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first commit: Mujoco Reacher 5 links

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Vien Ngo 2020-08-28 15:48:34 +02:00
commit 246fa16326
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.idea/inspectionProfiles/profiles_settings.xml Normal file
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<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

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.idea/modules.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/test.iml" filepath="$PROJECT_DIR$/.idea/test.iml" />
</modules>
</component>
</project>

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.idea/test.iml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="jdk" jdkName="Python 3.7 (trustpo)" jdkType="Python SDK" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>

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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectId" id="1f34JcS8cW6etuDYcTUPuS96rln" />
<component name="PropertiesComponent">
<property name="settings.editor.selected.configurable" value="com.jetbrains.python.configuration.PyActiveSdkModuleConfigurable" />
</component>
</project>

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MUJOCO_LOG.TXT Normal file
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Fri Aug 28 14:41:56 2020
ERROR: GLEW initalization error: Missing GL version
Fri Aug 28 14:59:14 2020
ERROR: GLEW initalization error: Missing GL version
Fri Aug 28 15:03:43 2020
ERROR: GLEW initalization error: Missing GL version
Fri Aug 28 15:07:03 2020
ERROR: GLEW initalization error: Missing GL version
Fri Aug 28 15:15:01 2020
ERROR: GLEW initalization error: Missing GL version

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reacher.egg-info/PKG-INFO Normal file
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Metadata-Version: 1.0
Name: reacher
Version: 0.0.1
Summary: UNKNOWN
Home-page: UNKNOWN
Author: UNKNOWN
Author-email: UNKNOWN
License: UNKNOWN
Description: UNKNOWN
Platform: UNKNOWN

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reacher.egg-info/SOURCES.txt Normal file
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setup.py
reacher.egg-info/PKG-INFO
reacher.egg-info/SOURCES.txt
reacher.egg-info/dependency_links.txt
reacher.egg-info/requires.txt
reacher.egg-info/top_level.txt

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reacher.egg-info/dependency_links.txt Normal file
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reacher.egg-info/requires.txt Normal file
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gym

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reacher.egg-info/top_level.txt Normal file
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reacher/__init__.py Normal file
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from gym.envs.registration import register
register(
id='ReacherALREnv-v0',
entry_point='reacher.envs:ReacherALREnv',
)

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reacher/envs/__init__.py Normal file
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from reacher.envs.reacher_env import ReacherALREnv

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reacher/envs/reacher_5links.xml Normal file
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<mujoco model="reacher">
<compiler angle="radian" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
<worldbody>
<!-- Arena -->
<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
<geom conaffinity="0" fromto="-.6 -.6 .01 .6 -.6 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<geom conaffinity="0" fromto=" .6 -.6 .01 .6 .6 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<geom conaffinity="0" fromto="-.6 .6 .01 .6 .6 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<geom conaffinity="0" fromto="-.6 -.6 .01 -.6 .6 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
<!-- Arm -->
<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
<body name="body0" pos="0 0 .01">
<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
<body name="body1" pos="0.1 0 0">
<joint axis="0 0 1" limited="false" name="joint1" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="body2" pos="0.1 0 0">
<joint axis="0 0 1" limited="false" name="joint2" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link2" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="body3" pos="0.1 0 0">
<joint axis="0 0 1" limited="false" name="joint3" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link3" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="body4" pos="0.1 0 0">
<joint axis="0 0 1" limited="true" name="joint4" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link4" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="fingertip" pos="0.11 0 0">
<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
</body>
</body>
</body>
</body>
</body>
</body>
<!-- Target -->
<body name="target" pos=".1 -.1 .01">
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint2"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint3"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint4"/>
</actuator>
</mujoco>

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reacher/envs/reacher_env.py Normal file
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import numpy as np
from gym import utils
from gym.envs.mujoco import mujoco_env
class ReacherALREnv(mujoco_env.MujocoEnv, utils.EzPickle):
def __init__(self):
utils.EzPickle.__init__(self)
mujoco_env.MujocoEnv.__init__(self, '/home/vien/git/reacher_test/reacher/envs/reacher_5links.xml', 2)
def step(self, a):
vec = self.get_body_com("fingertip")-self.get_body_com("target")
reward_dist = - np.linalg.norm(vec)
reward_ctrl = - np.square(a).sum()
reward = reward_dist + reward_ctrl
self.do_simulation(a, self.frame_skip)
ob = self._get_obs()
done = False
return ob, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
def viewer_setup(self):
self.viewer.cam.trackbodyid = 0
def reset_model(self):
qpos = self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq) + self.init_qpos
while True:
self.goal = self.np_random.uniform(low=-.2, high=.2, size=2)
if np.linalg.norm(self.goal) < 0.2:
break
qpos[-2:] = self.goal
qvel = self.init_qvel + self.np_random.uniform(low=-.005, high=.005, size=self.model.nv)
qvel[-2:] = 0
self.set_state(qpos, qvel)
return self._get_obs()
def _get_obs(self):
theta = self.sim.data.qpos.flat[:5]
return np.concatenate([
np.cos(theta),
np.sin(theta),
self.sim.data.qpos.flat[5:], # this is goal position
self.sim.data.qvel.flat[:5], # this is angular velocity
self.get_body_com("fingertip") - self.get_body_com("target")
])

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setup.py Normal file
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from setuptools import setup
setup(name='reacher',
version='0.0.1',
install_requires=['gym'] # And any other dependencies foo needs
)

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test.py Normal file
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import gym
if __name__ == "__main__":
env = gym.make('reacher:ReacherALREnv-v0')
#env = gym.make('Hopper-v2')
env.reset()
for i in range(10000):
action = env.action_space.sample()
obs = env.step(action)
print("step",i)
env.render()