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fancy_gym/alr_envs/dmc/__init__.py
Maximilian Huettenrauch 8b88ce3476 replaced all detpmp with promp
2021-11-30 16:11:32 +01:00

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from . import manipulation, suite
ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
from gym.envs.registration import register
# DeepMind Control Suite (DMC)
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],
"mp_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")
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],
"mp_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")
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],
"mp_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")
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],
"mp_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")
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],
"mp_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")
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],
"mp_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'
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],
"mp_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'
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],
"mp_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)
_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],
"mp_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-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],
"mp_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)
_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],
"mp_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-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],
"mp_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
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],
"mp_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")
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],
"mp_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")
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