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Ported metaworld to mp-config

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This commit is contained in:
Dominik Moritz Roth 2023-07-30 17:42:27 +02:00
parent e743663018
commit e63a0a50df
2 changed files with 70 additions and 157 deletions
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172
fancy_gym/meta/__init__.py
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@ -2,7 +2,7 @@ from typing import Iterable, Type, Union, Optional
from copy import deepcopy
from gymnasium import register
from ..envs.registry import register
from . import goal_object_change_mp_wrapper, goal_change_mp_wrapper, goal_endeffector_change_mp_wrapper, \
object_change_mp_wrapper
@ -14,118 +14,24 @@ metaworld_adapter.register_all_ML1()
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
# MetaWorld
DEFAULT_BB_DICT_ProMP = {
"name": 'EnvName',
"wrappers": [],
"trajectory_generator_kwargs": {
'trajectory_generator_type': 'promp',
'weights_scale': 10,
},
"phase_generator_kwargs": {
'phase_generator_type': 'linear'
},
"controller_kwargs": {
'controller_type': 'metaworld',
},
"basis_generator_kwargs": {
'basis_generator_type': 'zero_rbf',
'num_basis': 5,
'num_basis_zero_start': 1
},
'black_box_kwargs': {
'condition_on_desired': False,
}
}
DEFAULT_BB_DICT_ProDMP = {
"name": 'EnvName',
"wrappers": [],
"trajectory_generator_kwargs": {
'trajectory_generator_type': 'prodmp',
'auto_scale_basis': True,
'weights_scale': 10,
# 'goal_scale': 0.,
'disable_goal': True,
},
"phase_generator_kwargs": {
'phase_generator_type': 'exp',
# 'alpha_phase' : 3,
},
"controller_kwargs": {
'controller_type': 'metaworld',
},
"basis_generator_kwargs": {
'basis_generator_type': 'prodmp',
'num_basis': 5,
'alpha': 10
},
'black_box_kwargs': {
'condition_on_desired': False,
}
}
_goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",
"plate-slide-side-v2", "plate-slide-back-side-v2"]
for _task in _goal_change_envs:
task_id_split = _task.split("-")
name = "".join([s.capitalize() for s in task_id_split[:-1]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_goal_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_goal_change_promp['wrappers'].append(goal_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_change_promp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_change_promp
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_goal_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_goal_change_prodmp['wrappers'].append(goal_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].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]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_object_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_object_change_promp['wrappers'].append(object_change_mp_wrapper.MPWrapper)
kwargs_dict_object_change_promp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_object_change_promp
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=object_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_object_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_object_change_prodmp['wrappers'].append(object_change_mp_wrapper.MPWrapper)
kwargs_dict_object_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_object_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].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",
@ -139,62 +45,18 @@ _goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press
"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]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_goal_and_object_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_goal_and_object_change_promp['wrappers'].append(goal_object_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_and_object_change_promp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_and_object_change_promp
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_object_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_goal_and_object_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_goal_and_object_change_prodmp['wrappers'].append(goal_object_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_and_object_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_and_object_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].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]])
# ProMP
_env_id = f'{name}ProMP-{task_id_split[-1]}'
kwargs_dict_goal_and_endeffector_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_goal_and_endeffector_change_promp['wrappers'].append(goal_endeffector_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_and_endeffector_change_promp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_and_endeffector_change_promp
id=f'metaworld/{_task}',
register_step_based=False,
mp_wrapper=goal_endeffector_change_mp_wrapper.MPWrapper,
add_mp_types=['ProMP', 'ProDMP'],
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
# ProDMP
_env_id = f'{name}ProDMP-{task_id_split[-1]}'
kwargs_dict_goal_and_endeffector_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
kwargs_dict_goal_and_endeffector_change_prodmp['wrappers'].append(goal_endeffector_change_mp_wrapper.MPWrapper)
kwargs_dict_goal_and_endeffector_change_prodmp['name'] = f'metaworld:{_task}'
register(
id=_env_id,
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
kwargs=kwargs_dict_goal_and_endeffector_change_prodmp
)
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)

55
fancy_gym/meta/base_metaworld_mp_wrapper.py
View File

@ -6,12 +6,63 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
class BaseMetaworldMPWrapper(RawInterfaceWrapper):
mp_config = {
'inherit_defaults': False,
'ProMP': {
'wrappers': [],
'trajectory_generator_kwargs': {
'trajectory_generator_type': 'promp',
'weights_scale': 10,
},
'phase_generator_kwargs': {
'phase_generator_type': 'linear'
},
'controller_kwargs': {
'controller_type': 'metaworld',
},
'basis_generator_kwargs': {
'basis_generator_type': 'zero_rbf',
'num_basis': 5,
'num_basis_zero_start': 1
},
'black_box_kwargs': {
'condition_on_desired': False,
},
},
'DMP': {},
'ProDMP': {
'wrappers': [],
'trajectory_generator_kwargs': {
'trajectory_generator_type': 'prodmp',
'auto_scale_basis': True,
'weights_scale': 10,
# 'goal_scale': 0.,
'disable_goal': True,
},
'phase_generator_kwargs': {
'phase_generator_type': 'exp',
# 'alpha_phase' : 3,
},
'controller_kwargs': {
'controller_type': 'metaworld',
},
'basis_generator_kwargs': {
'basis_generator_type': 'prodmp',
'num_basis': 5,
'alpha': 10
},
'black_box_kwargs': {
'condition_on_desired': False,
},
},
}
@property
def current_pos(self) -> Union[float, int, np.ndarray]:
r_close = self.env.data.get_joint_qpos("r_close")
r_close = self.env.data.get_joint_qpos('r_close')
return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return np.zeros(4, )
# raise NotImplementedError("Velocity cannot be retrieved.")
# raise NotImplementedError('Velocity cannot be retrieved.')