119 lines
3.6 KiB
Python
119 lines
3.6 KiB
Python
from gym import register
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from copy import deepcopy
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from . import mujoco
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from .deprecated_needs_gym_robotics import robotics
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
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DEFAULT_BB_DICT_ProMP = {
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"name": 'EnvName',
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"wrappers": [],
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"trajectory_generator_kwargs": {
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'trajectory_generator_type': 'promp'
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},
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"phase_generator_kwargs": {
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'phase_generator_type': 'linear'
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},
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"controller_kwargs": {
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'controller_type': 'motor',
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"p_gains": 1.0,
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"d_gains": 0.1,
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},
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"basis_generator_kwargs": {
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'basis_generator_type': 'zero_rbf',
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'num_basis': 5,
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'num_basis_zero_start': 1
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}
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}
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kwargs_dict_reacher_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
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kwargs_dict_reacher_promp['controller_kwargs']['p_gains'] = 0.6
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kwargs_dict_reacher_promp['controller_kwargs']['d_gains'] = 0.075
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kwargs_dict_reacher_promp['basis_generator_kwargs']['num_basis'] = 6
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kwargs_dict_reacher_promp['name'] = "Reacher-v2"
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kwargs_dict_reacher_promp['wrappers'].append(mujoco.reacher_v2.MPWrapper)
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register(
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id='Reacher2dProMP-v2',
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entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
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kwargs=kwargs_dict_reacher_promp
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)
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ReacherProMP-v2")
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"""
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The Fetch environments are not supported by gym anymore. A new repository (gym_robotics) is supporting the environments.
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However, the usage and so on needs to be checked
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register(
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id='FetchSlideDenseProMP-v1',
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entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchSlideDense-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideDenseProMP-v1")
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register(
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id='FetchSlideProMP-v1',
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entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchSlide-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchSlideProMP-v1")
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register(
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id='FetchReachDenseProMP-v1',
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entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchReachDense-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachDenseProMP-v1")
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register(
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id='FetchReachProMP-v1',
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entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
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kwargs={
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"name": "gym.envs.robotics:FetchReach-v1",
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"wrappers": [FlattenObservation, robotics.fetch.MPWrapper],
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"traj_gen_kwargs": {
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"num_dof": 4,
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"num_basis": 5,
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"duration": 2,
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"post_traj_time": 0,
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"zero_start": True,
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"policy_type": "position"
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}
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}
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)
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ALL_GYM_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("FetchReachProMP-v1")
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"""
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