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fix tt issues -> context + traj.length

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This commit is contained in:
Onur
2022-02-08 09:50:01 +01:00
parent 66be0b1e02
commit 2a27f59e50
6 changed files with 58 additions and 15 deletions
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alr_envs/alr/mujoco/beerpong/assets/beerpong_wo_cup.xml
+6 -5
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@@ -132,18 +132,19 @@
</body>
</body>
</body>
<body name="table_body" pos="0 -1.85 0.4025">
<geom name="table" type="box" size="0.4 0.6 0.4" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
<body name="table_body" pos="0 -2.8 0.4025">
<geom name="table" type="box" size="1.5 1.5 0.4" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
<geom name="table_contact_geom" type="box" size="0.4 0.6 0.1" pos="0 0 0.31" rgba="1.4 0.8 0.45 1" solimp="0.999 0.999 0.001"
<geom name="table_contact_geom" type="box" size="1.5 1.5 0.1" pos="0 0 0.31" rgba="1.4 0.8 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
</body>
<geom name="table_robot" type="box" size="0.1 0.1 0.3" pos="0 0.00 0.3025" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
<geom name="wall" type="box" quat="1 0 0 0" size="0.4 0.04 1.1" pos="0. -2.45 1.1" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
<geom name="wall" type="box" quat="1 0 0 0" size="1.5 0.04 1.4" pos="0. -4.3 1.4" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
<body name="cup_table" pos="0.32 -1.55 0.84" quat="0.7071068 0.7071068 0 0">
<!-- <body name="cup_table" pos="0.32 -1.55 0.84" quat="0.7071068 0.7071068 0 0">-->
<body name="cup_table" pos="1.42 -1.25 0.84" quat="0.7071068 0.7071068 0 0">
<inertial pos="-3.75236e-10 8.27811e-05 0.0947015" quat="0.999945 -0.0104888 0 0" mass="10.132" diaginertia="0.000285643 0.000270485 9.65696e-05" />
<geom priority= "1" name="cup_geom_table3" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup3_table" mass="10"/>
<geom priority= "1" name="cup_geom_table4" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup4_table" mass="10"/>
alr_envs/alr/mujoco/beerpong/beerpong.py
+5 -2
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@@ -7,8 +7,11 @@ from gym.envs.mujoco import MujocoEnv
from alr_envs.alr.mujoco.beerpong.beerpong_reward_staged import BeerPongReward
CUP_POS_MIN = np.array([-0.32, -2.2])
CUP_POS_MAX = np.array([0.32, -1.2])
# CUP_POS_MIN = np.array([-0.32, -2.2])
# CUP_POS_MAX = np.array([0.32, -1.2])
CUP_POS_MIN = np.array([-1.42, -4.05])
CUP_POS_MAX = np.array([1.42, -1.25])
class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
alr_envs/alr/mujoco/table_tennis/mp_wrapper.py
+3 -3
View File
@@ -11,9 +11,9 @@ class MPWrapper(MPEnvWrapper):
def active_obs(self):
# TODO: @Max Filter observations correctly
return np.hstack([
[True] * 7, # Joint Pos
[True] * 3, # Ball pos
[True] * 3 # goal pos
[False] * 7, # Joint Pos
[True] * 2, # Ball pos
[True] * 2 # goal pos
])
@property
alr_envs/alr/mujoco/table_tennis/tt_gym.py
+5 -3
View File
@@ -10,7 +10,8 @@ from alr_envs.alr.mujoco.table_tennis.tt_reward import TT_Reward
#TODO: Check for simulation stability. Make sure the code runs even for sim crash
MAX_EPISODE_STEPS = 1750
# MAX_EPISODE_STEPS = 1750
MAX_EPISODE_STEPS = 1375
BALL_NAME_CONTACT = "target_ball_contact"
BALL_NAME = "target_ball"
TABLE_NAME = 'table_tennis_table'
@@ -76,10 +77,11 @@ class TTEnvGym(MujocoEnv, utils.EzPickle):
self._ids_set = True
def _get_obs(self):
ball_pos = self.sim.data.body_xpos[self.ball_id]
ball_pos = self.sim.data.body_xpos[self.ball_id][:2].copy()
goal_pos = self.goal[:2].copy()
obs = np.concatenate([self.sim.data.qpos[:7].copy(), # 7 joint positions
ball_pos,
self.goal.copy()])
goal_pos])
return obs
def sample_context(self):