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<h1>Source code for fancy_gym.envs.registry</h1><div class="highlight"><pre>
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<span></span><span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Tuple</span><span class="p">,</span> <span class="n">Union</span><span class="p">,</span> <span class="n">Callable</span><span class="p">,</span> <span class="n">List</span><span class="p">,</span> <span class="n">Dict</span><span class="p">,</span> <span class="n">Any</span><span class="p">,</span> <span class="n">Optional</span>
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<span class="kn">import</span> <span class="nn">copy</span>
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<span class="kn">import</span> <span class="nn">importlib</span>
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<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
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<span class="kn">from</span> <span class="nn">collections</span> <span class="kn">import</span> <span class="n">defaultdict</span>
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<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Mapping</span><span class="p">,</span> <span class="n">MutableMapping</span>
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<span class="kn">from</span> <span class="nn">fancy_gym.utils.make_env_helpers</span> <span class="kn">import</span> <span class="n">make_bb</span>
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<span class="kn">from</span> <span class="nn">fancy_gym.black_box.raw_interface_wrapper</span> <span class="kn">import</span> <span class="n">RawInterfaceWrapper</span>
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<span class="kn">from</span> <span class="nn">gymnasium</span> <span class="kn">import</span> <span class="n">register</span> <span class="k">as</span> <span class="n">gym_register</span>
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<span class="kn">from</span> <span class="nn">gymnasium</span> <span class="kn">import</span> <span class="n">make</span> <span class="k">as</span> <span class="n">gym_make</span>
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<span class="kn">from</span> <span class="nn">gymnasium.envs.registration</span> <span class="kn">import</span> <span class="n">registry</span> <span class="k">as</span> <span class="n">gym_registry</span>
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<span class="k">class</span> <span class="nc">DefaultMPWrapper</span><span class="p">(</span><span class="n">RawInterfaceWrapper</span><span class="p">):</span>
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<span class="nd">@property</span>
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<span class="k">def</span> <span class="nf">context_mask</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
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<span class="w"> </span><span class="sd">"""</span>
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<span class="sd"> Returns boolean mask of the same shape as the observation space.</span>
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<span class="sd"> It determines whether the observation is returned for the contextual case or not.</span>
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<span class="sd"> This effectively allows to filter unwanted or unnecessary observations from the full step-based case.</span>
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<span class="sd"> E.g. Velocities starting at 0 are only changing after the first action. Given we only receive the</span>
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<span class="sd"> context/part of the first observation, the velocities are not necessary in the observation for the task.</span>
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<span class="sd"> Returns:</span>
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<span class="sd"> bool array representing the indices of the observations</span>
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<span class="sd"> """</span>
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<span class="c1"># If the env already defines a context_mask, we will use that</span>
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<span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">,</span> <span class="s1">'context_mask'</span><span class="p">):</span>
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<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">context_mask</span>
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<span class="c1"># Otherwise we will use the whole observation as the context. (Write a custom MPWrapper to change this behavior)</span>
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<span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">full</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">observation_space</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
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<span class="nd">@property</span>
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<span class="k">def</span> <span class="nf">current_pos</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-></span> <span class="n">Union</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">int</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">Tuple</span><span class="p">]:</span>
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<span class="w"> </span><span class="sd">"""</span>
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<span class="sd"> Returns the current position of the action/control dimension.</span>
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<span class="sd"> The dimensionality has to match the action/control dimension.</span>
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<span class="sd"> This is not required when exclusively using velocity control,</span>
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<span class="sd"> it should, however, be implemented regardless.</span>
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<span class="sd"> E.g. The joint positions that are directly or indirectly controlled by the action.</span>
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<span class="sd"> """</span>
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<span class="k">assert</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">,</span> <span class="s1">'current_pos'</span><span class="p">),</span> <span class="s1">'DefaultMPWrapper was unable to access env.current_pos. Please write a custom MPWrapper (recommended) or expose this attribute directly.'</span>
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<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">current_pos</span>
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<span class="nd">@property</span>
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<span class="k">def</span> <span class="nf">current_vel</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-></span> <span class="n">Union</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">int</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">Tuple</span><span class="p">]:</span>
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<span class="w"> </span><span class="sd">"""</span>
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<span class="sd"> Returns the current velocity of the action/control dimension.</span>
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<span class="sd"> The dimensionality has to match the action/control dimension.</span>
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<span class="sd"> This is not required when exclusively using position control,</span>
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<span class="sd"> it should, however, be implemented regardless.</span>
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<span class="sd"> E.g. The joint velocities that are directly or indirectly controlled by the action.</span>
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<span class="sd"> """</span>
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<span class="k">assert</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">,</span> <span class="s1">'current_vel'</span><span class="p">),</span> <span class="s1">'DefaultMPWrapper was unable to access env.current_vel. Please write a custom MPWrapper (recommended) or expose this attribute directly.'</span>
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<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">current_vel</span>
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<span class="n">_BB_DEFAULTS</span> <span class="o">=</span> <span class="p">{</span>
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<span class="s1">'ProMP'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'wrappers'</span><span class="p">:</span> <span class="p">[],</span>
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<span class="s1">'trajectory_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'trajectory_generator_type'</span><span class="p">:</span> <span class="s1">'promp'</span>
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<span class="p">},</span>
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<span class="s1">'phase_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'phase_generator_type'</span><span class="p">:</span> <span class="s1">'linear'</span>
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<span class="p">},</span>
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<span class="s1">'controller_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'controller_type'</span><span class="p">:</span> <span class="s1">'motor'</span><span class="p">,</span>
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<span class="s1">'p_gains'</span><span class="p">:</span> <span class="mf">1.0</span><span class="p">,</span>
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<span class="s1">'d_gains'</span><span class="p">:</span> <span class="mf">0.1</span><span class="p">,</span>
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<span class="p">},</span>
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<span class="s1">'basis_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'basis_generator_type'</span><span class="p">:</span> <span class="s1">'zero_rbf'</span><span class="p">,</span>
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<span class="s1">'num_basis'</span><span class="p">:</span> <span class="mi">5</span><span class="p">,</span>
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<span class="s1">'num_basis_zero_start'</span><span class="p">:</span> <span class="mi">1</span><span class="p">,</span>
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<span class="s1">'basis_bandwidth_factor'</span><span class="p">:</span> <span class="mf">3.0</span><span class="p">,</span>
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<span class="p">},</span>
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<span class="s1">'black_box_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="p">}</span>
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<span class="p">},</span>
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<span class="s1">'DMP'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'wrappers'</span><span class="p">:</span> <span class="p">[],</span>
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<span class="s1">'trajectory_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'trajectory_generator_type'</span><span class="p">:</span> <span class="s1">'dmp'</span>
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<span class="p">},</span>
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<span class="s1">'phase_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'phase_generator_type'</span><span class="p">:</span> <span class="s1">'exp'</span>
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<span class="p">},</span>
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<span class="s1">'controller_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'controller_type'</span><span class="p">:</span> <span class="s1">'motor'</span><span class="p">,</span>
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<span class="s1">'p_gains'</span><span class="p">:</span> <span class="mf">1.0</span><span class="p">,</span>
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<span class="s1">'d_gains'</span><span class="p">:</span> <span class="mf">0.1</span><span class="p">,</span>
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<span class="p">},</span>
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|
<span class="s1">'basis_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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|
<span class="s1">'basis_generator_type'</span><span class="p">:</span> <span class="s1">'rbf'</span><span class="p">,</span>
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<span class="s1">'num_basis'</span><span class="p">:</span> <span class="mi">5</span>
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<span class="p">},</span>
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|
<span class="s1">'black_box_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="p">}</span>
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<span class="p">},</span>
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<span class="s1">'ProDMP'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'wrappers'</span><span class="p">:</span> <span class="p">[],</span>
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|
<span class="s1">'trajectory_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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|
<span class="s1">'trajectory_generator_type'</span><span class="p">:</span> <span class="s1">'prodmp'</span><span class="p">,</span>
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<span class="s1">'duration'</span><span class="p">:</span> <span class="mf">2.0</span><span class="p">,</span>
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<span class="s1">'weights_scale'</span><span class="p">:</span> <span class="mf">1.0</span><span class="p">,</span>
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<span class="p">},</span>
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<span class="s1">'phase_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'phase_generator_type'</span><span class="p">:</span> <span class="s1">'exp'</span><span class="p">,</span>
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<span class="s1">'tau'</span><span class="p">:</span> <span class="mf">1.5</span><span class="p">,</span>
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<span class="p">},</span>
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<span class="s1">'controller_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="s1">'controller_type'</span><span class="p">:</span> <span class="s1">'motor'</span><span class="p">,</span>
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<span class="s1">'p_gains'</span><span class="p">:</span> <span class="mf">1.0</span><span class="p">,</span>
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|
<span class="s1">'d_gains'</span><span class="p">:</span> <span class="mf">0.1</span><span class="p">,</span>
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|
<span class="p">},</span>
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|
<span class="s1">'basis_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
|
<span class="s1">'basis_generator_type'</span><span class="p">:</span> <span class="s1">'prodmp'</span><span class="p">,</span>
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<span class="s1">'alpha'</span><span class="p">:</span> <span class="mi">10</span><span class="p">,</span>
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|
<span class="s1">'num_basis'</span><span class="p">:</span> <span class="mi">5</span><span class="p">,</span>
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<span class="p">},</span>
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|
<span class="s1">'black_box_kwargs'</span><span class="p">:</span> <span class="p">{</span>
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<span class="p">}</span>
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<span class="p">}</span>
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<span class="p">}</span>
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<span class="n">KNOWN_MPS</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="n">_BB_DEFAULTS</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
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<span class="n">_KNOWN_MPS_PLUS_ALL</span> <span class="o">=</span> <span class="n">KNOWN_MPS</span> <span class="o">+</span> <span class="p">[</span><span class="s1">'all'</span><span class="p">]</span>
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|
<span class="n">ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS</span> <span class="o">=</span> <span class="p">{</span><span class="n">mp_type</span><span class="p">:</span> <span class="p">[]</span> <span class="k">for</span> <span class="n">mp_type</span> <span class="ow">in</span> <span class="n">_KNOWN_MPS_PLUS_ALL</span><span class="p">}</span>
|
|
<span class="n">MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS</span> <span class="o">=</span> <span class="p">{}</span>
|
|
|
|
|
|
<div class="viewcode-block" id="register"><a class="viewcode-back" href="../../../generated/fancy_gym.register.html#fancy_gym.register">[docs]</a><span class="k">def</span> <span class="nf">register</span><span class="p">(</span>
|
|
<span class="nb">id</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
|
|
<span class="n">entry_point</span><span class="p">:</span> <span class="n">Optional</span><span class="p">[</span><span class="n">Union</span><span class="p">[</span><span class="n">Callable</span><span class="p">,</span> <span class="nb">str</span><span class="p">]]</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
|
|
<span class="n">mp_wrapper</span><span class="p">:</span> <span class="n">RawInterfaceWrapper</span> <span class="o">=</span> <span class="n">DefaultMPWrapper</span><span class="p">,</span>
|
|
<span class="n">register_step_based</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span> <span class="c1"># TODO: Detect</span>
|
|
<span class="n">add_mp_types</span><span class="p">:</span> <span class="n">List</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">KNOWN_MPS</span><span class="p">,</span>
|
|
<span class="n">mp_config_override</span><span class="p">:</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">=</span> <span class="p">{},</span>
|
|
<span class="o">**</span><span class="n">kwargs</span>
|
|
<span class="p">):</span>
|
|
<span class="w"> </span><span class="sd">"""</span>
|
|
<span class="sd"> Registers a Gymnasium environment, including Movement Primitives (MP) versions.</span>
|
|
<span class="sd"> If you only want to register MP versions for an already registered environment, use fancy_gym.upgrade instead.</span>
|
|
|
|
<span class="sd"> Args:</span>
|
|
<span class="sd"> id (str): The unique identifier for the environment.</span>
|
|
<span class="sd"> entry_point (Optional[Union[Callable, str]]): The entry point for creating the environment.</span>
|
|
<span class="sd"> mp_wrapper (RawInterfaceWrapper): The MP wrapper for the environment.</span>
|
|
<span class="sd"> register_step_based (bool): Whether to also register the raw srtep-based version of the environment (default True).</span>
|
|
<span class="sd"> add_mp_types (List[str]): List of additional MP types to register.</span>
|
|
<span class="sd"> mp_config_override (Dict[str, Any]): Dictionary for overriding MP configuration.</span>
|
|
<span class="sd"> **kwargs: Additional keyword arguments which are passed to the environment constructor.</span>
|
|
|
|
<span class="sd"> Notes:</span>
|
|
<span class="sd"> - When `register_step_based` is True, the raw environment will also be registered to gymnasium otherwise only mp-versions will be registered.</span>
|
|
<span class="sd"> - `entry_point` can be given as a string, allowing the same notation as gymnasium.</span>
|
|
<span class="sd"> - If `id` already exists in the Gymnasium registry and `register_step_based` is True,</span>
|
|
<span class="sd"> a warning message will be printed, suggesting to set `register_step_based=False` or use `fancy_gym.upgrade`.</span>
|
|
|
|
<span class="sd"> Example:</span>
|
|
<span class="sd"> To register a step-based environment with Movement Primitive versions (will use default mp_wrapper):</span>
|
|
<span class="sd"> >>> register("MyEnv-v0", MyEnvClass"my_module:MyEnvClass")</span>
|
|
|
|
<span class="sd"> The entry point can also be provided as a string:</span>
|
|
<span class="sd"> >>> register("MyEnv-v0", "my_module:MyEnvClass")</span>
|
|
|
|
<span class="sd"> """</span>
|
|
<span class="k">if</span> <span class="n">register_step_based</span> <span class="ow">and</span> <span class="nb">id</span> <span class="ow">in</span> <span class="n">gym_registry</span><span class="p">:</span>
|
|
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s1">'[Info] Gymnasium env with id "</span><span class="si">{</span><span class="nb">id</span><span class="si">}</span><span class="s1">" already exists. You should supply register_step_based=False or use fancy_gym.upgrade if you only want to register mp versions of an existing env.'</span><span class="p">)</span>
|
|
<span class="k">if</span> <span class="n">register_step_based</span><span class="p">:</span>
|
|
<span class="k">assert</span> <span class="n">entry_point</span> <span class="o">!=</span> <span class="kc">None</span><span class="p">,</span> <span class="s1">'You need to provide an entry-point, when registering step-based.'</span>
|
|
<span class="k">if</span> <span class="ow">not</span> <span class="nb">callable</span><span class="p">(</span><span class="n">mp_wrapper</span><span class="p">):</span> <span class="c1"># mp_wrapper can be given as a String (same notation as for entry_point)</span>
|
|
<span class="n">mod_name</span><span class="p">,</span> <span class="n">attr_name</span> <span class="o">=</span> <span class="n">mp_wrapper</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s1">':'</span><span class="p">)</span>
|
|
<span class="n">mod</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">import_module</span><span class="p">(</span><span class="n">mod_name</span><span class="p">)</span>
|
|
<span class="n">mp_wrapper</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">mod</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">)</span>
|
|
<span class="k">if</span> <span class="n">register_step_based</span><span class="p">:</span>
|
|
<span class="n">gym_register</span><span class="p">(</span><span class="nb">id</span><span class="o">=</span><span class="nb">id</span><span class="p">,</span> <span class="n">entry_point</span><span class="o">=</span><span class="n">entry_point</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
|
|
<span class="n">upgrade</span><span class="p">(</span><span class="nb">id</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="p">,</span> <span class="n">add_mp_types</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="p">)</span></div>
|
|
|
|
|
|
<div class="viewcode-block" id="upgrade"><a class="viewcode-back" href="../../../generated/fancy_gym.upgrade.html#fancy_gym.upgrade">[docs]</a><span class="k">def</span> <span class="nf">upgrade</span><span class="p">(</span>
|
|
<span class="nb">id</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
|
|
<span class="n">mp_wrapper</span><span class="p">:</span> <span class="n">RawInterfaceWrapper</span> <span class="o">=</span> <span class="n">DefaultMPWrapper</span><span class="p">,</span>
|
|
<span class="n">add_mp_types</span><span class="p">:</span> <span class="n">List</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">KNOWN_MPS</span><span class="p">,</span>
|
|
<span class="n">base_id</span><span class="p">:</span> <span class="n">Optional</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
|
|
<span class="n">mp_config_override</span><span class="p">:</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">=</span> <span class="p">{},</span>
|
|
<span class="p">):</span>
|
|
<span class="w"> </span><span class="sd">"""</span>
|
|
<span class="sd"> Upgrades an existing Gymnasium environment to include Movement Primitives (MP) versions.</span>
|
|
<span class="sd"> We expect the raw step-based env to be already registered with gymnasium. Otherwise please use fancy_gym.register instead.</span>
|
|
|
|
<span class="sd"> Args:</span>
|
|
<span class="sd"> id (str): The unique identifier for the environment.</span>
|
|
<span class="sd"> mp_wrapper (RawInterfaceWrapper): The MP wrapper for the environment (default is DefaultMPWrapper).</span>
|
|
<span class="sd"> add_mp_types (List[str]): List of additional MP types to register (default is KNOWN_MPS).</span>
|
|
<span class="sd"> base_id (Optional[str]): The unique identifier for the environment to upgrade. Will use id if non is provided. Can be defined to allow multiple registrations of different versions for the same step-based environment.</span>
|
|
<span class="sd"> mp_config_override (Dict[str, Any]): Dictionary for overriding MP configuration.</span>
|
|
|
|
<span class="sd"> Notes:</span>
|
|
<span class="sd"> - The `id` parameter should match the ID of the existing Gymnasium environment you wish to upgrade. You can also pick a new one, but then `base_id` needs to be provided.</span>
|
|
<span class="sd"> - The `mp_wrapper` parameter specifies the MP wrapper to use, allowing for customization.</span>
|
|
<span class="sd"> - `add_mp_types` can be used to specify additional MP types to register alongside the base environment.</span>
|
|
<span class="sd"> - The `base_id` parameter should match the ID of the existing Gymnasium environment you wish to upgrade.</span>
|
|
<span class="sd"> - `mp_config_override` allows for customizing MP configuration if needed.</span>
|
|
|
|
<span class="sd"> Example:</span>
|
|
<span class="sd"> To upgrade an existing environment with MP versions:</span>
|
|
<span class="sd"> >>> upgrade("MyEnv-v0", mp_wrapper=CustomMPWrapper)</span>
|
|
|
|
<span class="sd"> To upgrade an existing environment with custom MP types and configuration:</span>
|
|
<span class="sd"> >>> upgrade("MyEnv-v0", mp_wrapper=CustomMPWrapper, add_mp_types=["ProDMP", "DMP"], mp_config_override={"param": 42})</span>
|
|
<span class="sd"> """</span>
|
|
<span class="k">if</span> <span class="ow">not</span> <span class="n">base_id</span><span class="p">:</span>
|
|
<span class="n">base_id</span> <span class="o">=</span> <span class="nb">id</span>
|
|
<span class="n">register_mps</span><span class="p">(</span><span class="nb">id</span><span class="p">,</span> <span class="n">base_id</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="p">,</span> <span class="n">add_mp_types</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="p">)</span></div>
|
|
|
|
|
|
<span class="k">def</span> <span class="nf">register_mps</span><span class="p">(</span><span class="nb">id</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">base_id</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="p">:</span> <span class="n">RawInterfaceWrapper</span><span class="p">,</span> <span class="n">add_mp_types</span><span class="p">:</span> <span class="n">List</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">KNOWN_MPS</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="p">:</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">=</span> <span class="p">{}):</span>
|
|
<span class="k">for</span> <span class="n">mp_type</span> <span class="ow">in</span> <span class="n">add_mp_types</span><span class="p">:</span>
|
|
<span class="n">register_mp</span><span class="p">(</span><span class="nb">id</span><span class="p">,</span> <span class="n">base_id</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="p">,</span> <span class="n">mp_type</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">mp_type</span><span class="p">,</span> <span class="p">{}))</span>
|
|
|
|
|
|
<span class="k">def</span> <span class="nf">register_mp</span><span class="p">(</span><span class="nb">id</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">base_id</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="p">:</span> <span class="n">RawInterfaceWrapper</span><span class="p">,</span> <span class="n">mp_type</span><span class="p">:</span> <span class="n">List</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">mp_config_override</span><span class="p">:</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">=</span> <span class="p">{}):</span>
|
|
<span class="k">assert</span> <span class="n">mp_type</span> <span class="ow">in</span> <span class="n">KNOWN_MPS</span><span class="p">,</span> <span class="s1">'Unknown mp_type'</span>
|
|
<span class="k">assert</span> <span class="nb">id</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS</span><span class="p">[</span><span class="n">mp_type</span><span class="p">],</span> <span class="sa">f</span><span class="s1">'The environment </span><span class="si">{</span><span class="nb">id</span><span class="si">}</span><span class="s1"> is already registered for </span><span class="si">{</span><span class="n">mp_type</span><span class="si">}</span><span class="s1">.'</span>
|
|
|
|
<span class="n">parts</span> <span class="o">=</span> <span class="nb">id</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s1">'/'</span><span class="p">)</span>
|
|
<span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">parts</span><span class="p">)</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
|
|
<span class="n">ns</span><span class="p">,</span> <span class="n">name</span> <span class="o">=</span> <span class="s1">'gym'</span><span class="p">,</span> <span class="n">parts</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
|
|
<span class="k">elif</span> <span class="nb">len</span><span class="p">(</span><span class="n">parts</span><span class="p">)</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
|
|
<span class="n">ns</span><span class="p">,</span> <span class="n">name</span> <span class="o">=</span> <span class="n">parts</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">parts</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
|
|
<span class="k">else</span><span class="p">:</span>
|
|
<span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s1">'env id can not contain multiple "/".'</span><span class="p">)</span>
|
|
|
|
<span class="n">parts</span> <span class="o">=</span> <span class="n">name</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s1">'-'</span><span class="p">)</span>
|
|
<span class="k">assert</span> <span class="nb">len</span><span class="p">(</span><span class="n">parts</span><span class="p">)</span> <span class="o">>=</span> <span class="mi">2</span> <span class="ow">and</span> <span class="n">parts</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s1">'v'</span><span class="p">),</span> <span class="s1">'Malformed env id, must end in -v</span><span class="si">{int}</span><span class="s1">.'</span>
|
|
|
|
<span class="n">fancy_id</span> <span class="o">=</span> <span class="sa">f</span><span class="s1">'</span><span class="si">{</span><span class="n">ns</span><span class="si">}</span><span class="s1">_</span><span class="si">{</span><span class="n">mp_type</span><span class="si">}</span><span class="s1">/</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s1">'</span>
|
|
|
|
<span class="n">gym_register</span><span class="p">(</span>
|
|
<span class="nb">id</span><span class="o">=</span><span class="n">fancy_id</span><span class="p">,</span>
|
|
<span class="n">entry_point</span><span class="o">=</span><span class="n">bb_env_constructor</span><span class="p">,</span>
|
|
<span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
|
|
<span class="s1">'underlying_id'</span><span class="p">:</span> <span class="n">base_id</span><span class="p">,</span>
|
|
<span class="s1">'mp_wrapper'</span><span class="p">:</span> <span class="n">mp_wrapper</span><span class="p">,</span>
|
|
<span class="s1">'mp_type'</span><span class="p">:</span> <span class="n">mp_type</span><span class="p">,</span>
|
|
<span class="s1">'_mp_config_override_register'</span><span class="p">:</span> <span class="n">mp_config_override</span>
|
|
<span class="p">}</span>
|
|
<span class="p">)</span>
|
|
|
|
<span class="n">ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS</span><span class="p">[</span><span class="n">mp_type</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">fancy_id</span><span class="p">)</span>
|
|
<span class="n">ALL_MOVEMENT_PRIMITIVE_ENVIRONMENTS</span><span class="p">[</span><span class="s1">'all'</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">fancy_id</span><span class="p">)</span>
|
|
<span class="k">if</span> <span class="n">ns</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS</span><span class="p">:</span>
|
|
<span class="n">MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS</span><span class="p">[</span><span class="n">ns</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="n">mp_type</span><span class="p">:</span> <span class="p">[]</span> <span class="k">for</span> <span class="n">mp_type</span> <span class="ow">in</span> <span class="n">_KNOWN_MPS_PLUS_ALL</span><span class="p">}</span>
|
|
<span class="n">MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS</span><span class="p">[</span><span class="n">ns</span><span class="p">][</span><span class="n">mp_type</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">fancy_id</span><span class="p">)</span>
|
|
<span class="n">MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS</span><span class="p">[</span><span class="n">ns</span><span class="p">][</span><span class="s1">'all'</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">fancy_id</span><span class="p">)</span>
|
|
|
|
|
|
<span class="k">def</span> <span class="nf">nested_update</span><span class="p">(</span><span class="n">base</span><span class="p">:</span> <span class="n">MutableMapping</span><span class="p">,</span> <span class="n">update</span><span class="p">):</span>
|
|
<span class="w"> </span><span class="sd">"""</span>
|
|
<span class="sd"> Updated method for nested Mappings</span>
|
|
<span class="sd"> Args:</span>
|
|
<span class="sd"> base: main Mapping to be updated</span>
|
|
<span class="sd"> update: updated values for base Mapping</span>
|
|
|
|
<span class="sd"> """</span>
|
|
<span class="k">if</span> <span class="nb">any</span><span class="p">([</span><span class="n">item</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="s1">'_type'</span><span class="p">)</span> <span class="k">for</span> <span class="n">item</span> <span class="ow">in</span> <span class="n">update</span><span class="p">]):</span>
|
|
<span class="n">base</span> <span class="o">=</span> <span class="n">update</span>
|
|
<span class="k">return</span> <span class="n">base</span>
|
|
<span class="k">for</span> <span class="n">k</span><span class="p">,</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">update</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
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|
<span class="n">base</span><span class="p">[</span><span class="n">k</span><span class="p">]</span> <span class="o">=</span> <span class="n">nested_update</span><span class="p">(</span><span class="n">base</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">k</span><span class="p">,</span> <span class="p">{}),</span> <span class="n">v</span><span class="p">)</span> <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">v</span><span class="p">,</span> <span class="n">Mapping</span><span class="p">)</span> <span class="k">else</span> <span class="n">v</span>
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<span class="k">return</span> <span class="n">base</span>
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<span class="k">def</span> <span class="nf">bb_env_constructor</span><span class="p">(</span><span class="n">underlying_id</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="p">,</span> <span class="n">mp_type</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="o">=</span><span class="p">{},</span> <span class="n">_mp_config_override_register</span><span class="o">=</span><span class="p">{},</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
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<span class="n">raw_underlying_env</span> <span class="o">=</span> <span class="n">gym_make</span><span class="p">(</span><span class="n">underlying_id</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
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<span class="n">underlying_env</span> <span class="o">=</span> <span class="n">mp_wrapper</span><span class="p">(</span><span class="n">raw_underlying_env</span><span class="p">)</span>
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<span class="n">mp_config</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">underlying_env</span><span class="p">,</span> <span class="s1">'mp_config'</span><span class="p">)</span> <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">underlying_env</span><span class="p">,</span> <span class="s1">'mp_config'</span><span class="p">)</span> <span class="k">else</span> <span class="p">{}</span>
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<span class="n">active_mp_config</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">mp_config</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">mp_type</span><span class="p">,</span> <span class="p">{}))</span>
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<span class="n">global_inherit_defaults</span> <span class="o">=</span> <span class="n">mp_config</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">'inherit_defaults'</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
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<span class="n">inherit_defaults</span> <span class="o">=</span> <span class="n">active_mp_config</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s1">'inherit_defaults'</span><span class="p">,</span> <span class="n">global_inherit_defaults</span><span class="p">)</span>
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<span class="n">config</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">_BB_DEFAULTS</span><span class="p">[</span><span class="n">mp_type</span><span class="p">])</span> <span class="k">if</span> <span class="n">inherit_defaults</span> <span class="k">else</span> <span class="p">{}</span>
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<span class="n">nested_update</span><span class="p">(</span><span class="n">config</span><span class="p">,</span> <span class="n">active_mp_config</span><span class="p">)</span>
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<span class="n">nested_update</span><span class="p">(</span><span class="n">config</span><span class="p">,</span> <span class="n">_mp_config_override_register</span><span class="p">)</span>
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<span class="n">nested_update</span><span class="p">(</span><span class="n">config</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="p">)</span>
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<span class="n">wrappers</span> <span class="o">=</span> <span class="n">config</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s1">'wrappers'</span><span class="p">)</span>
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<span class="n">traj_gen_kwargs</span> <span class="o">=</span> <span class="n">config</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s1">'trajectory_generator_kwargs'</span><span class="p">,</span> <span class="p">{})</span>
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<span class="n">black_box_kwargs</span> <span class="o">=</span> <span class="n">config</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s1">'black_box_kwargs'</span><span class="p">,</span> <span class="p">{})</span>
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<span class="n">contr_kwargs</span> <span class="o">=</span> <span class="n">config</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s1">'controller_kwargs'</span><span class="p">,</span> <span class="p">{})</span>
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<span class="n">phase_kwargs</span> <span class="o">=</span> <span class="n">config</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s1">'phase_generator_kwargs'</span><span class="p">,</span> <span class="p">{})</span>
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<span class="n">basis_kwargs</span> <span class="o">=</span> <span class="n">config</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s1">'basis_generator_kwargs'</span><span class="p">,</span> <span class="p">{})</span>
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<span class="k">return</span> <span class="n">make_bb</span><span class="p">(</span><span class="n">underlying_env</span><span class="p">,</span>
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<span class="n">wrappers</span><span class="o">=</span><span class="n">wrappers</span><span class="p">,</span>
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<span class="n">black_box_kwargs</span><span class="o">=</span><span class="n">black_box_kwargs</span><span class="p">,</span>
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<span class="n">traj_gen_kwargs</span><span class="o">=</span><span class="n">traj_gen_kwargs</span><span class="p">,</span>
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<span class="n">controller_kwargs</span><span class="o">=</span><span class="n">contr_kwargs</span><span class="p">,</span>
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<span class="n">phase_kwargs</span><span class="o">=</span><span class="n">phase_kwargs</span><span class="p">,</span>
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<span class="n">basis_kwargs</span><span class="o">=</span><span class="n">basis_kwargs</span><span class="p">,</span>
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<span class="o">**</span><span class="n">config</span><span class="p">)</span>
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</pre></div>
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