Ported classic_control envs to fancy registry
This commit is contained in:
parent
6c90f8ade2
commit
f375a6e4df
@ -1,7 +1,8 @@
|
||||
from copy import deepcopy
|
||||
|
||||
import numpy as np
|
||||
from gymnasium import register
|
||||
from gymnasium import register as gym_register
|
||||
from .registry import register, ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS
|
||||
|
||||
from . import classic_control, mujoco
|
||||
from .classic_control.hole_reacher.hole_reacher import HoleReacherEnv
|
||||
@ -21,80 +22,8 @@ from .mujoco.box_pushing.box_pushing_env import BoxPushingDense, BoxPushingTempo
|
||||
from .mujoco.table_tennis.table_tennis_env import TableTennisEnv, TableTennisWind, TableTennisGoalSwitching, \
|
||||
MAX_EPISODE_STEPS_TABLE_TENNIS
|
||||
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
|
||||
|
||||
DEFAULT_BB_DICT_ProMP = {
|
||||
"name": 'EnvName',
|
||||
"wrappers": [],
|
||||
"trajectory_generator_kwargs": {
|
||||
'trajectory_generator_type': 'promp'
|
||||
},
|
||||
"phase_generator_kwargs": {
|
||||
'phase_generator_type': 'linear'
|
||||
},
|
||||
"controller_kwargs": {
|
||||
'controller_type': 'motor',
|
||||
"p_gains": 1.0,
|
||||
"d_gains": 0.1,
|
||||
},
|
||||
"basis_generator_kwargs": {
|
||||
'basis_generator_type': 'zero_rbf',
|
||||
'num_basis': 5,
|
||||
'num_basis_zero_start': 1,
|
||||
'basis_bandwidth_factor': 3.0,
|
||||
},
|
||||
"black_box_kwargs": {
|
||||
}
|
||||
}
|
||||
|
||||
DEFAULT_BB_DICT_DMP = {
|
||||
"name": 'EnvName',
|
||||
"wrappers": [],
|
||||
"trajectory_generator_kwargs": {
|
||||
'trajectory_generator_type': 'dmp'
|
||||
},
|
||||
"phase_generator_kwargs": {
|
||||
'phase_generator_type': 'exp'
|
||||
},
|
||||
"controller_kwargs": {
|
||||
'controller_type': 'motor',
|
||||
"p_gains": 1.0,
|
||||
"d_gains": 0.1,
|
||||
},
|
||||
"basis_generator_kwargs": {
|
||||
'basis_generator_type': 'rbf',
|
||||
'num_basis': 5
|
||||
}
|
||||
}
|
||||
|
||||
DEFAULT_BB_DICT_ProDMP = {
|
||||
"name": 'EnvName',
|
||||
"wrappers": [],
|
||||
"trajectory_generator_kwargs": {
|
||||
'trajectory_generator_type': 'prodmp',
|
||||
'duration': 2.0,
|
||||
'weights_scale': 1.0,
|
||||
},
|
||||
"phase_generator_kwargs": {
|
||||
'phase_generator_type': 'exp',
|
||||
'tau': 1.5,
|
||||
},
|
||||
"controller_kwargs": {
|
||||
'controller_type': 'motor',
|
||||
"p_gains": 1.0,
|
||||
"d_gains": 0.1,
|
||||
},
|
||||
"basis_generator_kwargs": {
|
||||
'basis_generator_type': 'prodmp',
|
||||
'alpha': 10,
|
||||
'num_basis': 5,
|
||||
},
|
||||
"black_box_kwargs": {
|
||||
}
|
||||
}
|
||||
|
||||
# Classic Control
|
||||
## Simple Reacher
|
||||
# Simple Reacher
|
||||
register(
|
||||
id='SimpleReacher-v0',
|
||||
entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
|
||||
@ -113,8 +42,7 @@ register(
|
||||
}
|
||||
)
|
||||
|
||||
## Viapoint Reacher
|
||||
|
||||
# Viapoint Reacher
|
||||
register(
|
||||
id='ViaPointReacher-v0',
|
||||
entry_point='fancy_gym.envs.classic_control:ViaPointReacherEnv',
|
||||
@ -126,7 +54,7 @@ register(
|
||||
}
|
||||
)
|
||||
|
||||
## Hole Reacher
|
||||
# Hole Reacher
|
||||
register(
|
||||
id='HoleReacher-v0',
|
||||
entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
|
||||
@ -145,9 +73,9 @@ register(
|
||||
|
||||
# Mujoco
|
||||
|
||||
## Mujoco Reacher
|
||||
# Mujoco Reacher
|
||||
for _dims in [5, 7]:
|
||||
register(
|
||||
gym_register(
|
||||
id=f'Reacher{_dims}d-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:ReacherEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_REACHER,
|
||||
@ -156,7 +84,7 @@ for _dims in [5, 7]:
|
||||
}
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id=f'Reacher{_dims}dSparse-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:ReacherEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_REACHER,
|
||||
@ -167,7 +95,7 @@ for _dims in [5, 7]:
|
||||
}
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperJumpSparse-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
|
||||
@ -176,7 +104,7 @@ register(
|
||||
}
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
|
||||
@ -188,43 +116,43 @@ register(
|
||||
}
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='AntJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:AntJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='HalfCheetahJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HalfCheetahJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperJumpOnBox-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperJumpOnBoxEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperThrow-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperThrowEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperThrowInBasket-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperThrowInBasketEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='Walker2DJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:Walker2dJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='BeerPong-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:BeerPongEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_BEERPONG,
|
||||
@ -232,7 +160,7 @@ register(
|
||||
|
||||
# Box pushing environments with different rewards
|
||||
for reward_type in ["Dense", "TemporalSparse", "TemporalSpatialSparse"]:
|
||||
register(
|
||||
gym_register(
|
||||
id='BoxPushing{}-v0'.format(reward_type),
|
||||
entry_point='fancy_gym.envs.mujoco:BoxPushing{}'.format(reward_type),
|
||||
max_episode_steps=MAX_EPISODE_STEPS_BOX_PUSHING,
|
||||
@ -240,7 +168,7 @@ for reward_type in ["Dense", "TemporalSparse", "TemporalSpatialSparse"]:
|
||||
|
||||
# Here we use the same reward as in BeerPong-v0, but now consider after the release,
|
||||
# only one time step, i.e. we simulate until the end of th episode
|
||||
register(
|
||||
gym_register(
|
||||
id='BeerPongStepBased-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:BeerPongEnvStepBasedEpisodicReward',
|
||||
max_episode_steps=FIXED_RELEASE_STEP,
|
||||
@ -248,7 +176,7 @@ register(
|
||||
|
||||
# Table Tennis environments
|
||||
for ctxt_dim in [2, 4]:
|
||||
register(
|
||||
gym_register(
|
||||
id='TableTennis{}D-v0'.format(ctxt_dim),
|
||||
entry_point='fancy_gym.envs.mujoco:TableTennisEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS,
|
||||
@ -258,13 +186,13 @@ for ctxt_dim in [2, 4]:
|
||||
}
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='TableTennisWind-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:TableTennisWind',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS,
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='TableTennisGoalSwitching-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:TableTennisGoalSwitching',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_TABLE_TENNIS,
|
||||
@ -276,98 +204,13 @@ register(
|
||||
|
||||
# movement Primitive Environments
|
||||
|
||||
## Simple Reacher
|
||||
_versions = ["SimpleReacher-v0", "LongSimpleReacher-v0"]
|
||||
for _v in _versions:
|
||||
_name = _v.split("-")
|
||||
_env_id = f'{_name[0]}DMP-{_name[1]}'
|
||||
kwargs_dict_simple_reacher_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
||||
kwargs_dict_simple_reacher_dmp['wrappers'].append(classic_control.simple_reacher.MPWrapper)
|
||||
kwargs_dict_simple_reacher_dmp['controller_kwargs']['p_gains'] = 0.6
|
||||
kwargs_dict_simple_reacher_dmp['controller_kwargs']['d_gains'] = 0.075
|
||||
kwargs_dict_simple_reacher_dmp['trajectory_generator_kwargs']['weight_scale'] = 50
|
||||
kwargs_dict_simple_reacher_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
||||
kwargs_dict_simple_reacher_dmp['name'] = f"{_v}"
|
||||
register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_simple_reacher_dmp
|
||||
)
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
||||
# Simple Reacher [DONE]
|
||||
|
||||
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
||||
kwargs_dict_simple_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
|
||||
kwargs_dict_simple_reacher_promp['wrappers'].append(classic_control.simple_reacher.MPWrapper)
|
||||
kwargs_dict_simple_reacher_promp['controller_kwargs']['p_gains'] = 0.6
|
||||
kwargs_dict_simple_reacher_promp['controller_kwargs']['d_gains'] = 0.075
|
||||
kwargs_dict_simple_reacher_promp['name'] = _v
|
||||
register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_simple_reacher_promp
|
||||
)
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
||||
# Viapoint reacher [DONE]
|
||||
|
||||
# Viapoint reacher
|
||||
kwargs_dict_via_point_reacher_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
||||
kwargs_dict_via_point_reacher_dmp['wrappers'].append(classic_control.viapoint_reacher.MPWrapper)
|
||||
kwargs_dict_via_point_reacher_dmp['controller_kwargs']['controller_type'] = 'velocity'
|
||||
kwargs_dict_via_point_reacher_dmp['trajectory_generator_kwargs']['weight_scale'] = 50
|
||||
kwargs_dict_via_point_reacher_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
||||
kwargs_dict_via_point_reacher_dmp['name'] = "ViaPointReacher-v0"
|
||||
register(
|
||||
id='ViaPointReacherDMP-v0',
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
# max_episode_steps=1,
|
||||
kwargs=kwargs_dict_via_point_reacher_dmp
|
||||
)
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append("ViaPointReacherDMP-v0")
|
||||
# Hole Reacher [DONE]
|
||||
|
||||
kwargs_dict_via_point_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
|
||||
kwargs_dict_via_point_reacher_promp['wrappers'].append(classic_control.viapoint_reacher.MPWrapper)
|
||||
kwargs_dict_via_point_reacher_promp['controller_kwargs']['controller_type'] = 'velocity'
|
||||
kwargs_dict_via_point_reacher_promp['name'] = "ViaPointReacher-v0"
|
||||
register(
|
||||
id="ViaPointReacherProMP-v0",
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_via_point_reacher_promp
|
||||
)
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ViaPointReacherProMP-v0")
|
||||
|
||||
## Hole Reacher
|
||||
_versions = ["HoleReacher-v0"]
|
||||
for _v in _versions:
|
||||
_name = _v.split("-")
|
||||
_env_id = f'{_name[0]}DMP-{_name[1]}'
|
||||
kwargs_dict_hole_reacher_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
||||
kwargs_dict_hole_reacher_dmp['wrappers'].append(classic_control.hole_reacher.MPWrapper)
|
||||
kwargs_dict_hole_reacher_dmp['controller_kwargs']['controller_type'] = 'velocity'
|
||||
# TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
|
||||
kwargs_dict_hole_reacher_dmp['trajectory_generator_kwargs']['weight_scale'] = 500
|
||||
kwargs_dict_hole_reacher_dmp['phase_generator_kwargs']['alpha_phase'] = 2.5
|
||||
kwargs_dict_hole_reacher_dmp['name'] = _v
|
||||
register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
# max_episode_steps=1,
|
||||
kwargs=kwargs_dict_hole_reacher_dmp
|
||||
)
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
||||
|
||||
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
||||
kwargs_dict_hole_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
|
||||
kwargs_dict_hole_reacher_promp['wrappers'].append(classic_control.hole_reacher.MPWrapper)
|
||||
kwargs_dict_hole_reacher_promp['trajectory_generator_kwargs']['weight_scale'] = 2
|
||||
kwargs_dict_hole_reacher_promp['controller_kwargs']['controller_type'] = 'velocity'
|
||||
kwargs_dict_hole_reacher_promp['name'] = f"{_v}"
|
||||
register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_hole_reacher_promp
|
||||
)
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
||||
|
||||
## ReacherNd
|
||||
# ReacherNd
|
||||
_versions = ["Reacher5d-v0", "Reacher7d-v0", "Reacher5dSparse-v0", "Reacher7dSparse-v0"]
|
||||
for _v in _versions:
|
||||
_name = _v.split("-")
|
||||
@ -376,7 +219,7 @@ for _v in _versions:
|
||||
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
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
# max_episode_steps=1,
|
||||
@ -388,14 +231,14 @@ for _v in _versions:
|
||||
kwargs_dict_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
|
||||
kwargs_dict_reacher_promp['wrappers'].append(mujoco.reacher.MPWrapper)
|
||||
kwargs_dict_reacher_promp['name'] = _v
|
||||
register(
|
||||
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']
|
||||
for _v in _versions:
|
||||
_name = _v.split("-")
|
||||
@ -408,14 +251,14 @@ for _v in _versions:
|
||||
kwargs_dict_bp_promp['basis_generator_kwargs']['num_basis'] = 2
|
||||
kwargs_dict_bp_promp['basis_generator_kwargs']['num_basis_zero_start'] = 2
|
||||
kwargs_dict_bp_promp['name'] = _v
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_bp_promp
|
||||
)
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
||||
|
||||
### BP with Fixed release
|
||||
# BP with Fixed release
|
||||
_versions = ["BeerPongStepBased-v0", 'BeerPong-v0']
|
||||
for _v in _versions:
|
||||
if _v != 'BeerPong-v0':
|
||||
@ -431,7 +274,7 @@ for _v in _versions:
|
||||
kwargs_dict_bp_promp['basis_generator_kwargs']['num_basis'] = 2
|
||||
kwargs_dict_bp_promp['basis_generator_kwargs']['num_basis_zero_start'] = 2
|
||||
kwargs_dict_bp_promp['name'] = _v
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_bp_promp
|
||||
@ -439,7 +282,7 @@ for _v in _versions:
|
||||
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
||||
########################################################################################################################
|
||||
|
||||
## Table Tennis needs to be fixed according to Zhou's implementation
|
||||
# Table Tennis needs to be fixed according to Zhou's implementation
|
||||
|
||||
# TODO: Add later when finished
|
||||
# ########################################################################################################################
|
||||
@ -452,7 +295,7 @@ for _v in _versions:
|
||||
# kwargs_dict_ant_jump_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
|
||||
# kwargs_dict_ant_jump_promp['wrappers'].append(mujoco.ant_jump.MPWrapper)
|
||||
# kwargs_dict_ant_jump_promp['name'] = _v
|
||||
# register(
|
||||
# gym_register(
|
||||
# id=_env_id,
|
||||
# entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
# kwargs=kwargs_dict_ant_jump_promp
|
||||
@ -469,7 +312,7 @@ for _v in _versions:
|
||||
# kwargs_dict_halfcheetah_jump_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
|
||||
# kwargs_dict_halfcheetah_jump_promp['wrappers'].append(mujoco.half_cheetah_jump.MPWrapper)
|
||||
# kwargs_dict_halfcheetah_jump_promp['name'] = _v
|
||||
# register(
|
||||
# gym_register(
|
||||
# id=_env_id,
|
||||
# entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
# kwargs=kwargs_dict_halfcheetah_jump_promp
|
||||
@ -479,7 +322,7 @@ for _v in _versions:
|
||||
# ########################################################################################################################
|
||||
|
||||
|
||||
## HopperJump
|
||||
# HopperJump
|
||||
_versions = ['HopperJump-v0', 'HopperJumpSparse-v0',
|
||||
# 'HopperJumpOnBox-v0', 'HopperThrow-v0', 'HopperThrowInBasket-v0'
|
||||
]
|
||||
@ -490,7 +333,7 @@ for _v in _versions:
|
||||
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
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_hopper_jump_promp
|
||||
@ -499,7 +342,7 @@ for _v in _versions:
|
||||
|
||||
# ########################################################################################################################
|
||||
|
||||
## Box Pushing
|
||||
# Box Pushing
|
||||
_versions = ['BoxPushingDense-v0', 'BoxPushingTemporalSparse-v0', 'BoxPushingTemporalSpatialSparse-v0']
|
||||
for _v in _versions:
|
||||
_name = _v.split("-")
|
||||
@ -511,7 +354,7 @@ for _v in _versions:
|
||||
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
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_box_pushing_promp
|
||||
@ -535,16 +378,16 @@ for _v in _versions:
|
||||
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']['replanning_schedule'] = lambda pos, vel, obs, action, t: t % 25 == 0
|
||||
kwargs_dict_box_pushing_prodmp['black_box_kwargs']['condition_on_desired'] = True
|
||||
register(
|
||||
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']
|
||||
for _v in _versions:
|
||||
_name = _v.split("-")
|
||||
@ -565,7 +408,7 @@ for _v in _versions:
|
||||
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_start'] = 1
|
||||
kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_goal'] = 1
|
||||
kwargs_dict_tt_promp['black_box_kwargs']['verbose'] = 2
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_tt_promp
|
||||
@ -595,7 +438,7 @@ for _v in _versions:
|
||||
kwargs_dict_tt_prodmp['basis_generator_kwargs']['alpha'] = 25.
|
||||
kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
|
||||
kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_tt_prodmp
|
||||
@ -624,8 +467,8 @@ for _v in _versions:
|
||||
kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
|
||||
kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
|
||||
kwargs_dict_tt_prodmp['black_box_kwargs']['max_planning_times'] = 3
|
||||
kwargs_dict_tt_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 50 == 0
|
||||
register(
|
||||
kwargs_dict_tt_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t: t % 50 == 0
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
kwargs=kwargs_dict_tt_prodmp
|
||||
@ -640,16 +483,16 @@ for _v in _versions:
|
||||
# kwargs_dict_walker2d_jump_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
|
||||
# kwargs_dict_walker2d_jump_promp['wrappers'].append(mujoco.walker_2d_jump.MPWrapper)
|
||||
# kwargs_dict_walker2d_jump_promp['name'] = _v
|
||||
# register(
|
||||
# gym_register(
|
||||
# id=_env_id,
|
||||
# entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
|
||||
# kwargs=kwargs_dict_walker2d_jump_promp
|
||||
# )
|
||||
# ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
||||
|
||||
### Depricated, we will not provide non random starts anymore
|
||||
# Depricated, we will not provide non random starts anymore
|
||||
"""
|
||||
register(
|
||||
gym_register(
|
||||
id='SimpleReacher-v1',
|
||||
entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
|
||||
max_episode_steps=200,
|
||||
@ -659,7 +502,7 @@ register(
|
||||
}
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='LongSimpleReacher-v1',
|
||||
entry_point='fancy_gym.envs.classic_control:SimpleReacherEnv',
|
||||
max_episode_steps=200,
|
||||
@ -668,7 +511,7 @@ register(
|
||||
"random_start": False
|
||||
}
|
||||
)
|
||||
register(
|
||||
gym_register(
|
||||
id='HoleReacher-v1',
|
||||
entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
|
||||
max_episode_steps=200,
|
||||
@ -683,7 +526,7 @@ register(
|
||||
"collision_penalty": 100,
|
||||
}
|
||||
)
|
||||
register(
|
||||
gym_register(
|
||||
id='HoleReacher-v2',
|
||||
entry_point='fancy_gym.envs.classic_control:HoleReacherEnv',
|
||||
max_episode_steps=200,
|
||||
@ -700,7 +543,7 @@ register(
|
||||
)
|
||||
|
||||
# CtxtFree are v0, Contextual are v1
|
||||
register(
|
||||
gym_register(
|
||||
id='AntJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:AntJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
|
||||
@ -710,7 +553,7 @@ register(
|
||||
}
|
||||
)
|
||||
# CtxtFree are v0, Contextual are v1
|
||||
register(
|
||||
gym_register(
|
||||
id='HalfCheetahJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HalfCheetahJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
|
||||
@ -719,7 +562,7 @@ register(
|
||||
"context": False
|
||||
}
|
||||
)
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
|
||||
@ -732,12 +575,12 @@ register(
|
||||
|
||||
"""
|
||||
|
||||
### Deprecated used for CorL paper
|
||||
# Deprecated used for CorL paper
|
||||
"""
|
||||
_vs = np.arange(101).tolist() + [1e-5, 5e-5, 1e-4, 5e-4, 1e-3, 5e-3, 1e-2, 5e-2, 1e-1, 5e-1]
|
||||
for i in _vs:
|
||||
_env_id = f'ALRReacher{i}-v0'
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.envs.mujoco:ReacherEnv',
|
||||
max_episode_steps=200,
|
||||
@ -750,7 +593,7 @@ for i in _vs:
|
||||
)
|
||||
|
||||
_env_id = f'ALRReacherSparse{i}-v0'
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.envs.mujoco:ReacherEnv',
|
||||
max_episode_steps=200,
|
||||
@ -764,7 +607,7 @@ for i in _vs:
|
||||
_vs = np.arange(101).tolist() + [1e-5, 5e-5, 1e-4, 5e-4, 1e-3, 5e-3, 1e-2, 5e-2, 1e-1, 5e-1]
|
||||
for i in _vs:
|
||||
_env_id = f'ALRReacher{i}ProMP-v0'
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
|
||||
kwargs={
|
||||
@ -787,7 +630,7 @@ for i in _vs:
|
||||
)
|
||||
|
||||
_env_id = f'ALRReacherSparse{i}ProMP-v0'
|
||||
register(
|
||||
gym_register(
|
||||
id=_env_id,
|
||||
entry_point='fancy_gym.utils.make_env_helpers:make_promp_env_helper',
|
||||
kwargs={
|
||||
@ -809,7 +652,7 @@ for i in _vs:
|
||||
}
|
||||
)
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperJumpOnBox-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperJumpOnBoxEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
|
||||
@ -818,7 +661,7 @@ for i in _vs:
|
||||
"context": False
|
||||
}
|
||||
)
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperThrow-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperThrowEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
|
||||
@ -827,7 +670,7 @@ for i in _vs:
|
||||
"context": False
|
||||
}
|
||||
)
|
||||
register(
|
||||
gym_register(
|
||||
id='HopperThrowInBasket-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:HopperThrowInBasketEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
|
||||
@ -836,7 +679,7 @@ for i in _vs:
|
||||
"context": False
|
||||
}
|
||||
)
|
||||
register(
|
||||
gym_register(
|
||||
id='Walker2DJump-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:Walker2dJumpEnv',
|
||||
max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
|
||||
@ -845,12 +688,12 @@ for i in _vs:
|
||||
"context": False
|
||||
}
|
||||
)
|
||||
register(id='TableTennis2DCtxt-v1',
|
||||
gym_register(id='TableTennis2DCtxt-v1',
|
||||
entry_point='fancy_gym.envs.mujoco:TTEnvGym',
|
||||
max_episode_steps=MAX_EPISODE_STEPS,
|
||||
kwargs={'ctxt_dim': 2, 'fixed_goal': True})
|
||||
|
||||
register(
|
||||
gym_register(
|
||||
id='BeerPong-v0',
|
||||
entry_point='fancy_gym.envs.mujoco:BeerBongEnv',
|
||||
max_episode_steps=300,
|
||||
|
||||
@ -8,11 +8,41 @@ from gymnasium.core import ObsType
|
||||
from matplotlib import patches
|
||||
|
||||
from fancy_gym.envs.classic_control.base_reacher.base_reacher_direct import BaseReacherDirectEnv
|
||||
from . import MPWrapper
|
||||
|
||||
MAX_EPISODE_STEPS_HOLEREACHER = 200
|
||||
|
||||
|
||||
class HoleReacherEnv(BaseReacherDirectEnv):
|
||||
|
||||
metadata = {
|
||||
'mp_config': {
|
||||
'ProMP': {
|
||||
'wrappers': [MPWrapper],
|
||||
'controller_kwargs': {
|
||||
'controller_type': 'velocity',
|
||||
},
|
||||
'trajectory_generator_kwargs': {
|
||||
'weight_scale': 2,
|
||||
},
|
||||
},
|
||||
'DMP': {
|
||||
'wrappers': [MPWrapper],
|
||||
'controller_kwargs': {
|
||||
'controller_type': 'velocity',
|
||||
},
|
||||
'trajectory_generator_kwargs': {
|
||||
# TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
|
||||
'weight_scale': 500,
|
||||
},
|
||||
'phase_generator_kwargs': {
|
||||
'alpha_phase': 2.5,
|
||||
},
|
||||
},
|
||||
'ProDMP': {},
|
||||
}
|
||||
}
|
||||
|
||||
def __init__(self, n_links: int, hole_x: Union[None, float] = None, hole_depth: Union[None, float] = None,
|
||||
hole_width: float = 1., random_start: bool = False, allow_self_collision: bool = False,
|
||||
allow_wall_collision: bool = False, collision_penalty: float = 1000, rew_fct: str = "simple"):
|
||||
|
||||
@ -6,6 +6,7 @@ from gymnasium import spaces
|
||||
from gymnasium.core import ObsType
|
||||
|
||||
from fancy_gym.envs.classic_control.base_reacher.base_reacher_torque import BaseReacherTorqueEnv
|
||||
from . import MPWrapper
|
||||
|
||||
|
||||
class SimpleReacherEnv(BaseReacherTorqueEnv):
|
||||
@ -15,6 +16,32 @@ class SimpleReacherEnv(BaseReacherTorqueEnv):
|
||||
towards the end of the trajectory.
|
||||
"""
|
||||
|
||||
metadata = {
|
||||
'mp_config': {
|
||||
'ProMP': {
|
||||
'wrappers': [MPWrapper],
|
||||
'controller_kwargs': {
|
||||
'p_gains': 0.6,
|
||||
'd_gains': 0.075,
|
||||
},
|
||||
},
|
||||
'DMP': {
|
||||
'wrappers': [MPWrapper],
|
||||
'controller_kwargs': {
|
||||
'p_gains': 0.6,
|
||||
'd_gains': 0.075,
|
||||
},
|
||||
'trajectory_generator_kwargs': {
|
||||
'weight_scale': 50,
|
||||
},
|
||||
'phase_generator_kwargs': {
|
||||
'alpha_phase': 2,
|
||||
},
|
||||
},
|
||||
'ProDMP': {},
|
||||
}
|
||||
}
|
||||
|
||||
def __init__(self, n_links: int, target: Union[None, Iterable] = None, random_start: bool = True,
|
||||
allow_self_collision: bool = False, ):
|
||||
super().__init__(n_links, random_start, allow_self_collision)
|
||||
@ -126,4 +153,3 @@ class SimpleReacherEnv(BaseReacherTorqueEnv):
|
||||
|
||||
self.fig.canvas.draw()
|
||||
self.fig.canvas.flush_events()
|
||||
|
||||
|
||||
@ -7,10 +7,35 @@ from gymnasium import spaces
|
||||
from gymnasium.core import ObsType
|
||||
|
||||
from fancy_gym.envs.classic_control.base_reacher.base_reacher_direct import BaseReacherDirectEnv
|
||||
from . import MPWrapper
|
||||
|
||||
|
||||
class ViaPointReacherEnv(BaseReacherDirectEnv):
|
||||
|
||||
metadata = {
|
||||
'mp_config': {
|
||||
'ProMP': {
|
||||
'wrappers': [MPWrapper],
|
||||
'controller_kwargs': {
|
||||
'controller_type': 'velocity',
|
||||
},
|
||||
},
|
||||
'DMP': {
|
||||
'wrappers': [MPWrapper],
|
||||
'controller_kwargs': {
|
||||
'controller_type': 'velocity',
|
||||
},
|
||||
'trajectory_generator_kwargs': {
|
||||
'weight_scale': 50,
|
||||
},
|
||||
'phase_generator_kwargs': {
|
||||
'alpha_phase': 2,
|
||||
},
|
||||
},
|
||||
'ProDMP': {},
|
||||
}
|
||||
}
|
||||
|
||||
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):
|
||||
|
||||
@ -184,5 +209,3 @@ class ViaPointReacherEnv(BaseReacherDirectEnv):
|
||||
plt.plot(self._joints[:, 0], self._joints[:, 1], 'ro-', markerfacecolor='k')
|
||||
|
||||
plt.pause(0.01)
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user