73 lines
2.3 KiB
Python
73 lines
2.3 KiB
Python
from alr_envs.utils.mps.detpmp_wrapper import DetPMPWrapper
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from alr_envs.mujoco.beerpong.beerpong import ALRBeerpongEnv
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from alr_envs.mujoco.beerpong.beerpong_simple import ALRBeerpongEnv as ALRBeerpongEnvSimple
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def make_contextual_env(rank, seed=0):
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"""
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Utility function for multiprocessed env.
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:param env_id: (str) the environment ID
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:param num_env: (int) the number of environments you wish to have in subprocesses
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:param seed: (int) the initial seed for RNG
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:param rank: (int) index of the subprocess
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:returns a function that generates an environment
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"""
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def _init():
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env = ALRBeerpongEnv()
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env = DetPMPWrapper(env, num_dof=7, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
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policy_type="motor", weights_scale=0.5, zero_start=True, zero_goal=True)
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env.seed(seed + rank)
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return env
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return _init
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def make_env(rank, seed=0):
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"""
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Utility function for multiprocessed env.
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:param env_id: (str) the environment ID
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:param num_env: (int) the number of environments you wish to have in subprocesses
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:param seed: (int) the initial seed for RNG
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:param rank: (int) index of the subprocess
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:returns a function that generates an environment
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"""
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def _init():
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env = ALRBeerpongEnvSimple()
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env = DetPMPWrapper(env, num_dof=7, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
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policy_type="motor", weights_scale=0.25, zero_start=True, zero_goal=True)
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env.seed(seed + rank)
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return env
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return _init
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def make_simple_env(rank, seed=0):
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"""
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Utility function for multiprocessed env.
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:param env_id: (str) the environment ID
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:param num_env: (int) the number of environments you wish to have in subprocesses
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:param seed: (int) the initial seed for RNG
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:param rank: (int) index of the subprocess
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:returns a function that generates an environment
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"""
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def _init():
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env = ALRBeerpongEnvSimple()
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env = DetPMPWrapper(env, num_dof=3, num_basis=5, width=0.005, duration=3.5, dt=env.dt, post_traj_time=4.5,
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policy_type="motor", weights_scale=0.5, zero_start=True, zero_goal=True)
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env.seed(seed + rank)
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return env
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return _init
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