|
|
||||||
"wrappers": [meta.goal_change.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 4,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 6.25,
|
|
||||||
"post_traj_time": 0,
|
|
||||||
"width": 0.025,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_type": "metaworld",
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
|
|
||||||
|
|
||||||
object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
|
|
||||||
for task in object_change_envs:
|
|
||||||
task_id_split = task.split("-")
|
|
||||||
name = "".join([s.capitalize() for s in task_id_split[:-1]])
|
|
||||||
env_id = f'{name}DetPMP-{task_id_split[-1]}'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": task,
|
|
||||||
"wrappers": [meta.object_change.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 4,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 6.25,
|
|
||||||
"post_traj_time": 0,
|
|
||||||
"width": 0.025,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_type": "metaworld",
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
|
|
||||||
|
|
||||||
goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press-wall-v2", "button-press-topdown-v2",
|
|
||||||
"button-press-topdown-wall-v2", "coffee-button-v2", "coffee-pull-v2",
|
|
||||||
"coffee-push-v2", "dial-turn-v2", "disassemble-v2", "door-close-v2",
|
|
||||||
"door-lock-v2", "door-open-v2", "door-unlock-v2", "hand-insert-v2",
|
|
||||||
"drawer-close-v2", "drawer-open-v2", "faucet-open-v2", "faucet-close-v2",
|
|
||||||
"handle-press-side-v2", "handle-press-v2", "handle-pull-side-v2",
|
|
||||||
"handle-pull-v2", "lever-pull-v2", "peg-insert-side-v2", "pick-place-wall-v2",
|
|
||||||
"reach-v2", "push-back-v2", "push-v2", "pick-place-v2", "peg-unplug-side-v2",
|
|
||||||
"soccer-v2", "stick-push-v2", "stick-pull-v2", "push-wall-v2", "reach-wall-v2",
|
|
||||||
"shelf-place-v2", "sweep-v2", "window-open-v2", "window-close-v2"
|
|
||||||
]
|
|
||||||
for task in goal_and_object_change_envs:
|
|
||||||
task_id_split = task.split("-")
|
|
||||||
name = "".join([s.capitalize() for s in task_id_split[:-1]])
|
|
||||||
env_id = f'{name}DetPMP-{task_id_split[-1]}'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": task,
|
|
||||||
"wrappers": [meta.goal_and_object_change.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 4,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 6.25,
|
|
||||||
"post_traj_time": 0,
|
|
||||||
"width": 0.025,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_type": "metaworld",
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
|
|
||||||
|
|
||||||
goal_and_endeffector_change_envs = ["basketball-v2"]
|
|
||||||
for task in goal_and_endeffector_change_envs:
|
|
||||||
task_id_split = task.split("-")
|
|
||||||
name = "".join([s.capitalize() for s in task_id_split[:-1]])
|
|
||||||
env_id = f'{name}DetPMP-{task_id_split[-1]}'
|
|
||||||
register(
|
|
||||||
id=env_id,
|
|
||||||
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
||||||
kwargs={
|
|
||||||
"name": task,
|
|
||||||
"wrappers": [meta.goal_and_endeffector_change.MPWrapper],
|
|
||||||
"mp_kwargs": {
|
|
||||||
"num_dof": 4,
|
|
||||||
"num_basis": 5,
|
|
||||||
"duration": 6.25,
|
|
||||||
"post_traj_time": 0,
|
|
||||||
"width": 0.025,
|
|
||||||
"zero_start": True,
|
|
||||||
"policy_type": "metaworld",
|
|
||||||
}
|
|
||||||
}
|
|
||||||
)
|
|
||||||
ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
|
|
||||||
|
|||||||
329
alr_envs/alr/__init__.py
Normal file
329
alr_envs/alr/__init__.py
Normal file
@ -0,0 +1,329 @@
|
|||||||
|
from gym import register
|
||||||
|
|
||||||
|
from . import classic_control, mujoco
|
||||||
|
from .classic_control.hole_reacher.hole_reacher import HoleReacherEnv
|
||||||
|
from .classic_control.simple_reacher.simple_reacher import SimpleReacherEnv
|
||||||
|
from .classic_control.viapoint_reacher.viapoint_reacher import ViaPointReacherEnv
|
||||||
|
from .mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
|
||||||
|
from .mujoco.ball_in_a_cup.biac_pd import ALRBallInACupPDEnv
|
||||||
|
from .mujoco.reacher.alr_reacher import ALRReacherEnv
|
||||||
|
from .mujoco.reacher.balancing import BalancingEnv
|
||||||
|
|
||||||
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "DetPMP": []}
|
||||||
|
|
||||||
|
# Classic Control
|
||||||
|
## Simple Reacher
|
||||||
|
register(
|
||||||
|
id='SimpleReacher-v0',
|
||||||
|
entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"n_links": 2,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='SimpleReacher-v1',
|
||||||
|
entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"n_links": 2,
|
||||||
|
"random_start": False
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='LongSimpleReacher-v0',
|
||||||
|
entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"n_links": 5,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='LongSimpleReacher-v1',
|
||||||
|
entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"n_links": 5,
|
||||||
|
"random_start": False
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Viapoint Reacher
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='ViaPointReacher-v0',
|
||||||
|
entry_point='alr_envs.alr.classic_control:ViaPointReacherEnv',
|
||||||
|
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.alr.classic_control: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.alr.classic_control: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.alr.classic_control: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,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
# Mujoco
|
||||||
|
|
||||||
|
## Reacher
|
||||||
|
register(
|
||||||
|
id='ALRReacher-v0',
|
||||||
|
entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"steps_before_reward": 0,
|
||||||
|
"n_links": 5,
|
||||||
|
"balance": False,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='ALRReacherSparse-v0',
|
||||||
|
entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"steps_before_reward": 200,
|
||||||
|
"n_links": 5,
|
||||||
|
"balance": False,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='ALRReacherSparseBalanced-v0',
|
||||||
|
entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"steps_before_reward": 200,
|
||||||
|
"n_links": 5,
|
||||||
|
"balance": True,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='ALRLongReacher-v0',
|
||||||
|
entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"steps_before_reward": 0,
|
||||||
|
"n_links": 7,
|
||||||
|
"balance": False,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='ALRLongReacherSparse-v0',
|
||||||
|
entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"steps_before_reward": 200,
|
||||||
|
"n_links": 7,
|
||||||
|
"balance": False,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='ALRLongReacherSparseBalanced-v0',
|
||||||
|
entry_point='alr_envs.alr.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.alr.mujoco:BalancingEnv',
|
||||||
|
max_episode_steps=200,
|
||||||
|
kwargs={
|
||||||
|
"n_links": 5,
|
||||||
|
}
|
||||||
|
)
|
||||||
|
|
||||||
|
# Motion Primitive Environments
|
||||||
|
|
||||||
|
## Simple Reacher
|
||||||
|
_versions = ["SimpleReacher-v0", "SimpleReacher-v1", "LongSimpleReacher-v0", "LongSimpleReacher-v1"]
|
||||||
|
for _v in _versions:
|
||||||
|
_name = _v.split("-")
|
||||||
|
_env_id = f'{_name[0]}DMP-{_name[1]}'
|
||||||
|
register(
|
||||||
|
id=_env_id,
|
||||||
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
||||||
|
# max_episode_steps=1,
|
||||||
|
kwargs={
|
||||||
|
"name": f"alr_envs:{_v}",
|
||||||
|
"wrappers": [classic_control.simple_reacher.MPWrapper],
|
||||||
|
"mp_kwargs": {
|
||||||
|
"num_dof": 2 if "long" not in _v.lower() else 5,
|
||||||
|
"num_basis": 5,
|
||||||
|
"duration": 20,
|
||||||
|
"alpha_phase": 2,
|
||||||
|
"learn_goal": True,
|
||||||
|
"policy_type": "velocity",
|
||||||
|
"weights_scale": 50,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
)
|
||||||
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
||||||
|
|
||||||
|
_env_id = f'{_name[0]}DetPMP-{_name[1]}'
|
||||||
|
register(
|
||||||
|
id=_env_id,
|
||||||
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
||||||
|
# max_episode_steps=1,
|
||||||
|
kwargs={
|
||||||
|
"name": f"alr_envs:{_v}",
|
||||||
|
"wrappers": [classic_control.simple_reacher.MPWrapper],
|
||||||
|
"mp_kwargs": {
|
||||||
|
"num_dof": 2 if "long" not in _v.lower() else 5,
|
||||||
|
"num_basis": 5,
|
||||||
|
"duration": 20,
|
||||||
|
"width": 0.025,
|
||||||
|
"policy_type": "velocity",
|
||||||
|
"weights_scale": 0.2,
|
||||||
|
"zero_start": True
|
||||||
|
}
|
||||||
|
}
|
||||||
|
)
|
||||||
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
|
||||||
|
|
||||||
|
# Viapoint reacher
|
||||||
|
register(
|
||||||
|
id='ViaPointReacherDMP-v0',
|
||||||
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
||||||
|
# max_episode_steps=1,
|
||||||
|
kwargs={
|
||||||
|
"name": "alr_envs:ViaPointReacher-v0",
|
||||||
|
"wrappers": [classic_control.viapoint_reacher.MPWrapper],
|
||||||
|
"mp_kwargs": {
|
||||||
|
"num_dof": 5,
|
||||||
|
"num_basis": 5,
|
||||||
|
"duration": 2,
|
||||||
|
"learn_goal": True,
|
||||||
|
"alpha_phase": 2,
|
||||||
|
"policy_type": "velocity",
|
||||||
|
"weights_scale": 50,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
)
|
||||||
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("ViaPointReacherDMP-v0")
|
||||||
|
|
||||||
|
register(
|
||||||
|
id='ViaPointReacherDetPMP-v0',
|
||||||
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
||||||
|
# max_episode_steps=1,
|
||||||
|
kwargs={
|
||||||
|
"name": "alr_envs:ViaPointReacher-v0",
|
||||||
|
"wrappers": [classic_control.viapoint_reacher.MPWrapper],
|
||||||
|
"mp_kwargs": {
|
||||||
|
"num_dof": 5,
|
||||||
|
"num_basis": 5,
|
||||||
|
"duration": 2,
|
||||||
|
"width": 0.025,
|
||||||
|
"policy_type": "velocity",
|
||||||
|
"weights_scale": 0.2,
|
||||||
|
"zero_start": True
|
||||||
|
}
|
||||||
|
}
|
||||||
|
)
|
||||||
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ViaPointReacherDetPMP-v0")
|
||||||
|
|
||||||
|
## Hole Reacher
|
||||||
|
_versions = ["v0", "v1", "v2"]
|
||||||
|
for _v in _versions:
|
||||||
|
_env_id = f'HoleReacherDMP-{_v}'
|
||||||
|
register(
|
||||||
|
id=_env_id,
|
||||||
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
||||||
|
# max_episode_steps=1,
|
||||||
|
kwargs={
|
||||||
|
"name": f"alr_envs:HoleReacher-{_v}",
|
||||||
|
"wrappers": [classic_control.hole_reacher.MPWrapper],
|
||||||
|
"mp_kwargs": {
|
||||||
|
"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
|
||||||
|
}
|
||||||
|
}
|
||||||
|
)
|
||||||
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
||||||
|
|
||||||
|
_env_id = f'HoleReacherDetPMP-{_v}'
|
||||||
|
register(
|
||||||
|
id=_env_id,
|
||||||
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
||||||
|
kwargs={
|
||||||
|
"name": f"alr_envs:HoleReacher-{_v}",
|
||||||
|
"wrappers": [classic_control.hole_reacher.MPWrapper],
|
||||||
|
"mp_kwargs": {
|
||||||
|
"num_dof": 5,
|
||||||
|
"num_basis": 5,
|
||||||
|
"duration": 2,
|
||||||
|
"width": 0.025,
|
||||||
|
"policy_type": "velocity",
|
||||||
|
"weights_scale": 0.2,
|
||||||
|
"zero_start": True
|
||||||
|
}
|
||||||
|
}
|
||||||
|
)
|
||||||
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
|
||||||
3
alr_envs/alr/classic_control/__init__.py
Normal file
3
alr_envs/alr/classic_control/__init__.py
Normal file
@ -0,0 +1,3 @@
|
|||||||
|
from .hole_reacher.hole_reacher import HoleReacherEnv
|
||||||
|
from .simple_reacher.simple_reacher import SimpleReacherEnv
|
||||||
|
from .viapoint_reacher.viapoint_reacher import ViaPointReacherEnv
|
||||||
@ -6,7 +6,7 @@ import numpy as np
|
|||||||
from gym.utils import seeding
|
from gym.utils import seeding
|
||||||
from matplotlib import patches
|
from matplotlib import patches
|
||||||
|
|
||||||
from alr_envs.classic_control.utils import check_self_collision
|
from alr_envs.alr.classic_control.utils import check_self_collision
|
||||||
|
|
||||||
|
|
||||||
class HoleReacherEnv(gym.Env):
|
class HoleReacherEnv(gym.Env):
|
||||||
@ -5,10 +5,10 @@ import matplotlib.pyplot as plt
|
|||||||
import numpy as np
|
import numpy as np
|
||||||
from gym.utils import seeding
|
from gym.utils import seeding
|
||||||
|
|
||||||
from alr_envs.classic_control.utils import check_self_collision
|
from alr_envs.alr.classic_control.utils import check_self_collision
|
||||||
|
|
||||||
|
|
||||||
class ViaPointReacher(gym.Env):
|
class ViaPointReacherEnv(gym.Env):
|
||||||
|
|
||||||
def __init__(self, n_links, random_start: bool = False, via_target: Union[None, Iterable] = None,
|
def __init__(self, n_links, random_start: bool = False, via_target: Union[None, Iterable] = None,
|
||||||
target: Union[None, Iterable] = None, allow_self_collision=False, collision_penalty=1000):
|
target: Union[None, Iterable] = None, allow_self_collision=False, collision_penalty=1000):
|
||||||
4
alr_envs/alr/mujoco/__init__.py
Normal file
4
alr_envs/alr/mujoco/__init__.py
Normal file
@ -0,0 +1,4 @@
|
|||||||
|
from .reacher.alr_reacher import ALRReacherEnv
|
||||||
|
from .reacher.balancing import BalancingEnv
|
||||||
|
from .ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
|
||||||
|
from .ball_in_a_cup.biac_pd import ALRBallInACupPDEnv
|
||||||
@ -35,10 +35,10 @@ class ALRBallInACupEnv(MujocoEnv, utils.EzPickle):
|
|||||||
self.sim_time = 8 # seconds
|
self.sim_time = 8 # seconds
|
||||||
self.sim_steps = int(self.sim_time / self.dt)
|
self.sim_steps = int(self.sim_time / self.dt)
|
||||||
if reward_type == "no_context":
|
if reward_type == "no_context":
|
||||||
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_reward_simple import BallInACupReward
|
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward_simple import BallInACupReward
|
||||||
reward_function = BallInACupReward
|
reward_function = BallInACupReward
|
||||||
elif reward_type == "contextual_goal":
|
elif reward_type == "contextual_goal":
|
||||||
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
|
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
|
||||||
reward_function = BallInACupReward
|
reward_function = BallInACupReward
|
||||||
else:
|
else:
|
||||||
raise ValueError("Unknown reward type: {}".format(reward_type))
|
raise ValueError("Unknown reward type: {}".format(reward_type))
|
||||||
@ -1,5 +1,5 @@
|
|||||||
import numpy as np
|
import numpy as np
|
||||||
from alr_envs.mujoco import alr_reward_fct
|
from alr_envs.alr.mujoco import alr_reward_fct
|
||||||
|
|
||||||
|
|
||||||
class BallInACupReward(alr_reward_fct.AlrReward):
|
class BallInACupReward(alr_reward_fct.AlrReward):
|
||||||
@ -1,5 +1,5 @@
|
|||||||
import numpy as np
|
import numpy as np
|
||||||
from alr_envs.mujoco import alr_reward_fct
|
from alr_envs.alr.mujoco import alr_reward_fct
|
||||||
|
|
||||||
|
|
||||||
class BallInACupReward(alr_reward_fct.AlrReward):
|
class BallInACupReward(alr_reward_fct.AlrReward):
|
||||||
@ -42,10 +42,10 @@ class ALRBallInACupPDEnv(mujoco_env.MujocoEnv, utils.EzPickle):
|
|||||||
self._dt = 0.02
|
self._dt = 0.02
|
||||||
self.ep_length = 4000 # based on 8 seconds with dt = 0.02 int(self.sim_time / self.dt)
|
self.ep_length = 4000 # based on 8 seconds with dt = 0.02 int(self.sim_time / self.dt)
|
||||||
if reward_type == "no_context":
|
if reward_type == "no_context":
|
||||||
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_reward_simple import BallInACupReward
|
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward_simple import BallInACupReward
|
||||||
reward_function = BallInACupReward
|
reward_function = BallInACupReward
|
||||||
elif reward_type == "contextual_goal":
|
elif reward_type == "contextual_goal":
|
||||||
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
|
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
|
||||||
reward_function = BallInACupReward
|
reward_function = BallInACupReward
|
||||||
else:
|
else:
|
||||||
raise ValueError("Unknown reward type: {}".format(reward_type))
|
raise ValueError("Unknown reward type: {}".format(reward_type))
|
||||||
@ -1,4 +1,4 @@
|
|||||||
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
|
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
|
||||||
from mp_env_api.mp_wrappers.detpmp_wrapper import DetPMPWrapper
|
from mp_env_api.mp_wrappers.detpmp_wrapper import DetPMPWrapper
|
||||||
from mp_env_api.mp_wrappers.dmp_wrapper import DmpWrapper
|
from mp_env_api.mp_wrappers.dmp_wrapper import DmpWrapper
|
||||||
|
|
||||||
@ -37,7 +37,7 @@ class ALRBeerpongEnv(MujocoEnv, utils.EzPickle):
|
|||||||
self.sim_time = 8 # seconds
|
self.sim_time = 8 # seconds
|
||||||
self.sim_steps = int(self.sim_time / self.dt)
|
self.sim_steps = int(self.sim_time / self.dt)
|
||||||
if reward_function is None:
|
if reward_function is None:
|
||||||
from alr_envs.mujoco.beerpong.beerpong_reward import BeerpongReward
|
from alr_envs.alr.mujoco.beerpong.beerpong_reward import BeerpongReward
|
||||||
reward_function = BeerpongReward
|
reward_function = BeerpongReward
|
||||||
self.reward_function = reward_function(self.sim, self.sim_steps)
|
self.reward_function = reward_function(self.sim, self.sim_steps)
|
||||||
self.cup_robot_id = self.sim.model._site_name2id["cup_robot_final"]
|
self.cup_robot_id = self.sim.model._site_name2id["cup_robot_final"]
|
||||||
@ -1,5 +1,5 @@
|
|||||||
import numpy as np
|
import numpy as np
|
||||||
from alr_envs.mujoco import alr_reward_fct
|
from alr_envs.alr.mujoco import alr_reward_fct
|
||||||
|
|
||||||
|
|
||||||
class BeerpongReward(alr_reward_fct.AlrReward):
|
class BeerpongReward(alr_reward_fct.AlrReward):
|
||||||
@ -1,5 +1,5 @@
|
|||||||
import numpy as np
|
import numpy as np
|
||||||
from alr_envs.mujoco import alr_reward_fct
|
from alr_envs.alr.mujoco import alr_reward_fct
|
||||||
|
|
||||||
|
|
||||||
class BeerpongReward(alr_reward_fct.AlrReward):
|
class BeerpongReward(alr_reward_fct.AlrReward):
|
||||||
@ -38,7 +38,7 @@ class ALRBeerpongEnv(MujocoEnv, utils.EzPickle):
|
|||||||
self.sim_time = 8 # seconds
|
self.sim_time = 8 # seconds
|
||||||
self.sim_steps = int(self.sim_time / self.dt)
|
self.sim_steps = int(self.sim_time / self.dt)
|
||||||
if reward_function is None:
|
if reward_function is None:
|
||||||
from alr_envs.mujoco.beerpong.beerpong_reward_simple import BeerpongReward
|
from alr_envs.alr.mujoco.beerpong.beerpong_reward_simple import BeerpongReward
|
||||||
reward_function = BeerpongReward
|
reward_function = BeerpongReward
|
||||||
self.reward_function = reward_function(self.sim, self.sim_steps)
|
self.reward_function = reward_function(self.sim, self.sim_steps)
|
||||||
self.cup_robot_id = self.sim.model._site_name2id["cup_robot_final"]
|
self.cup_robot_id = self.sim.model._site_name2id["cup_robot_final"]
|
||||||
@ -1,6 +1,6 @@
|
|||||||
from alr_envs.utils.mps.detpmp_wrapper import DetPMPWrapper
|
from alr_envs.utils.mps.detpmp_wrapper import DetPMPWrapper
|
||||||
from alr_envs.mujoco.beerpong.beerpong import ALRBeerpongEnv
|
from alr_envs.alr.mujoco.beerpong.beerpong import ALRBeerpongEnv
|
||||||
from alr_envs.mujoco.beerpong.beerpong_simple import ALRBeerpongEnv as ALRBeerpongEnvSimple
|
from alr_envs.alr.mujoco.beerpong.beerpong_simple import ALRBeerpongEnv as ALRBeerpongEnvSimple
|
||||||
|
|
||||||
|
|
||||||
def make_contextual_env(rank, seed=0):
|
def make_contextual_env(rank, seed=0):
|
||||||
@ -2,9 +2,9 @@ import numpy as np
|
|||||||
from gym import spaces
|
from gym import spaces
|
||||||
from gym.envs.robotics import robot_env, utils
|
from gym.envs.robotics import robot_env, utils
|
||||||
# import xml.etree.ElementTree as ET
|
# import xml.etree.ElementTree as ET
|
||||||
from alr_envs.mujoco.gym_table_tennis.utils.rewards.hierarchical_reward import HierarchicalRewardTableTennis
|
from alr_envs.alr.mujoco.gym_table_tennis.utils.rewards.hierarchical_reward import HierarchicalRewardTableTennis
|
||||||
import glfw
|
import glfw
|
||||||
from alr_envs.mujoco.gym_table_tennis.utils.experiment import ball_initialize
|
from alr_envs.alr.mujoco.gym_table_tennis.utils.experiment import ball_initialize
|
||||||
from pathlib import Path
|
from pathlib import Path
|
||||||
import os
|
import os
|
||||||
|
|
||||||
@ -1,6 +1,6 @@
|
|||||||
import numpy as np
|
import numpy as np
|
||||||
from gym.utils import seeding
|
from gym.utils import seeding
|
||||||
from alr_envs.mujoco.gym_table_tennis.utils.util import read_yaml, read_json
|
from alr_envs.alr.mujoco.gym_table_tennis.utils.util import read_yaml, read_json
|
||||||
from pathlib import Path
|
from pathlib import Path
|
||||||
|
|
||||||
|
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user