351 lines
13 KiB
Python
351 lines
13 KiB
Python
from typing import Union
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import gym
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import matplotlib.pyplot as plt
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import numpy as np
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from gym.utils import seeding
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from matplotlib import patches
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from alr_envs.classic_control.utils import check_self_collision
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from alr_envs.utils.mps.mp_environments import MPEnv
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class HoleReacher(MPEnv):
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def __init__(self, n_links, hole_x: Union[None, float] = None, hole_depth: Union[None, float] = None,
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hole_width: float = 1., random_start: bool = True, allow_self_collision: bool = False,
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allow_wall_collision: bool = False, collision_penalty: bool = 1000):
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self.n_links = n_links
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self.link_lengths = np.ones((n_links, 1))
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self.random_start = random_start
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# provided initial parameters
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self._hole_x = hole_x # x-position of center of hole
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self._hole_width = hole_width # width of hole
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self._hole_depth = hole_depth # depth of hole
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# temp containers to store current setting
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self._tmp_hole_x = None
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self._tmp_hole_width = None
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self._tmp_hole_depth = None
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# collision
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self.allow_self_collision = allow_self_collision
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self.allow_wall_collision = allow_wall_collision
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self.collision_penalty = collision_penalty
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# state
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self._joint_angles = None
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self._angle_velocity = None
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self._joints = None
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self._start_pos = np.hstack([[np.pi / 2], np.zeros(self.n_links - 1)])
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self._start_vel = np.zeros(self.n_links)
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self.dt = 0.01
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# self.time_limit = 2
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action_bound = np.pi * np.ones((self.n_links,))
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state_bound = np.hstack([
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[np.pi] * self.n_links, # cos
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[np.pi] * self.n_links, # sin
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[np.inf] * self.n_links, # velocity
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[np.inf], # hole width
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[np.inf], # hole depth
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[np.inf] * 2, # x-y coordinates of target distance
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[np.inf] # env steps, because reward start after n steps TODO: Maybe
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])
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self.action_space = gym.spaces.Box(low=-action_bound, high=action_bound, shape=action_bound.shape)
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self.observation_space = gym.spaces.Box(low=-state_bound, high=state_bound, shape=state_bound.shape)
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plt.ion()
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self.fig = None
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self.seed()
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@property
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def corrected_obs_index(self):
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return np.hstack([
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[self.random_start] * self.n_links, # cos
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[self.random_start] * self.n_links, # sin
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[self.random_start] * self.n_links, # velocity
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[self._hole_width is None], # hole width
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[self._hole_depth is None], # hole width
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[True] * 2, # x-y coordinates of target distance
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[False] # env steps
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])
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def seed(self, seed=None):
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self.np_random, seed = seeding.np_random(seed)
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return [seed]
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@property
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def end_effector(self):
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return self._joints[self.n_links].T
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def _generate_hole(self):
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hole_x = self.np_random.uniform(0.5, 3.5, 1) if self._hole_x is None else np.copy(self._hole_x)
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hole_width = self.np_random.uniform(0.5, 0.1, 1) if self._hole_width is None else np.copy(self._hole_width)
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# TODO we do not want this right now.
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hole_depth = self.np_random.uniform(1, 1, 1) if self._hole_depth is None else np.copy(self._hole_depth)
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self.bottom_center_of_hole = np.hstack([hole_x, -hole_depth])
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self.top_center_of_hole = np.hstack([hole_x, 0])
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self.left_wall_edge = np.hstack([hole_x - hole_width / 2, 0])
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self.right_wall_edge = np.hstack([hole_x + hole_width / 2, 0])
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return hole_x, hole_width, hole_depth
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def reset(self):
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if self.random_start:
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# MAybe change more than dirst seed
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first_joint = self.np_random.uniform(np.pi / 4, 3 * np.pi / 4)
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self._joint_angles = np.hstack([[first_joint], np.zeros(self.n_links - 1)])
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else:
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self._joint_angles = self._start_pos
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self._tmp_hole_x, self._tmp_hole_width, self._tmp_hole_depth = self._generate_hole()
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self.set_patches()
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self._angle_velocity = self._start_vel
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self._joints = np.zeros((self.n_links + 1, 2))
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self._update_joints()
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self._steps = 0
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return self._get_obs().copy()
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def step(self, action: np.ndarray):
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"""
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a single step with an action in joint velocity space
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"""
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vel = action # + 0.01 * np.random.randn(self.num_links)
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acc = (vel - self._angle_velocity) / self.dt
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self._angle_velocity = vel
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self._joint_angles = self._joint_angles + self.dt * self._angle_velocity
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self._update_joints()
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# rew = self._reward()
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# compute reward directly in step function
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success = False
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reward = 0
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if not self._is_collided:
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# return reward only in last time step
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if self._steps == 199:
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dist = np.linalg.norm(self.end_effector - self.bottom_center_of_hole)
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reward = - dist ** 2
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success = dist < 0.005
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else:
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# Episode terminates when colliding, hence return reward
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dist = np.linalg.norm(self.end_effector - self.bottom_center_of_hole)
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reward = - dist ** 2 - self.collision_penalty
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reward -= 5e-8 * np.sum(acc ** 2)
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info = {"is_collided": self._is_collided, "is_success": success}
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self._steps += 1
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done = self._is_collided
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return self._get_obs().copy(), reward, done, info
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def _update_joints(self):
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"""
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update _joints to get new end effector position. The other links are only required for rendering.
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Returns:
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"""
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line_points_in_taskspace = self.get_forward_kinematics(num_points_per_link=20)
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self._joints[1:, 0] = self._joints[0, 0] + line_points_in_taskspace[:, -1, 0]
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self._joints[1:, 1] = self._joints[0, 1] + line_points_in_taskspace[:, -1, 1]
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self_collision = False
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wall_collision = False
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if not self.allow_self_collision:
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self_collision = check_self_collision(line_points_in_taskspace)
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if np.any(np.abs(self._joint_angles) > np.pi) and not self.allow_self_collision:
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self_collision = True
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if not self.allow_wall_collision:
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wall_collision = self.check_wall_collision(line_points_in_taskspace)
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self._is_collided = self_collision or wall_collision
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def _get_obs(self):
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theta = self._joint_angles
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return np.hstack([
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np.cos(theta),
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np.sin(theta),
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self._angle_velocity,
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self._hole_width,
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self._hole_depth,
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self.end_effector - self.bottom_center_of_hole,
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self._steps
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])
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def get_forward_kinematics(self, num_points_per_link=1):
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theta = self._joint_angles[:, None]
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intermediate_points = np.linspace(0, 1, num_points_per_link) if num_points_per_link > 1 else 1
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accumulated_theta = np.cumsum(theta, axis=0)
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end_effector = np.zeros(shape=(self.n_links, num_points_per_link, 2))
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x = np.cos(accumulated_theta) * self.link_lengths * intermediate_points
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y = np.sin(accumulated_theta) * self.link_lengths * intermediate_points
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end_effector[0, :, 0] = x[0, :]
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end_effector[0, :, 1] = y[0, :]
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for i in range(1, self.n_links):
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end_effector[i, :, 0] = x[i, :] + end_effector[i - 1, -1, 0]
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end_effector[i, :, 1] = y[i, :] + end_effector[i - 1, -1, 1]
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return np.squeeze(end_effector + self._joints[0, :])
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def check_wall_collision(self, line_points):
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# all points that are before the hole in x
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r, c = np.where(line_points[:, :, 0] < (self._tmp_hole_x - self._tmp_hole_width / 2))
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# check if any of those points are below surface
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nr_line_points_below_surface_before_hole = np.sum(line_points[r, c, 1] < 0)
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if nr_line_points_below_surface_before_hole > 0:
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return True
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# all points that are after the hole in x
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r, c = np.where(line_points[:, :, 0] > (self._tmp_hole_x + self._tmp_hole_width / 2))
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# check if any of those points are below surface
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nr_line_points_below_surface_after_hole = np.sum(line_points[r, c, 1] < 0)
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if nr_line_points_below_surface_after_hole > 0:
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return True
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# all points that are above the hole
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r, c = np.where((line_points[:, :, 0] > (self._tmp_hole_x - self._tmp_hole_width / 2)) & (
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line_points[:, :, 0] < (self._tmp_hole_x + self._tmp_hole_width / 2)))
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# check if any of those points are below surface
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nr_line_points_below_surface_in_hole = np.sum(line_points[r, c, 1] < -self._tmp_hole_depth)
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if nr_line_points_below_surface_in_hole > 0:
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return True
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return False
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def render(self, mode='human'):
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if self.fig is None:
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plt.ion()
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self.fig = plt.figure()
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ax = self.fig.add_subplot(1, 1, 1)
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# limits
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lim = np.sum(self.link_lengths) + 0.5
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ax.set_xlim([-lim, lim])
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ax.set_ylim([-1.1, lim])
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self.line, = ax.plot(self._joints[:, 0], self._joints[:, 1], 'ro-', markerfacecolor='k')
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self.set_patches()
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self.fig.show()
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if mode == "human":
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self.fig.gca().set_title(
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f"Iteration: {self._steps}, distance: {self.end_effector - self.bottom_center_of_hole}")
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# Arm
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plt.plot(self._joints[:, 0], self._joints[:, 1], 'ro-', markerfacecolor='k')
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# Arm
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self.line.set_xdata(self._joints[:, 0])
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self.line.set_ydata(self._joints[:, 1])
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self.fig.canvas.draw()
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self.fig.canvas.flush_events()
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# self.fig.show()
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elif mode == "partial":
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if self._steps == 1:
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# fig, ax = plt.subplots()
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# Add the patch to the Axes
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[plt.gca().add_patch(rect) for rect in self.patches]
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# plt.pause(0.01)
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if self._steps % 20 == 0 or self._steps in [1, 199] or self._is_collided:
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# Arm
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plt.plot(self._joints[:, 0], self._joints[:, 1], 'ro-', markerfacecolor='k', alpha=self._steps / 200)
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# ax.plot(line_points_in_taskspace[:, 0, 0],
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# line_points_in_taskspace[:, 0, 1],
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# line_points_in_taskspace[:, -1, 0],
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# line_points_in_taskspace[:, -1, 1], marker='o', color='k', alpha=t / 200)
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lim = np.sum(self.link_lengths) + 0.5
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plt.xlim([-lim, lim])
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plt.ylim([-1.1, lim])
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plt.pause(0.01)
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elif mode == "final":
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if self._steps == 199 or self._is_collided:
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# fig, ax = plt.subplots()
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# Add the patch to the Axes
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[plt.gca().add_patch(rect) for rect in self.patches]
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plt.xlim(-self.n_links, self.n_links), plt.ylim(-1, self.n_links)
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# Arm
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plt.plot(self._joints[:, 0], self._joints[:, 1], 'ro-', markerfacecolor='k')
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plt.pause(0.01)
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def set_patches(self):
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if self.fig is not None:
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self.fig.gca().patches = []
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rect_1 = patches.Rectangle((-self.n_links, -1), self.n_links + self._tmp_hole_x - self._tmp_hole_width / 2,
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1,
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fill=True, edgecolor='k', facecolor='k')
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rect_2 = patches.Rectangle((self._tmp_hole_x + self._tmp_hole_width / 2, -1),
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self.n_links - self._tmp_hole_x + self._tmp_hole_width / 2, 1,
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fill=True, edgecolor='k', facecolor='k')
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rect_3 = patches.Rectangle((self._tmp_hole_x - self._tmp_hole_width / 2, -1), self._tmp_hole_width,
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1 - self._tmp_hole_depth,
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fill=True, edgecolor='k', facecolor='k')
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# Add the patch to the Axes
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self.fig.gca().add_patch(rect_1)
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self.fig.gca().add_patch(rect_2)
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self.fig.gca().add_patch(rect_3)
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def close(self):
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if self.fig is not None:
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plt.close(self.fig)
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if __name__ == '__main__':
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nl = 5
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render_mode = "human" # "human" or "partial" or "final"
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env = HoleReacher(n_links=nl, allow_self_collision=False, allow_wall_collision=False, hole_width=None,
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hole_depth=1, hole_x=None)
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env.reset()
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# env.render(mode=render_mode)
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for i in range(200):
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# objective.load_result("/tmp/cma")
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# test with random actions
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ac = 2 * env.action_space.sample()
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# ac[0] += np.pi/2
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obs, rew, d, info = env.step(ac)
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# if i % 1 == 0:
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if i == 0:
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env.render(mode=render_mode)
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print(rew)
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if d:
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env.reset()
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env.close()
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