dodox/fancy_gym
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

refactoring env registration wip

Browse Source
This commit is contained in:
Dominik Moritz Roth 2023-07-20 11:45:53 +02:00
parent 1b061b2a37
commit dbf2be1006
1 changed files with 40 additions and 120 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

160
fancy_gym/envs/__init__.py
View File

@ -5,9 +5,14 @@ from gymnasium import register as gym_register
from .registry import register, ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS from .registry import register, ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS
from . import classic_control, mujoco 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.simple_reacher.simple_reacher import SimpleReacherEnv
from .classic_control.simple_reacher import MPWrapper as MPWrapper_SimpleReacher
from .classic_control.hole_reacher.hole_reacher import HoleReacherEnv
from .classic_control.hole_reacher import MPWrapper as MPWrapper_HoleReacher
from .classic_control.viapoint_reacher.viapoint_reacher import ViaPointReacherEnv from .classic_control.viapoint_reacher.viapoint_reacher import ViaPointReacherEnv
from .classic_control.viapoint_reacher import MPWrapper as MPWrapper_ViaPointReacher
from .mujoco.reacher.reacher import ReacherEnv, MAX_EPISODE_STEPS_REACHER
from .mujoco.reacher.mp_wrapper import MPWrapper as MPWrapper_Reacher
from .mujoco.ant_jump.ant_jump import MAX_EPISODE_STEPS_ANTJUMP from .mujoco.ant_jump.ant_jump import MAX_EPISODE_STEPS_ANTJUMP
from .mujoco.beerpong.beerpong import MAX_EPISODE_STEPS_BEERPONG, FIXED_RELEASE_STEP from .mujoco.beerpong.beerpong import MAX_EPISODE_STEPS_BEERPONG, FIXED_RELEASE_STEP
from .mujoco.half_cheetah_jump.half_cheetah_jump import MAX_EPISODE_STEPS_HALFCHEETAHJUMP from .mujoco.half_cheetah_jump.half_cheetah_jump import MAX_EPISODE_STEPS_HALFCHEETAHJUMP
@ -15,7 +20,6 @@ from .mujoco.hopper_jump.hopper_jump import MAX_EPISODE_STEPS_HOPPERJUMP
from .mujoco.hopper_jump.hopper_jump_on_box import MAX_EPISODE_STEPS_HOPPERJUMPONBOX from .mujoco.hopper_jump.hopper_jump_on_box import MAX_EPISODE_STEPS_HOPPERJUMPONBOX
from .mujoco.hopper_throw.hopper_throw import MAX_EPISODE_STEPS_HOPPERTHROW from .mujoco.hopper_throw.hopper_throw import MAX_EPISODE_STEPS_HOPPERTHROW
from .mujoco.hopper_throw.hopper_throw_in_basket import MAX_EPISODE_STEPS_HOPPERTHROWINBASKET from .mujoco.hopper_throw.hopper_throw_in_basket import MAX_EPISODE_STEPS_HOPPERTHROWINBASKET
from .mujoco.reacher.reacher import ReacherEnv, MAX_EPISODE_STEPS_REACHER
from .mujoco.walker_2d_jump.walker_2d_jump import MAX_EPISODE_STEPS_WALKERJUMP from .mujoco.walker_2d_jump.walker_2d_jump import MAX_EPISODE_STEPS_WALKERJUMP
from .mujoco.box_pushing.box_pushing_env import BoxPushingDense, BoxPushingTemporalSparse, \ from .mujoco.box_pushing.box_pushing_env import BoxPushingDense, BoxPushingTemporalSparse, \
BoxPushingTemporalSpatialSparse, MAX_EPISODE_STEPS_BOX_PUSHING BoxPushingTemporalSpatialSparse, MAX_EPISODE_STEPS_BOX_PUSHING
@ -26,7 +30,8 @@ from .mujoco.table_tennis.table_tennis_env import TableTennisEnv, TableTennisWin
# Simple Reacher # Simple Reacher
register( register(
id='SimpleReacher-v0', id='SimpleReacher-v0',
entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv', entry_point=SimpleReacherEnv,
mp_wrapper=MPWrapper_SimpleReacher,
max_episode_steps=200, max_episode_steps=200,
kwargs={ kwargs={
"n_links": 2, "n_links": 2,
@ -35,7 +40,8 @@ register(
register( register(
id='LongSimpleReacher-v0', id='LongSimpleReacher-v0',
entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv', entry_point=SimpleReacherEnv,
mp_wrapper=MPWrapper_SimpleReacher,
max_episode_steps=200, max_episode_steps=200,
kwargs={ kwargs={
"n_links": 5, "n_links": 5,
@ -45,7 +51,8 @@ register(
# Viapoint Reacher # Viapoint Reacher
register( register(
id='ViaPointReacher-v0', id='ViaPointReacher-v0',
entry_point='fancy_gym.envs.classic_control:ViaPointReacherEnv', entry_point=ViaPointReacherEnv,
mp_wrapper=MPWrapper_ViaPointReacher,
max_episode_steps=200, max_episode_steps=200,
kwargs={ kwargs={
"n_links": 5, "n_links": 5,
@ -57,7 +64,8 @@ register(
# Hole Reacher # Hole Reacher
register( register(
id='HoleReacher-v0', id='HoleReacher-v0',
entry_point='fancy_gym.envs.classic_control:HoleReacherEnv', entry_point=HoleReacherEnv,
mp_wrapper=MPWrapper_HoleReacher,
max_episode_steps=200, max_episode_steps=200,
kwargs={ kwargs={
"n_links": 5, "n_links": 5,
@ -74,39 +82,44 @@ register(
# Mujoco # Mujoco
# Mujoco Reacher # Mujoco Reacher
for _dims in [5, 7]: for dims in [5, 7]:
gym_register( register(
id=f'Reacher{_dims}d-v0', id=f'Reacher{dims}d-v0',
entry_point='fancy_gym.envs.mujoco:ReacherEnv', entry_point=ReacherEnv,
mp_wrapper=MPWrapper_Reacher,
max_episode_steps=MAX_EPISODE_STEPS_REACHER, max_episode_steps=MAX_EPISODE_STEPS_REACHER,
kwargs={ kwargs={
"n_links": _dims, "n_links": dims,
} }
) )
gym_register( register(
id=f'Reacher{_dims}dSparse-v0', id=f'Reacher{dims}dSparse-v0',
entry_point='fancy_gym.envs.mujoco:ReacherEnv', entry_point=ReacherEnv,
mp_wrapper=MPWrapper_Reacher,
max_episode_steps=MAX_EPISODE_STEPS_REACHER, max_episode_steps=MAX_EPISODE_STEPS_REACHER,
kwargs={ kwargs={
"sparse": True, "sparse": True,
'reward_weight': 200, 'reward_weight': 200,
"n_links": _dims, "n_links": dims,
} }
) )
gym_register(
register(
id='HopperJumpSparse-v0', id='HopperJumpSparse-v0',
entry_point='fancy_gym.envs.mujoco:HopperJumpEnv', entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
mp_wrapper=mujoco.hopper_jump.MPWrapper,
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP, max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
kwargs={ kwargs={
"sparse": True, "sparse": True,
} }
) )
gym_register( register(
id='HopperJump-v0', id='HopperJump-v0',
entry_point='fancy_gym.envs.mujoco:HopperJumpEnv', entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
mp_wrapper=mujoco.hopper_jump.MPWrapper,
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP, max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
kwargs={ kwargs={
"sparse": False, "sparse": False,
@ -160,9 +173,18 @@ gym_register(
# Box pushing environments with different rewards # Box pushing environments with different rewards
for reward_type in ["Dense", "TemporalSparse", "TemporalSpatialSparse"]: for reward_type in ["Dense", "TemporalSparse", "TemporalSpatialSparse"]:
gym_register( register(
id='BoxPushing{}-v0'.format(reward_type), id='BoxPushing{}-v0'.format(reward_type),
entry_point='fancy_gym.envs.mujoco:BoxPushing{}'.format(reward_type), entry_point='fancy_gym.envs.mujoco:BoxPushing{}'.format(reward_type),
mp_wrapper=mujoco.box_pushing.MPWrapper,
max_episode_steps=MAX_EPISODE_STEPS_BOX_PUSHING,
)
register(
id='BoxPushing{}Replan-v0'.format(reward_type),
entry_point='fancy_gym.envs.mujoco:BoxPushing{}'.format(reward_type),
mp_wrapper=mujoco.box_pushing.ReplanMPWrapper,
register_step_based=False,
max_episode_steps=MAX_EPISODE_STEPS_BOX_PUSHING, max_episode_steps=MAX_EPISODE_STEPS_BOX_PUSHING,
) )
@ -202,42 +224,6 @@ gym_register(
) )
# movement Primitive Environments
# Simple Reacher [DONE]
# Viapoint reacher [DONE]
# Hole Reacher [DONE]
# ReacherNd
_versions = ["Reacher5d-v0", "Reacher7d-v0", "Reacher5dSparse-v0", "Reacher7dSparse-v0"]
for _v in _versions:
_name = _v.split("-")
_env_id = f'{_name[0]}DMP-{_name[1]}'
kwargs_dict_reacher_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
kwargs_dict_reacher_dmp['wrappers'].append(mujoco.reacher.MPWrapper)
kwargs_dict_reacher_dmp['phase_generator_kwargs']['alpha_phase'] = 2
kwargs_dict_reacher_dmp['name'] = _v
gym_register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
# max_episode_steps=1,
kwargs=kwargs_dict_reacher_dmp
)
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
_env_id = f'{_name[0]}ProMP-{_name[1]}'
kwargs_dict_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_reacher_promp['wrappers'].append(mujoco.reacher.MPWrapper)
kwargs_dict_reacher_promp['name'] = _v
gym_register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_reacher_promp
)
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
########################################################################################################################
# Beerpong ProMP # Beerpong ProMP
_versions = ['BeerPong-v0'] _versions = ['BeerPong-v0']
for _v in _versions: for _v in _versions:
@ -321,72 +307,6 @@ for _v in _versions:
# #
# ######################################################################################################################## # ########################################################################################################################
# HopperJump
_versions = ['HopperJump-v0', 'HopperJumpSparse-v0',
# 'HopperJumpOnBox-v0', 'HopperThrow-v0', 'HopperThrowInBasket-v0'
]
# TODO: Check if all environments work with the same MPWrapper
for _v in _versions:
_name = _v.split("-")
_env_id = f'{_name[0]}ProMP-{_name[1]}'
kwargs_dict_hopper_jump_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_hopper_jump_promp['wrappers'].append(mujoco.hopper_jump.MPWrapper)
kwargs_dict_hopper_jump_promp['name'] = _v
gym_register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_hopper_jump_promp
)
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ########################################################################################################################
# Box Pushing
_versions = ['BoxPushingDense-v0', 'BoxPushingTemporalSparse-v0', 'BoxPushingTemporalSpatialSparse-v0']
for _v in _versions:
_name = _v.split("-")
_env_id = f'{_name[0]}ProMP-{_name[1]}'
kwargs_dict_box_pushing_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_box_pushing_promp['wrappers'].append(mujoco.box_pushing.MPWrapper)
kwargs_dict_box_pushing_promp['name'] = _v
kwargs_dict_box_pushing_promp['controller_kwargs']['p_gains'] = 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.])
kwargs_dict_box_pushing_promp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.])
kwargs_dict_box_pushing_promp['basis_generator_kwargs']['basis_bandwidth_factor'] = 2 # 3.5, 4 to try
gym_register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_box_pushing_promp
)
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
for _v in _versions:
_name = _v.split("-")
_env_id = f'{_name[0]}ReplanProDMP-{_name[1]}'
kwargs_dict_box_pushing_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_box_pushing_prodmp['wrappers'].append(mujoco.box_pushing.MPWrapper)
kwargs_dict_box_pushing_prodmp['name'] = _v
kwargs_dict_box_pushing_prodmp['controller_kwargs']['p_gains'] = 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.])
kwargs_dict_box_pushing_prodmp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.])
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = 0.3
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 0.3
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0
kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['disable_goal'] = True
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 5
kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['max_planning_times'] = 4
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t: t % 25 == 0
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['condition_on_desired'] = True
gym_register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_box_pushing_prodmp
)
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
# Table Tennis # Table Tennis
_versions = ['TableTennis2D-v0', 'TableTennis4D-v0', 'TableTennisWind-v0', 'TableTennisGoalSwitching-v0'] _versions = ['TableTennis2D-v0', 'TableTennis4D-v0', 'TableTennisWind-v0', 'TableTennisGoalSwitching-v0']
for _v in _versions: for _v in _versions: