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Make the ball size configurable at task level

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This commit is contained in:
kngwyu 2020-09-29 00:47:19 +09:00
parent f9724464ed
commit ac8755b4c1
2 changed files with 29 additions and 17 deletions
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19
mujoco_maze/maze_env.py
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@ -72,8 +72,9 @@ class MazeEnv(gym.Env):
self._collision = maze_env_utils.CollisionDetector( self._collision = maze_env_utils.CollisionDetector(
structure, size_scaling, torso_x, torso_y, model_cls.RADIUS, structure, size_scaling, torso_x, torso_y, model_cls.RADIUS,
) )
# Now all object balls have size=1.0
self._objball_collision = maze_env_utils.CollisionDetector( self._objball_collision = maze_env_utils.CollisionDetector(
structure, size_scaling, torso_x, torso_y, 0.8, structure, size_scaling, torso_x, torso_y, self._task.OBJECT_BALL_SIZE,
) )
else: else:
self._collision = None self._collision = None
@ -145,7 +146,7 @@ class MazeEnv(gym.Env):
elif struct.is_object_ball(): elif struct.is_object_ball():
# Movable Ball # Movable Ball
self.object_balls.append(f"objball_{i}_{j}") self.object_balls.append(f"objball_{i}_{j}")
_add_object_ball(worldbody, i, j, x, y) _add_object_ball(worldbody, i, j, x, y, self._task.OBJECT_BALL_SIZE)
torso = tree.find(".//body[@name='torso']") torso = tree.find(".//body[@name='torso']")
geoms = torso.findall(".//geom") geoms = torso.findall(".//geom")
@ -385,6 +386,7 @@ class MazeEnv(gym.Env):
self.wrapped_env.set_xy(old_pos) self.wrapped_env.set_xy(old_pos)
else: else:
self.wrapped_env.set_xy(pos) self.wrapped_env.set_xy(pos)
# Do the same check for object balls
for name, old, new in zip(self.object_balls, old_objballs, new_objballs): for name, old, new in zip(self.object_balls, old_objballs, new_objballs):
collision = self._objball_collision.detect(old, new) collision = self._objball_collision.detect(old, new)
if collision is not None: if collision is not None:
@ -406,20 +408,23 @@ class MazeEnv(gym.Env):
self.wrapped_env.close() self.wrapped_env.close()
def _add_object_ball(worldbody: ET.Element, i: str, j: str, x: float, y: float) -> None: def _add_object_ball(
body = ET.SubElement(worldbody, "body", name=f"objball_{i}_{j}", pos=f"{x} {y} 0",) worldbody: ET.Element, i: str, j: str, x: float, y: float, size: float
) -> None:
body = ET.SubElement(worldbody, "body", name=f"objball_{i}_{j}", pos=f"{x} {y} 0")
mass = 0.0001 * (size ** 3)
ET.SubElement( ET.SubElement(
body, body,
"geom", "geom",
type="sphere", type="sphere",
name=f"objball_{i}_{j}_geom", name=f"objball_{i}_{j}_geom",
size="1.0", # Radius size=f"{size}", # Radius
pos="0.0 0.0 1.0", # Z = 1.0 so that this ball can move!! pos=f"0.0 0.0 {size}", # Z = size so that this ball can move!!
rgba="0.1 0.1 0.7 1", rgba="0.1 0.1 0.7 1",
contype="1", contype="1",
conaffinity="1", conaffinity="1",
solimp="0.9 0.99 0.001", solimp="0.9 0.99 0.001",
mass="0.0001", mass=f"{mass}",
) )
ET.SubElement( ET.SubElement(
body, body,

27
mujoco_maze/maze_task.py
View File

@ -59,10 +59,14 @@ class MazeTask(ABC):
PENALTY: Optional[float] = None PENALTY: Optional[float] = None
MAZE_SIZE_SCALING: Scaling = Scaling(8.0, 4.0, 4.0) MAZE_SIZE_SCALING: Scaling = Scaling(8.0, 4.0, 4.0)
INNER_REWARD_SCALING: float = 0.01 INNER_REWARD_SCALING: float = 0.01
TOP_DOWN_VIEW: bool = False # For Fall/Push/BlockMaze
OBSERVE_BLOCKS: bool = False OBSERVE_BLOCKS: bool = False
# For Billiard
OBSERVE_BALLS: bool = False OBSERVE_BALLS: bool = False
OBJECT_BALL_SIZE: float = 1.0
# Unused now
PUT_SPIN_NEAR_AGENT: bool = False PUT_SPIN_NEAR_AGENT: bool = False
TOP_DOWN_VIEW: bool = False
def __init__(self, scale: float) -> None: def __init__(self, scale: float) -> None:
self.goals = [] self.goals = []
@ -143,7 +147,7 @@ class DistRewardSimpleRoom(GoalRewardSimpleRoom, DistRewardMixIn):
class GoalRewardPush(GoalRewardUMaze): class GoalRewardPush(GoalRewardUMaze):
TOP_DOWN_VIEW = True OBSERVE_BLOCKS: bool = True
def __init__(self, scale: float) -> None: def __init__(self, scale: float) -> None:
super().__init__(scale) super().__init__(scale)
@ -166,7 +170,7 @@ class DistRewardPush(GoalRewardPush, DistRewardMixIn):
class GoalRewardFall(GoalRewardUMaze): class GoalRewardFall(GoalRewardUMaze):
TOP_DOWN_VIEW = True OBSERVE_BLOCKS: bool = True
def __init__(self, scale: float) -> None: def __init__(self, scale: float) -> None:
super().__init__(scale) super().__init__(scale)
@ -336,10 +340,12 @@ class GoalRewardBilliard(MazeTask):
MAZE_SIZE_SCALING: Scaling = Scaling(4.0, 3.0, 3.0) MAZE_SIZE_SCALING: Scaling = Scaling(4.0, 3.0, 3.0)
OBSERVE_BALLS: bool = True OBSERVE_BALLS: bool = True
def __init__(self, scale: float, goal: Tuple[float, float] = (1.0, -2.0)) -> None: def __init__(self, scale: float, goal: Tuple[float, float] = (2.0, -3.0)) -> None:
super().__init__(scale) super().__init__(scale)
goal = np.array(goal) * scale goal = np.array(goal) * scale
self.goals = [MazeGoal(goal, threshold=1.25, custom_size=0.25)] goal_size = 0.3
threshold = goal_size + self.OBJECT_BALL_SIZE
self.goals = [MazeGoal(goal, threshold=threshold, custom_size=goal_size)]
def reward(self, obs: np.ndarray) -> float: def reward(self, obs: np.ndarray) -> float:
return 1.0 if self.termination(obs) else self.PENALTY return 1.0 if self.termination(obs) else self.PENALTY
@ -352,11 +358,12 @@ class GoalRewardBilliard(MazeTask):
E, B = MazeCell.EMPTY, MazeCell.BLOCK E, B = MazeCell.EMPTY, MazeCell.BLOCK
R, M = MazeCell.ROBOT, MazeCell.OBJECT_BALL R, M = MazeCell.ROBOT, MazeCell.OBJECT_BALL
return [ return [
[B, B, B, B, B], [B, B, B, B, B, B, B],
[B, E, E, E, B], [B, E, E, E, E, E, B],
[B, E, M, E, B], [B, E, E, E, E, E, B],
[B, E, R, E, B], [B, E, E, M, E, E, B],
[B, B, B, B, B], [B, E, E, R, E, E, B],
[B, B, B, B, B, B, B],
] ]