515 lines
19 KiB
Python
515 lines
19 KiB
Python
from copy import deepcopy
|
|
|
|
from . import manipulation, suite
|
|
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
|
|
|
|
from gym.envs.registration import register
|
|
|
|
DEFAULT_BB_DICT_ProMP = {
|
|
"name": 'EnvName',
|
|
"wrappers": [],
|
|
"trajectory_generator_kwargs": {
|
|
'trajectory_generator_type': 'promp'
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'linear'
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": 1.0,
|
|
"d_gains": 0.1,
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'zero_rbf',
|
|
'num_basis': 5,
|
|
'num_basis_zero_start': 1
|
|
}
|
|
}
|
|
|
|
DEFAULT_BB_DICT_DMP = {
|
|
"name": 'EnvName',
|
|
"wrappers": [],
|
|
"trajectory_generator_kwargs": {
|
|
'trajectory_generator_type': 'dmp'
|
|
},
|
|
"phase_generator_kwargs": {
|
|
'phase_generator_type': 'exp'
|
|
},
|
|
"controller_kwargs": {
|
|
'controller_type': 'motor',
|
|
"p_gains": 1.0,
|
|
"d_gains": 0.1,
|
|
},
|
|
"basis_generator_kwargs": {
|
|
'basis_generator_type': 'rbf',
|
|
'num_basis': 5
|
|
}
|
|
}
|
|
|
|
|
|
# DeepMind Control Suite (DMC)
|
|
kwargs_dict_bic_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_bic_dmp['name'] = f"ball_in_cup-catch"
|
|
kwargs_dict_bic_dmp['wrappers'].append(suite.ball_in_cup.MPWrapper)
|
|
kwargs_dict_bic_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
|
kwargs_dict_bic_dmp['trajectory_generator_kwargs']['weight_scale'] = 10 # TODO: weight scale 1, but goal scale 0.1
|
|
kwargs_dict_bic_dmp['controller_kwargs']['p_gains'] = 50
|
|
kwargs_dict_bic_dmp['controller_kwargs']['d_gains'] = 1
|
|
register(
|
|
id=f'dmc_ball_in_cup-catch_dmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"ball_in_cup-catch",
|
|
"time_limit": 20,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.ball_in_cup.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 2,
|
|
"num_basis": 5,
|
|
"duration": 20,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "motor",
|
|
"goal_scale": 0.1,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
|
|
|
|
kwargs_dict_bic_promp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_bic_promp['name'] = f"ball_in_cup-catch"
|
|
kwargs_dict_bic_promp['wrappers'].append(suite.ball_in_cup.MPWrapper)
|
|
kwargs_dict_bic_promp['controller_kwargs']['p_gains'] = 50
|
|
kwargs_dict_bic_promp['controller_kwargs']['d_gains'] = 1
|
|
register(
|
|
id=f'dmc_ball_in_cup-catch_promp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"ball_in_cup-catch",
|
|
"time_limit": 20,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.ball_in_cup.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 2,
|
|
"num_basis": 5,
|
|
"duration": 20,
|
|
"policy_type": "motor",
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_ball_in_cup-catch_promp-v0")
|
|
|
|
kwargs_dict_reacher_easy_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_reacher_easy_dmp['name'] = f"reacher-easy"
|
|
kwargs_dict_reacher_easy_dmp['wrappers'].append(suite.reacher.MPWrapper)
|
|
kwargs_dict_reacher_easy_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
|
kwargs_dict_reacher_easy_dmp['trajectory_generator_kwargs']['weight_scale'] = 500 # TODO: weight scale 50, but goal scale 0.1
|
|
kwargs_dict_reacher_easy_dmp['controller_kwargs']['p_gains'] = 50
|
|
kwargs_dict_reacher_easy_dmp['controller_kwargs']['d_gains'] = 1
|
|
register(
|
|
id=f'dmc_reacher-easy_dmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"reacher-easy",
|
|
"time_limit": 20,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.reacher.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 2,
|
|
"num_basis": 5,
|
|
"duration": 20,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "motor",
|
|
"weights_scale": 50,
|
|
"goal_scale": 0.1,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
|
|
|
|
kwargs_dict_reacher_easy_promp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_reacher_easy_promp['name'] = f"reacher-easy"
|
|
kwargs_dict_reacher_easy_promp['wrappers'].append(suite.reacher.MPWrapper)
|
|
kwargs_dict_reacher_easy_promp['controller_kwargs']['p_gains'] = 50
|
|
kwargs_dict_reacher_easy_promp['controller_kwargs']['d_gains'] = 1
|
|
kwargs_dict_reacher_easy_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
|
|
register(
|
|
id=f'dmc_reacher-easy_promp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"reacher-easy",
|
|
"time_limit": 20,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.reacher.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 2,
|
|
"num_basis": 5,
|
|
"duration": 20,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-easy_promp-v0")
|
|
|
|
kwargs_dict_reacher_hard_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_reacher_hard_dmp['name'] = f"reacher-hard"
|
|
kwargs_dict_reacher_hard_dmp['wrappers'].append(suite.reacher.MPWrapper)
|
|
kwargs_dict_reacher_hard_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
|
kwargs_dict_reacher_hard_dmp['trajectory_generator_kwargs']['weight_scale'] = 500 # TODO: weight scale 50, but goal scale 0.1
|
|
kwargs_dict_reacher_hard_dmp['controller_kwargs']['p_gains'] = 50
|
|
kwargs_dict_reacher_hard_dmp['controller_kwargs']['d_gains'] = 1
|
|
register(
|
|
id=f'dmc_reacher-hard_dmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"reacher-hard",
|
|
"time_limit": 20,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.reacher.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 2,
|
|
"num_basis": 5,
|
|
"duration": 20,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "motor",
|
|
"weights_scale": 50,
|
|
"goal_scale": 0.1,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
|
|
|
|
kwargs_dict_reacher_hard_promp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_reacher_hard_promp['name'] = f"reacher-hard"
|
|
kwargs_dict_reacher_hard_promp['wrappers'].append(suite.reacher.MPWrapper)
|
|
kwargs_dict_reacher_hard_promp['controller_kwargs']['p_gains'] = 50
|
|
kwargs_dict_reacher_hard_promp['controller_kwargs']['d_gains'] = 1
|
|
kwargs_dict_reacher_hard_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
|
|
register(
|
|
id=f'dmc_reacher-hard_promp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"reacher-hard",
|
|
"time_limit": 20,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.reacher.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 2,
|
|
"num_basis": 5,
|
|
"duration": 20,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-hard_promp-v0")
|
|
|
|
_dmc_cartpole_tasks = ["balance", "balance_sparse", "swingup", "swingup_sparse"]
|
|
|
|
for _task in _dmc_cartpole_tasks:
|
|
_env_id = f'dmc_cartpole-{_task}_dmp-v0'
|
|
kwargs_dict_cartpole_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_cartpole_dmp['name'] = f"cartpole-{_task}"
|
|
kwargs_dict_cartpole_dmp['camera_id'] = 0
|
|
kwargs_dict_cartpole_dmp['wrappers'].append(suite.cartpole.MPWrapper)
|
|
kwargs_dict_cartpole_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
|
kwargs_dict_cartpole_dmp['trajectory_generator_kwargs']['weight_scale'] = 500 # TODO: weight scale 50, but goal scale 0.1
|
|
kwargs_dict_cartpole_dmp['controller_kwargs']['p_gains'] = 10
|
|
kwargs_dict_cartpole_dmp['controller_kwargs']['d_gains'] = 10
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"cartpole-{_task}",
|
|
# "time_limit": 1,
|
|
"camera_id": 0,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.cartpole.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "motor",
|
|
"weights_scale": 50,
|
|
"goal_scale": 0.1,
|
|
"policy_kwargs": {
|
|
"p_gains": 10,
|
|
"d_gains": 10
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
|
|
|
_env_id = f'dmc_cartpole-{_task}_promp-v0'
|
|
kwargs_dict_cartpole_promp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_cartpole_promp['name'] = f"cartpole-{_task}"
|
|
kwargs_dict_cartpole_promp['camera_id'] = 0
|
|
kwargs_dict_cartpole_promp['wrappers'].append(suite.cartpole.MPWrapper)
|
|
kwargs_dict_cartpole_promp['controller_kwargs']['p_gains'] = 10
|
|
kwargs_dict_cartpole_promp['controller_kwargs']['d_gains'] = 10
|
|
kwargs_dict_cartpole_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"cartpole-{_task}",
|
|
# "time_limit": 1,
|
|
"camera_id": 0,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.cartpole.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 10,
|
|
"d_gains": 10
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
kwargs_dict_cartpole2poles_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_cartpole2poles_dmp['name'] = f"cartpole-two_poles"
|
|
kwargs_dict_cartpole2poles_dmp['camera_id'] = 0
|
|
kwargs_dict_cartpole2poles_dmp['wrappers'].append(suite.cartpole.TwoPolesMPWrapper)
|
|
kwargs_dict_cartpole2poles_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
|
kwargs_dict_cartpole2poles_dmp['trajectory_generator_kwargs']['weight_scale'] = 500 # TODO: weight scale 50, but goal scale 0.1
|
|
kwargs_dict_cartpole2poles_dmp['controller_kwargs']['p_gains'] = 10
|
|
kwargs_dict_cartpole2poles_dmp['controller_kwargs']['d_gains'] = 10
|
|
_env_id = f'dmc_cartpole-two_poles_dmp-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"cartpole-two_poles",
|
|
# "time_limit": 1,
|
|
"camera_id": 0,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.cartpole.TwoPolesMPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "motor",
|
|
"weights_scale": 50,
|
|
"goal_scale": 0.1,
|
|
"policy_kwargs": {
|
|
"p_gains": 10,
|
|
"d_gains": 10
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
|
|
|
kwargs_dict_cartpole2poles_promp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_cartpole2poles_promp['name'] = f"cartpole-two_poles"
|
|
kwargs_dict_cartpole2poles_promp['camera_id'] = 0
|
|
kwargs_dict_cartpole2poles_promp['wrappers'].append(suite.cartpole.TwoPolesMPWrapper)
|
|
kwargs_dict_cartpole2poles_promp['controller_kwargs']['p_gains'] = 10
|
|
kwargs_dict_cartpole2poles_promp['controller_kwargs']['d_gains'] = 10
|
|
kwargs_dict_cartpole2poles_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
|
|
_env_id = f'dmc_cartpole-two_poles_promp-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"cartpole-two_poles",
|
|
# "time_limit": 1,
|
|
"camera_id": 0,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.cartpole.TwoPolesMPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 10,
|
|
"d_gains": 10
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
kwargs_dict_cartpole3poles_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_cartpole3poles_dmp['name'] = f"cartpole-three_poles"
|
|
kwargs_dict_cartpole3poles_dmp['camera_id'] = 0
|
|
kwargs_dict_cartpole3poles_dmp['wrappers'].append(suite.cartpole.ThreePolesMPWrapper)
|
|
kwargs_dict_cartpole3poles_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
|
kwargs_dict_cartpole3poles_dmp['trajectory_generator_kwargs']['weight_scale'] = 500 # TODO: weight scale 50, but goal scale 0.1
|
|
kwargs_dict_cartpole3poles_dmp['controller_kwargs']['p_gains'] = 10
|
|
kwargs_dict_cartpole3poles_dmp['controller_kwargs']['d_gains'] = 10
|
|
_env_id = f'dmc_cartpole-three_poles_dmp-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"cartpole-three_poles",
|
|
# "time_limit": 1,
|
|
"camera_id": 0,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.cartpole.ThreePolesMPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "motor",
|
|
"weights_scale": 50,
|
|
"goal_scale": 0.1,
|
|
"policy_kwargs": {
|
|
"p_gains": 10,
|
|
"d_gains": 10
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
|
|
|
|
kwargs_dict_cartpole3poles_promp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_cartpole3poles_promp['name'] = f"cartpole-three_poles"
|
|
kwargs_dict_cartpole3poles_promp['camera_id'] = 0
|
|
kwargs_dict_cartpole3poles_promp['wrappers'].append(suite.cartpole.ThreePolesMPWrapper)
|
|
kwargs_dict_cartpole3poles_promp['controller_kwargs']['p_gains'] = 10
|
|
kwargs_dict_cartpole3poles_promp['controller_kwargs']['d_gains'] = 10
|
|
kwargs_dict_cartpole3poles_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
|
|
_env_id = f'dmc_cartpole-three_poles_promp-v0'
|
|
register(
|
|
id=_env_id,
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"cartpole-three_poles",
|
|
# "time_limit": 1,
|
|
"camera_id": 0,
|
|
"episode_length": 1000,
|
|
"wrappers": [suite.cartpole.ThreePolesMPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 10,
|
|
"d_gains": 10
|
|
}
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
|
|
|
|
# DeepMind Manipulation
|
|
kwargs_dict_mani_reach_site_features_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_mani_reach_site_features_dmp['name'] = f"manipulation-reach_site_features"
|
|
kwargs_dict_mani_reach_site_features_dmp['wrappers'].append(manipulation.reach_site.MPWrapper)
|
|
kwargs_dict_mani_reach_site_features_dmp['phase_generator_kwargs']['alpha_phase'] = 2
|
|
kwargs_dict_mani_reach_site_features_dmp['trajectory_generator_kwargs']['weight_scale'] = 500 # TODO: weight scale 50, but goal scale 0.1
|
|
kwargs_dict_mani_reach_site_features_dmp['controller_kwargs']['controller_type'] = 'velocity'
|
|
register(
|
|
id=f'dmc_manipulation-reach_site_dmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"manipulation-reach_site_features",
|
|
# "time_limit": 1,
|
|
"episode_length": 250,
|
|
"wrappers": [manipulation.reach_site.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 9,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"learn_goal": True,
|
|
"alpha_phase": 2,
|
|
"bandwidth_factor": 2,
|
|
"policy_type": "velocity",
|
|
"weights_scale": 50,
|
|
"goal_scale": 0.1,
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
|
|
|
|
kwargs_dict_mani_reach_site_features_promp = deepcopy(DEFAULT_BB_DICT_DMP)
|
|
kwargs_dict_mani_reach_site_features_promp['name'] = f"manipulation-reach_site_features"
|
|
kwargs_dict_mani_reach_site_features_promp['wrappers'].append(manipulation.reach_site.MPWrapper)
|
|
kwargs_dict_mani_reach_site_features_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
|
|
kwargs_dict_mani_reach_site_features_promp['controller_kwargs']['controller_type'] = 'velocity'
|
|
register(
|
|
id=f'dmc_manipulation-reach_site_promp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
|
|
kwargs={
|
|
"name": f"manipulation-reach_site_features",
|
|
# "time_limit": 1,
|
|
"episode_length": 250,
|
|
"wrappers": [manipulation.reach_site.MPWrapper],
|
|
"traj_gen_kwargs": {
|
|
"num_dof": 9,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"policy_type": "velocity",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
}
|
|
}
|
|
)
|
|
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_manipulation-reach_site_promp-v0")
|