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9d03542282
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Move mp_config out of metadata and onto MPWrappers
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2023-07-20 10:56:30 +02:00 |
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f6e1718c1a
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metadata.mp_config now expected in MP_wrapper (implementing Fabian's feedback)
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2023-07-20 10:34:38 +02:00 |
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30bafd7a4f
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Allow skipping merge with default bb config
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2023-07-14 15:58:58 +02:00 |
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f375a6e4df
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Ported classic_control envs to fancy registry
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2023-07-14 14:31:36 +02:00 |
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ffbada2311
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Started implementing new fancy registry
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2023-07-14 14:28:31 +02:00 |
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hongyi.zhou
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bd7e811a64
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fix tau bound and init bound bug
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2023-07-03 17:19:41 +02:00 |
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60a4cf11d6
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Fix: Some envs used no longer existing binding to mujoco
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2023-06-18 12:10:01 +02:00 |
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4921cc4b0b
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Fix: Some envs had wrong obs space shapes and did not follow new gym spec
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2023-06-11 13:45:44 +02:00 |
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6f1a36d18c
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Adding required render_fps metadata to custom envs
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2023-06-11 12:30:56 +02:00 |
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ef64b0c21c
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Adding/fixing obs space definitions and metadata for various envs
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2023-06-11 11:08:46 +02:00 |
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40d2409c26
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Fixed: ant_jump returned observations bigger then observation_space
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2023-06-10 18:48:13 +02:00 |
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42003a3f9a
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Allow custom XML-files for ant_env
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2023-06-10 18:47:41 +02:00 |
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ddf6fd73b2
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Fixed: hopper_jump returned observations bigger then observation_space
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2023-06-10 18:40:03 +02:00 |
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5e7f027ea0
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Fixed Bug: walker_2d_jump was missing obsvation_space attribute
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2023-06-10 18:34:49 +02:00 |
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ff382a2922
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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.
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2023-06-10 13:40:33 +02:00 |
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c06fbee728
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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.
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2023-06-10 13:37:40 +02:00 |
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38cb5e1750
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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.
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2023-06-10 13:35:48 +02:00 |
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1fddeb838b
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Forgot to make it derive from Walker2dEnvCustomXML instead of original Walker2dEnv
|
2023-05-27 13:06:19 +02:00 |
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110a8a9c0c
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Fix: MujocoEnv no longer supports manual assignment of mujoco_bindings
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2023-05-27 12:55:46 +02:00 |
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29b458c7df
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Fix: hopper_jump_on_box still used unpatched HopperEnv
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2023-05-27 12:53:57 +02:00 |
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35680ab9a2
|
Merge branch 'master' into gym_upgrade
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2023-05-27 11:45:51 +02:00 |
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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.
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2023-05-19 15:18:14 +02:00 |
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e75ab89a37
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Ported box_pushing to new mujoco bindings
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2023-05-19 14:01:31 +02:00 |
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228e343a1b
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Merge branch '47-update-to-new-gym-api' into gym_upgrade
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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
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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 |
|
Hongyi Zhou
|
b415be4b4d
|
update mp_params for box pushing and tt
|
2023-03-12 12:27:44 +01:00 |
|
hongyi.zhou
|
344c11d67a
|
updates according to changes request
|
2023-01-27 17:50:14 +01:00 |
|
Fabian
|
c53924d9fc
|
updated to new API, so tests still failing
|
2023-01-17 08:27:29 +01:00 |
|
Fabian
|
ed724046f3
|
updated custom tasks to new api
|
2023-01-12 17:22:45 +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
|
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
|
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
|
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
|
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
|
7e71e70861
|
updates for debug
|
2022-11-22 10:32:51 +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
|
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
|
60e18d2964
|
add prodmp to test_black_box
|
2022-11-09 17:54:34 +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
|
288ebedd50
|
learn only basis weight
|
2022-10-26 22:54:35 +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
|
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 |
|
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 |
|
