from dm_control.utils import rewards
import numpy as np
from six.moves import range
from six.moves import zip
mjlib = mjbindings.mjlib
_BrickWorkspace = collections.namedtuple(
'_BrickWorkspace',
['prop_bbox', 'tcp_bbox', 'goal_hint_pos', 'goal_hint_quat', 'arm_offset'])
# Ensures that the prop does not collide with the table during initialization.
_PROP_Z_OFFSET = 1e-6
_WORKSPACE = _BrickWorkspace(
prop_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, _PROP_Z_OFFSET),
upper=(0.1, 0.1, _PROP_Z_OFFSET)),
tcp_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, 0.15),
upper=(0.1, 0.1, 0.4)),
goal_hint_pos=(0.2, 0.1, 0.),
goal_hint_quat=(-0.38268343, 0., 0., 0.92387953),
arm_offset=robots.ARM_OFFSET)
# Alpha value of the visual goal hint representing the goal state for each task.
_HINT_ALPHA = 0.75
# Distance thresholds for the shaping rewards for getting the top brick close
# to the bottom brick, and for 'clicking' them together.
_CLOSE_THRESHOLD = 0.01
_CLICK_THRESHOLD = 0.001
# Sequence of colors for the brick(s).
from dm_control.manipulation.shared import observations
from dm_control.manipulation.shared import registry
from dm_control.manipulation.shared import robots
from dm_control.manipulation.shared import tags
from dm_control.manipulation.shared import workspaces
from dm_control.utils import rewards
import numpy as np
_ReachWorkspace = collections.namedtuple(
'_ReachWorkspace', ['target_bbox', 'tcp_bbox', 'arm_offset'])
# Ensures that the props are not touching the table before settling.
_PROP_Z_OFFSET = 0.001
_DUPLO_WORKSPACE = _ReachWorkspace(
target_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, _PROP_Z_OFFSET),
upper=(0.1, 0.1, _PROP_Z_OFFSET)),
tcp_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, 0.2),
upper=(0.1, 0.1, 0.4)),
arm_offset=robots.ARM_OFFSET)
_SITE_WORKSPACE = _ReachWorkspace(
target_bbox=workspaces.BoundingBox(lower=(-0.2, -0.2, 0.02),
upper=(0.2, 0.2, 0.4)),
tcp_bbox=workspaces.BoundingBox(lower=(-0.2, -0.2, 0.02),
upper=(0.2, 0.2, 0.4)),
arm_offset=robots.ARM_OFFSET)
_TARGET_RADIUS = 0.05
class Reach(composer.Task):
from dm_control.manipulation.shared import registry
from dm_control.manipulation.shared import robots
from dm_control.manipulation.shared import tags
from dm_control.manipulation.shared import workspaces
from dm_control.utils import rewards
import numpy as np
_PushWorkspace = collections.namedtuple(
'_PushWorkspace', ['target_bbox', 'tcp_bbox', 'arm_offset'])
# Ensures that the props are not touching the table before settling.
_PROP_Z_OFFSET = 0.001
_DUPLO_WORKSPACE = _PushWorkspace(
target_bbox=workspaces.BoundingBox(
lower=(-0.1, -0.1, _PROP_Z_OFFSET),
upper=(0.0, 0.1, _PROP_Z_OFFSET)), # start on left side
tcp_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, 0.2),
upper=(0.1, 0.1, 0.4)),
arm_offset=robots.ARM_OFFSET)
_HAND_TARGET_RADIUS = 0.05
_TARGET_RADIUS = 0.025
_TARGET_PROP_XPOS = 0.1
class Push(composer.Task):
"""Bring the hand close to a target prop or site."""
def __init__(self, arena, arm, hand, prop, obs_settings, workspace,
control_timestep):
"""Initializes a new `Push` task.
from dm_control.manipulation.shared import arenas
from dm_control.manipulation.shared import cameras
from dm_control.manipulation.shared import constants
from dm_control.manipulation.shared import observations
from dm_control.manipulation.shared import registry
from dm_control.manipulation.shared import robots
from dm_control.manipulation.shared import tags
from dm_control.manipulation.shared import workspaces
from dm_control.utils import rewards
import numpy as np
_LiftWorkspace = collections.namedtuple(
'_LiftWorkspace', ['prop_bbox', 'tcp_bbox', 'arm_offset'])
_DUPLO_WORKSPACE = _LiftWorkspace(
prop_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, 0.0),
upper=(0.1, 0.1, 0.0)),
tcp_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, 0.2),
upper=(0.1, 0.1, 0.4)),
arm_offset=robots.ARM_OFFSET)
_BOX_SIZE = 0.09
_BOX_MASS = 1.3
_BOX_WORKSPACE = _LiftWorkspace(
prop_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, _BOX_SIZE),
upper=(0.1, 0.1, _BOX_SIZE)),
tcp_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, 0.2),
upper=(0.1, 0.1, 0.4)),
arm_offset=robots.ARM_OFFSET)
_DISTANCE_TO_LIFT = 0.3
from dm_control.manipulation.shared import workspaces
from dm_control.utils import rewards
import numpy as np
import six
_PlaceWorkspace = collections.namedtuple(
'_PlaceWorkspace', ['prop_bbox', 'target_bbox', 'tcp_bbox', 'arm_offset'])
_TARGET_RADIUS = 0.05
_PEDESTAL_RADIUS = 0.07
# Ensures that the prop does not collide with the table during initialization.
_PROP_Z_OFFSET = 1e-6
_WORKSPACE = _PlaceWorkspace(
prop_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, _PROP_Z_OFFSET),
upper=(0.1, 0.1, _PROP_Z_OFFSET)),
tcp_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, _PEDESTAL_RADIUS + 0.1),
upper=(0.1, 0.1, 0.4)),
target_bbox=workspaces.BoundingBox(lower=(-0.1, -0.1, _PEDESTAL_RADIUS),
upper=(0.1, 0.1,
_PEDESTAL_RADIUS + 0.1)),
arm_offset=robots.ARM_OFFSET)
class SphereCradle(composer.Entity):
"""A concave shape for easy placement."""
_SPHERE_COUNT = 3
def _build(self):
self._mjcf_root = mjcf.element.RootElement(model='cradle')
sphere_radius = _PEDESTAL_RADIUS * 0.7