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slim down beerpong constructor further. Not sure, if we should merge the reward into the environment class.

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Onur 2022-07-04 19:14:31 +02:00
parent d80df03145
commit 4dc33b0e97
4 changed files with 21 additions and 27 deletions
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2
alr_envs/alr/mujoco/beerpong/assets/beerpong_wo_cup.xml
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@ -123,7 +123,7 @@
<joint name="wam/palm_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" /> <joint name="wam/palm_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" />
<geom class="viz" pos="0 0 -0.06" mesh="wrist_palm_link_fine" /> <geom class="viz" pos="0 0 -0.06" mesh="wrist_palm_link_fine" />
<geom class="col" pos="0 0 -0.06" mesh="wrist_palm_link_convex" name="wrist_palm_link_convex_geom" /> <geom class="col" pos="0 0 -0.06" mesh="wrist_palm_link_convex" name="wrist_palm_link_convex_geom" />
<site name="init_ball_pos_site" size="0.025 0.025 0.025" pos="0.0 0.0 0.035" rgba="0 1 0 1"/> <site name="init_ball_pos" size="0.025 0.025 0.025" pos="0.0 0.0 0.035" rgba="0 1 0 1"/>
</body> </body>
</body> </body>
</body> </body>

2
alr_envs/alr/mujoco/beerpong/assets/beerpong_wo_cup_big_table.xml
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@ -123,7 +123,7 @@
<joint name="wam/palm_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" /> <joint name="wam/palm_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" />
<geom class="viz" pos="0 0 -0.06" mesh="wrist_palm_link_fine" /> <geom class="viz" pos="0 0 -0.06" mesh="wrist_palm_link_fine" />
<geom class="col" pos="0 0 -0.06" mesh="wrist_palm_link_convex" name="wrist_palm_link_convex_geom" /> <geom class="col" pos="0 0 -0.06" mesh="wrist_palm_link_convex" name="wrist_palm_link_convex_geom" />
<site name="init_ball_pos_site" size="0.025 0.025 0.025" pos="0.0 0.0 0.035" rgba="0 1 0 1"/> <site name="init_ball_pos" size="0.025 0.025 0.025" pos="0.0 0.0 0.035" rgba="0 1 0 1"/>
</body> </body>
</body> </body>
</body> </body>

39
alr_envs/alr/mujoco/beerpong/beerpong.py
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@ -9,35 +9,31 @@ from alr_envs.alr.mujoco.beerpong.beerpong_reward_staged import BeerPongReward
class BeerPongEnv(MujocoEnv, utils.EzPickle): class BeerPongEnv(MujocoEnv, utils.EzPickle):
# TODO: always use gravity compensation def __init__(self, frame_skip=2):
def __init__(self, frame_skip=2, apply_gravity_comp=True):
self._steps = 0 self._steps = 0
# Small Context -> Easier. Todo: Should we do different versions? # Small Context -> Easier. Todo: Should we do different versions?
# self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets", # self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets",
# "beerpong_wo_cup" + ".xml") # "beerpong_wo_cup" + ".xml")
# self.cup_pos_min = np.array([-0.32, -2.2]) # self._cup_pos_min = np.array([-0.32, -2.2])
# self.cup_pos_max = np.array([0.32, -1.2]) # self._cup_pos_max = np.array([0.32, -1.2])
self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets", self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets",
"beerpong_wo_cup_big_table" + ".xml") "beerpong_wo_cup_big_table" + ".xml")
self._cup_pos_min = np.array([-1.42, -4.05]) self._cup_pos_min = np.array([-1.42, -4.05])
self._cup_pos_max = np.array([1.42, -1.25]) self._cup_pos_max = np.array([1.42, -1.25])
self.apply_gravity_comp = apply_gravity_comp
self._start_pos = np.array([0.0, 1.35, 0.0, 1.18, 0.0, -0.786, -1.59]) self._start_pos = np.array([0.0, 1.35, 0.0, 1.18, 0.0, -0.786, -1.59])
self._start_vel = np.zeros(7) self._start_vel = np.zeros(7)
# TODO: check if we need to define that in the constructor?
self.ball_site_id = 0
self.ball_id = 11
self.cup_table_id = 10
self.release_step = 100 # time step of ball release self.release_step = 100 # time step of ball release
self.ep_length = 600 // frame_skip self.ep_length = 600 // frame_skip
self.reward_function = BeerPongReward() self.reward_function = BeerPongReward()
self.repeat_action = frame_skip self.repeat_action = frame_skip
self.model = None
self.site_id = lambda x: self.model.site_name2id(x)
self.body_id = lambda x: self.model.body_name2id(x)
MujocoEnv.__init__(self, self.xml_path, frame_skip=1) MujocoEnv.__init__(self, self.xml_path, frame_skip=1)
utils.EzPickle.__init__(self) utils.EzPickle.__init__(self)
@ -65,29 +61,26 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
# TODO: Ask Max why we need to set the state twice. # TODO: Ask Max why we need to set the state twice.
self.set_state(start_pos, init_vel) self.set_state(start_pos, init_vel)
start_pos[7::] = self.sim.data.site_xpos[self.ball_site_id, :].copy() start_pos[7::] = self.sim.data.site_xpos[self.site_id("init_ball_pos"), :].copy()
self.set_state(start_pos, init_vel) self.set_state(start_pos, init_vel)
xy = self.np_random.uniform(self._cup_pos_min, self._cup_pos_max) xy = self.np_random.uniform(self._cup_pos_min, self._cup_pos_max)
xyz = np.zeros(3) xyz = np.zeros(3)
xyz[:2] = xy xyz[:2] = xy
xyz[-1] = 0.840 xyz[-1] = 0.840
self.sim.model.body_pos[self.cup_table_id] = xyz self.sim.model.body_pos[self.body_id("cup_table")] = xyz
return self._get_obs() return self._get_obs()
def step(self, a): def step(self, a):
crash = False crash = False
for _ in range(self.repeat_action): for _ in range(self.repeat_action):
if self.apply_gravity_comp:
applied_action = a + self.sim.data.qfrc_bias[:len(a)].copy() / self.model.actuator_gear[:, 0] applied_action = a + self.sim.data.qfrc_bias[:len(a)].copy() / self.model.actuator_gear[:, 0]
else:
applied_action = a
try: try:
self.do_simulation(applied_action, self.frame_skip) self.do_simulation(applied_action, self.frame_skip)
self.reward_function.initialize(self) self.reward_function.initialize(self)
# self.reward_function.check_contacts(self.sim) # I assume this is not important? # self.reward_function.check_contacts(self.sim) # I assume this is not important?
if self._steps < self.release_step: if self._steps < self.release_step:
self.sim.data.qpos[7::] = self.sim.data.site_xpos[self.ball_site_id, :].copy() self.sim.data.qpos[7::] = self.sim.data.site_xpos[self.site_id("init_ball_pos"), :].copy()
self.sim.data.qvel[7::] = self.sim.data.site_xvelp[self.ball_site_id, :].copy() self.sim.data.qvel[7::] = self.sim.data.site_xvelp[self.site_id("init_ball_pos"), :].copy()
crash = False crash = False
except mujoco_py.builder.MujocoException: except mujoco_py.builder.MujocoException:
crash = True crash = True
@ -125,7 +118,7 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
theta_dot, theta_dot,
cup_goal_diff_final, cup_goal_diff_final,
cup_goal_diff_top, cup_goal_diff_top,
self.sim.model.body_pos[self.cup_table_id][:2].copy(), self.sim.model.body_pos[self.body_id("cup_table")][:2].copy(),
[self._steps], [self._steps],
]) ])
@ -135,14 +128,14 @@ class BeerPongEnv(MujocoEnv, utils.EzPickle):
class BeerPongEnvFixedReleaseStep(BeerPongEnv): class BeerPongEnvFixedReleaseStep(BeerPongEnv):
def __init__(self, frame_skip=2, apply_gravity_comp=True): def __init__(self, frame_skip=2):
super().__init__(frame_skip, apply_gravity_comp) super().__init__(frame_skip)
self.release_step = 62 # empirically evaluated for frame_skip=2! self.release_step = 62 # empirically evaluated for frame_skip=2!
class BeerPongEnvStepBasedEpisodicReward(BeerPongEnv): class BeerPongEnvStepBasedEpisodicReward(BeerPongEnv):
def __init__(self, frame_skip=2, apply_gravity_comp=True): def __init__(self, frame_skip=2):
super().__init__(frame_skip, apply_gravity_comp) super().__init__(frame_skip)
self.release_step = 62 # empirically evaluated for frame_skip=2! self.release_step = 62 # empirically evaluated for frame_skip=2!
def step(self, a): def step(self, a):

1
alr_envs/utils/utils.py
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@ -46,3 +46,4 @@ def nested_update(base: MutableMapping, update):
""" """
for k, v in update.items(): for k, v in update.items():
base[k] = nested_update(base.get(k, {}), v) if isinstance(v, Mapping) else v base[k] = nested_update(base.get(k, {}), v) if isinstance(v, Mapping) else v