386 lines
10 KiB
Python
386 lines
10 KiB
Python
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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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "DetPMP": []}
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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='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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## 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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# 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": "velocity",
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"weights_scale": 50,
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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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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
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_env_id = f'{_name[0]}DetPMP-{_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_detpmp_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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"width": 0.025,
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"policy_type": "velocity",
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"weights_scale": 0.2,
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"zero_start": True
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
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# Viapoint reacher
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register(
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id='ViaPointReacherDMP-v0',
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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": "alr_envs:ViaPointReacher-v0",
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"wrappers": [classic_control.viapoint_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"learn_goal": True,
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"alpha_phase": 2,
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"policy_type": "velocity",
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"weights_scale": 50,
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("ViaPointReacherDMP-v0")
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register(
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id="ViaPointReacherProMP-v0",
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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:ViaPointReacher-v0",
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"wrappers": [classic_control.viapoint_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 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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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ViaPointReacherProMP-v0")
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register(
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id='ViaPointReacherDetPMP-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": "alr_envs:ViaPointReacher-v0",
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"wrappers": [classic_control.viapoint_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"width": 0.025,
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"policy_type": "velocity",
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"weights_scale": 0.2,
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"zero_start": True
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("ViaPointReacherDetPMP-v0")
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## Hole Reacher
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_versions = ["v0", "v1", "v2"]
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for _v in _versions:
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_env_id = f'HoleReacherDMP-{_v}'
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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:HoleReacher-{_v}",
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"wrappers": [classic_control.hole_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"learn_goal": True,
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"alpha_phase": 2.5,
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"bandwidth_factor": 2,
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"policy_type": "velocity",
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"weights_scale": 50,
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"goal_scale": 0.1
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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'HoleReacherProMP-{_v}'
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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:HoleReacher-{_v}",
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"wrappers": [classic_control.hole_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"policy_type": "velocity",
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"weights_scale": 0.1,
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"zero_start": True
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
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_env_id = f'HoleReacherDetPMP-{_v}'
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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_detpmp_env_helper',
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kwargs={
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"name": f"alr_envs:HoleReacher-{_v}",
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"wrappers": [classic_control.hole_reacher.MPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"width": 0.025,
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"policy_type": "velocity",
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"weights_scale": 0.2,
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"zero_start": True
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}
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}
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(_env_id)
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