fancy_gym/fancy_gym/meta

MetaWorld Wrappers

These are the Environment Wrappers for selected Metaworld environments in order to use our Motion Primitive gym interface with them. All Metaworld environments have a 39 dimensional observation space with the same structure. The tasks differ only in the objective and the initial observations that are randomized. Unused observations are zeroed out. E.g. for Button-Press-v2 the observation mask looks the following:

    return np.hstack([
        # Current observation
        [False] * 3,  # end-effector position
        [False] * 1,  # normalized gripper open distance
        [True] * 3,  # main object position
        [False] * 4,  # main object quaternion
        [False] * 3,  # secondary object position
        [False] * 4,  # secondary object quaternion
        # Previous observation
        [False] * 3,  # previous end-effector position
        [False] * 1,  # previous normalized gripper open distance
        [False] * 3,  # previous main object position
        [False] * 4,  # previous main object quaternion
        [False] * 3,  # previous second object position
        [False] * 4,  # previous second object quaternion
        # Goal
        [True] * 3,  # goal position
    ])

For other tasks only the boolean values have to be adjusted accordingly.