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fix tt issues -> context + traj.length

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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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39
alr_envs/alr/__init__.py
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@ -236,6 +236,17 @@ register(
} }
) )
# Beerpong devel big table
register(
id='ALRBeerPong-v3',
entry_point='alr_envs.alr.mujoco:ALRBeerBongEnv',
max_episode_steps=600,
kwargs={
"rndm_goal": True,
"cup_goal_pos": [-0.3, -1.2]
}
)
# Motion Primitive Environments # Motion Primitive Environments
## Simple Reacher ## Simple Reacher
@ -402,6 +413,32 @@ for _v in _versions:
) )
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id) ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
## Beerpong- Big table devel
register(
id='BeerpongProMP-v3',
entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
kwargs={
"name": f"alr_envs:ALRBeerPong-v3",
"wrappers": [mujoco.beerpong.MPWrapper],
"mp_kwargs": {
"num_dof": 7,
"num_basis": 5,
"duration": 1,
"post_traj_time": 2,
"policy_type": "motor",
"weights_scale": 1,
"zero_start": True,
"zero_goal": False,
"policy_kwargs": {
"p_gains": np.array([ 1.5, 5, 2.55, 3, 2., 2, 1.25]),
"d_gains": np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125])
}
}
}
)
ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append('BeerpongProMP-v3')
## Table Tennis ## Table Tennis
ctxt_dim = [2, 4] ctxt_dim = [2, 4]
for _v, cd in enumerate(ctxt_dim): for _v, cd in enumerate(ctxt_dim):
@ -416,7 +453,7 @@ for _v, cd in enumerate(ctxt_dim):
"num_dof": 7, "num_dof": 7,
"num_basis": 2, "num_basis": 2,
"duration": 1.25, "duration": 1.25,
"post_traj_time": 4.5, "post_traj_time": 1.5,
"policy_type": "motor", "policy_type": "motor",
"weights_scale": 1.0, "weights_scale": 1.0,
"zero_start": True, "zero_start": True,

11
alr_envs/alr/mujoco/beerpong/assets/beerpong_wo_cup.xml
View File

@ -132,18 +132,19 @@
</body> </body>
</body> </body>
</body> </body>
<body name="table_body" pos="0 -1.85 0.4025"> <body name="table_body" pos="0 -2.8 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" <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"/> 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"/> solref="-10000 -100"/>
</body> </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" <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"/> 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"/> 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" /> <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_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"/> <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"/>

7
alr_envs/alr/mujoco/beerpong/beerpong.py
View File

@ -7,8 +7,11 @@ from gym.envs.mujoco import MujocoEnv
from alr_envs.alr.mujoco.beerpong.beerpong_reward_staged import BeerPongReward from alr_envs.alr.mujoco.beerpong.beerpong_reward_staged import BeerPongReward
CUP_POS_MIN = np.array([-0.32, -2.2]) # CUP_POS_MIN = np.array([-0.32, -2.2])
CUP_POS_MAX = np.array([0.32, -1.2]) # 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): class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):

6
alr_envs/alr/mujoco/table_tennis/mp_wrapper.py
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@ -11,9 +11,9 @@ class MPWrapper(MPEnvWrapper):
def active_obs(self): def active_obs(self):
# TODO: @Max Filter observations correctly # TODO: @Max Filter observations correctly
return np.hstack([ return np.hstack([
[True] * 7, # Joint Pos [False] * 7, # Joint Pos
[True] * 3, # Ball pos [True] * 2, # Ball pos
[True] * 3 # goal pos [True] * 2 # goal pos
]) ])
@property @property

8
alr_envs/alr/mujoco/table_tennis/tt_gym.py
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@ -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 #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_CONTACT = "target_ball_contact"
BALL_NAME = "target_ball" BALL_NAME = "target_ball"
TABLE_NAME = 'table_tennis_table' TABLE_NAME = 'table_tennis_table'
@ -76,10 +77,11 @@ class TTEnvGym(MujocoEnv, utils.EzPickle):
self._ids_set = True self._ids_set = True
def _get_obs(self): 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 obs = np.concatenate([self.sim.data.qpos[:7].copy(), # 7 joint positions
ball_pos, ball_pos,
self.goal.copy()]) goal_pos])
return obs return obs
def sample_context(self): def sample_context(self):

2
setup.py
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@ -7,7 +7,7 @@ setup(
install_requires=[ install_requires=[
'gym', 'gym',
'PyQt5', 'PyQt5',
'matplotlib', #'matplotlib',
#'mp_env_api @ git+https://github.com/ALRhub/motion_primitive_env_api.git', #'mp_env_api @ git+https://github.com/ALRhub/motion_primitive_env_api.git',
# 'mp_env_api @ git+ssh://git@github.com/ALRhub/motion_primitive_env_api.git', # 'mp_env_api @ git+ssh://git@github.com/ALRhub/motion_primitive_env_api.git',
'mujoco-py<2.1,>=2.0', 'mujoco-py<2.1,>=2.0',