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using artifical wind field

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This commit is contained in:
Hongyi Zhou 2022-11-24 16:50:57 +01:00
parent 96f17e02cf
commit b883ad63b7
3 changed files with 29 additions and 17 deletions
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3
fancy_gym/envs/__init__.py
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@ -260,8 +260,9 @@ for ctxt_dim in [2, 4]:
"ctxt_dim": ctxt_dim, "ctxt_dim": ctxt_dim,
'frame_skip': 4, 'frame_skip': 4,
'enable_wind': False, 'enable_wind': False,
'enable_switching_goal': True, 'enable_switching_goal': False,
'enable_air': False, 'enable_air': False,
'enable_artifical_wind': True,
} }
) )

2
fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
View File

@ -16,7 +16,7 @@ class MPWrapper(RawInterfaceWrapper):
[False] * 7, # joints velocity [False] * 7, # joints velocity
[True] * 2, # position ball x, y [True] * 2, # position ball x, y
[False] * 1, # position ball z [False] * 1, # position ball z
# [False] * 3, # velocity ball x, y, z [True] * 3, # velocity ball x, y, z
[True] * 2, # target landing position [True] * 2, # target landing position
# [True] * 1, # time # [True] * 1, # time
]) ])

41
fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
View File

@ -24,7 +24,9 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
def __init__(self, ctxt_dim: int = 4, frame_skip: int = 4, def __init__(self, ctxt_dim: int = 4, frame_skip: int = 4,
enable_switching_goal: bool = False, enable_switching_goal: bool = False,
enable_wind: bool = False, enable_magnus: bool = False, enable_wind: bool = False,
enable_artifical_wind: bool = False,
enable_magnus: bool = False,
enable_air: bool = False): enable_air: bool = False):
utils.EzPickle.__init__(**locals()) utils.EzPickle.__init__(**locals())
self._steps = 0 self._steps = 0
@ -48,6 +50,10 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
self._enable_goal_switching = enable_switching_goal self._enable_goal_switching = enable_switching_goal
self._enable_artifical_wind = enable_artifical_wind
self._artifical_force = 0.
MujocoEnv.__init__(self, MujocoEnv.__init__(self,
model_path=os.path.join(os.path.dirname(__file__), "assets", "xml", "table_tennis_env.xml"), model_path=os.path.join(os.path.dirname(__file__), "assets", "xml", "table_tennis_env.xml"),
frame_skip=frame_skip, frame_skip=frame_skip,
@ -86,6 +92,7 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
unstable_simulation = False unstable_simulation = False
if self._enable_goal_switching: if self._enable_goal_switching:
if self._steps == 99 and self.np_random.uniform(0, 1) < 0.5: if self._steps == 99 and self.np_random.uniform(0, 1) < 0.5:
new_goal_pos = self._generate_goal_pos(random=True) new_goal_pos = self._generate_goal_pos(random=True)
@ -95,6 +102,8 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
mujoco.mj_forward(self.model, self.data) mujoco.mj_forward(self.model, self.data)
for _ in range(self.frame_skip): for _ in range(self.frame_skip):
if self._enable_artifical_wind:
self.data.qfrc_applied[-2] = self._artifical_force
try: try:
self.do_simulation(action, 1) self.do_simulation(action, 1)
except Exception as e: except Exception as e:
@ -154,7 +163,7 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
def reset_model(self): def reset_model(self):
self._steps = 0 self._steps = 0
self._init_ball_state = self._generate_valid_init_ball(random_pos=True, random_vel=False) self._init_ball_state = self._generate_valid_init_ball(random_pos=True, random_vel=False)
self._init_ball_state[2] = 1.85 # self._init_ball_state[2] = 1.85
self._goal_pos = self._generate_goal_pos(random=True) self._goal_pos = self._generate_goal_pos(random=True)
self.data.joint("tar_x").qpos = self._init_ball_state[0] self.data.joint("tar_x").qpos = self._init_ball_state[0]
self.data.joint("tar_y").qpos = self._init_ball_state[1] self.data.joint("tar_y").qpos = self._init_ball_state[1]
@ -163,6 +172,9 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
self.data.joint("tar_y").qvel = self._init_ball_state[4] self.data.joint("tar_y").qvel = self._init_ball_state[4]
self.data.joint("tar_z").qvel = self._init_ball_state[5] self.data.joint("tar_z").qvel = self._init_ball_state[5]
if self._enable_artifical_wind:
self._artifical_force = self.np_random.uniform(low=-0.1, high=0.1)
self.model.body_pos[5] = np.concatenate([self._goal_pos, [0.77]]) self.model.body_pos[5] = np.concatenate([self._goal_pos, [0.77]])
self.data.qpos[:7] = np.array([0., 0., 0., 1.5, 0., 0., 1.5]) self.data.qpos[:7] = np.array([0., 0., 0., 1.5, 0., 0., 1.5])
@ -196,9 +208,9 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
self.data.joint("tar_x").qpos.copy(), self.data.joint("tar_x").qpos.copy(),
self.data.joint("tar_y").qpos.copy(), self.data.joint("tar_y").qpos.copy(),
self.data.joint("tar_z").qpos.copy(), self.data.joint("tar_z").qpos.copy(),
# self.data.joint("tar_x").qvel.copy(), self.data.joint("tar_x").qvel.copy(),
# self.data.joint("tar_y").qvel.copy(), self.data.joint("tar_y").qvel.copy(),
# self.data.joint("tar_z").qvel.copy(), self.data.joint("tar_z").qvel.copy(),
# self.data.body("target_ball").xvel.copy(), # self.data.body("target_ball").xvel.copy(),
self._goal_pos.copy(), self._goal_pos.copy(),
]) ])
@ -265,7 +277,7 @@ def plot_compare_trajs(traj1, traj2, title):
plt.show() plt.show()
if __name__ == "__main__": if __name__ == "__main__":
env_air = TableTennisEnv(enable_air=True, enable_wind=False) env_air = TableTennisEnv(enable_air=False, enable_wind=False, enable_artifical_wind=True)
env_no_air = TableTennisEnv(enable_air=False, enable_wind=False) env_no_air = TableTennisEnv(enable_air=False, enable_wind=False)
for _ in range(10): for _ in range(10):
obs1 = env_air.reset() obs1 = env_air.reset()
@ -279,18 +291,17 @@ if __name__ == "__main__":
# y_vel = [] # y_vel = []
# z_vel = [] # z_vel = []
for _ in range(2000): for _ in range(2000):
# env_air.render("human") env_air.render("human")
obs1, reward1, done1, info1 = env_air.step(np.zeros(7)) obs1, reward1, done1, info1 = env_air.step(np.zeros(7))
obs2, reward2, done2, info2 = env_no_air.step(np.zeros(7)) obs2, reward2, done2, info2 = env_no_air.step(np.zeros(7))
# _, _, _, _ = env_no_air.step(np.zeros(7)) # # _, _, _, _ = env_no_air.step(np.zeros(7))
air_x_pos.append(env_air.data.joint("tar_z").qpos[0]) air_x_pos.append(env_air.data.joint("tar_z").qpos[0])
no_air_x_pos.append(env_no_air.data.joint("tar_z").qpos[0]) no_air_x_pos.append(env_no_air.data.joint("tar_z").qpos[0])
# z_pos.append(env.data.joint("tar_z").qpos[0]) # # z_pos.append(env.data.joint("tar_z").qpos[0])
# x_vel.append(env.data.joint("tar_x").qvel[0]) # # x_vel.append(env.data.joint("tar_x").qvel[0])
# y_vel.append(env.data.joint("tar_y").qvel[0]) # # y_vel.append(env.data.joint("tar_y").qvel[0])
# z_vel.append(env.data.joint("tar_z").qvel[0]) # # z_vel.append(env.data.joint("tar_z").qvel[0])
# print(reward) # # print(reward)
if info1["num_steps"] == 150: if info1["num_steps"] == 150:
# plot_ball_traj_2d(x_pos, y_pos) plot_compare_trajs(air_x_pos, no_air_x_pos, title="z_pos with/out wind")
plot_compare_trajs(air_x_pos, no_air_x_pos, title="z_pos with/out air")
break break