157 lines
3.3 KiB
Python
157 lines
3.3 KiB
Python
from gym.envs.registration import register
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from alr_envs.stochastic_search.functions.f_rosenbrock import Rosenbrock
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from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
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# Mujoco
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register(
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id='ALRReacher-v0',
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entry_point='alr_envs.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.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.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.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.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.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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# Classic control
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register(
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id='SimpleReacher-v0',
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entry_point='alr_envs.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.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='ViaPointReacher-v0',
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entry_point='alr_envs.classic_control.viapoint_reacher:ViaPointReacher',
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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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register(
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id='HoleReacher-v0',
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entry_point='alr_envs.classic_control.hole_reacher:HoleReacher',
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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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"allow_wall_collision": False,
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"hole_width": 0.15,
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"hole_depth": 1,
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"hole_x": 1,
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"collision_penalty": 100,
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}
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)
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# DMP environments
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register(
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id='ViaPointReacherDMP-v0',
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entry_point='alr_envs.classic_control.viapoint_reacher:viapoint_dmp',
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# max_episode_steps=1,
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)
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register(
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id='HoleReacherDMP-v0',
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entry_point='alr_envs.classic_control.hole_reacher:holereacher_dmp',
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# max_episode_steps=1,
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)
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register(
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id='HoleReacherFixedGoalDMP-v0',
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entry_point='alr_envs.classic_control.hole_reacher:holereacher_fix_goal_dmp',
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# max_episode_steps=1,
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)
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register(
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id='HoleReacherDetPMP-v0',
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entry_point='alr_envs.classic_control.hole_reacher:holereacher_detpmp',
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# max_episode_steps=1,
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)
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# BBO functions
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for dim in [5, 10, 25, 50, 100]:
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register(
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id=f'Rosenbrock{dim}-v0',
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entry_point='alr_envs.stochastic_search:StochasticSearchEnv',
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max_episode_steps=1,
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kwargs={
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"cost_f": Rosenbrock(dim),
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}
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)
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