|
|
60a4cf11d6
|
Fix: Some envs used no longer existing binding to mujoco
|
2023-06-18 12:10:01 +02:00 |
|
|
|
a23b44752e
|
Implement support for Dict spaces for time_aware_observation-wrapper
|
2023-06-11 17:38:16 +02:00 |
|
|
|
abeb963b4e
|
Little hack to make envs work, that don't expose the max_episode_steps in their spec
|
2023-06-11 17:37:32 +02:00 |
|
|
|
2ad42f4132
|
Fix: Minor bugs in time aware obs wrapper
|
2023-06-11 13:47:38 +02:00 |
|
|
|
4921cc4b0b
|
Fix: Some envs had wrong obs space shapes and did not follow new gym spec
|
2023-06-11 13:45:44 +02:00 |
|
|
|
80de15fd14
|
Fix: Return for invalid trajectories did not follow new gym spec
|
2023-06-11 13:43:10 +02:00 |
|
|
|
6f1a36d18c
|
Adding required render_fps metadata to custom envs
|
2023-06-11 12:30:56 +02:00 |
|
|
|
ef64b0c21c
|
Adding/fixing obs space definitions and metadata for various envs
|
2023-06-11 11:08:46 +02:00 |
|
|
|
40d2409c26
|
Fixed: ant_jump returned observations bigger then observation_space
|
2023-06-10 18:48:13 +02:00 |
|
|
|
42003a3f9a
|
Allow custom XML-files for ant_env
|
2023-06-10 18:47:41 +02:00 |
|
|
|
ddf6fd73b2
|
Fixed: hopper_jump returned observations bigger then observation_space
|
2023-06-10 18:40:03 +02:00 |
|
|
|
5e7f027ea0
|
Fixed Bug: walker_2d_jump was missing obsvation_space attribute
|
2023-06-10 18:34:49 +02:00 |
|
|
|
ff382a2922
|
Converted mujoco env 'walker2d' to new coordinate convention
New versions of mujoco no longer allow global coordinates.
We therefore convert them to local ones.
The original files are kept as reference.
|
2023-06-10 13:40:33 +02:00 |
|
|
|
c06fbee728
|
Converted mujoco env 'hopper_throw' to new coordinate convention
New versions of mujoco no longer allow global coordinates.
We therefore convert them to local ones.
The original files are kept as reference.
|
2023-06-10 13:37:40 +02:00 |
|
|
|
38cb5e1750
|
Converted mujoco env 'hopper_jump' to new coordinate convention
New versions of mujoco no longer allow global coordinates.
We therefore convert them to local ones.
The original files are kept as reference.
|
2023-06-10 13:35:48 +02:00 |
|
|
|
1fddeb838b
|
Forgot to make it derive from Walker2dEnvCustomXML instead of original Walker2dEnv
|
2023-05-27 13:06:19 +02:00 |
|
|
|
110a8a9c0c
|
Fix: MujocoEnv no longer supports manual assignment of mujoco_bindings
|
2023-05-27 12:55:46 +02:00 |
|
|
|
dbd7c37da5
|
Also support old gym Box as observation_space (backwards compat)
|
2023-05-27 12:54:30 +02:00 |
|
|
|
29b458c7df
|
Fix: hopper_jump_on_box still used unpatched HopperEnv
|
2023-05-27 12:53:57 +02:00 |
|
|
|
35680ab9a2
|
Merge branch 'master' into gym_upgrade
|
2023-05-27 11:45:51 +02:00 |
|
|
|
d6df6779a1
|
Auto convert output spaces.Dict to Box for BB-Envs
|
2023-05-27 11:39:47 +02:00 |
|
Fabian
|
053a17889f
|
Merge pull request #56 from HongyiZhouCN/55-table-tennis-dev
#55 add table tennis environment to fancy_gym
|
2023-05-24 10:03:38 +02:00 |
|
|
|
dabfc7cafe
|
Adapted Mujoco Envs to new gymnasium spec
Gymnasium Mujoco Envs no longer allow overriding the used xml_file
We therefore implement intermediate classes, that reimplement this
feature.
|
2023-05-19 15:18:14 +02:00 |
|
|
|
1c002a235b
|
Warning no longer applicable
|
2023-05-19 15:17:28 +02:00 |
|
|
|
e70a56a7e3
|
Fixed: Typos
|
2023-05-19 14:04:19 +02:00 |
|
|
|
e75ab89a37
|
Ported box_pushing to new mujoco bindings
|
2023-05-19 14:01:31 +02:00 |
|
|
|
bf3ed8a06c
|
Fix: TimeAwareObservation did not support float64 and tried to forbidden access private attribute.
|
2023-05-19 13:59:54 +02:00 |
|
|
|
07de655025
|
Allow dmc envs to be accessed via dmc:... (for backwards compatibility)
|
2023-05-18 19:50:19 +02:00 |
|
|
|
0dfd8e18e4
|
Fixed Bug: env_id was broken, when prefix is handled by other library
(e.g. 'dmc:...' by shimmy)
|
2023-05-18 19:08:11 +02:00 |
|
|
|
228e343a1b
|
Merge branch '47-update-to-new-gym-api' into gym_upgrade
|
2023-05-15 17:19:50 +02:00 |
|
Hongyi Zhou
|
02df59a1f5
|
disable goal & relative goal & 3basis & scale0.7
|
2023-04-10 09:06:43 +02:00 |
|
Hongyi Zhou
|
96e8d01fb6
|
enlarge t0 & T bounds for ProDMP
|
2023-04-09 22:17:15 +02:00 |
|
Hongyi Zhou
|
1ba58bca52
|
3 bases & disable relative goal for table tennis
|
2023-04-09 20:54:23 +02:00 |
|
Hongyi Zhou
|
e7694cc11f
|
update config
|
2023-04-09 16:42:34 +02:00 |
|
Hongyi Zhou
|
7c66ee2136
|
update alpha=5 for prodmp tt
|
2023-04-09 16:32:34 +02:00 |
|
hongyi.zhou
|
ffa8c9bddb
|
update weight scaling for bbrl-prodmp tt
|
2023-04-06 15:57:39 +02:00 |
|
hongyi.zhou
|
7f38292937
|
add disable goal & relative goal to tt prodmp
|
2023-04-06 13:29:43 +02:00 |
|
hongyi.zhou
|
2add522298
|
minor update
|
2023-04-06 11:41:55 +02:00 |
|
hongyi.zhou
|
59af1bbf8a
|
minor update
|
2023-04-06 11:41:05 +02:00 |
|
hongyi.zhou
|
89833164dd
|
enable autoscale for prodmp
|
2023-04-06 09:49:20 +02:00 |
|
hongyi.zhou
|
56d46c9ffc
|
add prodmp for table tennis
|
2023-04-06 09:46:55 +02:00 |
|
ottofabian
|
93705d5f14
|
Update __init__.py
|
2023-03-24 09:40:11 +01:00 |
|
Fabian
|
5c8ba41e04
|
updated for new mp_pytorch
|
2023-03-21 15:27:11 +01:00 |
|
Fabian
|
8f07770a2f
|
Merge remote-tracking branch 'origin/Add-ProDMP-envs' into Add-ProDMP-envs
|
2023-03-13 10:52:07 +01:00 |
|
Hongyi Zhou
|
b415be4b4d
|
update mp_params for box pushing and tt
|
2023-03-12 12:27:44 +01:00 |
|
ottofabian
|
0781077bde
|
Update base_metaworld_mp_wrapper.py
|
2023-02-14 10:05:05 +01:00 |
|
hongyi.zhou
|
344c11d67a
|
updates according to changes request
|
2023-01-27 17:50:14 +01:00 |
|
hongyi.zhou
|
67f684cf14
|
Merge branch 'master' into 55-table-tennis-dev
|
2023-01-27 14:38:25 +01:00 |
|
Fabian
|
176fb087af
|
Merge remote-tracking branch 'origin/master' into Add-ProDMP-envs
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
# fancy_gym/meta/__init__.py
|
2023-01-25 09:30:53 +01:00 |
|
Fabian
|
8903c2dc9f
|
updated for new mp_pytorch
|
2023-01-25 09:20:36 +01:00 |
|
Fabian
|
3facda996c
|
Merge remote-tracking branch 'origin/dev_new_mp_api_bp_frameskip' into Add-ProDMP-envs
# Conflicts:
# alr_envs/alr/__init__.py
# alr_envs/alr/mujoco/reacher/alr_reacher.py
# alr_envs/alr/mujoco/reacher/new_mp_wrapper.py
|
2023-01-25 08:53:05 +01:00 |
|
Fabian
|
03b930d7dd
|
updated for new mp-pytorch version
|
2023-01-17 09:50:55 +01:00 |
|
Fabian
|
c53924d9fc
|
updated to new API, so tests still failing
|
2023-01-17 08:27:29 +01:00 |
|
Fabian
|
9ebc021ae0
|
updated dm_control envs to use shimmy
|
2023-01-12 17:23:56 +01:00 |
|
Fabian
|
ed724046f3
|
updated custom tasks to new api
|
2023-01-12 17:22:45 +01:00 |
|
Fabian
|
fbe3ef4a4b
|
updated examples to new api,
|
2023-01-12 17:21:56 +01:00 |
|
Fabian
|
5cbefb2b11
|
updated setup.py
|
2022-12-05 14:07:45 +01:00 |
|
Hongyi Zhou
|
811c5df3d1
|
delete debugging codes
|
2022-12-01 14:45:13 +01:00 |
|
Hongyi Zhou
|
ca8787f449
|
minor updates
|
2022-12-01 14:34:53 +01:00 |
|
Hongyi Zhou
|
a1d660d7ae
|
Merge branch 'tt_cluster_debug' into 55-table-tennis-dev
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
# fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
# fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
|
2022-12-01 14:25:22 +01:00 |
|
Hongyi Zhou
|
5750f6eb3d
|
add replan name tag to replan envs & delete redundant settings
|
2022-12-01 14:23:57 +01:00 |
|
Hongyi Zhou
|
5744d339ac
|
change time limits for tt to 350
|
2022-12-01 14:04:11 +01:00 |
|
Hongyi Zhou
|
fa9a35d470
|
fix typos
|
2022-12-01 13:33:24 +01:00 |
|
Hongyi Zhou
|
fe2d8fec91
|
delete unused argument
|
2022-12-01 13:22:45 +01:00 |
|
Hongyi Zhou
|
55df1e0ef6
|
fix minor bug
|
2022-12-01 13:16:37 +01:00 |
|
Hongyi Zhou
|
a9a1d05497
|
merge master into table-tennis-dev branch
|
2022-12-01 11:46:09 +01:00 |
|
Hongyi Zhou
|
3a502ce831
|
Merge branch 'master' into tt_cluster_debug
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
|
2022-12-01 11:35:38 +01:00 |
|
Hongyi Zhou
|
f376772c22
|
add invalid trajectory callback & invalid traj return & register all 3 variantes of table tennis tasks
|
2022-12-01 11:28:03 +01:00 |
|
Hongyi Zhou
|
e7d2454e30
|
make if condition better
|
2022-11-28 10:49:05 +01:00 |
|
Hongyi Zhou
|
bb94c9c707
|
typos
|
2022-11-27 01:26:18 +01:00 |
|
Hongyi Zhou
|
bf0de5f54d
|
set boundary condition to None at reset() & end replanning if env is done
|
2022-11-27 01:25:31 +01:00 |
|
Hongyi Zhou
|
28aa430fd2
|
fix minor bugs
|
2022-11-25 22:38:21 +01:00 |
|
Hongyi Zhou
|
2735e0bf24
|
add contextual obs option to invalid trajectory callback
|
2022-11-25 22:34:46 +01:00 |
|
Hongyi Zhou
|
c242c32a41
|
Merge branch 'master' into tt_cluster_debug
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
# fancy_gym/envs/__init__.py
# fancy_gym/examples/examples_movement_primitives.py
|
2022-11-25 17:16:26 +01:00 |
|
xb1196@partner.kit.edu
|
932431a120
|
temporal saving
|
2022-11-25 16:02:52 +01:00 |
|
Hongyi Zhou
|
833f0735ea
|
delete import torch in black box wrapper
|
2022-11-25 13:31:05 +01:00 |
|
Hongyi Zhou
|
b883ad63b7
|
using artifical wind field
|
2022-11-24 16:50:57 +01:00 |
|
Hongyi Zhou
|
96f17e02cf
|
random sampling for goal switching & adjust height for initial ball state
|
2022-11-24 14:15:09 +01:00 |
|
Hongyi Zhou
|
f47f00a292
|
updates && disable auto_scale_basis for table tennis
|
2022-11-23 17:02:04 +01:00 |
|
Hongyi Zhou
|
a219f90d72
|
shorter duration
|
2022-11-22 11:13:08 +01:00 |
|
Hongyi Zhou
|
be1a9bd67e
|
update bc
|
2022-11-22 10:46:39 +01:00 |
|
Hongyi Zhou
|
7e71e70861
|
updates for debug
|
2022-11-22 10:32:51 +01:00 |
|
Hongyi Zhou
|
a9ad1b5287
|
minor update: create local variables for current pos/vel
|
2022-11-21 10:17:56 +01:00 |
|
Hongyi Zhou
|
9539ba1424
|
fix some typos
|
2022-11-20 22:00:02 +01:00 |
|
Hongyi Zhou
|
2674bf80fe
|
update according to reviews opinion & fix bugs in box pushing IK
|
2022-11-20 21:56:32 +01:00 |
|
Hongyi Zhou
|
4a850912be
|
fix bug in box pushing IK
|
2022-11-19 14:54:54 +01:00 |
|
Hongyi Zhou
|
e3d36dead0
|
updates
|
2022-11-17 11:19:23 +01:00 |
|
Hongyi Zhou
|
d4e844ac45
|
goal switching
|
2022-11-16 19:45:58 +01:00 |
|
Hongyi Zhou
|
f9c0c1f3ab
|
add plot for wind influence testing
|
2022-11-15 23:38:50 +01:00 |
|
Hongyi Zhou
|
7ba490f14a
|
disable air density & viscosity
|
2022-11-15 14:07:16 +01:00 |
|
Hongyi Zhou
|
f6128460ed
|
update with current settings
|
2022-11-15 11:37:25 +01:00 |
|
Hongyi Zhou
|
fc3051bf57
|
minor updates
|
2022-11-14 17:48:15 +01:00 |
|
Hongyi Zhou
|
be14b21fff
|
update test suite for replanning envs
|
2022-11-14 17:39:46 +01:00 |
|
Hongyi Zhou
|
7e3ec7a2ef
|
set default max_planning_times to None
|
2022-11-13 17:59:12 +01:00 |
|
Hongyi Zhou
|
104b909296
|
delete hacky experimental codes & add tests to test_black_box
|
2022-11-13 16:59:13 +01:00 |
|
Hongyi Zhou
|
b482c1bd89
|
add ball velocity into observation space
|
2022-11-13 15:27:29 +01:00 |
|
Hongyi Zhou
|
dc524da049
|
update enable winds to __init__
|
2022-11-12 10:41:09 +01:00 |
|
Hongyi Zhou
|
87633a89fb
|
add enable_wind option to table tennis environment
|
2022-11-11 23:41:35 +01:00 |
|
Hongyi Zhou
|
b1581634e0
|
enable max planning times flag
|
2022-11-09 21:23:35 +01:00 |
|
Hongyi Zhou
|
60e18d2964
|
add prodmp to test_black_box
|
2022-11-09 17:54:34 +01:00 |
|
Hongyi Zhou
|
ffe48dfb57
|
change back infos to default setting
|
2022-11-09 12:49:17 +01:00 |
|
Hongyi Zhou
|
99a514026f
|
table tennis 4D replanning works git add .git add .
|
2022-11-09 10:42:36 +01:00 |
|
Hongyi Zhou
|
b9c2348855
|
check time validity before pos validity
|
2022-11-08 13:57:32 +01:00 |
|
Hongyi Zhou
|
d384e6e764
|
temporal updates
|
2022-11-08 10:15:43 +01:00 |
|
Hongyi Zhou
|
2a39a72af0
|
update promp's config
|
2022-11-06 23:42:55 +01:00 |
|
Hongyi Zhou
|
7d16b420c1
|
add tau, delay bound and update context range
|
2022-11-05 15:56:59 +01:00 |
|
Hongyi Zhou
|
6193f87fe7
|
4d table tennis
|
2022-11-05 14:26:14 +01:00 |
|
Hongyi Zhou
|
5a547d85f9
|
updates
|
2022-11-04 21:22:32 +01:00 |
|
Hongyi Zhou
|
7b2451d317
|
updates
|
2022-11-02 23:00:20 +01:00 |
|
Hongyi Zhou
|
a6cca617e1
|
add table tennis environment with new mujoco binding
|
2022-11-02 18:18:27 +01:00 |
|
Hongyi Zhou
|
fd4f9ae0bc
|
add tests for replanning env & adapt observation space for box pushing & add max_planning_times to replanning tasks
|
2022-11-01 22:51:43 +01:00 |
|
Hongyi Zhou
|
4f9b1fad25
|
learn goal with auto scale basis
|
2022-10-31 22:37:13 +01:00 |
|
Hongyi Zhou
|
83eb8f7f64
|
use auto scale basis
|
2022-10-31 16:33:47 +01:00 |
|
Hongyi Zhou
|
cd2b679e9b
|
use observation mask for replanning
|
2022-10-31 13:52:40 +01:00 |
|
Hongyi Zhou
|
61c1b76e29
|
use auto scaling feature of MP_Pytorch
|
2022-10-31 13:18:05 +01:00 |
|
Hongyi Zhou
|
524bbf352e
|
delete the replanning times counter
|
2022-10-27 02:01:51 +02:00 |
|
Hongyi Zhou
|
288ebedd50
|
learn only basis weight
|
2022-10-26 22:54:35 +02:00 |
|
Hongyi Zhou
|
e49d1563fe
|
hacky codes, only learn the weight basis params
|
2022-10-26 22:46:53 +02:00 |
|
Hongyi Zhou
|
be6137ec81
|
updates
|
2022-10-26 15:18:37 +02:00 |
|
Hongyi Zhou
|
a8ffa791b8
|
change mp configs for box pushing & add joint states to observation
|
2022-10-26 14:04:53 +02:00 |
|
Hongyi Zhou
|
4d67bfdaa7
|
use current pos as condition
|
2022-10-26 11:11:52 +02:00 |
|
Hongyi Zhou
|
a1d96e6016
|
use desired point as boundary condition
|
2022-10-25 22:15:30 +02:00 |
|
Hongyi Zhou
|
556bfd0b35
|
add weights scaling for box pushing replanning
|
2022-10-25 20:10:59 +02:00 |
|
Hongyi Zhou
|
c457fbbfeb
|
fix minor bugs & merge test branch
|
2022-10-24 22:01:56 +02:00 |
|
Hongyi Zhou
|
e3509f8be3
|
Merge remote-tracking branch 'alr/master' into mujoco_binding
# Conflicts:
# fancy_gym/black_box/black_box_wrapper.py
|
2022-10-24 09:53:41 +02:00 |
|
Fabian
|
46824f5d41
|
Merge remote-tracking branch 'origin/44-added-tests-for-the-black-box-wrapper' into Add-ProDMP-envs
|
2022-10-24 09:38:27 +02:00 |
|
Fabian
|
5ebd4225cc
|
Adjusted Callable type hint
|
2022-10-24 09:24:12 +02:00 |
|
Fabian
|
ed645c2fbe
|
added black box tests and bug fixes
|
2022-10-21 16:16:49 +02:00 |
|
Fabian
|
0c7ac838bf
|
first updats to reacher and env creation
|
2022-10-20 10:10:44 +02:00 |
|
HongyiZhou
|
f16a128d57
|
Merge remote-tracking branch 'origin/Add-ProDMP-envs' into mujoco_binding
# Conflicts:
# fancy_gym/black_box/factory/basis_generator_factory.py
|
2022-10-18 15:03:06 +02:00 |
|
Hongyi Zhou
|
bdd51ba61f
|
modified according to comments
|
2022-10-14 16:50:57 +02:00 |
|
Fabian
|
00f622e913
|
Added more tests
|
2022-10-14 14:02:12 +02:00 |
|
Hongyi Zhou
|
1fd4a1e848
|
resample the context if target is too near to the start position
|
2022-10-13 14:58:28 +02:00 |
|
Hongyi Zhou
|
eec171e04a
|
prodmp box pushing works
|
2022-10-13 11:23:38 +02:00 |
|
Hongyi Zhou
|
187c5f5bb2
|
add ProDMP to register
|
2022-10-13 10:57:00 +02:00 |
|
xb1196@partner.kit.edu
|
d73c9bbdbf
|
comment out plotting and fixed context codes
|
2022-10-12 17:06:36 +02:00 |
|
Hongyi Zhou
|
ad8201ea67
|
update infos of box pushing envs
|
2022-10-12 16:45:13 +02:00 |
|
Hongyi Zhou
|
38e8958ebd
|
box pushing working with mujoco binding
|
2022-10-11 18:16:25 +02:00 |
|
Hongyi Zhou
|
5bfce45d9d
|
box pushing with mujoco binding
|
2022-10-11 18:08:12 +02:00 |
|
Fabian
|
915ffbe928
|
Added more tests
|
2022-09-30 15:07:48 +02:00 |
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Fabian
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6e4be06ffd
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Added more tests
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2022-09-26 16:11:41 +02:00 |
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Fabian
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19a7ffb158
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reverted changes to examples
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2022-09-26 09:55:59 +02:00 |
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Fabian
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932c5d6aea
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Merge remote-tracking branch 'origin/master'
Conflicts:
fancy_gym/black_box/black_box_wrapper.py
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2022-09-26 09:52:45 +02:00 |
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Fabian
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39815ad09a
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updated test to pytest
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2022-09-26 09:46:53 +02:00 |
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Fabian
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1ca14f1c93
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updated for new set_duration function.
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2022-09-20 11:17:20 +02:00 |
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Fabian
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bdea3badff
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updated for gym 0.25.1
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2022-08-18 09:04:38 +02:00 |
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Fabian
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7957632eb0
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minor bug fixes
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2022-07-27 16:34:35 +02:00 |
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Fabian
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4aacd71ed3
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minor bug fixes
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2022-07-26 10:33:59 +02:00 |
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Fabian
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ce795669a9
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minor bug fixes
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2022-07-25 11:18:05 +02:00 |
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Onur
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5590318329
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Merge remote-tracking branch 'origin/clean_api' into clean_api
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2022-07-19 12:17:19 +02:00 |
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