69 lines
2.1 KiB
Python
69 lines
2.1 KiB
Python
from typing import Tuple, Union
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import numpy as np
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from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
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class BaseMetaworldMPWrapper(RawInterfaceWrapper):
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mp_config = {
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'inherit_defaults': False,
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'ProMP': {
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'wrappers': [],
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'trajectory_generator_kwargs': {
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'trajectory_generator_type': 'promp',
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'weights_scale': 10,
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},
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'phase_generator_kwargs': {
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'phase_generator_type': 'linear'
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},
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'controller_kwargs': {
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'controller_type': 'metaworld',
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},
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'basis_generator_kwargs': {
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'basis_generator_type': 'zero_rbf',
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'num_basis': 5,
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'num_basis_zero_start': 1
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},
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'black_box_kwargs': {
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'condition_on_desired': False,
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},
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},
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'DMP': {},
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'ProDMP': {
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'wrappers': [],
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'trajectory_generator_kwargs': {
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'trajectory_generator_type': 'prodmp',
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'auto_scale_basis': True,
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'weights_scale': 10,
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# 'goal_scale': 0.,
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'disable_goal': True,
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},
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'phase_generator_kwargs': {
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'phase_generator_type': 'exp',
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# 'alpha_phase' : 3,
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},
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'controller_kwargs': {
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'controller_type': 'metaworld',
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},
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'basis_generator_kwargs': {
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'basis_generator_type': 'prodmp',
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'num_basis': 5,
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'alpha': 10
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},
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'black_box_kwargs': {
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'condition_on_desired': False,
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},
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},
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}
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@property
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def current_pos(self) -> Union[float, int, np.ndarray]:
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r_close = self.env.data.get_joint_qpos('r_close')
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return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
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@property
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def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
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return np.zeros(4, )
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# raise NotImplementedError('Velocity cannot be retrieved.')
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