69 lines
3.0 KiB
Python
69 lines
3.0 KiB
Python
from typing import Iterable, Type, Union, Optional
|
|
|
|
from copy import deepcopy
|
|
|
|
from ..envs.registry import register
|
|
|
|
from . import goal_object_change_mp_wrapper, goal_change_mp_wrapper, goal_endeffector_change_mp_wrapper, \
|
|
object_change_mp_wrapper
|
|
|
|
try:
|
|
import metaworld
|
|
except ModuleNotFoundError:
|
|
print('[FANCY GYM] Metaworld not avaible.')
|
|
else:
|
|
# Will only get executed, if import succeeds
|
|
|
|
from . import metaworld_adapter
|
|
|
|
metaworld_adapter.register_all_ML1()
|
|
|
|
ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
|
|
|
|
# MetaWorld
|
|
_goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",
|
|
"plate-slide-side-v2", "plate-slide-back-side-v2"]
|
|
for _task in _goal_change_envs:
|
|
register(
|
|
id=f'metaworld/{_task}',
|
|
register_step_based=False,
|
|
mp_wrapper=goal_change_mp_wrapper.MPWrapper,
|
|
add_mp_types=['ProMP', 'ProDMP'],
|
|
)
|
|
|
|
_object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
|
|
for _task in _object_change_envs:
|
|
register(
|
|
id=f'metaworld/{_task}',
|
|
register_step_based=False,
|
|
mp_wrapper=object_change_mp_wrapper.MPWrapper,
|
|
add_mp_types=['ProMP', 'ProDMP'],
|
|
)
|
|
|
|
_goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press-wall-v2", "button-press-topdown-v2",
|
|
"button-press-topdown-wall-v2", "coffee-button-v2", "coffee-pull-v2",
|
|
"coffee-push-v2", "dial-turn-v2", "disassemble-v2", "door-close-v2",
|
|
"door-lock-v2", "door-open-v2", "door-unlock-v2", "hand-insert-v2",
|
|
"drawer-close-v2", "drawer-open-v2", "faucet-open-v2", "faucet-close-v2",
|
|
"handle-press-side-v2", "handle-press-v2", "handle-pull-side-v2",
|
|
"handle-pull-v2", "lever-pull-v2", "peg-insert-side-v2", "pick-place-wall-v2",
|
|
"reach-v2", "push-back-v2", "push-v2", "pick-place-v2", "peg-unplug-side-v2",
|
|
"soccer-v2", "stick-push-v2", "stick-pull-v2", "push-wall-v2", "reach-wall-v2",
|
|
"shelf-place-v2", "sweep-v2", "window-open-v2", "window-close-v2"
|
|
]
|
|
for _task in _goal_and_object_change_envs:
|
|
register(
|
|
id=f'metaworld/{_task}',
|
|
register_step_based=False,
|
|
mp_wrapper=goal_object_change_mp_wrapper.MPWrapper,
|
|
add_mp_types=['ProMP', 'ProDMP'],
|
|
)
|
|
|
|
_goal_and_endeffector_change_envs = ["basketball-v2"]
|
|
for _task in _goal_and_endeffector_change_envs:
|
|
register(
|
|
id=f'metaworld/{_task}',
|
|
register_step_based=False,
|
|
mp_wrapper=goal_endeffector_change_mp_wrapper.MPWrapper,
|
|
add_mp_types=['ProMP', 'ProDMP'],
|
|
) |