Add RARL force envs (#2)

* add monitor compatibility

* add force envs

* reduce RARL parambounds as in original paper

* after pre-commit

* remove typo

* add more params bound

* flake8 increase max-complexity

.gitignore

@@ -159,3 +159,5 @@ cython_debug/
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 .idea/
 .vscode/
+sandbox/
+*.mp4

.pre-commit-config.yaml

@@ -27,7 +27,7 @@ repos:
         args:
           - '--per-file-ignores=*/__init__.py:F401'
           - --ignore=E203,W503,E741
-          - --max-complexity=30
+          - --max-complexity=45
           - --max-line-length=456
           - --show-source
           - --statistics

pyproject.toml

@@ -28,6 +28,7 @@ dependencies = [
     "mujoco-py<2.2,>=2.1",
     "numpy>=1.21.0",
     "gymnasium>=0.26",
+    "moviepy>=1.0.3",
 ]
 dynamic = ["version"]
 

rrls/__init__.py

@@ -57,6 +57,42 @@ def register_robotics_envs():
         order_enforce=False,
         disable_env_checker=True,
     )
+    register(
+        id="rrls/force-ant-v0",
+        entry_point="rrls.envs.ant:ForceAnt",
+        order_enforce=False,
+        disable_env_checker=True,
+    )
+    register(
+        id="rrls/force-halfcheetah-v0",
+        entry_point="rrls.envs.half_cheetah:ForceHalfCheetah",
+        order_enforce=False,
+        disable_env_checker=True,
+    )
+    register(
+        id="rrls/force-hopper-v0",
+        entry_point="rrls.envs.hopper:ForceHopper",
+        order_enforce=False,
+        disable_env_checker=True,
+    )
+    register(
+        id="rrls/force-humanoidstandup-v0",
+        entry_point="rrls.envs.humanoid:ForceHumanoidStandUp",
+        order_enforce=False,
+        disable_env_checker=True,
+    )
+    register(
+        id="rrls/force-invertedpendulum-v0",
+        entry_point="rrls.envs.pendulum:ForceInvertedPendulum",
+        order_enforce=False,
+        disable_env_checker=True,
+    )
+    register(
+        id="rrls/force-walker-v0",
+        entry_point="rrls.envs.walker:ForceWalker2d",
+        order_enforce=False,
+        disable_env_checker=True,
+    )
 
     # Advserarial environments
     # HalfCheetah
@@ -127,6 +163,73 @@ def register_robotics_envs():
             "params_bound": envs.AntParamsBound.ONE_DIM.value,
         },
     )
+    register(
+        id="rrls/robust-ant-adversarial-forces-v0",
+        entry_point=make_wrapped_env,  # type: ignore
+        order_enforce=False,
+        disable_env_checker=True,
+        kwargs={
+            "cls_env": envs.ForceAnt,
+            "wrapper": wrappers.DynamicAdversarial,
+            "params_bound": envs.AntParamsBound.RARL.value,
+        },
+    )
+    register(
+        id="rrls/robust-halfcheetah-adversarial-forces-v0",
+        entry_point=make_wrapped_env,  # type: ignore
+        order_enforce=False,
+        disable_env_checker=True,
+        kwargs={
+            "cls_env": envs.ForceHalfCheetah,
+            "wrapper": wrappers.DynamicAdversarial,
+            "params_bound": envs.HalfCheetahParamsBound.RARL.value,
+        },
+    )
+    register(
+        id="rrls/robust-hopper-adversarial-forces-v0",
+        entry_point=make_wrapped_env,  # type: ignore
+        order_enforce=False,
+        disable_env_checker=True,
+        kwargs={
+            "cls_env": envs.ForceHopper,
+            "wrapper": wrappers.DynamicAdversarial,
+            "params_bound": envs.HopperParamsBound.RARL.value,
+        },
+    )
+    register(
+        id="rrls/robust-humanoidstandup-adversarial-forces-v0",
+        entry_point=make_wrapped_env,  # type: ignore
+        order_enforce=False,
+        disable_env_checker=True,
+        kwargs={
+            "cls_env": envs.ForceHumanoidStandUp,
+            "wrapper": wrappers.DynamicAdversarial,
+            "params_bound": envs.HumanoidStandupParamsBound.RARL.value,
+        },
+    )
+    register(
+        id="rrls/robust-invertedpendulum-adversarial-forces-v0",
+        entry_point=make_wrapped_env,  # type: ignore
+        order_enforce=False,
+        disable_env_checker=True,
+        kwargs={
+            "cls_env": envs.ForceInvertedPendulum,
+            "wrapper": wrappers.DynamicAdversarial,
+            "params_bound": envs.InvertedPendulumParamsBound.RARL.value,
+        },
+    )
+    register(
+        id="rrls/robust-walker-adversarial-forces-v0",
+        entry_point=make_wrapped_env,  # type: ignore
+        order_enforce=False,
+        disable_env_checker=True,
+        kwargs={
+            "cls_env": envs.ForceWalker2d,
+            "wrapper": wrappers.DynamicAdversarial,
+            "params_bound": envs.Walker2dParamsBound.RARL.value,
+        },
+    )
+
     # Hopper
     register(
         id="rrls/robust-hopper-adversarial-3d-v0",

rrls/envs/__init__.py

@@ -1,11 +1,19 @@
 from __future__ import annotations
 
-from .ant import AntParamsBound, RobustAnt
-from .half_cheetah import HalfCheetahParamsBound, RobustHalfCheetah
-from .hopper import HopperParamsBound, RobustHopper
-from .humanoid import HumanoidStandupParamsBound, RobustHumanoidStandUp
-from .pendulum import InvertedPendulumParamsBound, RobustInvertedPendulum
-from .walker import RobustWalker2d, Walker2dParamsBound
+from .ant import AntParamsBound, ForceAnt, RobustAnt
+from .half_cheetah import ForceHalfCheetah, HalfCheetahParamsBound, RobustHalfCheetah
+from .hopper import ForceHopper, HopperParamsBound, RobustHopper
+from .humanoid import (
+    ForceHumanoidStandUp,
+    HumanoidStandupParamsBound,
+    RobustHumanoidStandUp,
+)
+from .pendulum import (
+    ForceInvertedPendulum,
+    InvertedPendulumParamsBound,
+    RobustInvertedPendulum,
+)
+from .walker import ForceWalker2d, RobustWalker2d, Walker2dParamsBound
 
 __all__ = [
     "AntParamsBound",
@@ -20,4 +28,10 @@
     "RobustHumanoidStandUp",
     "RobustInvertedPendulum",
     "RobustWalker2d",
+    "ForceAnt",
+    "ForceHalfCheetah",
+    "ForceHopper",
+    "ForceHumanoidStandUp",
+    "ForceInvertedPendulum",
+    "ForceWalker2d",
 ]