127 lines
5.1 KiB
Python
127 lines
5.1 KiB
Python
import gymnasium as gym
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import fancy_gym
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def example_meta(env_id="metaworld/button-press-v2", seed=1, iterations=1000, render=True):
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"""
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Example for running a MetaWorld based env in the step based setting.
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The env_id has to be specified as `task_name-v2`. V1 versions are not supported and we always
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return the observable goal version.
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All tasks can be found here: https://arxiv.org/pdf/1910.10897.pdf or https://meta-world.github.io/
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Args:
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env_id: `task_name-v2`
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seed: seed for deterministic behaviour (TODO: currently not working due to an issue in MetaWorld code)
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iterations: Number of rollout steps to run
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render: Render the episode
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Returns:
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"""
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env = gym.make(env_id, render_mode='human' if render else None)
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rewards = 0
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obs = env.reset(seed=seed)
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print("observation shape:", env.observation_space.shape)
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print("action shape:", env.action_space.shape)
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for i in range(iterations):
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ac = env.action_space.sample()
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if render:
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env.render()
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obs, reward, terminated, truncated, info = env.step(ac)
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rewards += reward
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if terminated or truncated:
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print(env_id, rewards)
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rewards = 0
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obs = env.reset(seed=seed+i+1)
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env.close()
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del env
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def example_custom_meta_and_mp(seed=1, iterations=1, render=True):
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"""
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Example for running a custom movement primitive based environments.
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Our already registered environments follow the same structure.
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Hence, this also allows to adjust hyperparameters of the movement primitives.
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Yet, we recommend the method above if you are just interested in chaining those parameters for existing tasks.
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We appreciate PRs for custom environments (especially MP wrappers of existing tasks)
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for our repo: https://github.com/ALRhub/fancy_gym/
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Args:
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seed: seed for deterministic behaviour (TODO: currently not working due to an issue in MetaWorld code)
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iterations: Number of rollout steps to run
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render: Render the episode (TODO: currently not working due to an issue in MetaWorld code)
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Returns:
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"""
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# Base MetaWorld name, according to structure of above example
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base_env_id = "metaworld/button-press-v2"
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# Replace this wrapper with the custom wrapper for your environment by inheriting from the RawInterfaceWrapper.
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# You can also add other gym.Wrappers in case they are needed.
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wrappers = [fancy_gym.meta.goal_object_change_mp_wrapper.MPWrapper]
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# # For a ProMP
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# trajectory_generator_kwargs = {'trajectory_generator_type': 'promp'}
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# phase_generator_kwargs = {'phase_generator_type': 'linear'}
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# controller_kwargs = {'controller_type': 'metaworld'}
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# basis_generator_kwargs = {'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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# For a DMP
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trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp'}
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phase_generator_kwargs = {'phase_generator_type': 'exp',
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'alpha_phase': 2}
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controller_kwargs = {'controller_type': 'metaworld'}
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basis_generator_kwargs = {'basis_generator_type': 'rbf',
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'num_basis': 5
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}
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base_env = gym.make(base_env_id, render_mode='human' if render else None)
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env = fancy_gym.make_bb(env=base_env, wrappers=wrappers, black_box_kwargs={},
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traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
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phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
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seed=seed)
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# This renders the full MP trajectory
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# It is only required to call render() once in the beginning, which renders every consecutive trajectory.
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# Resetting to no rendering, can be achieved by render(mode=None).
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# It is also possible to change them mode multiple times when
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# e.g. only every nth trajectory should be displayed.
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if render:
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env.render()
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rewards = 0
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obs = env.reset(seed=seed)
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# number of samples/full trajectories (multiple environment steps)
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for i in range(iterations):
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ac = env.action_space.sample()
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obs, reward, terminated, truncated, info = env.step(ac)
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rewards += reward
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if terminated or truncated:
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print(base_env_id, rewards)
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rewards = 0
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obs = env.reset(seed=seed+i+1)
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env.close()
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del env
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def main(render = False):
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# For rendering it might be necessary to specify your OpenGL installation
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# export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so
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# # Standard Meta world tasks
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example_meta("metaworld/button-press-v2", seed=10, iterations=500, render=render)
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# # MP + MetaWorld hybrid task provided in the our framework
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example_meta("metaworld_ProMP/button-press-v2", seed=10, iterations=1, render=render)
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#
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# # Custom MetaWorld task
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example_custom_meta_and_mp(seed=10, iterations=1, render=render)
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if __name__ == '__main__':
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main() |