class NutAssemblyDenseHand(gym.Env):
"""
TODO: change obs and reward setting
NutAssemblyHand:
'FetchPickAndPlace-v1' with a perfect controller
Action taken as:
pi_theta(s) = pi(s) + f_theta(s)
Parameters:
-----------
kp: float
Scaling factor for position control
"""
def __init__(self, kp: float = 20, *args, **kwargs):
options = {}
controller_name = 'OSC_POSE'
options["controller_configs"] = suite.load_controller_config(
default_controller=controller_name)
self.env = GymWrapper(
suite.make(
"NutAssemblyRound", # Nut Assembly task with the round peg
robots="IIWA", # use IIWA robot
**options, # controller options
use_object_obs=True,
use_camera_obs=False, # do not use pixel observations
has_offscreen_renderer=
False, # not needed since not using pixel obs
has_renderer=False, # make sure we can render to the screen
reward_shaping=False, # use dense rewards
control_freq=
20, # control should happen fast enough so that simulation looks smooth
))
self.max_episode_steps = 500
self.action_space = self.env.action_space
self.observation_space = self.env.observation_space
self.reward_type = 'sparse'
self.distance_threshold = 0.065
def step(self, residual_action: np.ndarray):
controller_action = np.array(
self.controller_action(self.last_observation))
if (controller_action > 1).any() or (controller_action < -1).any():
print(controller_action)
action = np.add(controller_action, residual_action)
action = np.clip(action, -1, 1)
ob, reward, done, info = self.env.step(action)
ob = self.env.env._get_observation()
observation = {}
observation['observation'] = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat']))
observation['desired_goal'] = np.array(
self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation['achieved_goal'] = ob['RoundNut0_pos']
self.last_observation = observation.copy()
info['is_success'] = reward
return observation, reward, done, info
def reset(self):
self.env.reset() # reset according to task defaults
ob = self.env.env._get_observation()
observation = {}
observation['observation'] = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat']))
observation['desired_goal'] = np.array(
self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation['achieved_goal'] = ob['RoundNut0_pos']
self.last_observation = observation.copy()
self.object_in_hand = False
self.object_below_hand = False
self.gripper_reoriented = 0
return observation
def seed(self, seed: int = 0):
self.np_random, seed = seeding.np_random(seed)
return self.env.seed(seed=seed)
def render(self, mode: str = "human", *args, **kwargs):
return self.env.render()
def close(self):
return self.env.close()
def goal_distance(self, achieved_goal, desired_goal):
return np.linalg.norm(achieved_goal - desired_goal, axis=1)
def compute_reward(self, achieved_goal, goal, info):
# Compute distance between goal and the achieved goal.
d = self.goal_distance(achieved_goal, goal)
if self.reward_type == 'sparse':
return -(d > self.distance_threshold).astype(np.float32)
else:
return -d
def controller_action(self,
obs: dict,
take_action: bool = True,
DEBUG: bool = False):
observation = obs['observation']
goal_pos = obs['desired_goal']
achieved_goal = obs['achieved_goal']
gripper_pos = observation[:3]
gripper_quat = observation[3:7]
object_pos = observation[7:10]
object_quat = observation[10:]
z_table = 0.8610982
object_axang = T.quat2axisangle(object_quat)
if abs(object_axang[-1] - 1.24) < 0.2:
object_axang_touse = [
0, 0, object_axang[-1] % (2 * pi / 8) + (2 * pi / 8)
]
else:
object_axang_touse = [0, 0, object_axang[-1] % (2 * pi / 8)]
gripper_axang = T.quat2axisangle(gripper_quat)
# print('object axang to use ' + str(object_axang_touse))
if self.gripper_reoriented == 0:
self.gripper_init_quat = gripper_quat
self.gripper_reoriented = 1
init_inv = T.quat_inverse(self.gripper_init_quat)
changing_wf = T.quat_multiply(init_inv, gripper_quat)
changing_wf_axang = T.quat2axisangle(changing_wf)
# gripper_quat_inv = T.quat_inverse(gripper_quat)
# changing_wf = T.quat_multiply(gripper_quat_inv,self.gripper_init_quat)
# changing_wf_axang = T.quat2axisangle(changing_wf)
# print('changing wf axis ' +str(changing_wf_axang))
if not self.object_below_hand or self.gripper_reoriented < 5:
self.nut_p = T.quat2axisangle(object_quat)[-1]
# print(self.nut_p)
if not self.object_below_hand:
action = 20 * (object_pos[:2] - gripper_pos[:2])
else:
action = [0, 0]
action = 20 * (object_pos[:2] - gripper_pos[:2])
# frac = 0.2 # Rate @ which to rotate gripper about z.
# ang_goal = frac*self.nut_p # Nut p is the nut's random intial pertubation about z.
# if self.gripper_reoriented == 0:
# self.gripper_init_quat = gripper_quat
# if self.gripper_reoriented < 5: # Gripper should be aligned with nut after 5 action steps
# action_angle= [0,0,ang_goal]
# #print('object ' + str(object_axang))
# #print('gripper ' + str(gripper_axang))
# init_inv = T.quat_inverse(self.gripper_init_quat)
# init_inv_mat = T.quat2mat(init_inv)
# rel = T.quat_multiply(gripper_quat,init_inv)
# rel_axang = T.quat2axisangle(rel)
# #print('rel_axang ' +str(rel_axang))
# rel_axang_WF = np.matmul(init_inv_mat,rel_axang)
# #print('rel_axang_WF ' +str(rel_axang_WF))
# if take_action:
# self.gripper_reoriented+=1
# else: # After 5 action steps, don't rotate gripper any more
# action_angle=[0,0,0]
action_angle = 0.2 * (object_axang_touse - changing_wf_axang)
action_angle = [0, 0, action_angle[-1]]
#action_angle = [0,0,0]
#print('action angle ' +str(action_angle))
if np.linalg.norm(object_axang_touse - changing_wf_axang) < 0.1:
if take_action:
self.gripper_reoriented = 5
action = np.hstack((action, [0], action_angle, [-1]))
if np.linalg.norm((object_pos[:2] - gripper_pos[:2])) < 0.01:
if take_action:
self.object_below_hand = True
#self.gripper_reoriented = 5
elif not self.object_in_hand: # Close gripper
action = [0, 0, -1, 0, 0, 0, -1]
if np.linalg.norm((object_pos[2] - gripper_pos[2])) < 0.01:
action = [0, 0, 0, 0, 0, 0, 1]
if take_action:
self.object_in_hand = True
else: # Move gripper up and toward goal position
action = [0, 0, 1, 0, 0, 0, 1]
if object_pos[2] - z_table > 0.1:
action = 20 * (goal_pos[:2] - object_pos[:2])
action = np.hstack((action, [0, 0, 0, 0, 1]))
if np.linalg.norm((goal_pos[:2] - object_pos[:2])) < 0.0225:
action = [0, 0, 0, 0, 0, 0,
-1] # Drop nut once it's close enough to the peg
action = np.clip(action, -1, 1)
return action
def _init():
register_gripper(UltrasoundProbeGripper)
env = GymWrapper(suite.make(env_id, **options))
env = Monitor(env)
env.seed(seed + rank)
return env
class NutAssemblyDense(gym.Env):
"""
NutAssembly:
NutAssembly task from robosuite with no controller. Can be used for learning from scratch.
"""
def __init__(self, horizon=500, *args, **kwargs):
options = {}
controller_name = 'OSC_POSE'
options["controller_configs"] = suite.load_controller_config(
default_controller=controller_name)
self.env = GymWrapper(
suite.make(
"NutAssemblyRound", # Nut Assembly task with the round peg
robots="IIWA", # use IIWA robot
**options, # controller options
use_object_obs=True,
use_camera_obs=False, # do not use pixel observations
has_offscreen_renderer=
False, # not needed since not using pixel obs
has_renderer=False, # make sure we can render to the screen
reward_shaping=True, # use dense rewards
reward_scale=1.0,
control_freq=
20, # control should happen fast enough so that simulation looks smooth
horizon=horizon, # number of timesteps for ending episode
))
self.max_episode_steps = horizon
self.action_space = self.env.action_space
self.observation_space = self.env.observation_space
self.reward_type = 'sparse'
self.distance_threshold = 0.065
def step(self, action):
ob, reward, done, info = self.env.step(action)
ob = self.env.env._get_observation()
peg_pos = np.array(self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat'], peg_pos))
# info['is_success'] = self.get_success(ob['RoundNut0_pos'], peg_pos)
info['is_success'] = self.env.env._check_success()
return observation, reward, done, info
def reset(self):
ob = self.env.reset()
ob = self.env.env._get_observation()
peg_pos = np.array(self.env.sim.data.body_xpos[self.env.peg2_body_id])
observation = np.hstack(
(ob['robot0_eef_pos'], ob['robot0_eef_quat'], ob['RoundNut0_pos'],
ob['RoundNut0_quat'], peg_pos))
return observation
def seed(self, seed=0):
self.np_random, seed = seeding.np_random(seed)
return self.env.seed(seed=seed)
def render(self, mode="human", *args, **kwargs):
return self.env.render()
def close(self):
return self.env.close()
def goal_distance(self, achieved_goal, desired_goal):
return np.linalg.norm(achieved_goal - desired_goal)
def get_success(self, object_pos, goal):
# Compute distance between goal and the achieved goal.
d = self.goal_distance(object_pos, goal)
return (d < self.distance_threshold).astype(np.float32)