remove two table tennis and Ball in cup envs
This commit is contained in:
Fabian
parent
6704c9d63a
commit
3a989e179b
@ -1,23 +0,0 @@
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from typing import Union, Tuple
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import numpy as np
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from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
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class MPWrapper(RawInterfaceWrapper):
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@property
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def context_mask(self):
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return np.hstack([
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[False] * 111, # ant has 111 dimensional observation space !!
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[True] # goal height
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])
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@property
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def current_pos(self) -> Union[float, int, np.ndarray]:
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return self.env.sim.data.qpos[7:15].copy()
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@property
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def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
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return self.env.sim.data.qvel[6:14].copy()
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@ -1 +0,0 @@
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@ -1,21 +0,0 @@
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class AlrReward:
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"""
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A base class for non-Markovian reward functions which may need trajectory information to calculate an episodic
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reward. Call the methods in reset() and step() of the environment.
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"""
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# methods to override:
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# ----------------------------
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def reset(self, *args, **kwargs):
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"""
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Reset the reward function, empty state buffers before an episode, set contexts that influence reward, etc.
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"""
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raise NotImplementedError
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def compute_reward(self, *args, **kwargs):
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"""
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Returns: Useful things to return are reward values, success flags or crash flags
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"""
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raise NotImplementedError
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@ -1,361 +0,0 @@
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<mujoco model="wam(v1.31)">
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<compiler angle="radian" meshdir="../../meshes/wam/" />
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<option timestep="0.0005" integrator="Euler" />
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<size njmax="500" nconmax="100" />
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<default class="main">
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<joint limited="true" frictionloss="0.001" />
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<default class="viz">
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" />
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</default>
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<default class="col">
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<geom type="mesh" contype="0" rgba="0.5 0.6 0.7 1" />
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</default>
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</default>
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<asset>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.25 0.26 0.25" rgb2="0.22 0.22 0.22" markrgb="0.3 0.3 0.3" width="100" height="100" />
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<material name="MatGnd" texture="groundplane" texrepeat="5 5" specular="1" shininess="0.3" reflectance="1e-05" />
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<mesh name="base_link_fine" file="base_link_fine.stl" />
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<mesh name="base_link_convex" file="base_link_convex.stl" />
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<mesh name="shoulder_link_fine" file="shoulder_link_fine.stl" />
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<mesh name="shoulder_link_convex_decomposition_p1" file="shoulder_link_convex_decomposition_p1.stl" />
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<mesh name="shoulder_link_convex_decomposition_p2" file="shoulder_link_convex_decomposition_p2.stl" />
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<mesh name="shoulder_link_convex_decomposition_p3" file="shoulder_link_convex_decomposition_p3.stl" />
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<mesh name="shoulder_pitch_link_fine" file="shoulder_pitch_link_fine.stl" />
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<mesh name="shoulder_pitch_link_convex" file="shoulder_pitch_link_convex.stl" />
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<mesh name="upper_arm_link_fine" file="upper_arm_link_fine.stl" />
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<mesh name="upper_arm_link_convex_decomposition_p1" file="upper_arm_link_convex_decomposition_p1.stl" />
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<mesh name="upper_arm_link_convex_decomposition_p2" file="upper_arm_link_convex_decomposition_p2.stl" />
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<mesh name="elbow_link_fine" file="elbow_link_fine.stl" />
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<mesh name="elbow_link_convex" file="elbow_link_convex.stl" />
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<mesh name="forearm_link_fine" file="forearm_link_fine.stl" />
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<mesh name="forearm_link_convex_decomposition_p1" file="forearm_link_convex_decomposition_p1.stl" />
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<mesh name="forearm_link_convex_decomposition_p2" file="forearm_link_convex_decomposition_p2.stl" />
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<mesh name="wrist_yaw_link_fine" file="wrist_yaw_link_fine.stl" />
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<mesh name="wrist_yaw_link_convex_decomposition_p1" file="wrist_yaw_link_convex_decomposition_p1.stl" />
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<mesh name="wrist_yaw_link_convex_decomposition_p2" file="wrist_yaw_link_convex_decomposition_p2.stl" />
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<mesh name="wrist_pitch_link_fine" file="wrist_pitch_link_fine.stl" />
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<mesh name="wrist_pitch_link_convex_decomposition_p1" file="wrist_pitch_link_convex_decomposition_p1.stl" />
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<mesh name="wrist_pitch_link_convex_decomposition_p2" file="wrist_pitch_link_convex_decomposition_p2.stl" />
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<mesh name="wrist_pitch_link_convex_decomposition_p3" file="wrist_pitch_link_convex_decomposition_p3.stl" />
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<mesh name="wrist_palm_link_fine" file="wrist_palm_link_fine.stl" />
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<mesh name="wrist_palm_link_convex" file="wrist_palm_link_convex.stl" />
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<mesh name="cup1" file="cup_split1.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup2" file="cup_split2.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup3" file="cup_split3.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup4" file="cup_split4.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup5" file="cup_split5.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup6" file="cup_split6.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup7" file="cup_split7.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup8" file="cup_split8.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup9" file="cup_split9.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup10" file="cup_split10.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup11" file="cup_split11.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup12" file="cup_split12.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup13" file="cup_split13.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup14" file="cup_split14.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup15" file="cup_split15.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup16" file="cup_split16.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup17" file="cup_split17.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup18" file="cup_split18.stl" scale="0.001 0.001 0.001" />
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</asset>
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<worldbody>
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<geom name="ground" size="1.5 2 1" type="plane" material="MatGnd" />
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<light pos="0.1 0.2 1.3" dir="-0.0758098 -0.32162 -0.985527" directional="true" cutoff="60" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1" />
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<body name="wam/base_link" pos="0 0 0.6">
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<inertial pos="6.93764e-06 0.0542887 0.076438" quat="0.496481 0.503509 -0.503703 0.496255" mass="27.5544" diaginertia="0.432537 0.318732 0.219528" />
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<geom class="viz" quat="0.707107 0 0 -0.707107" mesh="base_link_fine" />
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<geom class="col" quat="0.707107 0 0 -0.707107" mesh="base_link_convex" />
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<body name="wam/shoulder_yaw_link" pos="0 0 0.16" quat="0.707107 0 0 -0.707107">
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<inertial pos="-0.00443422 -0.00066489 -0.12189" quat="0.999995 0.000984795 0.00270132 0.00136071" mass="10.7677" diaginertia="0.507411 0.462983 0.113271" />
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<joint name="wam/base_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.6 2.6" />
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<geom class="viz" pos="0 0 0.186" mesh="shoulder_link_fine" />
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<geom class="col" pos="0 0 0.186" mesh="shoulder_link_convex_decomposition_p1" />
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<geom class="col" pos="0 0 0.186" mesh="shoulder_link_convex_decomposition_p2" />
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<geom class="col" pos="0 0 0.186" mesh="shoulder_link_convex_decomposition_p3" />
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<body name="wam/shoulder_pitch_link" pos="0 0 0.184" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00236983 -0.0154211 0.0310561" quat="0.961781 -0.272983 0.0167269 0.0133385" mass="3.87494" diaginertia="0.0214207 0.0167101 0.0126465" />
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<joint name="wam/shoulder_pitch_joint" pos="0 0 0" axis="0 0 1" range="-1.985 1.985" />
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<geom class="viz" mesh="shoulder_pitch_link_fine" />
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<geom class="col" mesh="shoulder_pitch_link_convex" />
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<body name="wam/upper_arm_link" pos="0 -0.505 0" quat="0.707107 0.707107 0 0">
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<inertial pos="-0.0382586 3.309e-05 -0.207508" quat="0.705455 0.0381914 0.0383402 0.706686" mass="1.80228" diaginertia="0.0665697 0.0634285 0.00622701" />
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<joint name="wam/shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.8 2.8" />
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<geom class="viz" pos="0 0 -0.505" mesh="upper_arm_link_fine" />
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<geom class="col" pos="0 0 -0.505" mesh="upper_arm_link_convex_decomposition_p1" />
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<geom class="col" pos="0 0 -0.505" mesh="upper_arm_link_convex_decomposition_p2" />
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<body name="wam/forearm_link" pos="0.045 0 0.045" quat="0.707107 -0.707107 0 0">
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<inertial pos="0.00498512 -0.132717 -0.00022942" quat="0.546303 0.447151 -0.548676 0.447842" mass="2.40017" diaginertia="0.0196896 0.0152225 0.00749914" />
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<joint name="wam/elbow_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.9 3.14159" />
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<geom class="viz" mesh="elbow_link_fine" />
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<geom class="col" mesh="elbow_link_convex" />
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<geom class="viz" pos="-0.045 -0.073 0" quat="0.707388 0.706825 0 0" mesh="forearm_link_fine" />
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<geom class="col" pos="-0.045 -0.073 0" quat="0.707388 0.706825 0 0" mesh="forearm_link_convex_decomposition_p1" name="forearm_link_convex_decomposition_p1_geom" />
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<geom class="col" pos="-0.045 -0.073 0" quat="0.707388 0.706825 0 0" mesh="forearm_link_convex_decomposition_p2" name="forearm_link_convex_decomposition_p2_geom" />
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<body name="wam/wrist_yaw_link" pos="-0.045 0 0" quat="0.707107 0.707107 0 0">
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<inertial pos="8.921e-05 0.00435824 -0.00511217" quat="0.708528 -0.000120667 0.000107481 0.705683" mass="0.12376" diaginertia="0.0112011 0.0111887 7.58188e-05" />
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<joint name="wam/wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-4.55 1.25" />
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<geom class="viz" pos="0 0 0.3" mesh="wrist_yaw_link_fine" />
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<geom class="col" pos="0 0 0.3" mesh="wrist_yaw_link_convex_decomposition_p1" name="wrist_yaw_link_convex_decomposition_p1_geom" />
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<geom class="col" pos="0 0 0.3" mesh="wrist_yaw_link_convex_decomposition_p2" name="wrist_yaw_link_convex_decomposition_p2_geom" />
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<body name="wam/wrist_pitch_link" pos="0 0 0.3" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00012262 -0.0246834 -0.0170319" quat="0.994687 -0.102891 0.000824211 -0.00336105" mass="0.417974" diaginertia="0.000555166 0.000463174 0.00023407" />
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<joint name="wam/wrist_pitch_joint" pos="0 0 0" axis="0 0 1" range="-1.5707 1.5707" />
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<geom class="viz" mesh="wrist_pitch_link_fine" />
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<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p1" name="wrist_pitch_link_convex_decomposition_p1_geom" />
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<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p2" name="wrist_pitch_link_convex_decomposition_p2_geom" />
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<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p3" name="wrist_pitch_link_convex_decomposition_p3_geom" />
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<body name="wam/wrist_palm_link" pos="0 -0.06 0" quat="0.707107 0.707107 0 0">
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<inertial pos="-7.974e-05 -0.00323552 -0.00016313" quat="0.594752 0.382453 0.382453 0.594752" mass="0.0686475" diaginertia="7.408e-05 3.81466e-05 3.76434e-05" />
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<joint name="wam/palm_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" />
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<geom class="viz" pos="0 0 -0.06" mesh="wrist_palm_link_fine" />
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<geom class="col" pos="0 0 -0.06" mesh="wrist_palm_link_convex" name="wrist_palm_link_convex_geom" />
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<body name="cup" pos="0 0 0" quat="-0.000203673 0 0 1">
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<inertial pos="-3.75236e-10 8.27811e-05 0.0947015" quat="0.999945 -0.0104888 0 0" mass="0.132" diaginertia="0.000285643 0.000270485 9.65696e-05" />
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<geom name="cup_geom1" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup1" />
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<geom name="cup_geom2" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup2" />
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<geom name="cup_geom3" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup3" />
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<geom name="cup_geom4" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup4" />
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<geom name="cup_geom5" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup5" />
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<geom name="cup_geom6" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup6" />
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<geom name="cup_geom7" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup7" />
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<geom name="cup_geom8" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup8" />
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<geom name="cup_geom9" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup9" />
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<geom name="cup_geom10" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup10" />
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<geom name="cup_base" pos="0 -0.035 0.1165" euler="-1.57 0 0" type="cylinder" size="0.038 0.0045" solref="-10000 -100"/>
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<!-- <geom name="cup_base_contact" pos="0 -0.025 0.1165" euler="-1.57 0 0" type="cylinder" size="0.03 0.0005" solref="-10000 -100" rgba="0 0 255 1"/>-->
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<geom name="cup_base_contact" pos="0 -0.005 0.1165" euler="-1.57 0 0" type="cylinder" size="0.02 0.0005" solref="-10000 -100" rgba="0 0 255 1"/>
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<geom name="cup_base_contact_below" pos="0 -0.04 0.1165" euler="-1.57 0 0" type="cylinder" size="0.035 0.001" solref="-10000 -100" rgba="255 0 255 1"/>
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<!-- <geom name="cup_geom11" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup11" />-->
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<!-- <geom name="cup_geom12" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup12" />-->
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<!-- <geom name="cup_geom13" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup13" />-->
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<!-- <geom name="cup_geom14" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup14" />-->
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<geom name="cup_geom15" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup15" />
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<geom name="cup_geom16" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup16" />
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<geom name="cup_geom17" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup17" />
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<geom name="cup_geom18" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup18" />
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<site name="cup_goal" pos="0 0.05 0.1165" rgba="255 0 0 1"/>
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<site name="cup_goal_final" pos="0 -0.025 0.1165" rgba="0 255 0 1"/>
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<body name="B0" pos="0 -0.045 0.1165" quat="0.707388 0 0 -0.706825">
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<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
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<geom name="G0" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
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<body name="B1" pos="0.0107 0 0">
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<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
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<joint name="J0_1" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
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<joint name="J1_1" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
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<geom name="G1" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
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<body name="B2" pos="0.0107 0 0">
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<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
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<joint name="J0_2" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
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<joint name="J1_2" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
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<geom name="G2" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
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<body name="B3" pos="0.0107 0 0">
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<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
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<joint name="J0_3" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
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<joint name="J1_3" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
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<geom name="G3" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
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<body name="B4" pos="0.0107 0 0">
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<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
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<joint name="J0_4" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
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|
||||
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|
||||
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||||
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|
||||
<joint name="J0_5" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_5" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G5" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
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||||
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|
||||
<joint name="J0_6" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_6" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G6" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
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||||
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|
||||
<joint name="J0_7" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_7" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G7" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B8" pos="0.0107 0 0">
|
||||
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|
||||
<joint name="J0_8" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_8" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G8" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B9" pos="0.0107 0 0">
|
||||
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|
||||
<joint name="J0_9" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_9" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G9" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B10" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_10" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_10" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G10" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B11" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_11" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_11" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G11" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B12" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_12" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_12" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G12" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B13" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_13" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_13" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G13" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B14" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_14" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_14" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G14" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B15" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_15" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_15" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G15" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B16" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_16" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_16" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G16" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B17" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_17" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_17" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G17" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B18" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_18" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_18" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G18" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B19" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_19" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_19" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G19" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B20" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_20" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_20" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G20" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B21" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_21" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_21" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G21" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B22" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_22" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_22" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G22" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B23" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_23" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_23" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G23" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B24" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_24" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_24" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G24" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B25" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_25" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_25" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G25" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B26" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_26" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_26" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G26" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B27" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_27" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_27" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G27" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B28" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_28" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_28" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G28" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B29" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_29" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_29" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G29" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="ball">
|
||||
<geom name="ball_geom" type="sphere" size="0.02" mass="0.015" rgba="0.8 0.2 0.1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- <site name="context_point" pos="-0.20869846 -0.66376693 1.18088501" euler="-1.57 0 0" size="0.015" rgba="1 0 0 0.6" type="sphere"/>-->
|
||||
<!-- <site name="context_point1" pos="-0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_point2" pos="-0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_point3" pos="-0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_point4" pos="-0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_point5" pos="0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_point6" pos="0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_point7" pos="0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_point8" pos="0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
|
||||
<!-- <site name="context_space" pos="0 -0.6 1.1165" euler="0 0 0" size="0.5 0.25 0.3" rgba="0 0 1 0.15" type="box"/>-->
|
||||
<camera name="visualization" mode="targetbody" target="wam/wrist_yaw_link" pos="1.5 -0.4 2.2"/>
|
||||
<camera name="experiment" mode="fixed" quat="0.44418059 0.41778323 0.54301123 0.57732103" pos="1.5 -0.3 1.33" />
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<!-- <motor ctrllimited="true" ctrlrange="-150 150" joint="wam/base_yaw_joint"/>-->
|
||||
<!-- <motor ctrllimited="true" ctrlrange="-125 125" joint="wam/shoulder_pitch_joint"/>-->
|
||||
<!-- <motor ctrllimited="true" ctrlrange="-40 40" joint="wam/shoulder_yaw_joint"/>-->
|
||||
<!-- <motor ctrllimited="true" ctrlrange="-60 60" joint="wam/elbow_pitch_joint"/>-->
|
||||
<!-- <motor ctrllimited="true" ctrlrange="-5 5" joint="wam/wrist_yaw_joint"/>-->
|
||||
<!-- <motor ctrllimited="true" ctrlrange="-5 5" joint="wam/wrist_pitch_joint"/>-->
|
||||
<!-- <motor ctrllimited="true" ctrlrange="-2 2" joint="wam/palm_yaw_joint"/>-->
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0" joint="wam/base_yaw_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="125.0" joint="wam/shoulder_pitch_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="40.0" joint="wam/shoulder_yaw_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="60.0" joint="wam/elbow_pitch_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0" joint="wam/wrist_yaw_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0" joint="wam/wrist_pitch_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wam/palm_yaw_joint"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@ -1,195 +0,0 @@
|
||||
from gym import utils
|
||||
import os
|
||||
import numpy as np
|
||||
from gym.envs.mujoco import MujocoEnv
|
||||
|
||||
|
||||
class ALRBallInACupEnv(MujocoEnv, utils.EzPickle):
|
||||
def __init__(
|
||||
self, n_substeps=4, apply_gravity_comp=True, simplified: bool = False,
|
||||
reward_type: str = None, context: np.ndarray = None
|
||||
):
|
||||
utils.EzPickle.__init__(**locals())
|
||||
self._steps = 0
|
||||
|
||||
self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets", "biac_base.xml")
|
||||
|
||||
self._q_pos = []
|
||||
self._q_vel = []
|
||||
# self.weight_matrix_scale = 50
|
||||
self.max_ctrl = np.array([150., 125., 40., 60., 5., 5., 2.])
|
||||
|
||||
self.j_min = np.array([-2.6, -1.985, -2.8, -0.9, -4.55, -1.5707, -2.7])
|
||||
self.j_max = np.array([2.6, 1.985, 2.8, 3.14159, 1.25, 1.5707, 2.7])
|
||||
|
||||
self.context = context
|
||||
|
||||
alr_mujoco_env.AlrMujocoEnv.__init__(self, self.xml_path, apply_gravity_comp=apply_gravity_comp,
|
||||
n_substeps=n_substeps)
|
||||
self._start_pos = np.array([0.0, 0.58760536, 0.0, 1.36004913, 0.0, -0.32072943, -1.57])
|
||||
self._start_vel = np.zeros(7)
|
||||
|
||||
self.simplified = simplified
|
||||
|
||||
self.sim_time = 8 # seconds
|
||||
self.sim_steps = int(self.sim_time / self.dt)
|
||||
if reward_type == "no_context":
|
||||
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward_simple import BallInACupReward
|
||||
reward_function = BallInACupReward
|
||||
elif reward_type == "contextual_goal":
|
||||
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
|
||||
reward_function = BallInACupReward
|
||||
else:
|
||||
raise ValueError("Unknown reward type: {}".format(reward_type))
|
||||
self.reward_function = reward_function(self.sim_steps)
|
||||
|
||||
@property
|
||||
def start_pos(self):
|
||||
if self.simplified:
|
||||
return self._start_pos[1::2]
|
||||
else:
|
||||
return self._start_pos
|
||||
|
||||
@property
|
||||
def start_vel(self):
|
||||
if self.simplified:
|
||||
return self._start_vel[1::2]
|
||||
else:
|
||||
return self._start_vel
|
||||
|
||||
@property
|
||||
def current_pos(self):
|
||||
return self.sim.data.qpos[0:7].copy()
|
||||
|
||||
@property
|
||||
def current_vel(self):
|
||||
return self.sim.data.qvel[0:7].copy()
|
||||
|
||||
def reset(self):
|
||||
self.reward_function.reset(None)
|
||||
return super().reset()
|
||||
|
||||
def reset_model(self):
|
||||
init_pos_all = self.init_qpos.copy()
|
||||
init_pos_robot = self._start_pos
|
||||
init_vel = np.zeros_like(init_pos_all)
|
||||
|
||||
self._steps = 0
|
||||
self._q_pos = []
|
||||
self._q_vel = []
|
||||
|
||||
start_pos = init_pos_all
|
||||
start_pos[0:7] = init_pos_robot
|
||||
|
||||
self.set_state(start_pos, init_vel)
|
||||
|
||||
return self._get_obs()
|
||||
|
||||
def step(self, a):
|
||||
reward_dist = 0.0
|
||||
angular_vel = 0.0
|
||||
reward_ctrl = - np.square(a).sum()
|
||||
|
||||
crash = self.do_simulation(a)
|
||||
# joint_cons_viol = self.check_traj_in_joint_limits()
|
||||
|
||||
self._q_pos.append(self.sim.data.qpos[0:7].ravel().copy())
|
||||
self._q_vel.append(self.sim.data.qvel[0:7].ravel().copy())
|
||||
|
||||
ob = self._get_obs()
|
||||
|
||||
if not crash:
|
||||
reward, success, is_collided = self.reward_function.compute_reward(a, self)
|
||||
done = success or self._steps == self.sim_steps - 1 or is_collided
|
||||
self._steps += 1
|
||||
else:
|
||||
reward = -2000
|
||||
success = False
|
||||
is_collided = False
|
||||
done = True
|
||||
return ob, reward, done, dict(reward_dist=reward_dist,
|
||||
reward_ctrl=reward_ctrl,
|
||||
velocity=angular_vel,
|
||||
# traj=self._q_pos,
|
||||
action=a,
|
||||
q_pos=self.sim.data.qpos[0:7].ravel().copy(),
|
||||
q_vel=self.sim.data.qvel[0:7].ravel().copy(),
|
||||
is_success=success,
|
||||
is_collided=is_collided, sim_crash=crash)
|
||||
|
||||
def check_traj_in_joint_limits(self):
|
||||
return any(self.current_pos > self.j_max) or any(self.current_pos < self.j_min)
|
||||
|
||||
# TODO: extend observation space
|
||||
def _get_obs(self):
|
||||
theta = self.sim.data.qpos.flat[:7]
|
||||
return np.concatenate([
|
||||
np.cos(theta),
|
||||
np.sin(theta),
|
||||
# self.get_body_com("target"), # only return target to make problem harder
|
||||
[self._steps],
|
||||
])
|
||||
|
||||
# TODO
|
||||
@property
|
||||
def active_obs(self):
|
||||
return np.hstack([
|
||||
[False] * 7, # cos
|
||||
[False] * 7, # sin
|
||||
# [True] * 2, # x-y coordinates of target distance
|
||||
[False] # env steps
|
||||
])
|
||||
|
||||
# These functions are for the task with 3 joint actuations
|
||||
def extend_des_pos(self, des_pos):
|
||||
des_pos_full = self._start_pos.copy()
|
||||
des_pos_full[1] = des_pos[0]
|
||||
des_pos_full[3] = des_pos[1]
|
||||
des_pos_full[5] = des_pos[2]
|
||||
return des_pos_full
|
||||
|
||||
def extend_des_vel(self, des_vel):
|
||||
des_vel_full = self._start_vel.copy()
|
||||
des_vel_full[1] = des_vel[0]
|
||||
des_vel_full[3] = des_vel[1]
|
||||
des_vel_full[5] = des_vel[2]
|
||||
return des_vel_full
|
||||
|
||||
def render(self, render_mode, **render_kwargs):
|
||||
if render_mode == "plot_trajectory":
|
||||
if self._steps == 1:
|
||||
import matplotlib.pyplot as plt
|
||||
# plt.ion()
|
||||
self.fig, self.axs = plt.subplots(3, 1)
|
||||
|
||||
if self._steps <= 1750:
|
||||
for ax, cp in zip(self.axs, self.current_pos[1::2]):
|
||||
ax.scatter(self._steps, cp, s=2, marker=".")
|
||||
|
||||
# self.fig.show()
|
||||
|
||||
else:
|
||||
super().render(render_mode, **render_kwargs)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
env = ALRBallInACupEnv()
|
||||
ctxt = np.array([-0.20869846, -0.66376693, 1.18088501])
|
||||
|
||||
env.configure(ctxt)
|
||||
env.reset()
|
||||
# env.render()
|
||||
for i in range(16000):
|
||||
# test with random actions
|
||||
ac = 0.001 * env.action_space.sample()[0:7]
|
||||
# ac = env.start_pos
|
||||
# ac[0] += np.pi/2
|
||||
obs, rew, d, info = env.step(ac)
|
||||
# env.render()
|
||||
|
||||
print(rew)
|
||||
|
||||
if d:
|
||||
break
|
||||
|
||||
env.close()
|
||||
@ -1,42 +0,0 @@
|
||||
from typing import Tuple, Union
|
||||
|
||||
import numpy as np
|
||||
|
||||
from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
|
||||
|
||||
|
||||
class BallInACupMPWrapper(RawInterfaceWrapper):
|
||||
|
||||
@property
|
||||
def context_mask(self) -> np.ndarray:
|
||||
# TODO: @Max Filter observations correctly
|
||||
return np.hstack([
|
||||
[False] * 7, # cos
|
||||
[False] * 7, # sin
|
||||
# [True] * 2, # x-y coordinates of target distance
|
||||
[False] # env steps
|
||||
])
|
||||
|
||||
@property
|
||||
def start_pos(self):
|
||||
if self.simplified:
|
||||
return self._start_pos[1::2]
|
||||
else:
|
||||
return self._start_pos
|
||||
|
||||
@property
|
||||
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
|
||||
return self.sim.data.qpos[0:7].copy()
|
||||
|
||||
@property
|
||||
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
|
||||
return self.sim.data.qvel[0:7].copy()
|
||||
|
||||
@property
|
||||
def goal_pos(self):
|
||||
# TODO: @Max I think the default value of returning to the start is reasonable here
|
||||
raise ValueError("Goal position is not available and has to be learnt based on the environment.")
|
||||
|
||||
@property
|
||||
def dt(self) -> Union[float, int]:
|
||||
return self.env.dt
|
||||
@ -1,142 +0,0 @@
|
||||
import numpy as np
|
||||
from alr_envs.alr.mujoco.ball_in_a_cup import alr_reward_fct
|
||||
|
||||
|
||||
class BallInACupReward(alr_reward_fct.AlrReward):
|
||||
def __init__(self, sim_time):
|
||||
self.sim_time = sim_time
|
||||
|
||||
self.collision_objects = ["cup_geom1", "cup_geom2", "wrist_palm_link_convex_geom",
|
||||
"wrist_pitch_link_convex_decomposition_p1_geom",
|
||||
"wrist_pitch_link_convex_decomposition_p2_geom",
|
||||
"wrist_pitch_link_convex_decomposition_p3_geom",
|
||||
"wrist_yaw_link_convex_decomposition_p1_geom",
|
||||
"wrist_yaw_link_convex_decomposition_p2_geom",
|
||||
"forearm_link_convex_decomposition_p1_geom",
|
||||
"forearm_link_convex_decomposition_p2_geom"]
|
||||
|
||||
self.ball_id = None
|
||||
self.ball_collision_id = None
|
||||
self.goal_id = None
|
||||
self.goal_final_id = None
|
||||
self.collision_ids = None
|
||||
|
||||
self.ball_traj = None
|
||||
self.dists = None
|
||||
self.dists_ctxt = None
|
||||
self.dists_final = None
|
||||
self.costs = None
|
||||
|
||||
self.reset(None)
|
||||
|
||||
def reset(self, context):
|
||||
self.ball_traj = np.zeros(shape=(self.sim_time, 3))
|
||||
self.cup_traj = np.zeros(shape=(self.sim_time, 3))
|
||||
self.dists = []
|
||||
self.dists_ctxt = []
|
||||
self.dists_final = []
|
||||
self.costs = []
|
||||
self.context = context
|
||||
self.ball_in_cup = False
|
||||
self.ball_above_threshold = False
|
||||
self.dist_ctxt = 3
|
||||
self.action_costs = []
|
||||
self.cup_angles = []
|
||||
|
||||
def compute_reward(self, action, sim, step):
|
||||
action_cost = np.sum(np.square(action))
|
||||
self.action_costs.append(action_cost)
|
||||
|
||||
stop_sim = False
|
||||
success = False
|
||||
|
||||
self.ball_id = sim.model._body_name2id["ball"]
|
||||
self.ball_collision_id = sim.model._geom_name2id["ball_geom"]
|
||||
self.goal_id = sim.model._site_name2id["cup_goal"]
|
||||
self.goal_final_id = sim.model._site_name2id["cup_goal_final"]
|
||||
self.collision_ids = [sim.model._geom_name2id[name] for name in self.collision_objects]
|
||||
|
||||
if self.check_collision(sim):
|
||||
reward = - 1e-3 * action_cost - 1000
|
||||
stop_sim = True
|
||||
return reward, success, stop_sim
|
||||
|
||||
# Compute the current distance from the ball to the inner part of the cup
|
||||
goal_pos = sim.data.site_xpos[self.goal_id]
|
||||
ball_pos = sim.data.body_xpos[self.ball_id]
|
||||
goal_final_pos = sim.data.site_xpos[self.goal_final_id]
|
||||
self.dists.append(np.linalg.norm(goal_pos - ball_pos))
|
||||
self.dists_final.append(np.linalg.norm(goal_final_pos - ball_pos))
|
||||
self.dists_ctxt.append(np.linalg.norm(ball_pos - self.context))
|
||||
self.ball_traj[step, :] = np.copy(ball_pos)
|
||||
self.cup_traj[step, :] = np.copy(goal_pos) # ?
|
||||
cup_quat = np.copy(sim.data.body_xquat[sim.model._body_name2id["cup"]])
|
||||
self.cup_angles.append(np.arctan2(2 * (cup_quat[0] * cup_quat[1] + cup_quat[2] * cup_quat[3]),
|
||||
1 - 2 * (cup_quat[1] ** 2 + cup_quat[2] ** 2)))
|
||||
|
||||
# Determine the first time when ball is in cup
|
||||
if not self.ball_in_cup:
|
||||
ball_in_cup = self.check_ball_in_cup(sim, self.ball_collision_id)
|
||||
self.ball_in_cup = ball_in_cup
|
||||
if ball_in_cup:
|
||||
dist_to_ctxt = np.linalg.norm(ball_pos - self.context)
|
||||
self.dist_ctxt = dist_to_ctxt
|
||||
|
||||
if step == self.sim_time - 1:
|
||||
t_min_dist = np.argmin(self.dists)
|
||||
angle_min_dist = self.cup_angles[t_min_dist]
|
||||
cost_angle = (angle_min_dist - np.pi / 2) ** 2
|
||||
|
||||
min_dist = np.min(self.dists)
|
||||
dist_final = self.dists_final[-1]
|
||||
# dist_ctxt = self.dists_ctxt[-1]
|
||||
|
||||
# # max distance between ball and cup and cup height at that time
|
||||
# ball_to_cup_diff = self.ball_traj[:, 2] - self.cup_traj[:, 2]
|
||||
# t_max_diff = np.argmax(ball_to_cup_diff)
|
||||
# t_max_ball_height = np.argmax(self.ball_traj[:, 2])
|
||||
# max_ball_height = np.max(self.ball_traj[:, 2])
|
||||
|
||||
# cost = self._get_stage_wise_cost(ball_in_cup, min_dist, dist_final, dist_ctxt)
|
||||
cost = 0.5 * min_dist + 0.5 * dist_final + 0.3 * np.minimum(self.dist_ctxt, 3) + 0.01 * cost_angle
|
||||
reward = np.exp(-2 * cost) - 1e-3 * action_cost
|
||||
# if max_ball_height < self.context[2] or ball_to_cup_diff[t_max_ball_height] < 0:
|
||||
# reward -= 1
|
||||
|
||||
success = dist_final < 0.05 and self.dist_ctxt < 0.05
|
||||
else:
|
||||
reward = - 1e-3 * action_cost
|
||||
success = False
|
||||
|
||||
return reward, success, stop_sim
|
||||
|
||||
def _get_stage_wise_cost(self, ball_in_cup, min_dist, dist_final, dist_to_ctxt):
|
||||
if not ball_in_cup:
|
||||
cost = 3 + 2*(0.5 * min_dist**2 + 0.5 * dist_final**2)
|
||||
else:
|
||||
cost = 2 * dist_to_ctxt ** 2
|
||||
print('Context Distance:', dist_to_ctxt)
|
||||
return cost
|
||||
|
||||
def check_ball_in_cup(self, sim, ball_collision_id):
|
||||
cup_base_collision_id = sim.model._geom_name2id["cup_base_contact"]
|
||||
for coni in range(0, sim.data.ncon):
|
||||
con = sim.data.contact[coni]
|
||||
|
||||
collision = con.geom1 == cup_base_collision_id and con.geom2 == ball_collision_id
|
||||
collision_trans = con.geom1 == ball_collision_id and con.geom2 == cup_base_collision_id
|
||||
|
||||
if collision or collision_trans:
|
||||
return True
|
||||
return False
|
||||
|
||||
def check_collision(self, sim):
|
||||
for coni in range(0, sim.data.ncon):
|
||||
con = sim.data.contact[coni]
|
||||
|
||||
collision = con.geom1 in self.collision_ids and con.geom2 == self.ball_collision_id
|
||||
collision_trans = con.geom1 == self.ball_collision_id and con.geom2 in self.collision_ids
|
||||
|
||||
if collision or collision_trans:
|
||||
return True
|
||||
return False
|
||||
@ -1,116 +0,0 @@
|
||||
import numpy as np
|
||||
from alr_envs.alr.mujoco.ball_in_a_cup import alr_reward_fct
|
||||
|
||||
|
||||
class BallInACupReward(alr_reward_fct.AlrReward):
|
||||
def __init__(self, env):
|
||||
self.env = env
|
||||
self.collision_objects = ["cup_geom1", "cup_geom2", "cup_base_contact_below",
|
||||
"wrist_palm_link_convex_geom",
|
||||
"wrist_pitch_link_convex_decomposition_p1_geom",
|
||||
"wrist_pitch_link_convex_decomposition_p2_geom",
|
||||
"wrist_pitch_link_convex_decomposition_p3_geom",
|
||||
"wrist_yaw_link_convex_decomposition_p1_geom",
|
||||
"wrist_yaw_link_convex_decomposition_p2_geom",
|
||||
"forearm_link_convex_decomposition_p1_geom",
|
||||
"forearm_link_convex_decomposition_p2_geom"]
|
||||
|
||||
self.ball_id = None
|
||||
self.ball_collision_id = None
|
||||
self.goal_id = None
|
||||
self.goal_final_id = None
|
||||
self.collision_ids = None
|
||||
self._is_collided = False
|
||||
self.collision_penalty = 1000
|
||||
|
||||
self.ball_traj = None
|
||||
self.dists = None
|
||||
self.dists_final = None
|
||||
self.costs = None
|
||||
|
||||
self.reset(None)
|
||||
|
||||
def reset(self, context):
|
||||
# self.sim_time = self.env.sim.dtsim_time
|
||||
self.ball_traj = [] # np.zeros(shape=(self.sim_time, 3))
|
||||
self.dists = []
|
||||
self.dists_final = []
|
||||
self.costs = []
|
||||
self.action_costs = []
|
||||
self.angle_costs = []
|
||||
self.cup_angles = []
|
||||
|
||||
def compute_reward(self, action):
|
||||
self.ball_id = self.env.sim.model._body_name2id["ball"]
|
||||
self.ball_collision_id = self.env.sim.model._geom_name2id["ball_geom"]
|
||||
self.goal_id = self.env.sim.model._site_name2id["cup_goal"]
|
||||
self.goal_final_id = self.env.sim.model._site_name2id["cup_goal_final"]
|
||||
self.collision_ids = [self.env.sim.model._geom_name2id[name] for name in self.collision_objects]
|
||||
|
||||
ball_in_cup = self.check_ball_in_cup(self.env.sim, self.ball_collision_id)
|
||||
|
||||
# Compute the current distance from the ball to the inner part of the cup
|
||||
goal_pos = self.env.sim.data.site_xpos[self.goal_id]
|
||||
ball_pos = self.env.sim.data.body_xpos[self.ball_id]
|
||||
goal_final_pos = self.env.sim.data.site_xpos[self.goal_final_id]
|
||||
self.dists.append(np.linalg.norm(goal_pos - ball_pos))
|
||||
self.dists_final.append(np.linalg.norm(goal_final_pos - ball_pos))
|
||||
# self.ball_traj[self.env._steps, :] = ball_pos
|
||||
self.ball_traj.append(ball_pos)
|
||||
cup_quat = np.copy(self.env.sim.data.body_xquat[self.env.sim.model._body_name2id["cup"]])
|
||||
cup_angle = np.arctan2(2 * (cup_quat[0] * cup_quat[1] + cup_quat[2] * cup_quat[3]),
|
||||
1 - 2 * (cup_quat[1]**2 + cup_quat[2]**2))
|
||||
cost_angle = (cup_angle - np.pi / 2) ** 2
|
||||
self.angle_costs.append(cost_angle)
|
||||
self.cup_angles.append(cup_angle)
|
||||
|
||||
action_cost = np.sum(np.square(action))
|
||||
self.action_costs.append(action_cost)
|
||||
|
||||
self._is_collided = self.check_collision(self.env.sim) or self.env._check_traj_in_joint_limits()
|
||||
|
||||
if self.env._steps == self.env.ep_length - 1 or self._is_collided:
|
||||
t_min_dist = np.argmin(self.dists)
|
||||
angle_min_dist = self.cup_angles[t_min_dist]
|
||||
# cost_angle = (angle_min_dist - np.pi / 2)**2
|
||||
|
||||
|
||||
# min_dist = self.dists[t_min_dist]
|
||||
dist_final = self.dists_final[-1]
|
||||
min_dist_final = np.min(self.dists_final)
|
||||
|
||||
# cost = 0.5 * dist_final + 0.05 * cost_angle # TODO: Increase cost_angle weight # 0.5 * min_dist +
|
||||
# reward = np.exp(-2 * cost) - 1e-2 * action_cost - self.collision_penalty * int(self._is_collided)
|
||||
# reward = - dist_final**2 - 1e-4 * cost_angle - 1e-5 * action_cost - self.collision_penalty * int(self._is_collided)
|
||||
reward = - dist_final**2 - min_dist_final**2 - 1e-4 * cost_angle - 1e-3 * action_cost - self.collision_penalty * int(self._is_collided)
|
||||
success = dist_final < 0.05 and ball_in_cup and not self._is_collided
|
||||
crash = self._is_collided
|
||||
else:
|
||||
reward = - 1e-3 * action_cost - 1e-4 * cost_angle # TODO: increase action_cost weight
|
||||
success = False
|
||||
crash = False
|
||||
|
||||
return reward, success, crash
|
||||
|
||||
def check_ball_in_cup(self, sim, ball_collision_id):
|
||||
cup_base_collision_id = sim.model._geom_name2id["cup_base_contact"]
|
||||
for coni in range(0, sim.data.ncon):
|
||||
con = sim.data.contact[coni]
|
||||
|
||||
collision = con.geom1 == cup_base_collision_id and con.geom2 == ball_collision_id
|
||||
collision_trans = con.geom1 == ball_collision_id and con.geom2 == cup_base_collision_id
|
||||
|
||||
if collision or collision_trans:
|
||||
return True
|
||||
return False
|
||||
|
||||
def check_collision(self, sim):
|
||||
for coni in range(0, sim.data.ncon):
|
||||
con = sim.data.contact[coni]
|
||||
|
||||
collision = con.geom1 in self.collision_ids and con.geom2 == self.ball_collision_id
|
||||
collision_trans = con.geom1 == self.ball_collision_id and con.geom2 in self.collision_ids
|
||||
|
||||
if collision or collision_trans:
|
||||
return True
|
||||
return False
|
||||
@ -1,194 +0,0 @@
|
||||
import os
|
||||
|
||||
import gym.envs.mujoco
|
||||
import gym.envs.mujoco as mujoco_env
|
||||
import mujoco_py.builder
|
||||
import numpy as np
|
||||
from gym import utils
|
||||
|
||||
|
||||
class ALRBallInACupPDEnv(mujoco_env.MujocoEnv, utils.EzPickle):
|
||||
def __init__(self, frame_skip=4, apply_gravity_comp=True, simplified: bool = False,
|
||||
reward_type: str = None, context: np.ndarray = None):
|
||||
utils.EzPickle.__init__(**locals())
|
||||
self._steps = 0
|
||||
|
||||
self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets", "biac_base.xml")
|
||||
|
||||
self.max_ctrl = np.array([150., 125., 40., 60., 5., 5., 2.])
|
||||
|
||||
self.j_min = np.array([-2.6, -1.985, -2.8, -0.9, -4.55, -1.5707, -2.7])
|
||||
self.j_max = np.array([2.6, 1.985, 2.8, 3.14159, 1.25, 1.5707, 2.7])
|
||||
|
||||
self.context = context
|
||||
self.apply_gravity_comp = apply_gravity_comp
|
||||
self.simplified = simplified
|
||||
|
||||
self._start_pos = np.array([0.0, 0.58760536, 0.0, 1.36004913, 0.0, -0.32072943, -1.57])
|
||||
self._start_vel = np.zeros(7)
|
||||
|
||||
self.sim_time = 8 # seconds
|
||||
self._dt = 0.02
|
||||
self.ep_length = 4000 # based on 8 seconds with dt = 0.02 int(self.sim_time / self.dt)
|
||||
if reward_type == "no_context":
|
||||
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward_simple import BallInACupReward
|
||||
reward_function = BallInACupReward
|
||||
elif reward_type == "contextual_goal":
|
||||
from alr_envs.alr.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
|
||||
reward_function = BallInACupReward
|
||||
else:
|
||||
raise ValueError("Unknown reward type: {}".format(reward_type))
|
||||
self.reward_function = reward_function(self)
|
||||
|
||||
mujoco_env.MujocoEnv.__init__(self, self.xml_path, frame_skip)
|
||||
|
||||
@property
|
||||
def dt(self):
|
||||
return self._dt
|
||||
|
||||
# TODO: @Max is this even needed?
|
||||
@property
|
||||
def start_vel(self):
|
||||
if self.simplified:
|
||||
return self._start_vel[1::2]
|
||||
else:
|
||||
return self._start_vel
|
||||
|
||||
# def _set_action_space(self):
|
||||
# if self.simplified:
|
||||
# bounds = self.model.actuator_ctrlrange.copy().astype(np.float32)[1::2]
|
||||
# else:
|
||||
# bounds = self.model.actuator_ctrlrange.copy().astype(np.float32)
|
||||
# low, high = bounds.T
|
||||
# self.action_space = spaces.Box(low=low, high=high, dtype=np.float32)
|
||||
# return self.action_space
|
||||
|
||||
def reset(self):
|
||||
self.reward_function.reset(None)
|
||||
return super().reset()
|
||||
|
||||
def reset_model(self):
|
||||
init_pos_all = self.init_qpos.copy()
|
||||
init_pos_robot = self._start_pos
|
||||
init_vel = np.zeros_like(init_pos_all)
|
||||
|
||||
self._steps = 0
|
||||
self._q_pos = []
|
||||
self._q_vel = []
|
||||
|
||||
start_pos = init_pos_all
|
||||
start_pos[0:7] = init_pos_robot
|
||||
|
||||
self.set_state(start_pos, init_vel)
|
||||
|
||||
return self._get_obs()
|
||||
|
||||
def step(self, a):
|
||||
reward_dist = 0.0
|
||||
angular_vel = 0.0
|
||||
reward_ctrl = - np.square(a).sum()
|
||||
|
||||
# if self.simplified:
|
||||
# tmp = np.zeros(7)
|
||||
# tmp[1::2] = a
|
||||
# a = tmp
|
||||
|
||||
if self.apply_gravity_comp:
|
||||
a += self.sim.data.qfrc_bias[:len(a)].copy() / self.model.actuator_gear[:, 0]
|
||||
|
||||
crash = False
|
||||
try:
|
||||
self.do_simulation(a, self.frame_skip)
|
||||
except mujoco_py.builder.MujocoException:
|
||||
crash = True
|
||||
# joint_cons_viol = self.check_traj_in_joint_limits()
|
||||
|
||||
ob = self._get_obs()
|
||||
|
||||
if not crash:
|
||||
reward, success, is_collided = self.reward_function.compute_reward(a)
|
||||
done = success or is_collided # self._steps == self.sim_steps - 1
|
||||
self._steps += 1
|
||||
else:
|
||||
reward = -2000
|
||||
success = False
|
||||
is_collided = False
|
||||
done = True
|
||||
|
||||
return ob, reward, done, dict(reward_dist=reward_dist,
|
||||
reward_ctrl=reward_ctrl,
|
||||
velocity=angular_vel,
|
||||
# traj=self._q_pos,
|
||||
action=a,
|
||||
q_pos=self.sim.data.qpos[0:7].ravel().copy(),
|
||||
q_vel=self.sim.data.qvel[0:7].ravel().copy(),
|
||||
is_success=success,
|
||||
is_collided=is_collided, sim_crash=crash)
|
||||
|
||||
def check_traj_in_joint_limits(self):
|
||||
return any(self.current_pos > self.j_max) or any(self.current_pos < self.j_min)
|
||||
|
||||
# TODO: extend observation space
|
||||
def _get_obs(self):
|
||||
theta = self.sim.data.qpos.flat[:7]
|
||||
return np.concatenate([
|
||||
np.cos(theta),
|
||||
np.sin(theta),
|
||||
# self.get_body_com("target"), # only return target to make problem harder
|
||||
[self._steps],
|
||||
])
|
||||
|
||||
# These functions are for the task with 3 joint actuations
|
||||
def extend_des_pos(self, des_pos):
|
||||
des_pos_full = self._start_pos.copy()
|
||||
des_pos_full[1] = des_pos[0]
|
||||
des_pos_full[3] = des_pos[1]
|
||||
des_pos_full[5] = des_pos[2]
|
||||
return des_pos_full
|
||||
|
||||
def extend_des_vel(self, des_vel):
|
||||
des_vel_full = self._start_vel.copy()
|
||||
des_vel_full[1] = des_vel[0]
|
||||
des_vel_full[3] = des_vel[1]
|
||||
des_vel_full[5] = des_vel[2]
|
||||
return des_vel_full
|
||||
|
||||
def render(self, render_mode, **render_kwargs):
|
||||
if render_mode == "plot_trajectory":
|
||||
if self._steps == 1:
|
||||
import matplotlib.pyplot as plt
|
||||
# plt.ion()
|
||||
self.fig, self.axs = plt.subplots(3, 1)
|
||||
|
||||
if self._steps <= 1750:
|
||||
for ax, cp in zip(self.axs, self.current_pos[1::2]):
|
||||
ax.scatter(self._steps, cp, s=2, marker=".")
|
||||
|
||||
# self.fig.show()
|
||||
|
||||
else:
|
||||
super().render(render_mode, **render_kwargs)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
env = ALRBallInACupPDEnv(reward_type="no_context", simplified=True)
|
||||
# env = gym.make("alr_envs:ALRBallInACupPDSimpleDetPMP-v0")
|
||||
# ctxt = np.array([-0.20869846, -0.66376693, 1.18088501])
|
||||
|
||||
# env.configure(ctxt)
|
||||
env.reset()
|
||||
env.render("human")
|
||||
for i in range(16000):
|
||||
# test with random actions
|
||||
ac = 0.02 * env.action_space.sample()[0:7]
|
||||
# ac = env.start_pos
|
||||
# ac[0] += np.pi/2
|
||||
obs, rew, d, info = env.step(ac)
|
||||
env.render("human")
|
||||
|
||||
print(rew)
|
||||
|
||||
if d:
|
||||
break
|
||||
|
||||
env.close()
|
||||
@ -1,42 +0,0 @@
|
||||
from typing import Union, Tuple
|
||||
|
||||
import numpy as np
|
||||
|
||||
from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
|
||||
|
||||
|
||||
class MPWrapper(RawInterfaceWrapper):
|
||||
|
||||
def get_context_mask(self):
|
||||
return np.hstack([
|
||||
[False] * 7, # cos
|
||||
[False] * 7, # sin
|
||||
[False] * 7, # joint velocities
|
||||
[False] * 3, # cup_goal_diff_final
|
||||
[False] * 3, # cup_goal_diff_top
|
||||
[True] * 2, # xy position of cup
|
||||
[False] # env steps
|
||||
])
|
||||
|
||||
@property
|
||||
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
|
||||
return self.env.sim.data.qpos[0:7].copy()
|
||||
|
||||
@property
|
||||
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
|
||||
return self.env.sim.data.qvel[0:7].copy()
|
||||
|
||||
# TODO: Fix this
|
||||
def _episode_callback(self, action: np.ndarray, mp) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
|
||||
if mp.learn_tau:
|
||||
self.env.env.release_step = action[0] / self.env.dt # Tau value
|
||||
return action, None
|
||||
else:
|
||||
return action, None
|
||||
|
||||
def set_context(self, context):
|
||||
xyz = np.zeros(3)
|
||||
xyz[:2] = context
|
||||
xyz[-1] = 0.840
|
||||
self.env.env.model.body_pos[self.env.env.cup_table_id] = xyz
|
||||
return self.get_observation_from_step(self.env.env._get_obs())
|
||||
@ -1 +0,0 @@
|
||||
|
||||
@ -1 +0,0 @@
|
||||
|
||||
@ -1,12 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<actuator boastype="none">
|
||||
<motor name="wam/shoulder_yaw_link_right_motor" joint="wam/base_yaw_joint_right"/>
|
||||
<motor name="wam/shoulder_pitch_joint_right_motor" joint='wam/shoulder_pitch_joint_right'/>
|
||||
<motor name="wam/shoulder_yaw_joint_right_motor" joint='wam/shoulder_yaw_joint_right'/>
|
||||
<motor name="wam/elbow_pitch_joint_right_motor" joint='wam/elbow_pitch_joint_right'/>
|
||||
<motor name="wam/wrist_yaw_joint_right_motor" joint='wam/wrist_yaw_joint_right'/>
|
||||
<motor name="wam/wrist_pitch_joint_right_motor" joint='wam/wrist_pitch_joint_right'/>
|
||||
<motor name="wam/palm_yaw_joint_right_motor" joint='wam/palm_yaw_joint_right'/>
|
||||
</actuator>
|
||||
</mujocoinclude>
|
||||
|
||||
@ -1,76 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<body name="wam/base_link_left" pos="-2.5 0 2" quat="0 1 0 0" childclass="wam">
|
||||
<inertial pos="0 0 0" mass="1" diaginertia="0.1 0.1 0.1"/>
|
||||
<geom class="viz" mesh="base_link_fine" rgba="0.5 0.5 0.5 0"/>
|
||||
<geom class="col" mesh="base_link_convex" rgba="0.5 0.5 0.5 1"/>
|
||||
<body name="wam/shoulder_yaw_link" pos="0 0 0.346">
|
||||
<inertial pos="-0.00443422 -0.00066489 -0.128904" quat="0.69566 0.716713 -0.0354863 0.0334839" mass="5"
|
||||
diaginertia="0.135089 0.113095 0.0904426"/>
|
||||
<joint name="wam/base_yaw_joint" range="-2.6 2.6" damping="1.98"/>
|
||||
<geom class="viz" mesh="shoulder_link_fine" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="shoulder_link_convex_decomposition_p1"/>
|
||||
<geom class="col" mesh="shoulder_link_convex_decomposition_p2"/>
|
||||
<geom class="col" mesh="shoulder_link_convex_decomposition_p3"/>
|
||||
<body name="wam/shoulder_pitch_link" pos="0 0 0" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.961794 0.273112 -0.0169316 0.00866592"
|
||||
mass="3.87494" diaginertia="0.0214195 0.0167127 0.0126452"/> <!--seems off-->
|
||||
<joint name="wam/shoulder_pitch_joint" range="-1.985 1.985" damping="0.55"/>
|
||||
<geom class="viz" mesh="shoulder_pitch_link_fine" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="shoulder_pitch_link_convex"/>
|
||||
<body name="wam/upper_arm_link" pos="0 0 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="0.00683259 3.309e-005 0.392492" quat="0.647136 0.0170822 0.0143038 0.762049"
|
||||
mass="2.20228" diaginertia="0.0592718 0.0592207 0.00313419"/>
|
||||
<joint name="wam/shoulder_yaw_joint" range="-2.8 2.8" damping="1.65"/>
|
||||
<geom class="viz" mesh="upper_arm_link_fine" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="upper_arm_link_convex_decomposition_p1" rgba="0.094 0.48 0.804 1"/>
|
||||
<geom class="col" mesh="upper_arm_link_convex_decomposition_p2" rgba="0.094 0.48 0.804 1"/>
|
||||
<body name="wam/forearm_link" pos="0.045 0 0.55" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.0400149 -0.142717 -0.00022942"
|
||||
quat="0.704281 0.706326 0.0180333 0.0690353" mass="0.500168"
|
||||
diaginertia="0.0151047 0.0148285 0.00275805"/>
|
||||
<joint name="wam/elbow_pitch_joint" range="-0.9 3.14159" damping="0.88"/>
|
||||
<geom class="viz" mesh="elbow_link_fine" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="elbow_link_convex"/>
|
||||
<geom class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0" euler="1.57 0 0" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
|
||||
<geom class="col" mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
|
||||
<body name="wam/wrist_yaw_link" pos="-0.045 -0.3 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="8.921e-005 0.00435824 -0.00511217"
|
||||
quat="0.630602 0.776093 0.00401969 -0.002372" mass="1.05376"
|
||||
diaginertia="0.000555168 0.00046317 0.000234072"/> <!--this is an approximation-->
|
||||
<joint name="wam/wrist_yaw_joint" range="-4.55 1.25" damping="0.55"/>
|
||||
<geom class="viz" mesh="wrist_yaw_link_fine" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="wrist_yaw_link_convex_decomposition_p1"/>
|
||||
<geom class="col" mesh="wrist_yaw_link_convex_decomposition_p2"/>
|
||||
<body name="wam/wrist_pitch_link" pos="0 0 0" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.00012262 -0.0246834 -0.0170319"
|
||||
quat="0.630602 0.776093 0.00401969 -0.002372" mass="0.517974"
|
||||
diaginertia="0.000555168 0.00046317 0.000234072"/>
|
||||
<joint name="wam/wrist_pitch_joint" range="-1.5707 1.5707" damping="0.11"/>
|
||||
<geom class="viz" mesh="wrist_pitch_link_fine" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p1" rgba="1 0.5 0.313 1"/>
|
||||
<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p2" rgba="1 0.5 0.313 1"/>
|
||||
<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p3" rgba="1 0.5 0.313 1"/>
|
||||
<body name="wam/wrist_palm_link" pos="0 0 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="0 0 0.055" quat="0.707107 0 0 0.707107" mass="0.0828613"
|
||||
diaginertia="0.00020683 0.00010859 0.00010851"/>
|
||||
<joint name="wam/palm_yaw_joint" range="-3 3" damping="0.11"/>
|
||||
<geom class="viz" mesh="wrist_palm_link_fine" rgba="1 1 1 0"/>
|
||||
<geom class="col" mesh="wrist_palm_link_convex"/>
|
||||
<body name="paddle_left" pos="0 0 0.26" childclass="contact_geom">
|
||||
<geom name="bat_left" type="cylinder" size="0.075 0.0015" rgba="1 0 0 1"
|
||||
quat="0.71 0 0.71 0"/>
|
||||
<geom name="handle_left" type="box" size="0.005 0.01 0.05" pos="0 0 -0.08"
|
||||
rgba="1 1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</mujocoinclude>
|
||||
@ -1,95 +0,0 @@
|
||||
<mujocoinclue>
|
||||
<body name="wam/base_link_right" pos="2.5 0 2" quat="0 0 1 0" childclass="wam" >
|
||||
<inertial pos="0 0 0" mass="1" diaginertia="0.1 0.1 0.1"/>
|
||||
<geom name="base_link_fine" class="viz" mesh="base_link_fine" rgba="0.5 0.5 0.5 0"/>
|
||||
<geom name="base_link_convex" class="col" mesh="base_link_convex" rgba="0.5 0.5 0.5 1"/>
|
||||
<body name="wam/shoulder_yaw_link_right" pos="0 0 0.346">
|
||||
<inertial pos="-0.00443422 -0.00066489 -0.128904" quat="0.69566 0.716713 -0.0354863 0.0334839" mass="5"
|
||||
diaginertia="0.135089 0.113095 0.0904426"/>
|
||||
<joint name="wam/base_yaw_joint_right" range="-2.6 2.6" damping="1.98"/>
|
||||
<geom name="shoulder_link_fine" class="viz" mesh="shoulder_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="shoulder_link_convex_decomposition_p1" class="col"
|
||||
mesh="shoulder_link_convex_decomposition_p1"/>
|
||||
<geom name="shoulder_link_convex_decomposition_p2" class="col"
|
||||
mesh="shoulder_link_convex_decomposition_p2"/>
|
||||
<geom name="shoulder_link_convex_decomposition_p3" class="col"
|
||||
mesh="shoulder_link_convex_decomposition_p3"/>
|
||||
<body name="wam/shoulder_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.961794 0.273112 -0.0169316 0.00866592"
|
||||
mass="3.87494" diaginertia="0.0214195 0.0167127 0.0126452"/> <!--seems off-->
|
||||
<joint name="wam/shoulder_pitch_joint_right" range="-2 2" damping="0.55"/>
|
||||
<geom name="shoulder_pitch_link_fine" class="viz" mesh="shoulder_pitch_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="shoulder_pitch_link_convex" class="col" mesh="shoulder_pitch_link_convex"/>
|
||||
<body name="wam/upper_arm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="0.00683259 3.309e-005 0.392492" quat="0.647136 0.0170822 0.0143038 0.762049"
|
||||
mass="2.20228" diaginertia="0.0592718 0.0592207 0.00313419"/>
|
||||
<joint name="wam/shoulder_yaw_joint_right" range="-2.8 2.8" damping="1.65"/>
|
||||
<geom name="upper_arm_link_fine" class="viz" mesh="upper_arm_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="upper_arm_link_convex_decomposition_p1" class="col"
|
||||
mesh="upper_arm_link_convex_decomposition_p1" rgba="0.094 0.48 0.804 1"/>
|
||||
<geom name="upper_arm_link_convex_decomposition_p2" class="col"
|
||||
mesh="upper_arm_link_convex_decomposition_p2" rgba="0.094 0.48 0.804 1"/>
|
||||
<body name="wam/forearm_link_right" pos="0.045 0 0.55" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.0400149 -0.142717 -0.00022942"
|
||||
quat="0.704281 0.706326 0.0180333 0.0690353" mass="0.500168"
|
||||
diaginertia="0.0151047 0.0148285 0.00275805"/>
|
||||
<joint name="wam/elbow_pitch_joint_right" range="-0.9 3.1" damping="0.88"/>
|
||||
<geom name="elbow_link_fine" class="viz" mesh="elbow_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="elbow_link_convex" class="col" mesh="elbow_link_convex"/>
|
||||
<geom name="forearm_link_fine" class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="1 1 1 0"/>
|
||||
<geom name="forearm_link_convex_decomposition_p1" class="col"
|
||||
mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
|
||||
<geom name="forearm_link_convex_decomposition_p2" class="col"
|
||||
mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
|
||||
<body name="wam/wrist_yaw_link_right" pos="-0.045 -0.3 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="8.921e-005 0.00435824 -0.00511217"
|
||||
quat="0.630602 0.776093 0.00401969 -0.002372" mass="1.05376"
|
||||
diaginertia="0.000555168 0.00046317 0.000234072"/> <!--this is an approximation-->
|
||||
<joint name="wam/wrist_yaw_joint_right" range="-4.8 1.3" damping="0.55"/>
|
||||
<geom name="wrist_yaw_link_fine" class="viz" mesh="wrist_yaw_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="wrist_yaw_link_convex_decomposition_p1" class="col"
|
||||
mesh="wrist_yaw_link_convex_decomposition_p1"/>
|
||||
<geom name="wrist_yaw_link_convex_decomposition_p2" class="col"
|
||||
mesh="wrist_yaw_link_convex_decomposition_p2"/>
|
||||
<body name="wam/wrist_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.00012262 -0.0246834 -0.0170319"
|
||||
quat="0.630602 0.776093 0.00401969 -0.002372" mass="0.517974"
|
||||
diaginertia="0.000555168 0.00046317 0.000234072"/>
|
||||
<joint name="wam/wrist_pitch_joint_right" range="-1.6 1.6" damping="0.11"/>
|
||||
<geom name="wrist_pitch_link_fine" class="viz" mesh="wrist_pitch_link_fine"
|
||||
rgba="1 1 1 0"/>
|
||||
<geom name="wrist_pitch_link_convex_decomposition_p1" rgba="1 0.5 0.313 1"
|
||||
class="col" mesh="wrist_pitch_link_convex_decomposition_p1"/>
|
||||
<geom name="wrist_pitch_link_convex_decomposition_p2" rgba="1 0.5 0.313 1"
|
||||
class="col" mesh="wrist_pitch_link_convex_decomposition_p2"/>
|
||||
<geom name="wrist_pitch_link_convex_decomposition_p3" rgba="1 0.5 0.313 1"
|
||||
class="col" mesh="wrist_pitch_link_convex_decomposition_p3"/>
|
||||
<body name="wam/wrist_palm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="0 0 0.055" quat="0.707107 0 0 0.707107" mass="0.0828613"
|
||||
diaginertia="0.00020683 0.00010859 0.00010851"/>
|
||||
<joint name="wam/palm_yaw_joint_right" range="-2.2 2.2" damping="0.11"/>
|
||||
<geom name="wrist_palm_link_fine" class="viz" mesh="wrist_palm_link_fine"
|
||||
rgba="1 1 1 0"/>
|
||||
<geom name="wrist_palm_link_convex" class="col" mesh="wrist_palm_link_convex"/>
|
||||
<!-- EE=wam/paddle, configure name to the end effector name-->
|
||||
<body name="EE" pos="0 0 0.26" childclass="contact_geom">
|
||||
<geom name="bat" type="cylinder" size="0.075 0.005" rgba="1 0 0 1"
|
||||
quat="0.71 0 0.71 0"/>
|
||||
<geom name="wam/paddle_handle" type="box" size="0.005 0.01 0.05" pos="0 0 -0.08"
|
||||
rgba="1 1 1 1"/>
|
||||
<!-- Extract information for sampling goals.-->
|
||||
<site name="wam/paddle_center" pos="0 0 0" rgba="1 1 1 1" size="0.00001"/>
|
||||
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</mujocoinclue>
|
||||
@ -1,38 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<body name="table_tennis_table" pos="0 0 0">
|
||||
<geom class="contact_geom" name="table_base_1" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
|
||||
pos="1 0.7 0.375"/>
|
||||
<geom class="contact_geom" name="table_base_2" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
|
||||
pos="1 -0.7 0.375"/>
|
||||
<geom class="contact_geom" name="table_base_3" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
|
||||
pos="-1 -0.7 0.375"/>
|
||||
<geom class="contact_geom" name="table_base_4" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
|
||||
pos="-1 0.7 0.375"/>
|
||||
<body name="table_top" pos="0 0 0.76">
|
||||
<geom class="contact_geom" name="table_tennis_table" type="box" size="1.37 .7625 .01" rgba="0 0 0.5 1"
|
||||
pos="0 0 0"/>
|
||||
<!-- <geom class="contact_geom" name="table_tennis_table_right_side" type="box" size="0.685 .7625 .01"-->
|
||||
<!-- rgba="0.5 0 0 1" pos="0.685 0 0"/>-->
|
||||
<!-- <geom class="contact_geom" name="table_tennis_table_left_side" type="box" size="0.685 .7625 .01"-->
|
||||
<!-- rgba="0 0.5 0 1" pos="-0.685 0 0"/>-->
|
||||
<site name="left_up_corner" pos="-1.37 .7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
||||
<site name="middle_up_corner" pos="0 .7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
||||
<site name="left_down_corner" pos="-1.37 -0.7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
||||
<site name="middle_down_corner" pos="0 -.7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
||||
<geom class="contact_geom" name="table_tennis_net" type="box" size="0.01 0.915 0.07625"
|
||||
material="floor_plane"
|
||||
rgba="0 0 1 0.5"
|
||||
pos="0 0 0.08625"/>
|
||||
<geom class="contact_geom" name="left_while_line" type="box" size="1.37 .02 .001" rgba="1 1 1 1"
|
||||
pos="0 -0.7425 0.01"/>
|
||||
<geom class="contact_geom" name="center_while_line" type="box" size="1.37 .01 .001" rgba="1 1 1 1"
|
||||
pos="0 0 0.01"/>
|
||||
<geom class="contact_geom" name="right_while_line" type="box" size="1.37 .02 .001" rgba="1 1 1 1"
|
||||
pos="0 0.7425 0.01"/>
|
||||
<geom class="contact_geom" name="right_side_line" type="box" size="0.02 .7625 .001" rgba="1 1 1 1"
|
||||
pos="1.35 0 0.01"/>
|
||||
<geom class="contact_geom" name="left_side_line" type="box" size="0.02 .7625 .001" rgba="1 1 1 1"
|
||||
pos="-1.35 0 0.01"/>
|
||||
</body>
|
||||
</body>
|
||||
</mujocoinclude>
|
||||
@ -1,10 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<body name="target_ball" pos="-1.2 -0.6 1.5">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="target_ball" rgba="1 1 0 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="target_ball" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
|
||||
</body>
|
||||
</mujocoinclude>
|
||||
@ -1,80 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<body name="test_ball_table" pos="1 0 4">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_table" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_table" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_table" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_table" rgba="0 1 0 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_table" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_net" pos="0 0 4">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_net" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_net" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_net" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_net" rgba="1 1 0 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_net" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_0" pos="2.54919187 0.81642672 4">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_0" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_0" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_0" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_0" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket_0" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_1" pos="2.54919187 0.81642672 4.5">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_1" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_1" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_1" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_1" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket_1" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_2" pos="2.54919187 0.81642672 3">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_2" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_2" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_2" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_2" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_3" pos="2.54919187 0.81642672 10">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_3" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_3" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_3" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_3" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket_3" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<!-- <body name="test_ball_racket_4" pos="2.54919187 0.81642672 4">-->
|
||||
<!-- <joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_4" pos="0 0 0" stiffness="0" type="slide"-->
|
||||
<!-- frictionloss="0"/>-->
|
||||
<!-- <joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_4" pos="0 0 0" stiffness="0" type="slide"-->
|
||||
<!-- frictionloss="0"/>-->
|
||||
<!-- <joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_4" pos="0 0 0" stiffness="0" type="slide"-->
|
||||
<!-- frictionloss="0"/>-->
|
||||
<!-- <geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_4" rgba="1 0 0 1" mass="0.1"-->
|
||||
<!-- friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>-->
|
||||
<!-- <site name="test_ball_racket_4" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>-->
|
||||
<!-- </body>-->
|
||||
|
||||
</mujocoinclude>
|
||||
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@ -1,19 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<actuator>
|
||||
|
||||
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="162.0" />-->
|
||||
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="122.0" />-->
|
||||
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="102.0" />-->
|
||||
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" />-->
|
||||
<position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="151.0"/>
|
||||
<position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="125.0"/>
|
||||
<position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0"/>
|
||||
<position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="121.0"/>
|
||||
<position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0"/>
|
||||
<position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0"/>
|
||||
<position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0"/>
|
||||
</actuator>
|
||||
</mujocoinclude>
|
||||
@ -1,49 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<default>
|
||||
<default class="wam">
|
||||
<joint type="hinge" limited="true" pos="0 0 0" axis="0 0 1"/>
|
||||
</default>
|
||||
<default class="viz">
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1"/>
|
||||
</default>
|
||||
<default class="col">
|
||||
<geom type="mesh" contype="0" conaffinity="1" group="0" rgba="1 1 1 1"/>
|
||||
</default>
|
||||
<default class="contact_geom">
|
||||
<geom condim="4" friction="0.1 0.1 0.1" margin="0" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<!-- <geom condim="4" friction="0 0 0" margin="0" solimp="1 1 0" solref="0.01 1.1"/>-->
|
||||
|
||||
</default>
|
||||
</default>
|
||||
<asset>
|
||||
<mesh file="base_link_fine.stl"/>
|
||||
<mesh file="base_link_convex.stl"/>
|
||||
<mesh file="shoulder_link_fine.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p3.stl"/>
|
||||
<mesh file="shoulder_pitch_link_fine.stl"/>
|
||||
<mesh file="shoulder_pitch_link_convex.stl"/>
|
||||
<mesh file="upper_arm_link_fine.stl"/>
|
||||
<mesh file="upper_arm_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="upper_arm_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="elbow_link_fine.stl"/>
|
||||
<mesh file="elbow_link_convex.stl"/>
|
||||
<mesh file="forearm_link_fine.stl"/>
|
||||
<mesh file="forearm_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="forearm_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_yaw_link_fine.stl"/>
|
||||
<mesh file="wrist_yaw_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="wrist_yaw_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_pitch_link_fine.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p3.stl"/>
|
||||
<mesh file="wrist_palm_link_fine.stl"/>
|
||||
<mesh file="wrist_palm_link_convex.stl"/>
|
||||
|
||||
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d"
|
||||
width="512"/>
|
||||
<material name="floor_plane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
|
||||
</asset>
|
||||
</mujocoinclude>
|
||||
@ -1,41 +0,0 @@
|
||||
<mujoco model="table_tennis(v0.1)">
|
||||
<compiler angle="radian" coordinate="local" meshdir="meshes/" />
|
||||
|
||||
<option gravity="0 0 -9.81" timestep="0.002">
|
||||
<flag warmstart="enable" />
|
||||
</option>
|
||||
|
||||
|
||||
<custom>
|
||||
<numeric data="0 0 0 0 0 0 0" name="START_ANGLES" />
|
||||
</custom>
|
||||
|
||||
|
||||
<include file="shared.xml" />
|
||||
|
||||
<worldbody>
|
||||
<light cutoff="60" diffuse="1 1 1" dir="-.1 -.2 -1.3" directional="true" exponent="1" pos=".1 .2 1.3" specular=".1 .1 .1" />
|
||||
<geom conaffinity="1" contype="1" material="floor_plane" name="floor" pos="0 0 0" size="10 5 1" type="plane" />
|
||||
|
||||
|
||||
<include file="include_table.xml" />
|
||||
|
||||
|
||||
|
||||
<include file="include_barrett_wam_7dof_right.xml" />
|
||||
|
||||
<include file="include_target_ball.xml" />
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</worldbody>
|
||||
|
||||
|
||||
|
||||
|
||||
<include file="right_arm_actuator.xml" />
|
||||
|
||||
|
||||
</mujoco>
|
||||
@ -1,244 +0,0 @@
|
||||
import numpy as np
|
||||
from gym import spaces
|
||||
from gym.envs.robotics import robot_env, utils
|
||||
# import xml.etree.ElementTree as ET
|
||||
from alr_envs.alr.mujoco.gym_table_tennis.utils.rewards.hierarchical_reward import HierarchicalRewardTableTennis
|
||||
import glfw
|
||||
from alr_envs.alr.mujoco.gym_table_tennis.utils.experiment import ball_initialize
|
||||
from pathlib import Path
|
||||
import os
|
||||
|
||||
|
||||
class TableTennisEnv(robot_env.RobotEnv):
|
||||
"""Class for Table Tennis environment.
|
||||
"""
|
||||
def __init__(self, n_substeps=1,
|
||||
model_path=None,
|
||||
initial_qpos=None,
|
||||
initial_ball_state=None,
|
||||
config=None,
|
||||
reward_obj=None
|
||||
):
|
||||
"""Initializes a new mujoco based Table Tennis environment.
|
||||
|
||||
Args:
|
||||
model_path (string): path to the environments XML file
|
||||
initial_qpos (dict): a dictionary of joint names and values that define the initial
|
||||
n_actions: Number of joints
|
||||
n_substeps (int): number of substeps the simulation runs on every call to step
|
||||
scale (double): limit maximum change in position
|
||||
initial_ball_state: to reset the ball state
|
||||
"""
|
||||
# self.config = config.config
|
||||
if model_path is None:
|
||||
path_cws = Path.cwd()
|
||||
print(path_cws)
|
||||
current_dir = Path(os.path.split(os.path.realpath(__file__))[0])
|
||||
table_tennis_env_xml_path = current_dir / "assets"/"table_tennis_env.xml"
|
||||
model_path = str(table_tennis_env_xml_path)
|
||||
self.config = config
|
||||
action_space = True # self.config['trajectory']['args']['action_space']
|
||||
time_step = 0.002 # self.config['mujoco_sim_env']['args']["time_step"]
|
||||
if initial_qpos is None:
|
||||
initial_qpos = {"wam/base_yaw_joint_right": 1.5,
|
||||
"wam/shoulder_pitch_joint_right": 1,
|
||||
"wam/shoulder_yaw_joint_right": 0,
|
||||
"wam/elbow_pitch_joint_right": 1,
|
||||
"wam/wrist_yaw_joint_right": 1,
|
||||
"wam/wrist_pitch_joint_right": 0,
|
||||
"wam/palm_yaw_joint_right": 0}
|
||||
# initial_qpos = [1.5, 1, 0, 1, 1, 0, 0] # self.config['robot_config']['args']['initial_qpos']
|
||||
|
||||
# TODO should read all configuration in config
|
||||
assert initial_qpos is not None, "Must initialize the initial q position of robot arm"
|
||||
n_actions = 7
|
||||
self.initial_qpos_value = np.array(list(initial_qpos.values())).copy()
|
||||
# self.initial_qpos_value = np.array(initial_qpos)
|
||||
# # change time step in .xml file
|
||||
# tree = ET.parse(model_path)
|
||||
# root = tree.getroot()
|
||||
# for option in root.findall('option'):
|
||||
# option.set("timestep", str(time_step))
|
||||
#
|
||||
# tree.write(model_path)
|
||||
|
||||
super(TableTennisEnv, self).__init__(
|
||||
model_path=model_path, n_substeps=n_substeps, n_actions=n_actions,
|
||||
initial_qpos=initial_qpos)
|
||||
|
||||
if action_space:
|
||||
self.action_space = spaces.Box(low=np.array([-2.6, -2.0, -2.8, -0.9, -4.8, -1.6, -2.2]),
|
||||
high=np.array([2.6, 2.0, 2.8, 3.1, 1.3, 1.6, 2.2]),
|
||||
dtype='float64')
|
||||
else:
|
||||
self.action_space = spaces.Box(low=np.array([-np.inf] * 7),
|
||||
high=np.array([-np.inf] * 7),
|
||||
dtype='float64')
|
||||
self.scale = None
|
||||
self.desired_pos = None
|
||||
self.n_actions = n_actions
|
||||
self.action = None
|
||||
self.time_step = time_step
|
||||
self._dt = time_step
|
||||
self.paddle_center_pos = self.sim.data.get_site_xpos('wam/paddle_center')
|
||||
if reward_obj is None:
|
||||
self.reward_obj = HierarchicalRewardTableTennis()
|
||||
else:
|
||||
self.reward_obj = reward_obj
|
||||
|
||||
if initial_ball_state is not None:
|
||||
self.initial_ball_state = initial_ball_state
|
||||
else:
|
||||
self.initial_ball_state = ball_initialize(random=False)
|
||||
self.target_ball_pos = self.sim.data.get_site_xpos("target_ball")
|
||||
self.racket_center_pos = self.sim.data.get_site_xpos("wam/paddle_center")
|
||||
|
||||
def close(self):
|
||||
if self.viewer is not None:
|
||||
glfw.destroy_window(self.viewer.window)
|
||||
# self.viewer.window.close()
|
||||
self.viewer = None
|
||||
self._viewers = {}
|
||||
|
||||
# GoalEnv methods
|
||||
# ----------------------------
|
||||
def compute_reward(self, achieved_goal, goal, info):
|
||||
# reset the reward, if action valid
|
||||
# right_court_contact_obj = ["target_ball", "table_tennis_table_right_side"]
|
||||
# right_court_contact_detector = self.reward_obj.contact_detection(self, right_court_contact_obj)
|
||||
# if right_court_contact_detector:
|
||||
# print("can detect the table ball contact")
|
||||
self.reward_obj.total_reward = 0
|
||||
# Stage 1 Hitting
|
||||
self.reward_obj.hitting(self)
|
||||
# if not hitted, return the highest reward
|
||||
if not self.reward_obj.goal_achievement:
|
||||
# return self.reward_obj.highest_reward
|
||||
return self.reward_obj.total_reward
|
||||
# # Stage 2 Right Table Contact
|
||||
# self.reward_obj.right_table_contact(self)
|
||||
# if not self.reward_obj.goal_achievement:
|
||||
# return self.reward_obj.highest_reward
|
||||
# # Stage 2 Net Contact
|
||||
# self.reward_obj.net_contact(self)
|
||||
# if not self.reward_obj.goal_achievement:
|
||||
# return self.reward_obj.highest_reward
|
||||
# Stage 3 Opponent court Contact
|
||||
# self.reward_obj.landing_on_opponent_court(self)
|
||||
# if not self.reward_obj.goal_achievement:
|
||||
# print("self.reward_obj.highest_reward: ", self.reward_obj.highest_reward)
|
||||
# TODO
|
||||
self.reward_obj.target_achievement(self)
|
||||
# return self.reward_obj.highest_reward
|
||||
return self.reward_obj.total_reward
|
||||
|
||||
def _reset_sim(self):
|
||||
self.sim.set_state(self.initial_state)
|
||||
[initial_x, initial_y, initial_z, v_x, v_y, v_z] = self.initial_ball_state
|
||||
self.sim.data.set_joint_qpos('tar:x', initial_x)
|
||||
self.sim.data.set_joint_qpos('tar:y', initial_y)
|
||||
self.sim.data.set_joint_qpos('tar:z', initial_z)
|
||||
self.energy_corrected = True
|
||||
self.give_reflection_reward = False
|
||||
|
||||
# velocity is positive direction
|
||||
self.sim.data.set_joint_qvel('tar:x', v_x)
|
||||
self.sim.data.set_joint_qvel('tar:y', v_y)
|
||||
self.sim.data.set_joint_qvel('tar:z', v_z)
|
||||
|
||||
# Apply gravity compensation
|
||||
if self.sim.data.qfrc_applied[:7] is not self.sim.data.qfrc_bias[:7]:
|
||||
self.sim.data.qfrc_applied[:7] = self.sim.data.qfrc_bias[:7]
|
||||
self.sim.forward()
|
||||
return True
|
||||
|
||||
def _env_setup(self, initial_qpos):
|
||||
for name, value in initial_qpos.items():
|
||||
self.sim.data.set_joint_qpos(name, value)
|
||||
|
||||
# Apply gravity compensation
|
||||
if self.sim.data.qfrc_applied[:7] is not self.sim.data.qfrc_bias[:7]:
|
||||
self.sim.data.qfrc_applied[:7] = self.sim.data.qfrc_bias[:7]
|
||||
self.sim.forward()
|
||||
|
||||
# Get the target position
|
||||
self.initial_paddle_center_xpos = self.sim.data.get_site_xpos('wam/paddle_center').copy()
|
||||
self.initial_paddle_center_vel = None # self.sim.get_site_
|
||||
|
||||
def _sample_goal(self):
|
||||
goal = self.initial_paddle_center_xpos[:3] + self.np_random.uniform(-0.2, 0.2, size=3)
|
||||
return goal.copy()
|
||||
|
||||
def _get_obs(self):
|
||||
|
||||
# positions of racket center
|
||||
paddle_center_pos = self.sim.data.get_site_xpos('wam/paddle_center')
|
||||
ball_pos = self.sim.data.get_site_xpos("target_ball")
|
||||
|
||||
dt = self.sim.nsubsteps * self.sim.model.opt.timestep
|
||||
paddle_center_velp = self.sim.data.get_site_xvelp('wam/paddle_center') * dt
|
||||
robot_qpos, robot_qvel = utils.robot_get_obs(self.sim)
|
||||
|
||||
wrist_state = robot_qpos[-3:]
|
||||
wrist_vel = robot_qvel[-3:] * dt # change to a scalar if the gripper is made symmetric
|
||||
|
||||
# achieved_goal = paddle_body_EE_pos
|
||||
obs = np.concatenate([
|
||||
paddle_center_pos, paddle_center_velp, wrist_state, wrist_vel
|
||||
])
|
||||
|
||||
out_dict = {
|
||||
'observation': obs.copy(),
|
||||
'achieved_goal': paddle_center_pos.copy(),
|
||||
'desired_goal': self.goal.copy(),
|
||||
'q_pos': self.sim.data.qpos[:].copy(),
|
||||
"ball_pos": ball_pos.copy(),
|
||||
# "hitting_flag": self.reward_obj.hitting_flag
|
||||
}
|
||||
|
||||
return out_dict
|
||||
|
||||
def _step_callback(self):
|
||||
pass
|
||||
|
||||
def _set_action(self, action):
|
||||
# Apply gravity compensation
|
||||
if self.sim.data.qfrc_applied[:7] is not self.sim.data.qfrc_bias[:7]:
|
||||
self.sim.data.qfrc_applied[:7] = self.sim.data.qfrc_bias[:7]
|
||||
# print("set action process running")
|
||||
assert action.shape == (self.n_actions,)
|
||||
self.action = action.copy() # ensure that we don't change the action outside of this scope
|
||||
pos_ctrl = self.action[:] # limit maximum change in position
|
||||
pos_ctrl = np.clip(pos_ctrl, self.action_space.low, self.action_space.high)
|
||||
|
||||
# get desired trajectory
|
||||
self.sim.data.qpos[:7] = pos_ctrl
|
||||
self.sim.forward()
|
||||
self.desired_pos = self.sim.data.get_site_xpos('wam/paddle_center').copy()
|
||||
|
||||
self.sim.data.ctrl[:] = pos_ctrl
|
||||
|
||||
def _is_success(self, achieved_goal, desired_goal):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
render_mode = "human" # "human" or "partial" or "final"
|
||||
env = TableTennisEnv()
|
||||
env.reset()
|
||||
# env.render(mode=render_mode)
|
||||
|
||||
for i in range(500):
|
||||
# objective.load_result("/tmp/cma")
|
||||
# test with random actions
|
||||
ac = env.action_space.sample()
|
||||
# ac[0] += np.pi/2
|
||||
obs, rew, d, info = env.step(ac)
|
||||
env.render(mode=render_mode)
|
||||
|
||||
print(rew)
|
||||
|
||||
if d:
|
||||
break
|
||||
|
||||
env.close()
|
||||
@ -1,83 +0,0 @@
|
||||
import numpy as np
|
||||
from gym.utils import seeding
|
||||
from alr_envs.alr.mujoco.gym_table_tennis.utils.util import read_yaml, read_json
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def ball_initialize(random=False, scale=False, context_range=None, scale_value=None):
|
||||
if random:
|
||||
if scale:
|
||||
# if scale_value is None:
|
||||
scale_value = context_scale_initialize(context_range)
|
||||
v_x, v_y, v_z = [2.5, 2, 0.5] * scale_value
|
||||
dx = 1
|
||||
dy = 0
|
||||
dz = 0.05
|
||||
else:
|
||||
seed = None
|
||||
np_random, seed = seeding.np_random(seed)
|
||||
dx = np_random.uniform(-0.1, 0.1)
|
||||
dy = np_random.uniform(-0.1, 0.1)
|
||||
dz = np_random.uniform(-0.1, 0.1)
|
||||
|
||||
v_x = np_random.uniform(1.7, 1.8)
|
||||
v_y = np_random.uniform(0.7, 0.8)
|
||||
v_z = np_random.uniform(0.1, 0.2)
|
||||
# print(dx, dy, dz, v_x, v_y, v_z)
|
||||
# else:
|
||||
# dx = -0.1
|
||||
# dy = 0.05
|
||||
# dz = 0.05
|
||||
# v_x = 1.5
|
||||
# v_y = 0.7
|
||||
# v_z = 0.06
|
||||
# initial_x = -0.6 + dx
|
||||
# initial_y = -0.3 + dy
|
||||
# initial_z = 0.8 + dz
|
||||
else:
|
||||
if scale:
|
||||
v_x, v_y, v_z = [2.5, 2, 0.5] * scale_value
|
||||
else:
|
||||
v_x = 2.5
|
||||
v_y = 2
|
||||
v_z = 0.5
|
||||
dx = 1
|
||||
dy = 0
|
||||
dz = 0.05
|
||||
|
||||
initial_x = 0 + dx
|
||||
initial_y = -0.2 + dy
|
||||
initial_z = 0.3 + dz
|
||||
# print("initial ball state: ", initial_x, initial_y, initial_z, v_x, v_y, v_z)
|
||||
initial_ball_state = np.array([initial_x, initial_y, initial_z, v_x, v_y, v_z])
|
||||
return initial_ball_state
|
||||
|
||||
|
||||
def context_scale_initialize(range):
|
||||
"""
|
||||
|
||||
Returns:
|
||||
|
||||
"""
|
||||
low, high = range
|
||||
scale = np.random.uniform(low, high, 1)
|
||||
return scale
|
||||
|
||||
|
||||
def config_handle_generation(config_file_path):
|
||||
"""Generate config handle for multiprocessing
|
||||
|
||||
Args:
|
||||
config_file_path:
|
||||
|
||||
Returns:
|
||||
|
||||
"""
|
||||
cfg_fname = Path(config_file_path)
|
||||
# .json and .yml file
|
||||
if cfg_fname.suffix == ".json":
|
||||
config = read_json(cfg_fname)
|
||||
elif cfg_fname.suffix == ".yml":
|
||||
config = read_yaml(cfg_fname)
|
||||
|
||||
return config
|
||||
@ -1,402 +0,0 @@
|
||||
import numpy as np
|
||||
import logging
|
||||
|
||||
|
||||
class HierarchicalRewardTableTennis(object):
|
||||
"""Class for hierarchical reward function for table tennis experiment.
|
||||
|
||||
Return Highest Reward.
|
||||
Reward = 0
|
||||
Step 1: Action Valid. Upper Bound 0
|
||||
[-∞, 0]
|
||||
Reward += -1 * |hit_duration - hit_duration_threshold| * |hit_duration < hit_duration_threshold| * 10
|
||||
Step 2: Hitting. Upper Bound 2
|
||||
if hitting:
|
||||
[0, 2]
|
||||
Reward = 2 * (1 - tanh(|shortest_hitting_dist|))
|
||||
if not hitting:
|
||||
[0, 0.2]
|
||||
Reward = 2 * (1 - tanh(|shortest_hitting_dist|))
|
||||
Step 3: Target Point Achievement. Upper Bound 6
|
||||
[0, 4]
|
||||
if table_contact_detector:
|
||||
Reward += 1
|
||||
Reward += (1 - tanh(|shortest_hitting_dist|)) * 2
|
||||
if contact_coordinate[0] < 0:
|
||||
Reward += 1
|
||||
else:
|
||||
Reward += 0
|
||||
elif:
|
||||
Reward += (1 - tanh(|shortest_hitting_dist|))
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
self.reward = None
|
||||
self.goal_achievement = False
|
||||
self.total_reward = 0
|
||||
self.shortest_hitting_dist = 1000
|
||||
self.highest_reward = -1000
|
||||
self.lowest_corner_dist = 100
|
||||
self.right_court_contact_detector = False
|
||||
self.table_contact_detector = False
|
||||
self.floor_contact_detector = False
|
||||
self.radius = 0.025
|
||||
self.min_ball_x_pos = 100
|
||||
self.hit_contact_detector = False
|
||||
self.net_contact_detector = False
|
||||
self.ratio = 1
|
||||
self.lowest_z = 100
|
||||
self.target_flag = False
|
||||
self.dist_target_virtual = 100
|
||||
self.ball_z_pos_lowest = 100
|
||||
self.hitting_flag = False
|
||||
self.hitting_time_point = None
|
||||
self.ctxt_dim = None
|
||||
self.context_range_bounds = None
|
||||
# self.ctxt_out_of_range_punishment = None
|
||||
# self.ctxt_in_side_of_range_punishment = None
|
||||
#
|
||||
# def check_where_invalid(self, ctxt, context_range_bounds, set_to_valid_region=False):
|
||||
# idx_max = []
|
||||
# idx_min = []
|
||||
# for dim in range(self.ctxt_dim):
|
||||
# min_dim = context_range_bounds[0][dim]
|
||||
# max_dim = context_range_bounds[1][dim]
|
||||
# idx_max_c = np.where(ctxt[:, dim] > max_dim)[0]
|
||||
# idx_min_c = np.where(ctxt[:, dim] < min_dim)[0]
|
||||
# if set_to_valid_region:
|
||||
# if idx_max_c.shape[0] != 0:
|
||||
# ctxt[idx_max_c, dim] = max_dim
|
||||
# if idx_min_c.shape[0] != 0:
|
||||
# ctxt[idx_min_c, dim] = min_dim
|
||||
# idx_max.append(idx_max_c)
|
||||
# idx_min.append(idx_min_c)
|
||||
# return idx_max, idx_min, ctxt
|
||||
|
||||
def check_valid(self, scale, context_range_bounds):
|
||||
|
||||
min_dim = context_range_bounds[0][0]
|
||||
max_dim = context_range_bounds[1][0]
|
||||
valid = (scale < max_dim) and (scale > min_dim)
|
||||
return valid
|
||||
|
||||
@classmethod
|
||||
def goal_distance(cls, goal_a, goal_b):
|
||||
assert goal_a.shape == goal_b.shape
|
||||
return np.linalg.norm(goal_a - goal_b, axis=-1)
|
||||
|
||||
def refresh_highest_reward(self):
|
||||
if self.total_reward >= self.highest_reward:
|
||||
self.highest_reward = self.total_reward
|
||||
|
||||
def duration_valid(self):
|
||||
pass
|
||||
|
||||
def huge_value_unstable(self):
|
||||
self.total_reward += -10
|
||||
self.highest_reward = -1
|
||||
|
||||
def context_valid(self, context):
|
||||
valid = self.check_valid(context.copy(), context_range_bounds=self.context_range_bounds)
|
||||
# when using dirac punishments
|
||||
if valid:
|
||||
self.total_reward += 1 # If Action Valid and Context Valid, total_reward = 0
|
||||
else:
|
||||
self.total_reward += 0
|
||||
self.refresh_highest_reward()
|
||||
|
||||
|
||||
|
||||
# If in the ctxt, add 1, otherwise, 0
|
||||
|
||||
def action_valid(self, durations=None):
|
||||
"""Ensure the execution of the robot movement with parameters which are in a valid domain.
|
||||
|
||||
Time should always be positive,
|
||||
the joint position of the robot should be a subset of [−π, π].
|
||||
if all parameters are valid, the robot gets a zero score,
|
||||
otherwise it gets a negative score proportional to how much it is beyond the valid parameter domain.
|
||||
|
||||
Returns:
|
||||
rewards: if valid, reward is equal to 0.
|
||||
if not valid, reward is negative and proportional to the distance beyond the valid parameter domain
|
||||
"""
|
||||
assert durations.shape[0] == 2, "durations type should be np.array and the shape should be 2"
|
||||
# pre_duration = durations[0]
|
||||
hit_duration = durations[1]
|
||||
# pre_duration_thres = 0.01
|
||||
hit_duration_thres = 1
|
||||
# self.goal_achievement = np.all(
|
||||
# [(pre_duration > pre_duration_thres), (hit_duration > hit_duration_thres), (0.3 < pre_duration < 0.6)])
|
||||
self.goal_achievement = (hit_duration > hit_duration_thres)
|
||||
if self.goal_achievement:
|
||||
self.total_reward = -1
|
||||
self.goal_achievement = True
|
||||
else:
|
||||
# self.total_reward += -1 * ((np.abs(pre_duration - pre_duration_thres) * int(
|
||||
# pre_duration < pre_duration_thres) + np.abs(hit_duration - hit_duration_thres) * int(
|
||||
# hit_duration < hit_duration_thres)) * 10)
|
||||
self.total_reward = -1 * ((np.abs(hit_duration - hit_duration_thres) * int(
|
||||
hit_duration < hit_duration_thres)) * 10)
|
||||
self.total_reward += -1
|
||||
self.goal_achievement = False
|
||||
self.refresh_highest_reward()
|
||||
|
||||
def motion_penalty(self, action, high_motion_penalty):
|
||||
"""Protects the robot from high acceleration and dangerous movement.
|
||||
"""
|
||||
if not high_motion_penalty:
|
||||
reward_ctrl = - 0.05 * np.square(action).sum()
|
||||
else:
|
||||
reward_ctrl = - 0.075 * np.square(action).sum()
|
||||
self.total_reward += reward_ctrl
|
||||
self.refresh_highest_reward()
|
||||
self.goal_achievement = True
|
||||
|
||||
def hitting(self, env): # , target_ball_pos, racket_center_pos, hit_contact_detector=False
|
||||
"""Hitting reward calculation
|
||||
|
||||
If racket successfully hit the ball, the reward +1
|
||||
Otherwise calculate the distance between the center of racket and the center of ball,
|
||||
reward = tanh(r/dist) if dist<1 reward almost 2 , if dist >= 1 reward is between [0, 0.2]
|
||||
|
||||
|
||||
Args:
|
||||
env:
|
||||
|
||||
Returns:
|
||||
|
||||
"""
|
||||
|
||||
hit_contact_obj = ["target_ball", "bat"]
|
||||
target_ball_pos = env.target_ball_pos
|
||||
racket_center_pos = env.racket_center_pos
|
||||
# hit contact detection
|
||||
# Record the hitting history
|
||||
self.hitting_flag = False
|
||||
if not self.hit_contact_detector:
|
||||
self.hit_contact_detector = self.contact_detection(env, hit_contact_obj)
|
||||
if self.hit_contact_detector:
|
||||
print("First time detect hitting")
|
||||
self.hitting_flag = True
|
||||
if self.hit_contact_detector:
|
||||
|
||||
# TODO
|
||||
dist = self.goal_distance(target_ball_pos, racket_center_pos)
|
||||
if dist < 0:
|
||||
dist = 0
|
||||
# print("goal distance is:", dist)
|
||||
if dist <= self.shortest_hitting_dist:
|
||||
self.shortest_hitting_dist = dist
|
||||
# print("shortest_hitting_dist is:", self.shortest_hitting_dist)
|
||||
# Keep the shortest hitting distance.
|
||||
dist_reward = 2 * (1 - np.tanh(np.abs(self.shortest_hitting_dist)))
|
||||
|
||||
# TODO sparse
|
||||
# dist_reward = 2
|
||||
|
||||
self.total_reward += dist_reward
|
||||
self.goal_achievement = True
|
||||
|
||||
# if self.hitting_time_point is not None and self.hitting_time_point > 600:
|
||||
# self.total_reward += 1
|
||||
|
||||
else:
|
||||
dist = self.goal_distance(target_ball_pos, racket_center_pos)
|
||||
if dist <= self.shortest_hitting_dist:
|
||||
self.shortest_hitting_dist = dist
|
||||
dist_reward = 1 - np.tanh(self.shortest_hitting_dist)
|
||||
reward = 0.2 * dist_reward # because it does not hit the ball, so multiply 0.2
|
||||
self.total_reward += reward
|
||||
self.goal_achievement = False
|
||||
|
||||
self.refresh_highest_reward()
|
||||
|
||||
@classmethod
|
||||
def relu(cls, x):
|
||||
return np.maximum(0, x)
|
||||
|
||||
# def right_table_contact(self, env):
|
||||
# right_court_contact_obj = ["target_ball", "table_tennis_table_right_side"]
|
||||
# if env.target_ball_pos[0] >= 0 and env.target_ball_pos[2] >= 0.7:
|
||||
# # update right court contact detection
|
||||
# if not self.right_court_contact_detector:
|
||||
# self.right_court_contact_detector = self.contact_detection(env, right_court_contact_obj)
|
||||
# if self.right_court_contact_detector:
|
||||
# self.contact_x_pos = env.target_ball_pos[0]
|
||||
# if self.right_court_contact_detector:
|
||||
# self.total_reward += 1 - norm(0.685, 1).pdf(self.contact_x_pos) # x axis middle of right table
|
||||
# self.goal_achievement = False
|
||||
# else:
|
||||
# self.total_reward += 1
|
||||
# self.goal_achievement = True
|
||||
# # else:
|
||||
# # self.total_reward += 0
|
||||
# # self.goal_achievement = False
|
||||
# self.refresh_highest_reward()
|
||||
|
||||
# def net_contact(self, env):
|
||||
# net_contact_obj = ["target_ball", "table_tennis_net"]
|
||||
# # net_contact_detector = self.contact_detection(env, net_contact_obj)
|
||||
# # ball_x_pos = env.target_ball_pos[0]
|
||||
# # if self.min_ball_x_pos >= ball_x_pos:
|
||||
# # self.min_ball_x_pos = ball_x_pos
|
||||
# # table_left_edge_x_pos = -1.37
|
||||
# # if np.abs(ball_x_pos) <= 0.01: # x threshold of net
|
||||
# # if self.lowest_z >= env.target_ball_pos[2]:
|
||||
# # self.lowest_z = env.target_ball_pos[2]
|
||||
# # # construct a gaussian distribution of z
|
||||
# # z_reward = 4 - norm(0, 0.1).pdf(self.lowest_z - 0.07625) # maximum 4
|
||||
# # self.total_reward += z_reward
|
||||
# # self.total_reward += 2 - np.minimum(1, self.relu(np.abs(self.min_ball_x_pos)))
|
||||
# if not self.net_contact_detector:
|
||||
# self.net_contact_detector = self.contact_detection(env, net_contact_obj)
|
||||
# if self.net_contact_detector:
|
||||
# self.total_reward += 0 # very high cost
|
||||
# self.goal_achievement = False
|
||||
# else:
|
||||
# self.total_reward += 1
|
||||
# self.goal_achievement = True
|
||||
# self.refresh_highest_reward()
|
||||
|
||||
# def landing_on_opponent_court(self, env):
|
||||
# # Very sparse reward
|
||||
# # don't contact the right side court
|
||||
# # right_court_contact_obj = ["target_ball", "table_tennis_table_right_side"]
|
||||
# # right_court_contact_detector = self.contact_detection(env, right_court_contact_obj)
|
||||
# left_court_contact_obj = ["target_ball", "table_tennis_table_left_side"]
|
||||
# # left_court_contact_detector = self.contact_detection(env, left_court_contact_obj)
|
||||
# # record the contact history
|
||||
# # if not self.right_court_contact_detector:
|
||||
# # self.right_court_contact_detector = self.contact_detection(env, right_court_contact_obj)
|
||||
# if not self.table_contact_detector:
|
||||
# self.table_contact_detector = self.contact_detection(env, left_court_contact_obj)
|
||||
#
|
||||
# dist_left_up_corner = self.goal_distance(env.target_ball_pos, env.sim.data.get_site_xpos("left_up_corner"))
|
||||
# dist_middle_up_corner = self.goal_distance(env.target_ball_pos, env.sim.data.get_site_xpos("middle_up_corner"))
|
||||
# dist_left_down_corner = self.goal_distance(env.target_ball_pos, env.sim.data.get_site_xpos("left_down_corner"))
|
||||
# dist_middle_down_corner = self.goal_distance(env.target_ball_pos,
|
||||
# env.sim.data.get_site_xpos("middle_down_corner"))
|
||||
# dist_array = np.array(
|
||||
# [dist_left_up_corner, dist_middle_up_corner, dist_left_down_corner, dist_middle_down_corner])
|
||||
# dist_corner = np.amin(dist_array)
|
||||
# if self.lowest_corner_dist >= dist_corner:
|
||||
# self.lowest_corner_dist = dist_corner
|
||||
#
|
||||
# right_contact_cost = 1
|
||||
# left_contact_reward = 2
|
||||
# dist_left_table_reward = (2 - np.tanh(self.lowest_corner_dist))
|
||||
# # TODO Try multi dimensional gaussian distribution
|
||||
# # contact only the left side court
|
||||
# if self.right_court_contact_detector:
|
||||
# self.total_reward += 0
|
||||
# self.goal_achievement = False
|
||||
# if self.table_contact_detector:
|
||||
# self.total_reward += left_contact_reward
|
||||
# self.goal_achievement = False
|
||||
# else:
|
||||
# self.total_reward += dist_left_table_reward
|
||||
# self.goal_achievement = False
|
||||
# else:
|
||||
# self.total_reward += right_contact_cost
|
||||
# if self.table_contact_detector:
|
||||
# self.total_reward += left_contact_reward
|
||||
# self.goal_achievement = True
|
||||
# else:
|
||||
# self.total_reward += dist_left_table_reward
|
||||
# self.goal_achievement = False
|
||||
# self.refresh_highest_reward()
|
||||
# # if self.left_court_contact_detector and not self.right_court_contact_detector:
|
||||
# # self.total_reward += self.ratio * left_contact_reward
|
||||
# # print("only left court reward return!!!!!!!!!")
|
||||
# # print("contact only left court!!!!!!")
|
||||
# # self.goal_achievement = True
|
||||
# # # no contact with table
|
||||
# # elif not self.right_court_contact_detector and not self.left_court_contact_detector:
|
||||
# # self.total_reward += 0 + self.ratio * dist_left_table_reward
|
||||
# # self.goal_achievement = False
|
||||
# # # contact both side
|
||||
# # elif self.right_court_contact_detector and self.left_court_contact_detector:
|
||||
# # self.total_reward += self.ratio * (left_contact_reward - right_contact_cost) # cost of contact of right court
|
||||
# # self.goal_achievement = False
|
||||
# # # contact only the right side court
|
||||
# # elif self.right_court_contact_detector and not self.left_court_contact_detector:
|
||||
# # self.total_reward += 0 + self.ratio * (
|
||||
# # dist_left_table_reward - right_contact_cost) # cost of contact of right court
|
||||
# # self.goal_achievement = False
|
||||
|
||||
def target_achievement(self, env):
|
||||
target_coordinate = np.array([-0.5, -0.5])
|
||||
# net_contact_obj = ["target_ball", "table_tennis_net"]
|
||||
table_contact_obj = ["target_ball", "table_tennis_table"]
|
||||
floor_contact_obj = ["target_ball", "floor"]
|
||||
|
||||
if 0.78 < env.target_ball_pos[2] < 0.8:
|
||||
dist_target_virtual = np.linalg.norm(env.target_ball_pos[:2] - target_coordinate)
|
||||
if self.dist_target_virtual > dist_target_virtual:
|
||||
self.dist_target_virtual = dist_target_virtual
|
||||
if -0.07 < env.target_ball_pos[0] < 0.07 and env.sim.data.get_joint_qvel('tar:x') < 0:
|
||||
if self.ball_z_pos_lowest > env.target_ball_pos[2]:
|
||||
self.ball_z_pos_lowest = env.target_ball_pos[2].copy()
|
||||
# if not self.net_contact_detector:
|
||||
# self.net_contact_detector = self.contact_detection(env, net_contact_obj)
|
||||
if not self.table_contact_detector:
|
||||
self.table_contact_detector = self.contact_detection(env, table_contact_obj)
|
||||
if not self.floor_contact_detector:
|
||||
self.floor_contact_detector = self.contact_detection(env, floor_contact_obj)
|
||||
if not self.target_flag:
|
||||
# Table Contact Reward.
|
||||
if self.table_contact_detector:
|
||||
self.total_reward += 1
|
||||
# only update when the first contact because of the flag
|
||||
contact_coordinate = env.target_ball_pos[:2].copy()
|
||||
print("contact table ball coordinate: ", env.target_ball_pos)
|
||||
logging.info("contact table ball coordinate: {}".format(env.target_ball_pos))
|
||||
dist_target = np.linalg.norm(contact_coordinate - target_coordinate)
|
||||
self.total_reward += (1 - np.tanh(dist_target)) * 2
|
||||
self.target_flag = True
|
||||
# Net Contact Reward. Precondition: Table Contact exits.
|
||||
if contact_coordinate[0] < 0:
|
||||
print("left table contact")
|
||||
logging.info("~~~~~~~~~~~~~~~left table contact~~~~~~~~~~~~~~~")
|
||||
self.total_reward += 1
|
||||
# TODO Z coordinate reward
|
||||
# self.total_reward += np.maximum(np.tanh(self.ball_z_pos_lowest), 0)
|
||||
self.goal_achievement = True
|
||||
else:
|
||||
print("right table contact")
|
||||
logging.info("~~~~~~~~~~~~~~~right table contact~~~~~~~~~~~~~~~")
|
||||
self.total_reward += 0
|
||||
self.goal_achievement = False
|
||||
# if self.net_contact_detector:
|
||||
# self.total_reward += 0
|
||||
# self.goal_achievement = False
|
||||
# else:
|
||||
# self.total_reward += 1
|
||||
# self.goal_achievement = False
|
||||
# Floor Contact Reward. Precondition: Table Contact exits.
|
||||
elif self.floor_contact_detector:
|
||||
self.total_reward += (1 - np.tanh(self.dist_target_virtual))
|
||||
self.target_flag = True
|
||||
self.goal_achievement = False
|
||||
# No Contact of Floor or Table, flying
|
||||
else:
|
||||
pass
|
||||
# else:
|
||||
# print("Flag is True already")
|
||||
self.refresh_highest_reward()
|
||||
|
||||
def distance_to_target(self):
|
||||
pass
|
||||
|
||||
@classmethod
|
||||
def contact_detection(cls, env, goal_contact):
|
||||
for i in range(env.sim.data.ncon):
|
||||
contact = env.sim.data.contact[i]
|
||||
achieved_geom1_name = env.sim.model.geom_id2name(contact.geom1)
|
||||
achieved_geom2_name = env.sim.model.geom_id2name(contact.geom2)
|
||||
if np.all([(achieved_geom1_name in goal_contact), (achieved_geom2_name in goal_contact)]):
|
||||
print("contact of " + achieved_geom1_name + " " + achieved_geom2_name)
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
@ -1,136 +0,0 @@
|
||||
# Copyright 2017 The dm_control Authors.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
# ============================================================================
|
||||
|
||||
# """Soft indicator function evaluating whether a number is within bounds."""
|
||||
#
|
||||
# from __future__ import absolute_import
|
||||
# from __future__ import division
|
||||
# from __future__ import print_function
|
||||
|
||||
# Internal dependencies.
|
||||
import numpy as np
|
||||
|
||||
# The value returned by tolerance() at `margin` distance from `bounds` interval.
|
||||
_DEFAULT_VALUE_AT_MARGIN = 0.1
|
||||
|
||||
|
||||
def _sigmoids(x, value_at_1, sigmoid):
|
||||
"""Returns 1 when `x` == 0, between 0 and 1 otherwise.
|
||||
|
||||
Args:
|
||||
x: A scalar or numpy array.
|
||||
value_at_1: A float between 0 and 1 specifying the output when `x` == 1.
|
||||
sigmoid: String, choice of sigmoid type.
|
||||
|
||||
Returns:
|
||||
A numpy array with values between 0.0 and 1.0.
|
||||
|
||||
Raises:
|
||||
ValueError: If not 0 < `value_at_1` < 1, except for `linear`, `cosine` and
|
||||
`quadratic` sigmoids which allow `value_at_1` == 0.
|
||||
ValueError: If `sigmoid` is of an unknown type.
|
||||
"""
|
||||
if sigmoid in ('cosine', 'linear', 'quadratic'):
|
||||
if not 0 <= value_at_1 < 1:
|
||||
raise ValueError('`value_at_1` must be nonnegative and smaller than 1, '
|
||||
'got {}.'.format(value_at_1))
|
||||
else:
|
||||
if not 0 < value_at_1 < 1:
|
||||
raise ValueError('`value_at_1` must be strictly between 0 and 1, '
|
||||
'got {}.'.format(value_at_1))
|
||||
|
||||
if sigmoid == 'gaussian':
|
||||
scale = np.sqrt(-2 * np.log(value_at_1))
|
||||
return np.exp(-0.5 * (x*scale)**2)
|
||||
|
||||
elif sigmoid == 'hyperbolic':
|
||||
scale = np.arccosh(1/value_at_1)
|
||||
return 1 / np.cosh(x*scale)
|
||||
|
||||
elif sigmoid == 'long_tail':
|
||||
scale = np.sqrt(1/value_at_1 - 1)
|
||||
return 1 / ((x*scale)**2 + 1)
|
||||
|
||||
elif sigmoid == 'cosine':
|
||||
scale = np.arccos(2*value_at_1 - 1) / np.pi
|
||||
scaled_x = x*scale
|
||||
return np.where(abs(scaled_x) < 1, (1 + np.cos(np.pi*scaled_x))/2, 0.0)
|
||||
|
||||
elif sigmoid == 'linear':
|
||||
scale = 1-value_at_1
|
||||
scaled_x = x*scale
|
||||
return np.where(abs(scaled_x) < 1, 1 - scaled_x, 0.0)
|
||||
|
||||
elif sigmoid == 'quadratic':
|
||||
scale = np.sqrt(1-value_at_1)
|
||||
scaled_x = x*scale
|
||||
return np.where(abs(scaled_x) < 1, 1 - scaled_x**2, 0.0)
|
||||
|
||||
elif sigmoid == 'tanh_squared':
|
||||
scale = np.arctanh(np.sqrt(1-value_at_1))
|
||||
return 1 - np.tanh(x*scale)**2
|
||||
|
||||
else:
|
||||
raise ValueError('Unknown sigmoid type {!r}.'.format(sigmoid))
|
||||
|
||||
|
||||
def tolerance(x, bounds=(0.0, 0.0), margin=0.0, sigmoid='gaussian',
|
||||
value_at_margin=_DEFAULT_VALUE_AT_MARGIN):
|
||||
"""Returns 1 when `x` falls inside the bounds, between 0 and 1 otherwise.
|
||||
|
||||
Args:
|
||||
x: A scalar or numpy array.
|
||||
bounds: A tuple of floats specifying inclusive `(lower, upper)` bounds for
|
||||
the target interval. These can be infinite if the interval is unbounded
|
||||
at one or both ends, or they can be equal to one another if the target
|
||||
value is exact.
|
||||
margin: Float. Parameter that controls how steeply the output decreases as
|
||||
`x` moves out-of-bounds.
|
||||
* If `margin == 0` then the output will be 0 for all values of `x`
|
||||
outside of `bounds`.
|
||||
* If `margin > 0` then the output will decrease sigmoidally with
|
||||
increasing distance from the nearest bound.
|
||||
sigmoid: String, choice of sigmoid type. Valid values are: 'gaussian',
|
||||
'linear', 'hyperbolic', 'long_tail', 'cosine', 'tanh_squared'.
|
||||
value_at_margin: A float between 0 and 1 specifying the output value when
|
||||
the distance from `x` to the nearest bound is equal to `margin`. Ignored
|
||||
if `margin == 0`.
|
||||
|
||||
Returns:
|
||||
A float or numpy array with values between 0.0 and 1.0.
|
||||
|
||||
Raises:
|
||||
ValueError: If `bounds[0] > bounds[1]`.
|
||||
ValueError: If `margin` is negative.
|
||||
"""
|
||||
lower, upper = bounds
|
||||
if lower > upper:
|
||||
raise ValueError('Lower bound must be <= upper bound.')
|
||||
if margin < 0:
|
||||
raise ValueError('`margin` must be non-negative.')
|
||||
|
||||
in_bounds = np.logical_and(lower <= x, x <= upper)
|
||||
if margin == 0:
|
||||
value = np.where(in_bounds, 1.0, 0.0)
|
||||
else:
|
||||
d = np.where(x < lower, lower - x, x - upper) / margin
|
||||
value = np.where(in_bounds, 1.0, _sigmoids(d, value_at_margin, sigmoid))
|
||||
|
||||
return float(value) if np.isscalar(x) else value
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,49 +0,0 @@
|
||||
import json
|
||||
import yaml
|
||||
import xml.etree.ElementTree as ET
|
||||
from collections import OrderedDict
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def read_json(fname):
|
||||
fname = Path(fname)
|
||||
with fname.open('rt') as handle:
|
||||
return json.load(handle, object_hook=OrderedDict)
|
||||
|
||||
|
||||
def write_json(content, fname):
|
||||
fname = Path(fname)
|
||||
with fname.open('wt') as handle:
|
||||
json.dump(content, handle, indent=4, sort_keys=False)
|
||||
|
||||
|
||||
def read_yaml(fname):
|
||||
fname = Path(fname)
|
||||
with fname.open('rt') as handle:
|
||||
return yaml.load(handle, Loader=yaml.FullLoader)
|
||||
|
||||
|
||||
def write_yaml(content, fname):
|
||||
fname = Path(fname)
|
||||
with fname.open('wt') as handle:
|
||||
yaml.dump(content, handle)
|
||||
|
||||
|
||||
def config_save(dir_path, config):
|
||||
dir_path = Path(dir_path)
|
||||
config_path_json = dir_path / "config.json"
|
||||
config_path_yaml = dir_path / "config.yml"
|
||||
# .json and .yml file,save 2 version of configuration.
|
||||
write_json(config, config_path_json)
|
||||
write_yaml(config, config_path_yaml)
|
||||
|
||||
|
||||
def change_kp_in_xml(kp_list,
|
||||
model_path="/home/zhou/slow/table_tennis_rl/simulation/gymTableTennis/gym_table_tennis/simple_reacher/robotics/assets/table_tennis/right_arm_actuator.xml"):
|
||||
tree = ET.parse(model_path)
|
||||
root = tree.getroot()
|
||||
# for actuator in root.find("actuator"):
|
||||
for position, kp in zip(root.iter('position'), kp_list):
|
||||
position.set("kp", str(kp))
|
||||
tree.write(model_path)
|
||||
|
||||
@ -1 +0,0 @@
|
||||
from .mp_wrapper import MPWrapper
|
||||
@ -1,38 +0,0 @@
|
||||
from typing import Tuple, Union
|
||||
|
||||
import numpy as np
|
||||
|
||||
from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
|
||||
|
||||
|
||||
class MPWrapper(RawInterfaceWrapper):
|
||||
|
||||
@property
|
||||
def context_mask(self) -> np.ndarray:
|
||||
# TODO: @Max Filter observations correctly
|
||||
return np.hstack([
|
||||
[False] * 7, # Joint Pos
|
||||
[True] * 2, # Ball pos
|
||||
[True] * 2 # goal pos
|
||||
])
|
||||
|
||||
@property
|
||||
def start_pos(self):
|
||||
return self.self.init_qpos_tt
|
||||
|
||||
@property
|
||||
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
|
||||
return self.sim.data.qpos[:7].copy()
|
||||
|
||||
@property
|
||||
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
|
||||
return self.sim.data.qvel[:7].copy()
|
||||
|
||||
@property
|
||||
def goal_pos(self):
|
||||
# TODO: @Max I think the default value of returning to the start is reasonable here
|
||||
raise ValueError("Goal position is not available and has to be learnt based on the environment.")
|
||||
|
||||
@property
|
||||
def dt(self) -> Union[float, int]:
|
||||
return self.env.dt
|
||||
@ -1,184 +0,0 @@
|
||||
import os
|
||||
|
||||
import numpy as np
|
||||
import mujoco_py
|
||||
from gym import utils, spaces
|
||||
from gym.envs.mujoco import MujocoEnv
|
||||
|
||||
from alr_envs.alr.mujoco.table_tennis.tt_utils import ball_init
|
||||
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 = 1375 # (1.25 + 1.5) /0.002
|
||||
BALL_NAME_CONTACT = "target_ball_contact"
|
||||
BALL_NAME = "target_ball"
|
||||
TABLE_NAME = 'table_tennis_table'
|
||||
FLOOR_NAME = 'floor'
|
||||
PADDLE_CONTACT_1_NAME = 'bat'
|
||||
PADDLE_CONTACT_2_NAME = 'bat_back'
|
||||
RACKET_NAME = 'bat'
|
||||
# CONTEXT_RANGE_BOUNDS_2DIM = np.array([[-1.2, -0.6], [-0.2, 0.6]])
|
||||
CONTEXT_RANGE_BOUNDS_2DIM = np.array([[-1.2, -0.6], [-0.2, 0.0]])
|
||||
CONTEXT_RANGE_BOUNDS_4DIM = np.array([[-1.35, -0.75, -1.25, -0.75], [-0.1, 0.75, -0.1, 0.75]])
|
||||
|
||||
|
||||
class TTEnvGym(MujocoEnv, utils.EzPickle):
|
||||
|
||||
def __init__(self, ctxt_dim=2, fixed_goal=False):
|
||||
model_path = os.path.join(os.path.dirname(__file__), "xml", 'table_tennis_env.xml')
|
||||
|
||||
self.ctxt_dim = ctxt_dim
|
||||
self.fixed_goal = fixed_goal
|
||||
if ctxt_dim == 2:
|
||||
self.context_range_bounds = CONTEXT_RANGE_BOUNDS_2DIM
|
||||
if self.fixed_goal:
|
||||
self.goal = np.array([-1, -0.1, 0])
|
||||
else:
|
||||
self.goal = np.zeros(3) # 2 x,y + 1z
|
||||
elif ctxt_dim == 4:
|
||||
self.context_range_bounds = CONTEXT_RANGE_BOUNDS_4DIM
|
||||
self.goal = np.zeros(3)
|
||||
else:
|
||||
raise ValueError("either 2 or 4 dimensional Contexts available")
|
||||
|
||||
# has no effect as it is overwritten in init of super
|
||||
# action_space_low = np.array([-2.6, -2.0, -2.8, -0.9, -4.8, -1.6, -2.2])
|
||||
# action_space_high = np.array([2.6, 2.0, 2.8, 3.1, 1.3, 1.6, 2.2])
|
||||
# self.action_space = spaces.Box(low=action_space_low, high=action_space_high, dtype='float64')
|
||||
|
||||
self.time_steps = 0
|
||||
self.init_qpos_tt = np.array([0, 0, 0, 1.5, 0, 0, 1.5, 0, 0, 0])
|
||||
self.init_qvel_tt = np.zeros(10)
|
||||
|
||||
self.reward_func = TT_Reward(self.ctxt_dim)
|
||||
self.ball_landing_pos = None
|
||||
self.hit_ball = False
|
||||
self.ball_contact_after_hit = False
|
||||
self._ids_set = False
|
||||
super(TTEnvGym, self).__init__(model_path=model_path, frame_skip=1)
|
||||
self.ball_id = self.sim.model._body_name2id[BALL_NAME] # find the proper -> not protected func.
|
||||
self.ball_contact_id = self.sim.model._geom_name2id[BALL_NAME_CONTACT]
|
||||
self.table_contact_id = self.sim.model._geom_name2id[TABLE_NAME]
|
||||
self.floor_contact_id = self.sim.model._geom_name2id[FLOOR_NAME]
|
||||
self.paddle_contact_id_1 = self.sim.model._geom_name2id[PADDLE_CONTACT_1_NAME] # check if we need both or only this
|
||||
self.paddle_contact_id_2 = self.sim.model._geom_name2id[PADDLE_CONTACT_2_NAME] # check if we need both or only this
|
||||
self.racket_id = self.sim.model._geom_name2id[RACKET_NAME]
|
||||
|
||||
|
||||
def _set_ids(self):
|
||||
self.ball_id = self.sim.model._body_name2id[BALL_NAME] # find the proper -> not protected func.
|
||||
self.table_contact_id = self.sim.model._geom_name2id[TABLE_NAME]
|
||||
self.floor_contact_id = self.sim.model._geom_name2id[FLOOR_NAME]
|
||||
self.paddle_contact_id_1 = self.sim.model._geom_name2id[PADDLE_CONTACT_1_NAME] # check if we need both or only this
|
||||
self.paddle_contact_id_2 = self.sim.model._geom_name2id[PADDLE_CONTACT_2_NAME] # check if we need both or only this
|
||||
self.racket_id = self.sim.model._geom_name2id[RACKET_NAME]
|
||||
self.ball_contact_id = self.sim.model._geom_name2id[BALL_NAME_CONTACT]
|
||||
self._ids_set = True
|
||||
|
||||
def _get_obs(self):
|
||||
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,
|
||||
goal_pos])
|
||||
return obs
|
||||
|
||||
def sample_context(self):
|
||||
return self.np_random.uniform(self.context_range_bounds[0], self.context_range_bounds[1], size=self.ctxt_dim)
|
||||
|
||||
def reset_model(self):
|
||||
self.set_state(self.init_qpos_tt, self.init_qvel_tt) # reset to initial sim state
|
||||
self.time_steps = 0
|
||||
self.ball_landing_pos = None
|
||||
self.hit_ball = False
|
||||
self.ball_contact_after_hit = False
|
||||
if self.fixed_goal:
|
||||
self.goal = self.goal[:2]
|
||||
else:
|
||||
self.goal = self.sample_context()[:2]
|
||||
if self.ctxt_dim == 2:
|
||||
initial_ball_state = ball_init(random=False) # fixed velocity, fixed position
|
||||
elif self.ctxt_dim == 4:
|
||||
initial_ball_state = ball_init(random=False)#raise NotImplementedError
|
||||
|
||||
self.sim.data.set_joint_qpos('tar:x', initial_ball_state[0])
|
||||
self.sim.data.set_joint_qpos('tar:y', initial_ball_state[1])
|
||||
self.sim.data.set_joint_qpos('tar:z', initial_ball_state[2])
|
||||
|
||||
self.sim.data.set_joint_qvel('tar:x', initial_ball_state[3])
|
||||
self.sim.data.set_joint_qvel('tar:y', initial_ball_state[4])
|
||||
self.sim.data.set_joint_qvel('tar:z', initial_ball_state[5])
|
||||
|
||||
z_extended_goal_pos = np.concatenate((self.goal[:2], [0.77]))
|
||||
self.goal = z_extended_goal_pos
|
||||
self.sim.model.body_pos[5] = self.goal[:3] # Desired Landing Position, Yellow
|
||||
self.sim.model.body_pos[3] = np.array([0, 0, 0.5]) # Outgoing Ball Landing Position, Green
|
||||
self.sim.model.body_pos[4] = np.array([0, 0, 0.5]) # Incoming Ball Landing Position, Red
|
||||
self.sim.forward()
|
||||
|
||||
self.reward_func.reset(self.goal) # reset the reward function
|
||||
self.n_step = 0
|
||||
return self._get_obs()
|
||||
|
||||
def _contact_checker(self, id_1, id_2):
|
||||
for coni in range(0, self.sim.data.ncon):
|
||||
con = self.sim.data.contact[coni]
|
||||
collision = con.geom1 == id_1 and con.geom2 == id_2
|
||||
collision_trans = con.geom1 == id_2 and con.geom2 == id_1
|
||||
if collision or collision_trans:
|
||||
return True
|
||||
return False
|
||||
|
||||
def step(self, action):
|
||||
if not self._ids_set:
|
||||
self._set_ids()
|
||||
done = False
|
||||
episode_end = False if self.time_steps + 1 < MAX_EPISODE_STEPS else True
|
||||
if not self.hit_ball:
|
||||
self.hit_ball = self._contact_checker(self.ball_contact_id, self.paddle_contact_id_1) # check for one side
|
||||
if not self.hit_ball:
|
||||
self.hit_ball = self._contact_checker(self.ball_contact_id, self.paddle_contact_id_2) # check for other side
|
||||
if self.hit_ball:
|
||||
if not self.ball_contact_after_hit:
|
||||
if self._contact_checker(self.ball_contact_id, self.floor_contact_id): # first check contact with floor
|
||||
self.ball_contact_after_hit = True
|
||||
self.ball_landing_pos = self.sim.data.body_xpos[self.ball_id]
|
||||
elif self._contact_checker(self.ball_contact_id, self.table_contact_id): # second check contact with table
|
||||
self.ball_contact_after_hit = True
|
||||
self.ball_landing_pos = self.sim.data.body_xpos[self.ball_id]
|
||||
c_ball_pos = self.sim.data.body_xpos[self.ball_id]
|
||||
racket_pos = self.sim.data.geom_xpos[self.racket_id] # TODO: use this to reach out the position of the paddle?
|
||||
if self.ball_landing_pos is not None:
|
||||
done = True
|
||||
episode_end =True
|
||||
reward = self.reward_func.get_reward(episode_end, c_ball_pos, racket_pos, self.hit_ball, self.ball_landing_pos)
|
||||
self.time_steps += 1
|
||||
# gravity compensation on joints:
|
||||
#action += self.sim.data.qfrc_bias[:7].copy()
|
||||
try:
|
||||
self.do_simulation(action, self.frame_skip)
|
||||
except mujoco_py.MujocoException as e:
|
||||
print('Simulation got unstable returning')
|
||||
done = True
|
||||
reward = -25
|
||||
ob = self._get_obs()
|
||||
info = {"hit_ball": self.hit_ball,
|
||||
"q_pos": np.copy(self.sim.data.qpos[:7]),
|
||||
"ball_pos": np.copy(self.sim.data.qpos[7:])}
|
||||
self.n_step += 1
|
||||
return ob, reward, done, info # might add some information here ....
|
||||
|
||||
def set_context(self, context):
|
||||
old_state = self.sim.get_state()
|
||||
qpos = old_state.qpos.copy()
|
||||
qvel = old_state.qvel.copy()
|
||||
self.set_state(qpos, qvel)
|
||||
self.goal = context
|
||||
z_extended_goal_pos = np.concatenate((self.goal[:self.ctxt_dim], [0.77]))
|
||||
if self.ctxt_dim == 4:
|
||||
z_extended_goal_pos = np.concatenate((z_extended_goal_pos, [0.77]))
|
||||
self.goal = z_extended_goal_pos
|
||||
self.sim.model.body_pos[5] = self.goal[:3] # TODO: Missing: Setting the desired incomoing landing position
|
||||
self.sim.forward()
|
||||
return self._get_obs()
|
||||
@ -1,48 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
class TT_Reward:
|
||||
|
||||
def __init__(self, ctxt_dim):
|
||||
self.ctxt_dim = ctxt_dim
|
||||
self.c_goal = None # current desired landing point
|
||||
self.c_ball_traj = []
|
||||
self.c_racket_traj = []
|
||||
self.constant = 8
|
||||
|
||||
def get_reward(self, episode_end, ball_position, racket_pos, hited_ball, ball_landing_pos):
|
||||
self.c_ball_traj.append(ball_position.copy())
|
||||
self.c_racket_traj.append(racket_pos.copy())
|
||||
if not episode_end:
|
||||
return 0
|
||||
else:
|
||||
# # seems to work for episodic case
|
||||
min_r_b_dist = np.min(np.linalg.norm(np.array(self.c_ball_traj) - np.array(self.c_racket_traj), axis=1))
|
||||
if not hited_ball:
|
||||
return 0.2 * (1 - np.tanh(min_r_b_dist**2))
|
||||
else:
|
||||
if ball_landing_pos is None:
|
||||
min_b_des_b_dist = np.min(np.linalg.norm(np.array(self.c_ball_traj)[:,:2] - self.c_goal[:2], axis=1))
|
||||
return 2 * (1 - np.tanh(min_r_b_dist ** 2)) + (1 - np.tanh(min_b_des_b_dist**2))
|
||||
else:
|
||||
min_b_des_b_land_dist = np.linalg.norm(self.c_goal[:2] - ball_landing_pos[:2])
|
||||
over_net_bonus = int(ball_landing_pos[0] < 0)
|
||||
return 2 * (1 - np.tanh(min_r_b_dist ** 2)) + 4 * (1 - np.tanh(min_b_des_b_land_dist ** 2)) + over_net_bonus
|
||||
|
||||
|
||||
# if not hited_ball:
|
||||
# min_r_b_dist = 1 + np.min(np.linalg.norm(np.array(self.c_ball_traj) - np.array(self.c_racket_traj), axis=1))
|
||||
# return -min_r_b_dist
|
||||
# else:
|
||||
# if ball_landing_pos is None:
|
||||
# dist_to_des_pos = 1-np.power(np.linalg.norm(self.c_goal - ball_position), 0.75)/self.constant
|
||||
# else:
|
||||
# dist_to_des_pos = 1-np.power(np.linalg.norm(self.c_goal - ball_landing_pos), 0.75)/self.constant
|
||||
# if dist_to_des_pos < -0.2:
|
||||
# dist_to_des_pos = -0.2
|
||||
# return -dist_to_des_pos
|
||||
|
||||
def reset(self, goal):
|
||||
self.c_goal = goal.copy()
|
||||
self.c_ball_traj = []
|
||||
self.c_racket_traj = []
|
||||
@ -1,26 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
def ball_init(random=False, context_range=None):
|
||||
if random:
|
||||
dx = np.random.uniform(-0.1, 0.1) # TODO: clarify these numbers?
|
||||
dy = np.random.uniform(-0.1, 0.1) # TODO: clarify these numbers?
|
||||
dz = np.random.uniform(-0.1, 0.1) # TODO: clarify these numbers?
|
||||
|
||||
v_x = np.random.uniform(1.7, 1.8)
|
||||
v_y = np.random.uniform(0.7, 0.8)
|
||||
v_z = np.random.uniform(0.1, 0.2)
|
||||
else:
|
||||
dx = 1
|
||||
dy = 0
|
||||
dz = 0.05
|
||||
|
||||
v_x = 2.5
|
||||
v_y = 2
|
||||
v_z = 0.5
|
||||
|
||||
initial_x = 0 + dx - 1.2
|
||||
initial_y = -0.2 + dy - 0.6
|
||||
initial_z = 0.3 + dz + 1.5
|
||||
initial_ball_state = np.array([initial_x, initial_y, initial_z, v_x, v_y, v_z])
|
||||
return initial_ball_state
|
||||
@ -1,12 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<actuator>
|
||||
<motor name="wam/base_motor" joint="wam/base_yaw_joint_right" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0"/>
|
||||
<motor name="wam/shoulder_pitch_motor" joint='wam/shoulder_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="125.0"/>
|
||||
<motor name="wam/shoulder_yaw_motor" joint='wam/shoulder_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="40.0"/>
|
||||
<motor name="wam/elbow_pitch_motor" joint='wam/elbow_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="60.0"/>
|
||||
<motor name="wam/wrist_yaw_motor" joint='wam/wrist_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
|
||||
<motor name="wam/wrist_pitch_motor" joint='wam/wrist_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
|
||||
<motor name="wam/palm_yaw_motor" joint='wam/palm_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0"/>
|
||||
</actuator>
|
||||
</mujocoinclude>
|
||||
|
||||
@ -1,103 +0,0 @@
|
||||
<mujocoinclue>
|
||||
<body name="wam/base_link_right" pos="2.1 0 2.0" quat="0 0 1 0" childclass="wam" >
|
||||
<inertial pos="0 0 0" mass="1" diaginertia="0.1 0.1 0.1"/>
|
||||
<geom name="base_link_fine" class="viz" mesh="base_link_fine" rgba="0.5 0.5 0.5 0"/>
|
||||
<geom name="base_link_convex" class="col" mesh="base_link_convex" rgba="0.5 0.5 0.5 1"/>
|
||||
<body name="wam/shoulder_yaw_link_right" pos="0 0 0.346">
|
||||
<inertial pos="-0.00443422 -0.00066489 -0.128904" quat="0.69566 0.716713 -0.0354863 0.0334839" mass="5"
|
||||
diaginertia="0.135089 0.113095 0.0904426"/>
|
||||
<!-- control 0: 1.6-->
|
||||
<joint name="wam/base_yaw_joint_right" range="-2.6 2.6" damping="1.98"/>
|
||||
<geom name="shoulder_link_fine" class="viz" mesh="shoulder_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="shoulder_link_convex_decomposition_p1" class="col"
|
||||
mesh="shoulder_link_convex_decomposition_p1"/>
|
||||
<geom name="shoulder_link_convex_decomposition_p2" class="col"
|
||||
mesh="shoulder_link_convex_decomposition_p2"/>
|
||||
<geom name="shoulder_link_convex_decomposition_p3" class="col"
|
||||
mesh="shoulder_link_convex_decomposition_p3"/>
|
||||
<body name="wam/shoulder_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.961794 0.273112 -0.0169316 0.00866592"
|
||||
mass="3.87494" diaginertia="0.0214195 0.0167127 0.0126452"/> <!--seems off-->
|
||||
<!-- control 1: 0-->
|
||||
<joint name="wam/shoulder_pitch_joint_right" range="-2 2" damping="0.55"/>
|
||||
<geom name="shoulder_pitch_link_fine" class="viz" mesh="shoulder_pitch_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="shoulder_pitch_link_convex" class="col" mesh="shoulder_pitch_link_convex"/>
|
||||
<body name="wam/upper_arm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="0.00683259 3.309e-005 0.392492" quat="0.647136 0.0170822 0.0143038 0.762049"
|
||||
mass="2.20228" diaginertia="0.0592718 0.0592207 0.00313419"/>
|
||||
<!-- control 2: 0-->
|
||||
<joint name="wam/shoulder_yaw_joint_right" range="-2.8 2.8" damping="1.65"/>
|
||||
<geom name="upper_arm_link_fine" class="viz" mesh="upper_arm_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="upper_arm_link_convex_decomposition_p1" class="col"
|
||||
mesh="upper_arm_link_convex_decomposition_p1" rgba="0.094 0.48 0.804 1"/>
|
||||
<geom name="upper_arm_link_convex_decomposition_p2" class="col"
|
||||
mesh="upper_arm_link_convex_decomposition_p2" rgba="0.094 0.48 0.804 1"/>
|
||||
<body name="wam/forearm_link_right" pos="0.045 0 0.55" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.0400149 -0.142717 -0.00022942"
|
||||
quat="0.704281 0.706326 0.0180333 0.0690353" mass="0.500168"
|
||||
diaginertia="0.0151047 0.0148285 0.00275805"/>
|
||||
<!-- control 3: 2.4-->
|
||||
<joint name="wam/elbow_pitch_joint_right" range="-0.9 3.1" damping="0.88"/>
|
||||
<geom name="elbow_link_fine" class="viz" mesh="elbow_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="elbow_link_convex" class="col" mesh="elbow_link_convex"/>
|
||||
<geom name="forearm_link_fine" class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="1 1 1 0"/>
|
||||
<geom name="forearm_link_convex_decomposition_p1" class="col"
|
||||
mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
|
||||
<geom name="forearm_link_convex_decomposition_p2" class="col"
|
||||
mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0"
|
||||
euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
|
||||
<body name="wam/wrist_yaw_link_right" pos="-0.045 -0.3 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="8.921e-005 0.00435824 -0.00511217"
|
||||
quat="0.630602 0.776093 0.00401969 -0.002372" mass="1.05376"
|
||||
diaginertia="0.000555168 0.00046317 0.000234072"/> <!--this is an approximation-->
|
||||
<!-- control 4: 0-->
|
||||
<joint name="wam/wrist_yaw_joint_right" range="-4.8 1.3" damping="0.55"/>
|
||||
<geom name="wrist_yaw_link_fine" class="viz" mesh="wrist_yaw_link_fine" rgba="1 1 1 0"/>
|
||||
<geom name="wrist_yaw_link_convex_decomposition_p1" class="col"
|
||||
mesh="wrist_yaw_link_convex_decomposition_p1"/>
|
||||
<geom name="wrist_yaw_link_convex_decomposition_p2" class="col"
|
||||
mesh="wrist_yaw_link_convex_decomposition_p2"/>
|
||||
<body name="wam/wrist_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
|
||||
<inertial pos="-0.00012262 -0.0246834 -0.0170319"
|
||||
quat="0.630602 0.776093 0.00401969 -0.002372" mass="0.517974"
|
||||
diaginertia="0.000555168 0.00046317 0.000234072"/>
|
||||
<!-- control 5: 0-->
|
||||
<joint name="wam/wrist_pitch_joint_right" range="-1.6 1.6" damping="0.11"/>
|
||||
<geom name="wrist_pitch_link_fine" class="viz" mesh="wrist_pitch_link_fine"
|
||||
rgba="1 1 1 0"/>
|
||||
<geom name="wrist_pitch_link_convex_decomposition_p1" rgba="1 0.5 0.313 1"
|
||||
class="col" mesh="wrist_pitch_link_convex_decomposition_p1"/>
|
||||
<geom name="wrist_pitch_link_convex_decomposition_p2" rgba="1 0.5 0.313 1"
|
||||
class="col" mesh="wrist_pitch_link_convex_decomposition_p2"/>
|
||||
<geom name="wrist_pitch_link_convex_decomposition_p3" rgba="1 0.5 0.313 1"
|
||||
class="col" mesh="wrist_pitch_link_convex_decomposition_p3"/>
|
||||
<body name="wam/wrist_palm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
|
||||
<inertial pos="0 0 0.055" quat="0.707107 0 0 0.707107" mass="0.0828613"
|
||||
diaginertia="0.00020683 0.00010859 0.00010851"/>
|
||||
<!-- control 6: 1.8-->
|
||||
<joint name="wam/palm_yaw_joint_right" range="-2.2 2.2" damping="0.11"/>
|
||||
<geom name="wrist_palm_link_fine" class="viz" mesh="wrist_palm_link_fine"
|
||||
rgba="1 1 1 0"/>
|
||||
<geom name="wrist_palm_link_convex" class="col" mesh="wrist_palm_link_convex"/>
|
||||
<!-- EE=wam/paddle, configure name to the end effector name-->
|
||||
<body name="EE" pos="0 0 0.26" childclass="contact_geom">
|
||||
<geom name="bat" type="cylinder" size="0.075 0.005" rgba="1 0 0 1"
|
||||
quat="0.71 0 0.71 0"/>
|
||||
<geom name="bat_back" type="cylinder" size="0.0749 0.0025" rgba="0 1 0 1"
|
||||
quat="0.71 0 0.71 0" pos="-0.0026 0 0"/>
|
||||
<geom name="wam/paddle_handle" type="box" size="0.005 0.01 0.05" pos="0 0 -0.08"
|
||||
rgba="1 1 1 1"/>
|
||||
<!-- Extract information for sampling goals.-->
|
||||
<site name="wam/paddle_center" pos="0 0 0" rgba="1 1 1 1" size="0.00001"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</mujocoinclue>
|
||||
@ -1,30 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<body name="table_tennis_table" pos="0 0 0">
|
||||
<geom class="viz" name="table_base_1" pos="1 0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
|
||||
<geom class="viz" name="table_base_2" pos="1 -0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
|
||||
<geom class="viz" name="table_base_3" pos="-1 -0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
|
||||
<geom class="viz" name="table_base_4" pos="-1 0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
|
||||
<body name="table_top" pos="0 0 0.76">
|
||||
<geom class="contact_geom" name="table_tennis_table" pos="0 0 0" rgba="0 0 0.5 1" size="1.37 .7625 .01" type="box" />
|
||||
<site name="left_up_corner" pos="-1.37 .7625 0.01" rgba="1 1 1 1" size="0.00001" />
|
||||
<site name="middle_up_corner" pos="0 .7625 0.01" rgba="1 1 1 1" size="0.00001" />
|
||||
<site name="left_down_corner" pos="-1.37 -0.7625 0.01" rgba="1 1 1 1" size="0.00001" />
|
||||
<site name="middle_down_corner" pos="0 -.7625 0.01" rgba="1 1 1 1" size="0.00001" />
|
||||
<geom class="contact_geom" material="floor_plane" name="table_te_context_spacennis_net" pos="0 0 0.08625" rgba="0 0 1 0.5" size="0.01 0.915 0.07625" type="box" />
|
||||
<geom class="viz" name="left_while_line" pos="0 -0.7425 0.01" rgba="1 1 1 1" size="1.37 .02 .001" type="box" />
|
||||
<geom class="viz" name="center_while_line" pos="0 0 0.01" rgba="1 1 1 1" size="1.37 .01 .001" type="box" />
|
||||
<geom class="viz" name="right_while_line" pos="0 0.7425 0.01" rgba="1 1 1 1" size="1.37 .02 .001" type="box" />
|
||||
<geom class="viz" name="right_side_line" pos="1.35 0 0.01" rgba="1 1 1 1" size="0.02 .7625 .001" type="box" />
|
||||
<geom class="viz" name="left_side_line" pos="-1.35 0 0.01" rgba="1 1 1 1" size="0.02 .7625 .001" type="box" />
|
||||
</body>
|
||||
<body name="achieved_pos" pos="0 0 0.5">
|
||||
<geom class="viz" name="achieved_point_geom" pos="0 0 0" rgba="0 1 0 1" size="0.02 0.001" type="cylinder" />
|
||||
</body>
|
||||
<body name="right_achieved_pos" pos="0 0 0.5">
|
||||
<geom class="viz" name="hitting_achieved_point_geom" pos="0 0 0" rgba="1 0 0 1" size="0.02 0.001" type="cylinder" />
|
||||
</body>
|
||||
<body name="target_point" pos="0 0 0.5">
|
||||
<geom class="viz" name="target_point_geom" pos="0 0 0" rgba="1 1 0 1" size="0.02 0.001" type="cylinder" />
|
||||
</body>
|
||||
</body>
|
||||
</mujocoinclude>
|
||||
@ -1,10 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<body name="target_ball" pos="0 0 0">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="target_ball_contact" rgba="1 1 0 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="0.9 0.95 0.001 0.5 2" solref="0.1 0.03" priority="1"/>
|
||||
<site name="target_ball" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
|
||||
</body>
|
||||
</mujocoinclude>
|
||||
@ -1,47 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<actuator>
|
||||
|
||||
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="162.0" />-->
|
||||
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="122.0" />-->
|
||||
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="102.0" />-->
|
||||
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" />-->
|
||||
|
||||
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="151.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="125.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="121.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
|
||||
|
||||
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="600.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="500.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
|
||||
|
||||
<position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="800.0" ctrllimited="true"/>
|
||||
<position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="800.0" ctrllimited="true"/>
|
||||
<position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>
|
||||
<position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="800.0" ctrllimited="true"/>
|
||||
<position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>
|
||||
<position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="1000.0" ctrllimited="true"/>
|
||||
<position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>
|
||||
|
||||
|
||||
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="1600.0" ctrllimited="true"/>-->
|
||||
<!--<!– <velocity ctrlrange="-50 50" joint="wam/base_yaw_joint_right" kv="100" ctrllimited="true"/>–>-->
|
||||
|
||||
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="1200.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
|
||||
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
|
||||
</actuator>
|
||||
</mujocoinclude>
|
||||
@ -1,46 +0,0 @@
|
||||
<mujocoinclude>
|
||||
<default>
|
||||
<default class="wam">
|
||||
<joint type="hinge" limited="true" pos="0 0 0" axis="0 0 1"/>
|
||||
</default>
|
||||
<default class="viz">
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1"/>
|
||||
</default>
|
||||
<default class="col">
|
||||
<geom type="mesh" contype="0" conaffinity="1" group="0" rgba="1 1 1 1"/>
|
||||
</default>
|
||||
<default class="contact_geom">
|
||||
<geom condim="4" friction="0.1 0.1 0.1" margin="0" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
</default>
|
||||
</default>
|
||||
<asset>
|
||||
<mesh file="base_link_fine.stl"/>
|
||||
<mesh file="base_link_convex.stl"/>
|
||||
<mesh file="shoulder_link_fine.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p3.stl"/>
|
||||
<mesh file="shoulder_pitch_link_fine.stl"/>
|
||||
<mesh file="shoulder_pitch_link_convex.stl"/>
|
||||
<mesh file="upper_arm_link_fine.stl"/>
|
||||
<mesh file="upper_arm_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="upper_arm_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="elbow_link_fine.stl"/>
|
||||
<mesh file="elbow_link_convex.stl"/>
|
||||
<mesh file="forearm_link_fine.stl"/>
|
||||
<mesh file="forearm_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="forearm_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_yaw_link_fine.stl"/>
|
||||
<mesh file="wrist_yaw_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="wrist_yaw_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_pitch_link_fine.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p3.stl"/>
|
||||
<mesh file="wrist_palm_link_fine.stl"/>
|
||||
<mesh file="wrist_palm_link_convex.stl"/>
|
||||
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d"
|
||||
width="512"/>
|
||||
<material name="floor_plane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
|
||||
</asset>
|
||||
</mujocoinclude>
|
||||
@ -1,18 +0,0 @@
|
||||
<mujoco model="table_tennis(v0.1)">
|
||||
<compiler angle="radian" coordinate="local" meshdir="../../meshes/wam" />
|
||||
<option gravity="0 0 -9.81" timestep="0.002">
|
||||
<flag warmstart="enable" />
|
||||
</option>
|
||||
<custom>
|
||||
<numeric data="0 0 0 0 0 0 0" name="START_ANGLES" />
|
||||
</custom>
|
||||
<include file="shared.xml" />
|
||||
<worldbody>
|
||||
<light cutoff="60" diffuse="1 1 1" dir="-.1 -.2 -1.3" directional="true" exponent="1" pos=".1 .2 1.3" specular=".1 .1 .1" />
|
||||
<geom conaffinity="1" contype="1" material="floor_plane" name="floor" pos="0 0 0" size="10 5 1" type="plane" />
|
||||
<include file="include_table.xml" />
|
||||
<include file="include_barrett_wam_7dof_right.xml" />
|
||||
<include file="include_target_ball.xml" />
|
||||
</worldbody>
|
||||
<include file="include_7_motor_actuator.xml" />
|
||||
</mujoco>
|
||||
@ -1,23 +0,0 @@
|
||||
from typing import Tuple, Union
|
||||
|
||||
import numpy as np
|
||||
|
||||
from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
|
||||
|
||||
|
||||
class MPWrapper(RawInterfaceWrapper):
|
||||
|
||||
@property
|
||||
def context_mask(self):
|
||||
return np.hstack([
|
||||
[False] * 17,
|
||||
[True] # goal pos
|
||||
])
|
||||
|
||||
@property
|
||||
def current_pos(self) -> Union[float, int, np.ndarray]:
|
||||
return self.env.data.qpos[3:9].copy()
|
||||
|
||||
@property
|
||||
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
|
||||
return self.env.data.qvel[3:9].copy()
|
||||
Loading…
Reference in New Issue
Block a user