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This commit is contained in:
Maximilian Huettenrauch
2021-04-19 11:53:30 +02:00
parent 51e8503873 dee2fad263
commit f3d75b9a60
23 changed files with 796 additions and 622 deletions
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alr_envs/mujoco/ball_in_a_cup/utils.py
+56 -56
View File
@@ -1,5 +1,5 @@
from alr_envs.utils.detpmp_env_wrapper import DetPMPEnvWrapper
from alr_envs.utils.dmp_env_wrapper import DmpEnvWrapper
from alr_envs.utils.wrapper.detpmp_wrapper import DetPMPWrapper
from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_simple import ALRBallInACupEnv as ALRBallInACupEnvSimple
@@ -18,19 +18,19 @@ def make_contextual_env(rank, seed=0):
def _init():
env = ALRBallInACupEnv()
env = DetPMPEnvWrapper(env,
num_dof=7,
num_basis=5,
width=0.005,
policy_type="motor",
start_pos=env.start_pos,
duration=3.5,
post_traj_time=4.5,
dt=env.dt,
weights_scale=0.5,
zero_start=True,
zero_goal=True
)
env = DetPMPWrapper(env,
num_dof=7,
num_basis=5,
width=0.005,
policy_type="motor",
start_pos=env.start_pos,
duration=3.5,
post_traj_time=4.5,
dt=env.dt,
weights_scale=0.5,
zero_start=True,
zero_goal=True
)
env.seed(seed + rank)
return env
@@ -52,19 +52,19 @@ def make_env(rank, seed=0):
def _init():
env = ALRBallInACupEnvSimple()
env = DetPMPEnvWrapper(env,
num_dof=7,
num_basis=5,
width=0.005,
policy_type="motor",
start_pos=env.start_pos,
duration=3.5,
post_traj_time=4.5,
dt=env.dt,
weights_scale=0.2,
zero_start=True,
zero_goal=True
)
env = DetPMPWrapper(env,
num_dof=7,
num_basis=5,
width=0.005,
policy_type="motor",
start_pos=env.start_pos,
duration=3.5,
post_traj_time=4.5,
dt=env.dt,
weights_scale=0.2,
zero_start=True,
zero_goal=True
)
env.seed(seed + rank)
return env
@@ -86,20 +86,20 @@ def make_simple_env(rank, seed=0):
def _init():
env = ALRBallInACupEnvSimple()
env = DetPMPEnvWrapper(env,
num_dof=3,
num_basis=5,
width=0.005,
off=-0.1,
policy_type="motor",
start_pos=env.start_pos[1::2],
duration=3.5,
post_traj_time=4.5,
dt=env.dt,
weights_scale=0.25,
zero_start=True,
zero_goal=True
)
env = DetPMPWrapper(env,
num_dof=3,
num_basis=5,
width=0.005,
off=-0.1,
policy_type="motor",
start_pos=env.start_pos[1::2],
duration=3.5,
post_traj_time=4.5,
dt=env.dt,
weights_scale=0.25,
zero_start=True,
zero_goal=True
)
env.seed(seed + rank)
return env
@@ -121,20 +121,20 @@ def make_simple_dmp_env(rank, seed=0):
def _init():
_env = ALRBallInACupEnvSimple()
_env = DmpEnvWrapper(_env,
num_dof=3,
num_basis=5,
duration=3.5,
post_traj_time=4.5,
bandwidth_factor=2.5,
dt=_env.dt,
learn_goal=False,
alpha_phase=3,
start_pos=_env.start_pos[1::2],
final_pos=_env.start_pos[1::2],
policy_type="motor",
weights_scale=100,
)
_env = DmpWrapper(_env,
num_dof=3,
num_basis=5,
duration=3.5,
post_traj_time=4.5,
bandwidth_factor=2.5,
dt=_env.dt,
learn_goal=False,
alpha_phase=3,
start_pos=_env.start_pos[1::2],
final_pos=_env.start_pos[1::2],
policy_type="motor",
weights_scale=100,
)
_env.seed(seed + rank)
return _env