added simple reacher task
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ottofabian
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from alr_envs.mujoco.alr_reacher import ALRReacherEnv
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import numpy as np
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import os
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from gym import utils
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from gym.envs.mujoco import mujoco_env
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class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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def __init__(self):
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utils.EzPickle.__init__(self)
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mujoco_env.MujocoEnv.__init__(self, os.path.join(os.path.dirname(__file__), "assets", 'reacher_5links.xml'), 2)
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def step(self, a):
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vec = self.get_body_com("fingertip") - self.get_body_com("target")
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reward_dist = - np.linalg.norm(vec)
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reward_ctrl = - np.square(a).sum()
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reward = reward_dist + reward_ctrl
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self.do_simulation(a, self.frame_skip)
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ob = self._get_obs()
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done = False
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return ob, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
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def viewer_setup(self):
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self.viewer.cam.trackbodyid = 0
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def reset_model(self):
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qpos = self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq) + self.init_qpos
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while True:
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self.goal = self.np_random.uniform(low=-.2, high=.2, size=2)
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if np.linalg.norm(self.goal) < 0.2:
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break
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qpos[-2:] = self.goal
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qvel = self.init_qvel + self.np_random.uniform(low=-.005, high=.005, size=self.model.nv)
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qvel[-2:] = 0
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self.set_state(qpos, qvel)
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return self._get_obs()
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def _get_obs(self):
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theta = self.sim.data.qpos.flat[:5]
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return np.concatenate([
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np.cos(theta),
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np.sin(theta),
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self.sim.data.qpos.flat[5:], # this is goal position
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self.sim.data.qvel.flat[:5], # this is angular velocity
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self.get_body_com("fingertip") - self.get_body_com("target")
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])
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<mujoco model="reacher">
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<compiler angle="radian" inertiafromgeom="true"/>
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<default>
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<joint armature="1" damping="1" limited="true"/>
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<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
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</default>
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<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
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<worldbody>
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<!-- Arena -->
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<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"/>
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<geom conaffinity="0" fromto="-.6 -.6 .01 .6 -.6 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
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<geom conaffinity="0" fromto=" .6 -.6 .01 .6 .6 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
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<geom conaffinity="0" fromto="-.6 .6 .01 .6 .6 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
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<geom conaffinity="0" fromto="-.6 -.6 .01 -.6 .6 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
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<!-- Arm -->
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<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"/>
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<body name="body0" pos="0 0 .01">
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<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
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<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
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<body name="body1" pos="0.1 0 0">
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<joint axis="0 0 1" limited="false" name="joint1" pos="0 0 0" type="hinge"/>
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<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
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<body name="body2" pos="0.1 0 0">
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<joint axis="0 0 1" limited="false" name="joint2" pos="0 0 0" type="hinge"/>
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<geom fromto="0 0 0 0.1 0 0" name="link2" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
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<body name="body3" pos="0.1 0 0">
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<joint axis="0 0 1" limited="false" name="joint3" pos="0 0 0" type="hinge"/>
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<geom fromto="0 0 0 0.1 0 0" name="link3" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
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<body name="body4" pos="0.1 0 0">
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<joint axis="0 0 1" limited="true" name="joint4" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
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<geom fromto="0 0 0 0.1 0 0" name="link4" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
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<body name="fingertip" pos="0.11 0 0">
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<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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<!-- Target -->
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<body name="target" pos=".1 -.1 .01">
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<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"/>
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<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"/>
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<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
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</body>
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</worldbody>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint2"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint3"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint4"/>
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</actuator>
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</mujoco>
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