1130 lines
33 KiB
Python
1130 lines
33 KiB
Python
import numpy as np
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from gym import register
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from . import classic_control, mujoco
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from .classic_control.hole_reacher.hole_reacher import HoleReacherEnv
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from .classic_control.simple_reacher.simple_reacher import SimpleReacherEnv
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from .classic_control.viapoint_reacher.viapoint_reacher import ViaPointReacherEnv
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from .mujoco.ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
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from .mujoco.ball_in_a_cup.biac_pd import ALRBallInACupPDEnv
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from .mujoco.reacher.alr_reacher import ALRReacherEnv
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from .mujoco.reacher.balancing import BalancingEnv
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from alr_envs.alr.mujoco.table_tennis.tt_gym import MAX_EPISODE_STEPS
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from .mujoco.ant_jump.ant_jump import MAX_EPISODE_STEPS_ANTJUMP
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from .mujoco.half_cheetah_jump.half_cheetah_jump import MAX_EPISODE_STEPS_HALFCHEETAHJUMP
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from .mujoco.hopper_jump.hopper_jump import MAX_EPISODE_STEPS_HOPPERJUMP
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from .mujoco.hopper_jump.hopper_jump_on_box import MAX_EPISODE_STEPS_HOPPERJUMPONBOX
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from .mujoco.hopper_throw.hopper_throw import MAX_EPISODE_STEPS_HOPPERTHROW
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from .mujoco.hopper_throw.hopper_throw_in_basket import MAX_EPISODE_STEPS_HOPPERTHROWINBASKET
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from .mujoco.walker_2d_jump.walker_2d_jump import MAX_EPISODE_STEPS_WALKERJUMP
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
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# Classic Control
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## Simple Reacher
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register(
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id='SimpleReacher-v0',
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entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 2,
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}
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)
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register(
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id='SimpleReacher-v1',
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entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 2,
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"random_start": False
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}
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)
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register(
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id='LongSimpleReacher-v0',
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entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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}
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)
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register(
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id='LongSimpleReacher-v1',
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entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False
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}
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)
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## Viapoint Reacher
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register(
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id='ViaPointReacher-v0',
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entry_point='alr_envs.alr.classic_control:ViaPointReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"allow_self_collision": False,
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"collision_penalty": 1000
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}
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)
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## Hole Reacher
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register(
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id='HoleReacher-v0',
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entry_point='alr_envs.alr.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": True,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": None,
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"hole_depth": 1,
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"hole_x": None,
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"collision_penalty": 100,
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}
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)
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register(
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id='HoleReacher-v1',
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entry_point='alr_envs.alr.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": 0.25,
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"hole_depth": 1,
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"hole_x": None,
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"collision_penalty": 100,
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}
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)
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register(
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id='HoleReacher-v2',
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entry_point='alr_envs.alr.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": 0.25,
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"hole_depth": 1,
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"hole_x": 2,
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"collision_penalty": 1,
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}
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)
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# Mujoco
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## Reacher
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register(
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id='ALRReacher-v0',
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entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 0,
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"n_links": 5,
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"balance": False,
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}
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)
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register(
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id='ALRReacherSparse-v0',
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entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 5,
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"balance": False,
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}
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)
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register(
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id='ALRReacherSparseOptCtrl-v0',
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entry_point='alr_envs.alr.mujoco:ALRReacherOptCtrlEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 5,
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"balance": False,
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}
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)
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register(
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id='ALRReacherSparseBalanced-v0',
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entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 5,
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"balance": True,
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}
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)
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register(
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id='ALRLongReacher-v0',
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entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 0,
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"n_links": 7,
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"balance": False,
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}
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)
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register(
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id='ALRLongReacherSparse-v0',
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entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 7,
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"balance": False,
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}
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)
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register(
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id='ALRLongReacherSparseBalanced-v0',
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entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
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max_episode_steps=200,
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kwargs={
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"steps_before_reward": 200,
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"n_links": 7,
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"balance": True,
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRAntJump-v0',
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entry_point='alr_envs.alr.mujoco:ALRAntJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_ANTJUMP,
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"context": False
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRAntJump-v1',
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entry_point='alr_envs.alr.mujoco:ALRAntJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_ANTJUMP,
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"context": True
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHalfCheetahJump-v0',
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entry_point='alr_envs.alr.mujoco:ALRHalfCheetahJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
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"context": False
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHalfCheetahJump-v1',
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entry_point='alr_envs.alr.mujoco:ALRHalfCheetahJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
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"context": True
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHopperJump-v0',
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entry_point='alr_envs.alr.mujoco:ALRHopperJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP,
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"context": False,
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"healthy_rewasrd": 1.0
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}
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)
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register(
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id='ALRHopperJump-v1',
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entry_point='alr_envs.alr.mujoco:ALRHopperJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP,
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"context": True
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}
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)
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register(
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id='ALRHopperJump-v2',
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entry_point='alr_envs.alr.mujoco:ALRHopperJumpRndmPosEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP
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}
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)
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register(
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id='ALRHopperJump-v3',
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entry_point='alr_envs.alr.mujoco:ALRHopperXYJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP,
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"context": True,
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"healthy_reward": 1.0
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}
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)
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##### Hopper Jump step based reward
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register(
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id='ALRHopperJump-v4',
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entry_point='alr_envs.alr.mujoco:ALRHopperXYJumpEnvStepBased',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP,
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"context": True,
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"healthy_reward": 1.0
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHopperJumpOnBox-v0',
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entry_point='alr_envs.alr.mujoco:ALRHopperJumpOnBoxEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
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"context": False
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHopperJumpOnBox-v1',
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entry_point='alr_envs.alr.mujoco:ALRHopperJumpOnBoxEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
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"context": True
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHopperThrow-v0',
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entry_point='alr_envs.alr.mujoco:ALRHopperThrowEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROW,
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"context": False
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHopperThrow-v1',
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entry_point='alr_envs.alr.mujoco:ALRHopperThrowEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROW,
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"context": True
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHopperThrowInBasket-v0',
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entry_point='alr_envs.alr.mujoco:ALRHopperThrowInBasketEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
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"context": False
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRHopperThrowInBasket-v1',
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entry_point='alr_envs.alr.mujoco:ALRHopperThrowInBasketEnv',
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max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
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"context": True
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRWalker2DJump-v0',
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entry_point='alr_envs.alr.mujoco:ALRWalker2dJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_WALKERJUMP,
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"context": False
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}
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)
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# CtxtFree are v0, Contextual are v1
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register(
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id='ALRWalker2DJump-v1',
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entry_point='alr_envs.alr.mujoco:ALRWalker2dJumpEnv',
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max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
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kwargs={
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"max_episode_steps": MAX_EPISODE_STEPS_WALKERJUMP,
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"context": True
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}
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)
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## Balancing Reacher
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register(
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id='Balancing-v0',
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entry_point='alr_envs.alr.mujoco:BalancingEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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}
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)
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## Table Tennis
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register(id='TableTennis2DCtxt-v0',
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entry_point='alr_envs.alr.mujoco:TTEnvGym',
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max_episode_steps=MAX_EPISODE_STEPS,
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kwargs={'ctxt_dim': 2})
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register(id='TableTennis2DCtxt-v1',
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entry_point='alr_envs.alr.mujoco:TTEnvGym',
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max_episode_steps=MAX_EPISODE_STEPS,
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kwargs={'ctxt_dim': 2, 'fixed_goal': True})
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register(id='TableTennis4DCtxt-v0',
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entry_point='alr_envs.alr.mujoco:TTEnvGym',
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max_episode_steps=MAX_EPISODE_STEPS,
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kwargs={'ctxt_dim': 4})
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## BeerPong
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# fixed goal cup position
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register(
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id='ALRBeerPong-v0',
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entry_point='alr_envs.alr.mujoco:ALRBeerBongEnv',
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max_episode_steps=300,
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kwargs={
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"rndm_goal": False,
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"cup_goal_pos": [0.1, -2.0],
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"frame_skip": 2
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}
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)
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# random goal cup position
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register(
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id='ALRBeerPong-v1',
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entry_point='alr_envs.alr.mujoco:ALRBeerBongEnv',
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max_episode_steps=300,
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kwargs={
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"rndm_goal": True,
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"cup_goal_pos": [-0.3, -1.2],
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"frame_skip": 2
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}
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)
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# Motion Primitive Environments
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## Simple Reacher
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_versions = ["SimpleReacher-v0", "SimpleReacher-v1", "LongSimpleReacher-v0", "LongSimpleReacher-v1"]
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for _v in _versions:
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_name = _v.split("-")
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_env_id = f'{_name[0]}DMP-{_name[1]}'
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register(
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id=_env_id,
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"alr_envs:{_v}",
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"wrappers": [classic_control.simple_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 2 if "long" not in _v.lower() else 5,
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"num_basis": 5,
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"duration": 2,
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"alpha_phase": 2,
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"learn_goal": True,
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"policy_type": "motor",
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"weights_scale": 50,
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"policy_kwargs": {
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"p_gains": .6,
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"d_gains": .075
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}
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
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_env_id = f'{_name[0]}ProMP-{_name[1]}'
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register(
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id=_env_id,
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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": f"alr_envs:{_v}",
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"wrappers": [classic_control.simple_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 2 if "long" not in _v.lower() else 5,
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"num_basis": 5,
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"duration": 2,
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"policy_type": "motor",
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"weights_scale": 1,
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"zero_start": True,
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"policy_kwargs": {
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|
"p_gains": .6,
|
|
"d_gains": .075
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
# Viapoint reacher
|
|
register(
|
|
id='ViaPointReacherDMP-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": "alr_envs:ViaPointReacher-v0",
|
|
"wrappers": [classic_control.viapoint_reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"policy_type": "velocity",
|
|
"weights_scale": 50,
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("ViaPointReacherDMP-v0")
|
|
|
|
register(
|
|
id="ViaPointReacherProMP-v0",
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ViaPointReacher-v0",
|
|
"wrappers": [classic_control.viapoint_reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"policy_type": "velocity",
|
|
"weights_scale": 1,
|
|
"zero_start": True
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ViaPointReacherProMP-v0")
|
|
|
|
## Hole Reacher
|
|
_versions = ["v0", "v1", "v2"]
|
|
for _v in _versions:
|
|
_env_id = f'HoleReacherDMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"alr_envs:HoleReacher-{_v}",
|
|
"wrappers": [classic_control.hole_reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2.5,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "velocity",
|
|
"weights_scale": 50,
|
|
"goal_scale": 0.1
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
|
|
|
_env_id = f'HoleReacherProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:HoleReacher-{_v}",
|
|
"wrappers": [classic_control.hole_reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5,
|
|
"num_basis": 3,
|
|
"duration": 2,
|
|
"policy_type": "velocity",
|
|
"weights_scale": 5,
|
|
"zero_start": True
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## ALRReacher
|
|
_versions = ["ALRReacher-v0", "ALRLongReacher-v0", "ALRReacherSparse-v0", "ALRLongReacherSparse-v0"]
|
|
for _v in _versions:
|
|
_name = _v.split("-")
|
|
_env_id = f'{_name[0]}DMP-{_name[1]}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"alr_envs:{_v}",
|
|
"wrappers": [mujoco.reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5 if "long" not in _v.lower() else 7,
|
|
"num_basis": 2,
|
|
"duration": 4,
|
|
"alpha_phase": 2,
|
|
"learn_goal": True,
|
|
"policy_type": "motor",
|
|
"weights_scale": 5,
|
|
"policy_kwargs": {
|
|
"p_gains": 1,
|
|
"d_gains": 0.1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
|
|
|
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:{_v}",
|
|
"wrappers": [mujoco.reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5 if "long" not in _v.lower() else 7,
|
|
"num_basis": 2,
|
|
"duration": 4,
|
|
"policy_type": "motor",
|
|
"weights_scale": 5,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 1,
|
|
"d_gains": 0.1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
# ## Beerpong
|
|
# _versions = ["v0", "v1"]
|
|
# for _v in _versions:
|
|
# _env_id = f'BeerpongProMP-{_v}'
|
|
# register(
|
|
# id=_env_id,
|
|
# entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
# kwargs={
|
|
# "name": f"alr_envs:ALRBeerPong-{_v}",
|
|
# "wrappers": [mujoco.beerpong.MPWrapper],
|
|
# "mp_kwargs": {
|
|
# "num_dof": 7,
|
|
# "num_basis": 2,
|
|
# # "duration": 1,
|
|
# "duration": 0.5,
|
|
# # "post_traj_time": 2,
|
|
# "post_traj_time": 2.5,
|
|
# "policy_type": "motor",
|
|
# "weights_scale": 0.14,
|
|
# # "weights_scale": 1,
|
|
# "zero_start": True,
|
|
# "zero_goal": False,
|
|
# "policy_kwargs": {
|
|
# "p_gains": np.array([ 1.5, 5, 2.55, 3, 2., 2, 1.25]),
|
|
# "d_gains": np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125])
|
|
# }
|
|
# }
|
|
# }
|
|
# )
|
|
# ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## Beerpong
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'BeerpongProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRBeerPong-{_v}",
|
|
"wrappers": [mujoco.beerpong.NewMPWrapper],
|
|
"ep_wrapper_kwargs": {
|
|
"weight_scale": 1
|
|
},
|
|
"movement_primitives_kwargs": {
|
|
'movement_primitives_type': 'promp',
|
|
'action_dim': 7
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'linear',
|
|
'delay': 0,
|
|
'tau': 0.8, # initial value
|
|
'learn_tau': True,
|
|
'learn_delay': False
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": np.array([1.5, 5, 2.55, 3, 2., 2, 1.25]),
|
|
"d_gains": np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125]),
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'zero_rbf',
|
|
'num_basis': 2,
|
|
'num_basis_zero_start': 2
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## Table Tennis
|
|
ctxt_dim = [2, 4]
|
|
for _v, cd in enumerate(ctxt_dim):
|
|
_env_id = f'TableTennisProMP-v{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": "alr_envs:TableTennis{}DCtxt-v0".format(cd),
|
|
"wrappers": [mujoco.table_tennis.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 7,
|
|
"num_basis": 2,
|
|
"duration": 1.25,
|
|
"post_traj_time": 1.5,
|
|
"policy_type": "motor",
|
|
"weights_scale": 1.0,
|
|
"zero_start": True,
|
|
"zero_goal": False,
|
|
"policy_kwargs": {
|
|
"p_gains": 0.5*np.array([1.0, 4.0, 2.0, 4.0, 1.0, 4.0, 1.0]),
|
|
"d_gains": 0.5*np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1])
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## AntJump
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRAntJumpProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRAntJump-{_v}",
|
|
"wrappers": [mujoco.ant_jump.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 8,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"post_traj_time": 0,
|
|
"policy_type": "motor",
|
|
"weights_scale": 1.0,
|
|
"zero_start": True,
|
|
"zero_goal": False,
|
|
"policy_kwargs": {
|
|
"p_gains": np.ones(8),
|
|
"d_gains": 0.1*np.ones(8)
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## AntJump
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRAntJumpProMP-{_v}'
|
|
register(
|
|
id= _env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRAntJump-{_v}",
|
|
"wrappers": [mujoco.ant_jump.NewMPWrapper],
|
|
"ep_wrapper_kwargs": {
|
|
"weight_scale": 1
|
|
},
|
|
"movement_primitives_kwargs": {
|
|
'movement_primitives_type': 'promp',
|
|
'action_dim': 8
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'linear',
|
|
'delay': 0,
|
|
'tau': 10, # initial value
|
|
'learn_tau': False,
|
|
'learn_delay': False
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": np.ones(8),
|
|
"d_gains": 0.1*np.ones(8),
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'zero_rbf',
|
|
'num_basis': 5,
|
|
'num_basis_zero_start': 2
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
|
|
|
|
## HalfCheetahJump
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRHalfCheetahJumpProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHalfCheetahJump-{_v}",
|
|
"wrappers": [mujoco.half_cheetah_jump.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 6,
|
|
"num_basis": 5,
|
|
"duration": 5,
|
|
"post_traj_time": 0,
|
|
"policy_type": "motor",
|
|
"weights_scale": 1.0,
|
|
"zero_start": True,
|
|
"zero_goal": False,
|
|
"policy_kwargs": {
|
|
"p_gains": np.ones(6),
|
|
"d_gains": 0.1*np.ones(6)
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
# ## HopperJump
|
|
# _versions = ["v0", "v1"]
|
|
# for _v in _versions:
|
|
# _env_id = f'ALRHopperJumpProMP-{_v}'
|
|
# register(
|
|
# id= _env_id,
|
|
# entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
# kwargs={
|
|
# "name": f"alr_envs:ALRHopperJump-{_v}",
|
|
# "wrappers": [mujoco.hopper_jump.MPWrapper],
|
|
# "mp_kwargs": {
|
|
# "num_dof": 3,
|
|
# "num_basis": 5,
|
|
# "duration": 2,
|
|
# "post_traj_time": 0,
|
|
# "policy_type": "motor",
|
|
# "weights_scale": 1.0,
|
|
# "zero_start": True,
|
|
# "zero_goal": False,
|
|
# "policy_kwargs": {
|
|
# "p_gains": np.ones(3),
|
|
# "d_gains": 0.1*np.ones(3)
|
|
# }
|
|
# }
|
|
# }
|
|
# )
|
|
# ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
# ## HopperJump
|
|
# register(
|
|
# id= "ALRHopperJumpProMP-v2",
|
|
# entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
# kwargs={
|
|
# "name": f"alr_envs:ALRHopperJump-v2",
|
|
# "wrappers": [mujoco.hopper_jump.HighCtxtMPWrapper],
|
|
# "mp_kwargs": {
|
|
# "num_dof": 3,
|
|
# "num_basis": 5,
|
|
# "duration": 2,
|
|
# "post_traj_time": 0,
|
|
# "policy_type": "motor",
|
|
# "weights_scale": 1.0,
|
|
# "zero_start": True,
|
|
# "zero_goal": False,
|
|
# "policy_kwargs": {
|
|
# "p_gains": np.ones(3),
|
|
# "d_gains": 0.1*np.ones(3)
|
|
# }
|
|
# }
|
|
# }
|
|
# )
|
|
# ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ALRHopperJumpProMP-v2")
|
|
|
|
## HopperJump
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRHopperJumpProMP-{_v}'
|
|
register(
|
|
id= _env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHopperJump-{_v}",
|
|
"wrappers": [mujoco.hopper_jump.NewMPWrapper],
|
|
"ep_wrapper_kwargs": {
|
|
"weight_scale": 1
|
|
},
|
|
"movement_primitives_kwargs": {
|
|
'movement_primitives_type': 'promp',
|
|
'action_dim': 3
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'linear',
|
|
'delay': 0,
|
|
'tau': 2, # initial value
|
|
'learn_tau': False,
|
|
'learn_delay': False
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": np.ones(3),
|
|
"d_gains": 0.1*np.ones(3),
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'zero_rbf',
|
|
'num_basis': 5,
|
|
'num_basis_zero_start': 2
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## HopperJump
|
|
register(
|
|
id= "ALRHopperJumpProMP-v2",
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHopperJump-v2",
|
|
"wrappers": [mujoco.hopper_jump.NewHighCtxtMPWrapper],
|
|
"ep_wrapper_kwargs": {
|
|
"weight_scale": 1
|
|
},
|
|
"movement_primitives_kwargs": {
|
|
'movement_primitives_type': 'promp',
|
|
'action_dim': 3
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'linear',
|
|
'delay': 0,
|
|
'tau': 2, # initial value
|
|
'learn_tau': False,
|
|
'learn_delay': False
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": np.ones(3),
|
|
"d_gains": 0.1*np.ones(3),
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'zero_rbf',
|
|
'num_basis': 5,
|
|
'num_basis_zero_start': 1
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ALRHopperJumpProMP-v2")
|
|
|
|
|
|
## HopperJump
|
|
register(
|
|
id= "ALRHopperJumpProMP-v3",
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHopperJump-v3",
|
|
"wrappers": [mujoco.hopper_jump.NewMPWrapper],
|
|
"ep_wrapper_kwargs": {
|
|
"weight_scale": 1
|
|
},
|
|
"movement_primitives_kwargs": {
|
|
'movement_primitives_type': 'promp',
|
|
'action_dim': 3
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'linear',
|
|
'delay': 0,
|
|
'tau': 2, # initial value
|
|
'learn_tau': False,
|
|
'learn_delay': False
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": np.ones(3),
|
|
"d_gains": 0.1*np.ones(3),
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'zero_rbf',
|
|
'num_basis': 5,
|
|
'num_basis_zero_start': 1
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ALRHopperJumpProMP-v3")
|
|
|
|
|
|
## HopperJump
|
|
register(
|
|
id= "ALRHopperJumpProMP-v4",
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHopperJump-v4",
|
|
"wrappers": [mujoco.hopper_jump.NewMPWrapper],
|
|
"ep_wrapper_kwargs": {
|
|
"weight_scale": 1
|
|
},
|
|
"movement_primitives_kwargs": {
|
|
'movement_primitives_type': 'promp',
|
|
'action_dim': 3
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'linear',
|
|
'delay': 0,
|
|
'tau': 2, # initial value
|
|
'learn_tau': False,
|
|
'learn_delay': False
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": np.ones(3),
|
|
"d_gains": 0.1*np.ones(3),
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'zero_rbf',
|
|
'num_basis': 5,
|
|
'num_basis_zero_start': 1
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ALRHopperJumpProMP-v4")
|
|
|
|
## HopperJumpOnBox
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRHopperJumpOnBoxProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHopperJumpOnBox-{_v}",
|
|
"wrappers": [mujoco.hopper_jump.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 3,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"post_traj_time": 0,
|
|
"policy_type": "motor",
|
|
"weights_scale": 1.0,
|
|
"zero_start": True,
|
|
"zero_goal": False,
|
|
"policy_kwargs": {
|
|
"p_gains": np.ones(3),
|
|
"d_gains": 0.1*np.ones(3)
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
#HopperThrow
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRHopperThrowProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHopperThrow-{_v}",
|
|
"wrappers": [mujoco.hopper_throw.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 3,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"post_traj_time": 0,
|
|
"policy_type": "motor",
|
|
"weights_scale": 1.0,
|
|
"zero_start": True,
|
|
"zero_goal": False,
|
|
"policy_kwargs": {
|
|
"p_gains": np.ones(3),
|
|
"d_gains": 0.1*np.ones(3)
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## HopperThrowInBasket
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRHopperThrowInBasketProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRHopperThrowInBasket-{_v}",
|
|
"wrappers": [mujoco.hopper_throw.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 3,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"post_traj_time": 0,
|
|
"policy_type": "motor",
|
|
"weights_scale": 1.0,
|
|
"zero_start": True,
|
|
"zero_goal": False,
|
|
"policy_kwargs": {
|
|
"p_gains": np.ones(3),
|
|
"d_gains": 0.1*np.ones(3)
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
## Walker2DJump
|
|
_versions = ["v0", "v1"]
|
|
for _v in _versions:
|
|
_env_id = f'ALRWalker2DJumpProMP-{_v}'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:ALRWalker2DJump-{_v}",
|
|
"wrappers": [mujoco.walker_2d_jump.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 6,
|
|
"num_basis": 5,
|
|
"duration": 2.4,
|
|
"post_traj_time": 0,
|
|
"policy_type": "motor",
|
|
"weights_scale": 1.0,
|
|
"zero_start": True,
|
|
"zero_goal": False,
|
|
"policy_kwargs": {
|
|
"p_gains": np.ones(6),
|
|
"d_gains": 0.1*np.ones(6)
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id) |