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removed dependency on mujoco-py

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This commit is contained in:
philipp
2022-07-13 13:28:39 +02:00
parent 2fbf42167f
commit b04e7c1dcd
17 changed files with 134 additions and 80 deletions
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alr_envs/envs/mujoco/hopper_jump/hopper_jump.py
+28 -12
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@@ -2,8 +2,7 @@ import copy
import os
import numpy as np
from gym.envs.mujoco.hopper_v3 import HopperEnv
from gym.envs.mujoco.hopper_v4 import HopperEnv
MAX_EPISODE_STEPS_HOPPERJUMP = 250
@@ -50,9 +49,16 @@ class HopperJumpEnv(HopperEnv):
self.contact_dist = None
xml_file = os.path.join(os.path.dirname(__file__), "assets", xml_file)
super().__init__(xml_file, forward_reward_weight, ctrl_cost_weight, healthy_reward, terminate_when_unhealthy,
healthy_state_range, healthy_z_range, healthy_angle_range, reset_noise_scale,
exclude_current_positions_from_observation)
super().__init__(xml_file=xml_file,
forward_reward_weight=forward_reward_weight,
ctrl_cost_weight=ctrl_cost_weight,
healthy_reward=healthy_reward,
terminate_when_unhealthy=terminate_when_unhealthy,
healthy_state_range=healthy_state_range,
healthy_z_range=healthy_z_range,
healthy_angle_range=healthy_angle_range,
reset_noise_scale=reset_noise_scale,
exclude_current_positions_from_observation=exclude_current_positions_from_observation)
# increase initial height
self.init_qpos[1] = 1.5
@@ -67,7 +73,8 @@ class HopperJumpEnv(HopperEnv):
self.do_simulation(action, self.frame_skip)
height_after = self.get_body_com("torso")[2]
site_pos_after = self.data.get_site_xpos('foot_site')
#site_pos_after = self.data.get_site_xpos('foot_site')
site_pos_after = self.data.site('foot_site').xpos
self.max_height = max(height_after, self.max_height)
has_floor_contact = self._is_floor_foot_contact() if not self.contact_with_floor else False
@@ -111,7 +118,8 @@ class HopperJumpEnv(HopperEnv):
return observation, reward, done, info
def _get_obs(self):
goal_dist = self.data.get_site_xpos('foot_site') - self.goal
# goal_dist = self.data.get_site_xpos('foot_site') - self.goal
goal_dist = self.data.site('foot_site').xpos - self.goal
return np.concatenate((super(HopperJumpEnv, self)._get_obs(), goal_dist.copy(), self.goal[:1]))
def reset_model(self):
@@ -119,7 +127,8 @@ class HopperJumpEnv(HopperEnv):
# self.goal = self.np_random.uniform(0.3, 1.35, 1)[0]
self.goal = np.concatenate([self.np_random.uniform(0.3, 1.35, 1), np.zeros(2, )])
self.sim.model.body_pos[self.sim.model.body_name2id('goal_site_body')] = self.goal
# self.sim.model.body_pos[self.sim.model.body_name2id('goal_site_body')] = self.goal
self.data.body('goal_site_body').xpos[:] = np.copy(self.goal)
self.max_height = 0
self._steps = 0
@@ -153,8 +162,15 @@ class HopperJumpEnv(HopperEnv):
return observation
def _is_floor_foot_contact(self):
floor_geom_id = self.model.geom_name2id('floor')
foot_geom_id = self.model.geom_name2id('foot_geom')
# floor_geom_id = self.model.geom_name2id('floor')
# foot_geom_id = self.model.geom_name2id('foot_geom')
# TODO: do this properly over a sensor in the xml file, see dmc hopper
floor_geom_id = self._mujoco_bindings.mj_name2id(self.model,
self._mujoco_bindings.mjtObj.mjOBJ_GEOM,
'floor')
foot_geom_id = self._mujoco_bindings.mj_name2id(self.model,
self._mujoco_bindings.mjtObj.mjOBJ_GEOM,
'foot_geom')
for i in range(self.data.ncon):
contact = self.data.contact[i]
collision = contact.geom1 == floor_geom_id and contact.geom2 == foot_geom_id
@@ -163,7 +179,7 @@ class HopperJumpEnv(HopperEnv):
return True
return False
# TODO is that needed? if so test it
class HopperJumpStepEnv(HopperJumpEnv):
def __init__(self,
@@ -193,7 +209,7 @@ class HopperJumpStepEnv(HopperJumpEnv):
self.do_simulation(action, self.frame_skip)
height_after = self.get_body_com("torso")[2]
site_pos_after = self.data.get_site_xpos('foot_site')
site_pos_after = self.data.site('foot_site').xpos.copy()
self.max_height = max(height_after, self.max_height)
ctrl_cost = self.control_cost(action)
alr_envs/envs/mujoco/hopper_jump/hopper_jump_on_box.py
+5 -5
View File
@@ -1,4 +1,4 @@
from gym.envs.mujoco.hopper_v3 import HopperEnv
from gym.envs.mujoco.hopper_v4 import HopperEnv
import numpy as np
import os
@@ -46,7 +46,7 @@ class HopperJumpOnBoxEnv(HopperEnv):
foot_pos = self.get_body_com("foot")
self.max_height = max(height_after, self.max_height)
vx, vz, vangle = self.sim.data.qvel[0:3]
vx, vz, vangle = self.data.qvel[0:3]
s = self.state_vector()
fell_over = not (np.isfinite(s).all() and (np.abs(s[2:]) < 100).all() and (height_after > .7))
@@ -67,7 +67,8 @@ class HopperJumpOnBoxEnv(HopperEnv):
is_on_box_y = True # is y always true because he can only move in x and z direction?
is_on_box_z = box_height - 0.02 <= foot_pos[2] <= box_height + 0.02
is_on_box = is_on_box_x and is_on_box_y and is_on_box_z
if is_on_box: self.hopper_on_box = True
if is_on_box:
self.hopper_on_box = True
ctrl_cost = self.control_cost(action)
@@ -133,9 +134,8 @@ class HopperJumpOnBoxEnv(HopperEnv):
self.current_step = 0
self.hopper_on_box = False
if self.context:
box_id = self.sim.model.body_name2id("box")
self.box_x = self.np_random.uniform(1, 3, 1)
self.sim.model.body_pos[box_id] = [self.box_x, 0, 0]
self.model.body("box").pos = [self.box_x[0], 0, 0]
return super().reset()
# overwrite reset_model to make it deterministic
alr_envs/envs/mujoco/hopper_jump/mp_wrapper.py
+2 -2
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@@ -20,8 +20,8 @@ class MPWrapper(RawInterfaceWrapper):
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
return self.sim.data.qpos[3:6].copy()
return self.data.qpos[3:6].copy()
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
return self.sim.data.qvel[3:6].copy()
return self.data.qvel[3:6].copy()