849 lines
27 KiB
Python
849 lines
27 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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DEFAULT_MP_ENV_DICT = {
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"name": 'EnvName',
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"wrappers": [],
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"ep_wrapper_kwargs": {
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"weight_scale": 1
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},
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"movement_primitives_kwargs": {
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'movement_primitives_type': 'promp',
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'action_dim': 7
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},
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"phase_generator_kwargs": {
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'phase_generator_type': 'linear',
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'delay': 0,
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'tau': 1.5, # initial value
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'learn_tau': False,
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'learn_delay': False
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},
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"controller_kwargs": {
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'controller_type': 'motor',
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"p_gains": np.ones(7),
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"d_gains": np.ones(7) * 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': 2
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}
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}
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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='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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## 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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# 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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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": True
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}
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)
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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": True
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}
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)
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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": True
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}
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)
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#### Hopper Jump random joints and des position
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register(
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id='ALRHopperJumpRndmJointsDesPos-v0',
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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 random joints and des position step based reward
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register(
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id='ALRHopperJumpRndmJointsDesPosStepBased-v0',
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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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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": True
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}
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)
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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": True
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}
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)
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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": True
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}
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)
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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": 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='TableTennis4DCtxt-v0',
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entry_point='alr_envs.alr.mujocco:TTEnvGym',
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max_episode_steps=MAX_EPISODE_STEPS,
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kwargs={'ctxt_dim': 4})
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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": 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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# Here we use the same reward as in ALRBeerPong-v0, but now consider after the release,
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# only one time step, i.e. we simulate until the end of th episode
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register(
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id='ALRBeerPongStepBased-v0',
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entry_point='alr_envs.alr.mujoco:ALRBeerBongEnvStepBased',
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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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# Beerpong with episodic reward, but fixed release time step
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register(
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id='ALRBeerPongFixedRelease-v0',
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entry_point='alr_envs.alr.mujoco:ALRBeerBongEnvFixedReleaseStep',
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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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"traj_gen_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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kwargs_dict_simple_reacher_promp = dict(DEFAULT_MP_ENV_DICT)
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kwargs_dict_simple_reacher_promp['wrappers'].append('TODO') # TODO
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kwargs_dict_simple_reacher_promp['movement_primitives_kwargs']['action_dim'] = 2 if "long" not in _v.lower() else 5
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kwargs_dict_simple_reacher_promp['phase_generator_kwargs']['tau'] = 2
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kwargs_dict_simple_reacher_promp['controller_kwargs']['p_gains'] = 0.6
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kwargs_dict_simple_reacher_promp['controller_kwargs']['d_gains'] = 0.075
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kwargs_dict_simple_reacher_promp['name'] = _env_id
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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=kwargs_dict_simple_reacher_promp
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].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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"traj_gen_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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kwargs_dict_via_point_reacher_promp = dict(DEFAULT_MP_ENV_DICT)
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kwargs_dict_via_point_reacher_promp['wrappers'].append('TODO') # TODO
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kwargs_dict_via_point_reacher_promp['movement_primitives_kwargs']['action_dim'] = 5
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kwargs_dict_via_point_reacher_promp['phase_generator_kwargs']['tau'] = 2
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kwargs_dict_via_point_reacher_promp['controller_kwargs']['controller_type'] = 'velocity'
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kwargs_dict_via_point_reacher_promp['name'] = "ViaPointReacherProMP-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=kwargs_dict_via_point_reacher_promp
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("ViaPointReacherProMP-v0")
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## Hole Reacher
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_versions = ["HoleReacher-v0"]
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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:HoleReacher-{_v}",
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"wrappers": [classic_control.hole_reacher.MPWrapper],
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"traj_gen_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'{_name[0]}ProMP-{_name[1]}'
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kwargs_dict_hole_reacher_promp = dict(DEFAULT_MP_ENV_DICT)
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kwargs_dict_hole_reacher_promp['wrappers'].append('TODO') # TODO
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kwargs_dict_hole_reacher_promp['ep_wrapper_kwargs']['weight_scale'] = 2
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kwargs_dict_hole_reacher_promp['movement_primitives_kwargs']['action_dim'] = 5
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kwargs_dict_hole_reacher_promp['phase_generator_kwargs']['tau'] = 2
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kwargs_dict_hole_reacher_promp['controller_kwargs']['controller_type'] = 'velocity'
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kwargs_dict_hole_reacher_promp['basis_generator_kwargs']['num_basis'] = 5
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kwargs_dict_hole_reacher_promp['name'] = f"alr_envs:{_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=kwargs_dict_hole_reacher_promp
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)
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ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
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## ALRReacher
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_versions = ["ALRReacher-v0", "ALRLongReacher-v0", "ALRReacherSparse-v0", "ALRLongReacherSparse-v0"]
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for _v in _versions:
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_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],
|
|
"traj_gen_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]}'
|
|
kwargs_dict_alr_reacher_promp = dict(DEFAULT_MP_ENV_DICT)
|
|
kwargs_dict_alr_reacher_promp['wrappers'].append('TODO') # TODO
|
|
kwargs_dict_alr_reacher_promp['movement_primitives_kwargs']['action_dim'] = 5 if "long" not in _v.lower() else 7
|
|
kwargs_dict_alr_reacher_promp['phase_generator_kwargs']['tau'] = 4
|
|
kwargs_dict_alr_reacher_promp['controller_kwargs']['p_gains'] = 1
|
|
kwargs_dict_alr_reacher_promp['controller_kwargs']['d_gains'] = 0.1
|
|
kwargs_dict_alr_reacher_promp['name'] = f"alr_envs:{_v}"
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs=kwargs_dict_alr_reacher_promp
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
########################################################################################################################
|
|
## Beerpong ProMP
|
|
_versions = ['ALRBeerPong-v0']
|
|
for _v in _versions:
|
|
_name = _v.split("-")
|
|
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
|
kwargs_dict_bp_promp = dict(DEFAULT_MP_ENV_DICT)
|
|
kwargs_dict_bp_promp['wrappers'].append(mujoco.beerpong.NewMPWrapper)
|
|
kwargs_dict_bp_promp['movement_primitives_kwargs']['action_dim'] = 7
|
|
kwargs_dict_bp_promp['phase_generator_kwargs']['tau'] = 0.8
|
|
kwargs_dict_bp_promp['phase_generator_kwargs']['learn_tau'] = True
|
|
kwargs_dict_bp_promp['controller_kwargs']['p_gains'] = np.array([1.5, 5, 2.55, 3, 2., 2, 1.25])
|
|
kwargs_dict_bp_promp['controller_kwargs']['d_gains'] = np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125])
|
|
kwargs_dict_bp_promp['basis_generator_kwargs']['num_basis'] = 2
|
|
kwargs_dict_bp_promp['name'] = f"alr_envs:{_v}"
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs=kwargs_dict_bp_promp
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
### BP with Fixed release
|
|
_versions = ["ALRBeerPongStepBased-v0", "ALRBeerPongFixedRelease-v0"]
|
|
for _v in _versions:
|
|
_name = _v.split("-")
|
|
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
|
kwargs_dict_bp_promp = dict(DEFAULT_MP_ENV_DICT)
|
|
kwargs_dict_bp_promp['wrappers'].append(mujoco.beerpong.NewMPWrapper)
|
|
kwargs_dict_bp_promp['movement_primitives_kwargs']['action_dim'] = 7
|
|
kwargs_dict_bp_promp['phase_generator_kwargs']['tau'] = 0.62
|
|
kwargs_dict_bp_promp['controller_kwargs']['p_gains'] = np.array([1.5, 5, 2.55, 3, 2., 2, 1.25])
|
|
kwargs_dict_bp_promp['controller_kwargs']['d_gains'] = np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125])
|
|
kwargs_dict_bp_promp['basis_generator_kwargs']['num_basis'] = 2
|
|
kwargs_dict_bp_promp['name'] = f"alr_envs:{_v}"
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs=kwargs_dict_bp_promp
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
########################################################################################################################
|
|
|
|
## Table Tennis needs to be fixed according to Zhou's implementation
|
|
|
|
########################################################################################################################
|
|
|
|
## AntJump
|
|
_versions = ['ALRAntJump-v0']
|
|
for _v in _versions:
|
|
_name = _v.split("-")
|
|
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
|
kwargs_dict_ant_jump_promp = dict(DEFAULT_MP_ENV_DICT)
|
|
kwargs_dict_ant_jump_promp['wrappers'].append(mujoco.ant_jump.NewMPWrapper)
|
|
kwargs_dict_ant_jump_promp['movement_primitives_kwargs']['action_dim'] = 8
|
|
kwargs_dict_ant_jump_promp['phase_generator_kwargs']['tau'] = 10
|
|
kwargs_dict_ant_jump_promp['controller_kwargs']['p_gains'] = np.ones(8)
|
|
kwargs_dict_ant_jump_promp['controller_kwargs']['d_gains'] = 0.1 * np.ones(8)
|
|
kwargs_dict_ant_jump_promp['name'] = f"alr_envs:{_v}"
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs=kwargs_dict_ant_jump_promp
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
########################################################################################################################
|
|
|
|
## HalfCheetahJump
|
|
_versions = ['ALRHalfCheetahJump-v0']
|
|
for _v in _versions:
|
|
_name = _v.split("-")
|
|
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
|
kwargs_dict_halfcheetah_jump_promp = dict(DEFAULT_MP_ENV_DICT)
|
|
kwargs_dict_halfcheetah_jump_promp['wrappers'].append(mujoco.ant_jump.NewMPWrapper)
|
|
kwargs_dict_halfcheetah_jump_promp['movement_primitives_kwargs']['action_dim'] = 6
|
|
kwargs_dict_halfcheetah_jump_promp['phase_generator_kwargs']['tau'] = 5
|
|
kwargs_dict_halfcheetah_jump_promp['controller_kwargs']['p_gains'] = np.ones(6)
|
|
kwargs_dict_halfcheetah_jump_promp['controller_kwargs']['d_gains'] = 0.1 * np.ones(6)
|
|
kwargs_dict_halfcheetah_jump_promp['name'] = f"alr_envs:{_v}"
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs=kwargs_dict_halfcheetah_jump_promp
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
########################################################################################################################
|
|
|
|
|
|
## HopperJump
|
|
_versions = ['ALRHopperJump-v0', 'ALRHopperJumpRndmJointsDesPos-v0', 'ALRHopperJumpRndmJointsDesPosStepBased-v0',
|
|
'ALRHopperJumpOnBox-v0', 'ALRHopperThrow-v0', 'ALRHopperThrowInBasket-v0']
|
|
|
|
for _v in _versions:
|
|
_name = _v.split("-")
|
|
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
|
kwargs_dict_hopper_jump_promp = dict(DEFAULT_MP_ENV_DICT)
|
|
kwargs_dict_hopper_jump_promp['wrappers'].append('TODO') # TODO
|
|
kwargs_dict_hopper_jump_promp['movement_primitives_kwargs']['action_dim'] = 3
|
|
kwargs_dict_hopper_jump_promp['phase_generator_kwargs']['tau'] = 2
|
|
kwargs_dict_hopper_jump_promp['controller_kwargs']['p_gains'] = np.ones(3)
|
|
kwargs_dict_hopper_jump_promp['controller_kwargs']['d_gains'] = 0.1 * np.ones(3)
|
|
kwargs_dict_hopper_jump_promp['name'] = f"alr_envs:{_v}"
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
|
|
kwargs=kwargs_dict_hopper_jump_promp
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
########################################################################################################################
|
|
|
|
|
|
## Walker2DJump
|
|
_versions = ['ALRWalker2DJump-v0']
|
|
for _v in _versions:
|
|
_name = _v.split("-")
|
|
_env_id = f'{_name[0]}ProMP-{_name[1]}'
|
|
kwargs_dict_walker2d_jump_promp = dict(DEFAULT_MP_ENV_DICT)
|
|
kwargs_dict_walker2d_jump_promp['wrappers'].append('TODO') # TODO
|
|
kwargs_dict_walker2d_jump_promp['movement_primitives_kwargs']['action_dim'] = 6
|
|
kwargs_dict_walker2d_jump_promp['phase_generator_kwargs']['tau'] = 2.4
|
|
kwargs_dict_walker2d_jump_promp['controller_kwargs']['p_gains'] = np.ones(6)
|
|
kwargs_dict_walker2d_jump_promp['controller_kwargs']['d_gains'] = 0.1 * np.ones(6)
|
|
kwargs_dict_walker2d_jump_promp['name'] = f"alr_envs:{_v}"
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs=kwargs_dict_walker2d_jump_promp
|
|
)
|
|
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
### Depricated, we will not provide non random starts anymore
|
|
"""
|
|
register(
|
|
id='SimpleReacher-v1',
|
|
entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
|
|
max_episode_steps=200,
|
|
kwargs={
|
|
"n_links": 2,
|
|
"random_start": False
|
|
}
|
|
)
|
|
|
|
register(
|
|
id='LongSimpleReacher-v1',
|
|
entry_point='alr_envs.alr.classic_control:SimpleReacherEnv',
|
|
max_episode_steps=200,
|
|
kwargs={
|
|
"n_links": 5,
|
|
"random_start": False
|
|
}
|
|
)
|
|
register(
|
|
id='HoleReacher-v1',
|
|
entry_point='alr_envs.alr.classic_control:HoleReacherEnv',
|
|
max_episode_steps=200,
|
|
kwargs={
|
|
"n_links": 5,
|
|
"random_start": False,
|
|
"allow_self_collision": False,
|
|
"allow_wall_collision": False,
|
|
"hole_width": 0.25,
|
|
"hole_depth": 1,
|
|
"hole_x": None,
|
|
"collision_penalty": 100,
|
|
}
|
|
)
|
|
register(
|
|
id='HoleReacher-v2',
|
|
entry_point='alr_envs.alr.classic_control:HoleReacherEnv',
|
|
max_episode_steps=200,
|
|
kwargs={
|
|
"n_links": 5,
|
|
"random_start": False,
|
|
"allow_self_collision": False,
|
|
"allow_wall_collision": False,
|
|
"hole_width": 0.25,
|
|
"hole_depth": 1,
|
|
"hole_x": 2,
|
|
"collision_penalty": 1,
|
|
}
|
|
)
|
|
|
|
# CtxtFree are v0, Contextual are v1
|
|
register(
|
|
id='ALRAntJump-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRAntJumpEnv',
|
|
max_episode_steps=MAX_EPISODE_STEPS_ANTJUMP,
|
|
kwargs={
|
|
"max_episode_steps": MAX_EPISODE_STEPS_ANTJUMP,
|
|
"context": False
|
|
}
|
|
)
|
|
# CtxtFree are v0, Contextual are v1
|
|
register(
|
|
id='ALRHalfCheetahJump-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRHalfCheetahJumpEnv',
|
|
max_episode_steps=MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
|
|
kwargs={
|
|
"max_episode_steps": MAX_EPISODE_STEPS_HALFCHEETAHJUMP,
|
|
"context": False
|
|
}
|
|
)
|
|
register(
|
|
id='ALRHopperJump-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRHopperJumpEnv',
|
|
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMP,
|
|
kwargs={
|
|
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMP,
|
|
"context": False,
|
|
"healthy_reward": 1.0
|
|
}
|
|
)
|
|
|
|
"""
|
|
|
|
### Deprecated used for CorL paper
|
|
"""
|
|
_vs = np.arange(101).tolist() + [1e-5, 5e-5, 1e-4, 5e-4, 1e-3, 5e-3, 1e-2, 5e-2, 1e-1, 5e-1]
|
|
for i in _vs:
|
|
_env_id = f'ALRReacher{i}-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
|
|
max_episode_steps=200,
|
|
kwargs={
|
|
"steps_before_reward": 0,
|
|
"n_links": 5,
|
|
"balance": False,
|
|
'ctrl_cost_weight': i
|
|
}
|
|
)
|
|
|
|
_env_id = f'ALRReacherSparse{i}-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.alr.mujoco:ALRReacherEnv',
|
|
max_episode_steps=200,
|
|
kwargs={
|
|
"steps_before_reward": 200,
|
|
"n_links": 5,
|
|
"balance": False,
|
|
'ctrl_cost_weight': i
|
|
}
|
|
)
|
|
_vs = np.arange(101).tolist() + [1e-5, 5e-5, 1e-4, 5e-4, 1e-3, 5e-3, 1e-2, 5e-2, 1e-1, 5e-1]
|
|
for i in _vs:
|
|
_env_id = f'ALRReacher{i}ProMP-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:{_env_id.replace('ProMP', '')}",
|
|
"wrappers": [mujoco.reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5,
|
|
"num_basis": 5,
|
|
"duration": 4,
|
|
"policy_type": "motor",
|
|
# "weights_scale": 5,
|
|
"n_zero_basis": 1,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 1,
|
|
"d_gains": 0.1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
_env_id = f'ALRReacherSparse{i}ProMP-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"alr_envs:{_env_id.replace('ProMP', '')}",
|
|
"wrappers": [mujoco.reacher.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 5,
|
|
"num_basis": 5,
|
|
"duration": 4,
|
|
"policy_type": "motor",
|
|
# "weights_scale": 5,
|
|
"n_zero_basis": 1,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 1,
|
|
"d_gains": 0.1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id='ALRHopperJumpOnBox-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRHopperJumpOnBoxEnv',
|
|
max_episode_steps=MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
|
|
kwargs={
|
|
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERJUMPONBOX,
|
|
"context": False
|
|
}
|
|
)
|
|
register(
|
|
id='ALRHopperThrow-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRHopperThrowEnv',
|
|
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROW,
|
|
kwargs={
|
|
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROW,
|
|
"context": False
|
|
}
|
|
)
|
|
register(
|
|
id='ALRHopperThrowInBasket-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRHopperThrowInBasketEnv',
|
|
max_episode_steps=MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
|
|
kwargs={
|
|
"max_episode_steps": MAX_EPISODE_STEPS_HOPPERTHROWINBASKET,
|
|
"context": False
|
|
}
|
|
)
|
|
register(
|
|
id='ALRWalker2DJump-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRWalker2dJumpEnv',
|
|
max_episode_steps=MAX_EPISODE_STEPS_WALKERJUMP,
|
|
kwargs={
|
|
"max_episode_steps": MAX_EPISODE_STEPS_WALKERJUMP,
|
|
"context": False
|
|
}
|
|
)
|
|
register(id='TableTennis2DCtxt-v1',
|
|
entry_point='alr_envs.alr.mujoco:TTEnvGym',
|
|
max_episode_steps=MAX_EPISODE_STEPS,
|
|
kwargs={'ctxt_dim': 2, 'fixed_goal': True})
|
|
|
|
register(
|
|
id='ALRBeerPong-v0',
|
|
entry_point='alr_envs.alr.mujoco:ALRBeerBongEnv',
|
|
max_episode_steps=300,
|
|
kwargs={
|
|
"rndm_goal": False,
|
|
"cup_goal_pos": [0.1, -2.0],
|
|
"frame_skip": 2
|
|
}
|
|
)
|
|
"""
|