871 lines
23 KiB
Python
871 lines
23 KiB
Python
import numpy as np
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from gym.envs.registration import register
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from alr_envs.classic_control.hole_reacher.hole_reacher_mp_wrapper import HoleReacherMPWrapper
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from alr_envs.classic_control.simple_reacher.simple_reacher_mp_wrapper import SimpleReacherMPWrapper
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from alr_envs.classic_control.viapoint_reacher.viapoint_reacher_mp_wrapper import ViaPointReacherMPWrapper
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from alr_envs.dmc.manipulation.reach.reach_mp_wrapper import DMCReachSiteMPWrapper
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from alr_envs.dmc.suite.ball_in_cup.ball_in_cup_mp_wrapper import DMCBallInCupMPWrapper
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from alr_envs.dmc.suite.cartpole.cartpole_mp_wrapper import DMCCartpoleMPWrapper, DMCCartpoleThreePolesMPWrapper, \
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DMCCartpoleTwoPolesMPWrapper
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from alr_envs.open_ai import reacher_v2, continuous_mountain_car, fetch
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from alr_envs.dmc.suite.reacher.reacher_mp_wrapper import DMCReacherMPWrapper
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# Mujoco
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## Reacher
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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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## Balancing Reacher
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register(
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id='Balancing-v0',
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entry_point='alr_envs.mujoco:BalancingEnv',
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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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# Classic control
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## Simple Reacher
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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='SimpleReacher-v1',
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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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"random_start": False
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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='LongSimpleReacher-v1',
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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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"random_start": False
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}
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)
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## Viapoint Reacher
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register(
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id='ViaPointReacher-v0',
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entry_point='alr_envs.classic_control: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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## Hole Reacher
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register(
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id='HoleReacher-v0',
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entry_point='alr_envs.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": True,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": None,
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"hole_depth": 1,
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"hole_x": None,
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"collision_penalty": 100,
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}
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)
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register(
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id='HoleReacher-v1',
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entry_point='alr_envs.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": 0.25,
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"hole_depth": 1,
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"hole_x": None,
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"collision_penalty": 100,
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}
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)
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register(
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id='HoleReacher-v2',
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entry_point='alr_envs.classic_control:HoleReacherEnv',
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max_episode_steps=200,
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kwargs={
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"n_links": 5,
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"random_start": False,
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"allow_self_collision": False,
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"allow_wall_collision": False,
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"hole_width": 0.25,
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"hole_depth": 1,
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"hole_x": 2,
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"collision_penalty": 100,
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}
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)
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# Motion Primitive Environments
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## Simple Reacher
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versions = ["SimpleReacher-v0", "SimpleReacher-v1", "LongSimpleReacher-v0", "LongSimpleReacher-v1"]
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for v in versions:
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name = v.split("-")
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register(
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id=f'{name[0]}DMP-{name[1]}',
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"alr_envs:{v}",
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"wrappers": [SimpleReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 2 if "long" not in v.lower() else 5,
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"num_basis": 5,
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"duration": 20,
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"alpha_phase": 2,
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"learn_goal": True,
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"policy_type": "velocity",
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"weights_scale": 50,
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}
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}
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)
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register(
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id='ViaPointReacherDMP-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": "alr_envs:ViaPointReacher-v0",
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"wrappers": [ViaPointReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"learn_goal": True,
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"alpha_phase": 2,
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"policy_type": "velocity",
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"weights_scale": 50,
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}
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}
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)
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## Hole Reacher
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versions = ["v0", "v1", "v2"]
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for v in versions:
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register(
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id=f'HoleReacherDMP-{v}',
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"alr_envs:HoleReacher-{v}",
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"wrappers": [HoleReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "velocity",
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"weights_scale": 50,
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"goal_scale": 0.1
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}
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}
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)
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register(
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id=f'HoleReacherDetPMP-{v}',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"alr_envs:HoleReacher-{v}",
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"wrappers": [HoleReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 5,
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"num_basis": 5,
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"duration": 2,
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"width": 0.025,
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"policy_type": "velocity",
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"weights_scale": 0.2,
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"zero_start": True
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}
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}
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)
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## Deep Mind Control Suite (DMC)
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### Suite
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# tasks = ["ball_in_cup-catch", "reacher-easy", "reacher-hard", "cartpole-balance", "cartpole-balance_sparse",
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# "cartpole-swingup", "cartpole-swingup_sparse", "cartpole-two_poles", "cartpole-three_poles"]
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# wrappers = [DMCBallInCupMPWrapper, DMCReacherMPWrapper, DMCReacherMPWrapper, DMCCartpoleMPWrapper,
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# partial(DMCCartpoleMPWrapper)]
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# for t, w in zip(tasks, wrappers):
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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_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"ball_in_cup-catch",
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"time_limit": 1,
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"episode_length": 50,
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"wrappers": [DMCBallInCupMPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
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"num_basis": 5,
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"duration": 1,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "motor",
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"weights_scale": 50,
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"goal_scale": 0.1,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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register(
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id=f'dmc_ball_in_cup-catch_detpmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"ball_in_cup-catch",
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"time_limit": 1,
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"episode_length": 50,
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"wrappers": [DMCBallInCupMPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
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"num_basis": 5,
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"duration": 1,
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"width": 0.025,
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"policy_type": "motor",
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"weights_scale": 0.2,
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"zero_start": True,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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# TODO tune gains and episode length for all below
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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_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"reacher-easy",
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"time_limit": 1,
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"episode_length": 50,
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"wrappers": [DMCReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
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"num_basis": 5,
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"duration": 1,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "motor",
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"weights_scale": 50,
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"goal_scale": 0.1,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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register(
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id=f'dmc_reacher-easy_detpmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"reacher-easy",
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"time_limit": 1,
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"episode_length": 50,
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"wrappers": [DMCReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
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"num_basis": 5,
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"duration": 1,
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"width": 0.025,
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"policy_type": "motor",
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"weights_scale": 0.2,
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"zero_start": True,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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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_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"reacher-hard",
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"time_limit": 1,
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"episode_length": 50,
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"wrappers": [DMCReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
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"num_basis": 5,
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"duration": 1,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "motor",
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"weights_scale": 50,
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"goal_scale": 0.1,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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register(
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id=f'dmc_reacher-hard_detpmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"reacher-hard",
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"time_limit": 1,
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"episode_length": 50,
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"wrappers": [DMCReacherMPWrapper],
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"mp_kwargs": {
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"num_dof": 2,
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"num_basis": 5,
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"duration": 1,
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"width": 0.025,
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"policy_type": "motor",
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"weights_scale": 0.2,
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"zero_start": True,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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register(
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id=f'dmc_cartpole-balance_dmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"cartpole-balance",
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# "time_limit": 1,
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"episode_length": 1000,
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"wrappers": [DMCCartpoleMPWrapper],
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"mp_kwargs": {
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"num_dof": 1,
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"num_basis": 5,
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"duration": 10,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "motor",
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"weights_scale": 50,
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"goal_scale": 0.1,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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register(
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id=f'dmc_cartpole-balance_detpmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"cartpole-balance",
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# "time_limit": 1,
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"episode_length": 1000,
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"wrappers": [DMCCartpoleMPWrapper],
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"mp_kwargs": {
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"num_dof": 1,
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"num_basis": 5,
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"duration": 10,
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"width": 0.025,
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"policy_type": "motor",
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"weights_scale": 0.2,
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"zero_start": True,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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register(
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id=f'dmc_cartpole-balance_sparse_dmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
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# max_episode_steps=1,
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kwargs={
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"name": f"cartpole-balance_sparse",
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# "time_limit": 1,
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"episode_length": 1000,
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"wrappers": [DMCCartpoleMPWrapper],
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"mp_kwargs": {
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"num_dof": 1,
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"num_basis": 5,
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"duration": 10,
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"learn_goal": True,
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"alpha_phase": 2,
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"bandwidth_factor": 2,
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"policy_type": "motor",
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"weights_scale": 50,
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"goal_scale": 0.1,
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"policy_kwargs": {
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"p_gains": 50,
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"d_gains": 1
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}
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}
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}
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)
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register(
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id=f'dmc_cartpole-balance_sparse_detpmp-v0',
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entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
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kwargs={
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"name": f"cartpole-balance_sparse",
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# "time_limit": 1,
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"episode_length": 1000,
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"wrappers": [DMCCartpoleMPWrapper],
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"mp_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"width": 0.025,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id=f'dmc_cartpole-swingup_dmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"cartpole-swingup",
|
|
# "time_limit": 1,
|
|
"episode_length": 1000,
|
|
"wrappers": [DMCCartpoleMPWrapper],
|
|
"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": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id=f'dmc_cartpole-swingup_detpmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": f"cartpole-swingup",
|
|
# "time_limit": 1,
|
|
"episode_length": 1000,
|
|
"wrappers": [DMCCartpoleMPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"width": 0.025,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
register(
|
|
id=f'dmc_cartpole-swingup_sparse_dmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
|
|
# max_episode_steps=1,
|
|
kwargs={
|
|
"name": f"cartpole-swingup_sparse",
|
|
# "time_limit": 1,
|
|
"episode_length": 1000,
|
|
"wrappers": [DMCCartpoleMPWrapper],
|
|
"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": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id=f'dmc_cartpole-swingup_sparse_detpmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": f"cartpole-swingup_sparse",
|
|
# "time_limit": 1,
|
|
"episode_length": 1000,
|
|
"wrappers": [DMCCartpoleMPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"width": 0.025,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
register(
|
|
id=f'dmc_cartpole-two_poles_dmp-v0',
|
|
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,
|
|
"episode_length": 1000,
|
|
# "wrappers": [partial(DMCCartpoleMPWrapper, n_poles=2)],
|
|
"wrappers": [DMCCartpoleTwoPolesMPWrapper],
|
|
"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": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id=f'dmc_cartpole-two_poles_detpmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": f"cartpole-two_poles",
|
|
# "time_limit": 1,
|
|
"episode_length": 1000,
|
|
# "wrappers": [partial(DMCCartpoleMPWrapper, n_poles=2)],
|
|
"wrappers": [DMCCartpoleTwoPolesMPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"width": 0.025,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
register(
|
|
id=f'dmc_cartpole-three_poles_dmp-v0',
|
|
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,
|
|
"episode_length": 1000,
|
|
# "wrappers": [partial(DMCCartpoleMPWrapper, n_poles=3)],
|
|
"wrappers": [DMCCartpoleThreePolesMPWrapper],
|
|
"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": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id=f'dmc_cartpole-three_poles_detpmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": f"cartpole-three_poles",
|
|
# "time_limit": 1,
|
|
"episode_length": 1000,
|
|
# "wrappers": [partial(DMCCartpoleMPWrapper, n_poles=3)],
|
|
"wrappers": [DMCCartpoleThreePolesMPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"width": 0.025,
|
|
"policy_type": "motor",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
"policy_kwargs": {
|
|
"p_gains": 50,
|
|
"d_gains": 1
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
### 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": [DMCReachSiteMPWrapper],
|
|
"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,
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id=f'dmc_manipulation-reach_site_detpmp-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": f"manipulation-reach_site_features",
|
|
# "time_limit": 1,
|
|
"episode_length": 250,
|
|
"wrappers": [DMCReachSiteMPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 9,
|
|
"num_basis": 5,
|
|
"duration": 10,
|
|
"width": 0.025,
|
|
"policy_type": "velocity",
|
|
"weights_scale": 0.2,
|
|
"zero_start": True,
|
|
}
|
|
}
|
|
)
|
|
|
|
## Open AI
|
|
register(
|
|
id='ContinuousMountainCarDetPMP-v0',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": "gym.envs.classic_control:MountainCarContinuous-v0",
|
|
"wrappers": [continuous_mountain_car.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 1,
|
|
"num_basis": 4,
|
|
"duration": 2,
|
|
"post_traj_time": 0,
|
|
"width": 0.02,
|
|
"policy_type": "motor",
|
|
"policy_kwargs": {
|
|
"p_gains": 1.,
|
|
"d_gains": 1.
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id='ReacherDetPMP-v2',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": "gym.envs.mujoco:Reacher-v2",
|
|
"wrappers": [reacher_v2.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 2,
|
|
"num_basis": 6,
|
|
"duration": 1,
|
|
"post_traj_time": 0,
|
|
"width": 0.02,
|
|
"policy_type": "motor",
|
|
"policy_kwargs": {
|
|
"p_gains": .6,
|
|
"d_gains": .075
|
|
}
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id='FetchSlideDenseDetPMP-v1',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": "gym.envs.robotics:FetchSlideDense-v1",
|
|
"wrappers": [fetch.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 4,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"post_traj_time": 0,
|
|
"width": 0.02,
|
|
"policy_type": "position"
|
|
}
|
|
}
|
|
)
|
|
|
|
register(
|
|
id='FetchReachDenseDetPMP-v1',
|
|
entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
|
|
kwargs={
|
|
"name": "gym.envs.robotics:FetchReachDense-v1",
|
|
"wrappers": [fetch.MPWrapper],
|
|
"mp_kwargs": {
|
|
"num_dof": 4,
|
|
"num_basis": 5,
|
|
"duration": 2,
|
|
"post_traj_time": 0,
|
|
"width": 0.02,
|
|
"policy_type": "position"
|
|
}
|
|
}
|
|
)
|