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minor changes at beerpong during call with Fabian

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Onur 2022-07-04 11:29:51 +02:00
parent 2161cfd3a6
commit d80df03145
3 changed files with 17 additions and 29 deletions
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2
alr_envs/alr/mujoco/__init__.py
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@ -1,7 +1,7 @@
from .ant_jump.ant_jump import ALRAntJumpEnv from .ant_jump.ant_jump import ALRAntJumpEnv
from .ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv from .ball_in_a_cup.ball_in_a_cup import ALRBallInACupEnv
from .ball_in_a_cup.biac_pd import ALRBallInACupPDEnv from .ball_in_a_cup.biac_pd import ALRBallInACupPDEnv
from .beerpong.beerpong import ALRBeerBongEnv from .beerpong.beerpong import BeerPongEnv
from .half_cheetah_jump.half_cheetah_jump import ALRHalfCheetahJumpEnv from .half_cheetah_jump.half_cheetah_jump import ALRHalfCheetahJumpEnv
from .hopper_jump.hopper_jump_on_box import ALRHopperJumpOnBoxEnv from .hopper_jump.hopper_jump_on_box import ALRHopperJumpOnBoxEnv
from .hopper_throw.hopper_throw import ALRHopperThrowEnv from .hopper_throw.hopper_throw import ALRHopperThrowEnv

42
alr_envs/alr/mujoco/beerpong/beerpong.py
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@ -8,14 +8,9 @@ from gym.envs.mujoco import MujocoEnv
from alr_envs.alr.mujoco.beerpong.beerpong_reward_staged import BeerPongReward from alr_envs.alr.mujoco.beerpong.beerpong_reward_staged import BeerPongReward
class ALRBeerBongEnv(MujocoEnv, utils.EzPickle): class BeerPongEnv(MujocoEnv, utils.EzPickle):
# TODO: always use gravity compensation
def __init__(self, frame_skip=2, apply_gravity_comp=True): def __init__(self, frame_skip=2, apply_gravity_comp=True):
cup_goal_pos = np.array([-0.3, -1.2, 0.840])
if cup_goal_pos.shape[0] == 2:
cup_goal_pos = np.insert(cup_goal_pos, 2, 0.840)
self.cup_goal_pos = np.array(cup_goal_pos)
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",
@ -25,26 +20,22 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
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.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.apply_gravity_comp = apply_gravity_comp 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_site_id = 0
self.ball_id = 11 self.ball_id = 11
self.release_step = 100 # time step of ball release
self.ep_length = 600 // frame_skip
self.cup_table_id = 10 self.cup_table_id = 10
self.add_noise = False self.release_step = 100 # time step of ball release
self.ep_length = 600 // frame_skip
self.reward_function = BeerPongReward() self.reward_function = BeerPongReward()
self.repeat_action = frame_skip self.repeat_action = frame_skip
MujocoEnv.__init__(self, self.xml_path, frame_skip=1) MujocoEnv.__init__(self, self.xml_path, frame_skip=1)
@ -76,7 +67,7 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
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.ball_site_id, :].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
@ -122,9 +113,6 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
infos.update(reward_infos) infos.update(reward_infos)
return ob, reward, done, infos return ob, reward, done, infos
# def _check_traj_in_joint_limits(self):
# return any(self.current_pos > self.j_max) or any(self.current_pos < self.j_min)
def _get_obs(self): def _get_obs(self):
theta = self.sim.data.qpos.flat[:7] theta = self.sim.data.qpos.flat[:7]
theta_dot = self.sim.data.qvel.flat[:7] theta_dot = self.sim.data.qvel.flat[:7]
@ -143,28 +131,28 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
@property @property
def dt(self): def dt(self):
return super(ALRBeerBongEnv, self).dt * self.repeat_action return super(BeerPongEnv, self).dt * self.repeat_action
class ALRBeerBongEnvFixedReleaseStep(ALRBeerBongEnv): class BeerPongEnvFixedReleaseStep(BeerPongEnv):
def __init__(self, frame_skip=2, apply_gravity_comp=True): def __init__(self, frame_skip=2, apply_gravity_comp=True):
super().__init__(frame_skip, apply_gravity_comp) super().__init__(frame_skip, apply_gravity_comp)
self.release_step = 62 # empirically evaluated for frame_skip=2! self.release_step = 62 # empirically evaluated for frame_skip=2!
class ALRBeerBongEnvStepBasedEpisodicReward(ALRBeerBongEnv): class BeerPongEnvStepBasedEpisodicReward(BeerPongEnv):
def __init__(self, frame_skip=2, apply_gravity_comp=True): def __init__(self, frame_skip=2, apply_gravity_comp=True):
super().__init__(frame_skip, apply_gravity_comp) super().__init__(frame_skip, apply_gravity_comp)
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):
if self._steps < self.release_step: if self._steps < self.release_step:
return super(ALRBeerBongEnvStepBasedEpisodicReward, self).step(a) return super(BeerPongEnvStepBasedEpisodicReward, self).step(a)
else: else:
reward = 0 reward = 0
done = False done = False
while not done: while not done:
sub_ob, sub_reward, done, sub_infos = super(ALRBeerBongEnvStepBasedEpisodicReward, self).step( sub_ob, sub_reward, done, sub_infos = super(BeerPongEnvStepBasedEpisodicReward, self).step(
np.zeros(a.shape)) np.zeros(a.shape))
reward += sub_reward reward += sub_reward
infos = sub_infos infos = sub_infos
@ -208,7 +196,7 @@ class ALRBeerBongEnvStepBasedEpisodicReward(ALRBeerBongEnv):
if __name__ == "__main__": if __name__ == "__main__":
env = ALRBeerBongEnv(frame_skip=2) env = BeerPongEnv(frame_skip=2)
# env = ALRBeerBongEnvStepBased(frame_skip=2) # env = ALRBeerBongEnvStepBased(frame_skip=2)
# env = ALRBeerBongEnvStepBasedEpisodicReward(frame_skip=2) # env = ALRBeerBongEnvStepBasedEpisodicReward(frame_skip=2)
# env = ALRBeerBongEnvFixedReleaseStep(frame_skip=2) # env = ALRBeerBongEnvFixedReleaseStep(frame_skip=2)

2
alr_envs/alr/mujoco/beerpong/beerpong_reward_staged.py
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@ -73,7 +73,7 @@ class BeerPongReward:
# self.cup_table_collision_id = env.model.geom_name2id("cup_base_table_contact") # self.cup_table_collision_id = env.model.geom_name2id("cup_base_table_contact")
self.ground_collision_id = {env.model.geom_name2id("ground")} self.ground_collision_id = {env.model.geom_name2id("ground")}
# self.ground_collision_id = env.model.geom_name2id("ground") # self.ground_collision_id = env.model.geom_name2id("ground")
self.cup_collision_ids = set(env.model.geom_name2id(name) for name in self.cup_collision_objects) self.cup_collision_ids = {env.model.geom_name2id(name) for name in self.cup_collision_objects}
# self.cup_collision_ids = [env.model.geom_name2id(name) for name in self.cup_collision_objects] # self.cup_collision_ids = [env.model.geom_name2id(name) for name in self.cup_collision_objects]
self.robot_collision_ids = [env.model.geom_name2id(name) for name in self.robot_collision_objects] self.robot_collision_ids = [env.model.geom_name2id(name) for name in self.robot_collision_objects]