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adjust register for BP

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Onur 2022-07-13 16:16:07 +02:00
parent c96802564e
commit f70f3eeb9a
2 changed files with 9 additions and 12 deletions
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19
fancy_gym/envs/__init__.py
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@ -8,7 +8,7 @@ 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.viapoint_reacher.viapoint_reacher import ViaPointReacherEnv from .classic_control.viapoint_reacher.viapoint_reacher import ViaPointReacherEnv
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 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
from .mujoco.hopper_jump.hopper_jump import MAX_EPISODE_STEPS_HOPPERJUMP 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
@ -202,15 +202,9 @@ register(
register( register(
id='BeerPongStepBased-v0', id='BeerPongStepBased-v0',
entry_point='fancy_gym.envs.mujoco:BeerPongEnvStepBasedEpisodicReward', entry_point='fancy_gym.envs.mujoco:BeerPongEnvStepBasedEpisodicReward',
max_episode_steps=MAX_EPISODE_STEPS_BEERPONG, max_episode_steps=FIXED_RELEASE_STEP,
) )
# Beerpong with episodic reward, but fixed release time step
register(
id='BeerPongFixedRelease-v0',
entry_point='fancy_gym.envs.mujoco:BeerPongEnvFixedReleaseStep',
max_episode_steps=MAX_EPISODE_STEPS_BEERPONG,
)
# movement Primitive Environments # movement Primitive Environments
@ -355,10 +349,13 @@ for _v in _versions:
ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id) ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
### BP with Fixed release ### BP with Fixed release
_versions = ["BeerPongStepBased-v0", "BeerPongFixedRelease-v0"] _versions = ["BeerPongStepBased-v0", 'BeerPong-v0']
for _v in _versions: for _v in _versions:
_name = _v.split("-") if _v != 'BeerPong-v0':
_env_id = f'{_name[0]}ProMP-{_name[1]}' _name = _v.split("-")
_env_id = f'{_name[0]}ProMP-{_name[1]}'
else:
_env_id = 'BeerPongFixedReleaseProMP-v0'
kwargs_dict_bp_promp = deepcopy(DEFAULT_BB_DICT_ProMP) kwargs_dict_bp_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
kwargs_dict_bp_promp['wrappers'].append(mujoco.beerpong.MPWrapper) kwargs_dict_bp_promp['wrappers'].append(mujoco.beerpong.MPWrapper)
kwargs_dict_bp_promp['phase_generator_kwargs']['tau'] = 0.62 kwargs_dict_bp_promp['phase_generator_kwargs']['tau'] = 0.62

2
fancy_gym/envs/mujoco/__init__.py
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@ -1,5 +1,5 @@
from .ant_jump.ant_jump import AntJumpEnv from .ant_jump.ant_jump import AntJumpEnv
from .beerpong.beerpong import BeerPongEnv, BeerPongEnvFixedReleaseStep, BeerPongEnvStepBasedEpisodicReward from .beerpong.beerpong import BeerPongEnv, BeerPongEnvStepBasedEpisodicReward
from .half_cheetah_jump.half_cheetah_jump import HalfCheetahJumpEnv from .half_cheetah_jump.half_cheetah_jump import HalfCheetahJumpEnv
from .hopper_jump.hopper_jump import HopperJumpEnv from .hopper_jump.hopper_jump import HopperJumpEnv
from .hopper_jump.hopper_jump_on_box import HopperJumpOnBoxEnv from .hopper_jump.hopper_jump_on_box import HopperJumpOnBoxEnv