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