def _get_sim(self):
if self._sim is not None:
return self._sim
xml = postprocess_model_xml(self._traj.config_str)
self._depth_norm = None
if 'sawyer' in xml:
from hem.datasets.precompiled_models.sawyer import models
self._sim = models[0]
self._depth_norm = 'sawyer'
elif 'baxter' in xml:
from hem.datasets.precompiled_models.baxter import models
self._sim = models[0]
elif 'panda' in xml:
from hem.datasets.precompiled_models.panda import models
self._sim = models[0]
else:
model = load_model_from_xml(xml)
model.vis.quality.offsamples = 8
sim = MjSim(load_model_from_xml(xml))
render_context = MjRenderContextOffscreen(sim)
render_context.vopt.geomgroup[0] = 0
render_context.vopt.geomgroup[1] = 1
sim.add_render_context(render_context)
self._sim = sim
return self._sim
def create_model(xml):
model = load_model_from_xml(postprocess_model_xml(xml))
model.vis.quality.offsamples = 8
sim = MjSim(model)
render_context = MjRenderContextOffscreen(sim)
render_context.vopt.geomgroup[0] = 0
render_context.vopt.geomgroup[1] = 1
sim.add_render_context(render_context)
return sim
class FastResetMujocoEnv(MujocoEnv):
"""Only loads the mujoco XML file once to allow for quicker resets."""
def _reset_internal(self):
"""Resets simulation internal configurations."""
# instantiate simulation from MJCF model
self._load_model()
if not hasattr(self, "mjpy_model"):
self.mjpy_model = self.model.get_model(mode="mujoco_py")
self.sim = MjSim(self.mjpy_model)
self.initialize_time(self.control_freq)
# create visualization screen or renderer
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.viewer.viewer.vopt.geomgroup[1] = 1 if self.render_visual_mesh else 0
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
elif self.has_offscreen_renderer:
if self.sim._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self.sim)
self.sim.add_render_context(render_context)
self.sim._render_context_offscreen.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.sim._render_context_offscreen.vopt.geomgroup[1] = (
1 if self.render_visual_mesh else 0
)
# additional housekeeping
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
self.done = False
class MujocoEnv(metaclass=EnvMeta):
"""
Initializes a Mujoco Environment.
Args:
has_renderer (bool): If true, render the simulation state in
a viewer instead of headless mode.
has_offscreen_renderer (bool): True if using off-screen rendering.
render_camera (str): Name of camera to render if `has_renderer` is True. Setting this value to 'None'
will result in the default angle being applied, which is useful as it can be dragged / panned by
the user using the mouse
render_collision_mesh (bool): True if rendering collision meshes
in camera. False otherwise.
render_visual_mesh (bool): True if rendering visual meshes
in camera. False otherwise.
render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
Defaults to -1, in which case the device will be inferred from environment variables
(GPUS or CUDA_VISIBLE_DEVICES).
control_freq (float): how many control signals to receive
in every simulated second. This sets the amount of simulation time
that passes between every action input.
horizon (int): Every episode lasts for exactly @horizon timesteps.
ignore_done (bool): True if never terminating the environment (ignore @horizon).
hard_reset (bool): If True, re-loads model, sim, and render object upon a reset call, else,
only calls sim.reset and resets all robosuite-internal variables
renderer (str): string for the renderer to use
renderer_config (dict): dictionary for the renderer configurations
Raises:
ValueError: [Invalid renderer selection]
"""
def __init__(
self,
has_renderer=False,
has_offscreen_renderer=True,
render_camera="frontview",
render_collision_mesh=False,
render_visual_mesh=True,
render_gpu_device_id=-1,
control_freq=20,
horizon=1000,
ignore_done=False,
hard_reset=True,
renderer="mujoco",
renderer_config=None,
):
# First, verify that both the on- and off-screen renderers are not being used simultaneously
if has_renderer is True and has_offscreen_renderer is True:
raise ValueError("the onscreen and offscreen renderers cannot be used simultaneously.")
# Rendering-specific attributes
self.has_renderer = has_renderer
self.has_offscreen_renderer = has_offscreen_renderer
self.render_camera = render_camera
self.render_collision_mesh = render_collision_mesh
self.render_visual_mesh = render_visual_mesh
self.render_gpu_device_id = render_gpu_device_id
self.viewer = None
# Simulation-specific attributes
self._observables = {} # Maps observable names to observable objects
self._obs_cache = {} # Maps observable names to pre-/partially-computed observable values
self.control_freq = control_freq
self.horizon = horizon
self.ignore_done = ignore_done
self.hard_reset = hard_reset
self._model_postprocessor = None # Function to post-process model after load_model() call
self.model = None
self.cur_time = None
self.model_timestep = None
self.control_timestep = None
self.deterministic_reset = False # Whether to add randomized resetting of objects / robot joints
self.renderer = renderer
self.renderer_config = renderer_config
# Load the model
self._load_model()
# Post-process model
self._postprocess_model()
# Initialize the simulation
self._initialize_sim()
#initializes the rendering
self.initialize_renderer()
# Run all further internal (re-)initialization required
self._reset_internal()
# Load observables
if hasattr(self.viewer, '_setup_observables'):
self._observables = self.viewer._setup_observables()
else:
self._observables = self._setup_observables()
# check if viewer has get observations method and set a flag for future use.
self.viewer_get_obs = hasattr(self.viewer, '_get_observations')
def initialize_renderer(self):
self.renderer = self.renderer.lower()
if self.renderer_config is None and self.renderer != 'mujoco':
self.renderer_config = load_renderer_config(self.renderer)
if self.renderer == 'mujoco' or self.renderer == 'default':
pass
elif self.renderer == 'nvisii':
from robosuite.renderers.nvisii.nvisii_renderer import NVISIIRenderer
self.viewer = NVISIIRenderer(env=self,
**self.renderer_config)
elif self.renderer == 'igibson':
from robosuite.renderers.igibson.igibson_renderer import iGibsonRenderer
self.viewer = iGibsonRenderer(env=self,
**self.renderer_config
)
else:
raise ValueError(f'{self.renderer} is not a valid renderer name. Valid options include default (native mujoco renderer), nvisii, and igibson')
def initialize_time(self, control_freq):
"""
Initializes the time constants used for simulation.
Args:
control_freq (float): Hz rate to run control loop at within the simulation
"""
self.cur_time = 0
self.model_timestep = macros.SIMULATION_TIMESTEP
if self.model_timestep <= 0:
raise ValueError("Invalid simulation timestep defined!")
self.control_freq = control_freq
if control_freq <= 0:
raise SimulationError("Control frequency {} is invalid".format(control_freq))
self.control_timestep = 1. / control_freq
def set_model_postprocessor(self, postprocessor):
"""
Sets the post-processor function that self.model will be passed to after load_model() is called during resets.
Args:
postprocessor (None or function): If set, postprocessing method should take in a Task-based instance and
return no arguments.
"""
self._model_postprocessor = postprocessor
def _load_model(self):
"""Loads an xml model, puts it in self.model"""
pass
def _postprocess_model(self):
"""
Post-processes model after load_model() call. Useful for external objects (e.g.: wrappers) to
be able to modify the sim model before it is actually loaded into the simulation
"""
if self._model_postprocessor is not None:
self._model_postprocessor(self.model)
def _setup_references(self):
"""
Sets up references to important components. A reference is typically an
index or a list of indices that point to the corresponding elements
in a flatten array, which is how MuJoCo stores physical simulation data.
"""
# Setup mappings from model to IDs
self.model.generate_id_mappings(sim=self.sim)
def _setup_observables(self):
"""
Sets up observables to be used for this environment.
Returns:
OrderedDict: Dictionary mapping observable names to its corresponding Observable object
"""
return OrderedDict()
def _initialize_sim(self, xml_string=None):
"""
Creates a MjSim object and stores it in self.sim. If @xml_string is specified, the MjSim object will be created
from the specified xml_string. Else, it will pull from self.model to instantiate the simulation
Args:
xml_string (str): If specified, creates MjSim object from this filepath
"""
# if we have an xml string, use that to create the sim. Otherwise, use the local model
self.mjpy_model = load_model_from_xml(xml_string) if xml_string else self.model.get_model(mode="mujoco_py")
# Create the simulation instance and run a single step to make sure changes have propagated through sim state
self.sim = MjSim(self.mjpy_model)
self.sim.forward()
# Setup sim time based on control frequency
self.initialize_time(self.control_freq)
def reset(self):
"""
Resets simulation.
Returns:
OrderedDict: Environment observation space after reset occurs
"""
# TODO(yukez): investigate black screen of death
# Use hard reset if requested
if self.hard_reset and not self.deterministic_reset:
if self.renderer == 'mujoco' or self.renderer == 'default':
self._destroy_viewer()
self._load_model()
self._postprocess_model()
self._initialize_sim()
# Else, we only reset the sim internally
else:
self.sim.reset()
# Reset necessary robosuite-centric variables
self._reset_internal()
self.sim.forward()
# Setup observables, reloading if
self._obs_cache = {}
if self.hard_reset:
# If we're using hard reset, must re-update sensor object references
_observables = self._setup_observables()
for obs_name, obs in _observables.items():
self.modify_observable(observable_name=obs_name, attribute="sensor", modifier=obs._sensor)
# Make sure that all sites are toggled OFF by default
self.visualize(vis_settings={vis: False for vis in self._visualizations})
if self.viewer is not None and self.renderer != 'mujoco':
self.viewer.reset()
observations = self.viewer._get_observations(force_update=True) if self.viewer_get_obs else self._get_observations(force_update=True)
# Return new observations
return observations
def _reset_internal(self):
"""Resets simulation internal configurations."""
# create visualization screen or renderer
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (1 if self.render_collision_mesh else 0)
self.viewer.viewer.vopt.geomgroup[1] = (1 if self.render_visual_mesh else 0)
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
# make sure mujoco-py doesn't block rendering frames
# (see https://github.com/StanfordVL/robosuite/issues/39)
self.viewer.viewer._render_every_frame = True
# Set the camera angle for viewing
if self.render_camera is not None:
self.viewer.set_camera(camera_id=self.sim.model.camera_name2id(self.render_camera))
elif self.has_offscreen_renderer:
if self.sim._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
self.sim.add_render_context(render_context)
self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.render_collision_mesh else 0)
self.sim._render_context_offscreen.vopt.geomgroup[1] = (1 if self.render_visual_mesh else 0)
# additional housekeeping
self.sim_state_initial = self.sim.get_state()
self._setup_references()
self.cur_time = 0
self.timestep = 0
self.done = False
# Empty observation cache and reset all observables
self._obs_cache = {}
for observable in self._observables.values():
observable.reset()
def _update_observables(self, force=False):
"""
Updates all observables in this environment
Args:
force (bool): If True, will force all the observables to update their internal values to the newest
value. This is useful if, e.g., you want to grab observations when directly setting simulation states
without actually stepping the simulation.
"""
for observable in self._observables.values():
observable.update(timestep=self.model_timestep, obs_cache=self._obs_cache, force=force)
def _get_observations(self, force_update=False):
"""
Grabs observations from the environment.
Args:
force_update (bool): If True, will force all the observables to update their internal values to the newest
value. This is useful if, e.g., you want to grab observations when directly setting simulation states
without actually stepping the simulation.
Returns:
OrderedDict: OrderedDict containing observations [(name_string, np.array), ...]
"""
observations = OrderedDict()
obs_by_modality = OrderedDict()
# Force an update if requested
if force_update:
self._update_observables(force=True)
# Loop through all observables and grab their current observation
for obs_name, observable in self._observables.items():
if observable.is_enabled() and observable.is_active():
obs = observable.obs
observations[obs_name] = obs
modality = observable.modality + "-state"
if modality not in obs_by_modality:
obs_by_modality[modality] = []
# Make sure all observations are numpy arrays so we can concatenate them
array_obs = [obs] if type(obs) in {int, float} or not obs.shape else obs
obs_by_modality[modality].append(np.array(array_obs))
# Add in modality observations
for modality, obs in obs_by_modality.items():
# To save memory, we only concatenate the image observations if explicitly requested
if modality == "image-state" and not macros.CONCATENATE_IMAGES:
continue
observations[modality] = np.concatenate(obs, axis=-1)
return observations
def step(self, action):
"""
Takes a step in simulation with control command @action.
Args:
action (np.array): Action to execute within the environment
Returns:
4-tuple:
- (OrderedDict) observations from the environment
- (float) reward from the environment
- (bool) whether the current episode is completed or not
- (dict) misc information
Raises:
ValueError: [Steps past episode termination]
"""
if self.done:
raise ValueError("executing action in terminated episode")
self.timestep += 1
# Since the env.step frequency is slower than the mjsim timestep frequency, the internal controller will output
# multiple torque commands in between new high level action commands. Therefore, we need to denote via
# 'policy_step' whether the current step we're taking is simply an internal update of the controller,
# or an actual policy update
policy_step = True
# Loop through the simulation at the model timestep rate until we're ready to take the next policy step
# (as defined by the control frequency specified at the environment level)
for i in range(int(self.control_timestep / self.model_timestep)):
self.sim.forward()
self._pre_action(action, policy_step)
self.sim.step()
self._update_observables()
policy_step = False
# Note: this is done all at once to avoid floating point inaccuracies
self.cur_time += self.control_timestep
reward, done, info = self._post_action(action)
if self.viewer is not None and self.renderer != 'mujoco':
self.viewer.update()
observations = self.viewer._get_observations() if self.viewer_get_obs else self._get_observations()
return observations, reward, done, info
def _pre_action(self, action, policy_step=False):
"""
Do any preprocessing before taking an action.
Args:
action (np.array): Action to execute within the environment
policy_step (bool): Whether this current loop is an actual policy step or internal sim update step
"""
self.sim.data.ctrl[:] = action
def _post_action(self, action):
"""
Do any housekeeping after taking an action.
Args:
action (np.array): Action to execute within the environment
Returns:
3-tuple:
- (float) reward from the environment
- (bool) whether the current episode is completed or not
- (dict) empty dict to be filled with information by subclassed method
"""
reward = self.reward(action)
# done if number of elapsed timesteps is greater than horizon
self.done = (self.timestep >= self.horizon) and not self.ignore_done
return reward, self.done, {}
def reward(self, action):
"""
Reward should be a function of state and action
Args:
action (np.array): Action to execute within the environment
Returns:
float: Reward from environment
"""
raise NotImplementedError
def render(self):
"""
Renders to an on-screen window.
"""
self.viewer.render()
def get_pixel_obs(self):
"""
Gets the pixel observations for the environment from the specified renderer
"""
self.viewer.get_pixel_obs()
def close_renderer(self):
"""
Closes the renderer
"""
self.viewer.close()
def observation_spec(self):
"""
Returns an observation as observation specification.
An alternative design is to return an OrderedDict where the keys
are the observation names and the values are the shapes of observations.
We leave this alternative implementation commented out, as we find the
current design is easier to use in practice.
Returns:
OrderedDict: Observations from the environment
"""
observation = self.viewer._get_observations() if self.viewer_get_obs else self._get_observations()
return observation
def clear_objects(self, object_names):
"""
Clears objects with the name @object_names out of the task space. This is useful
for supporting task modes with single types of objects, as in
@self.single_object_mode without changing the model definition.
Args:
object_names (str or list of str): Name of object(s) to remove from the task workspace
"""
object_names = {object_names} if type(object_names) is str else set(object_names)
for obj in self.model.mujoco_objects:
if obj.name in object_names:
self.sim.data.set_joint_qpos(obj.joints[0], np.array((10, 10, 10, 1, 0, 0, 0)))
def visualize(self, vis_settings):
"""
Do any needed visualization here
Args:
vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
component should be visualized. Should have "env" keyword as well as any other relevant
options specified.
"""
# Set visuals for environment objects
for obj in self.model.mujoco_objects:
obj.set_sites_visibility(sim=self.sim, visible=vis_settings["env"])
def set_camera_pos_quat(self, camera_pos, camera_quat):
if self.renderer in ["nvisii", "igibson"]:
self.viewer.set_camera_pos_quat(camera_pos, camera_quat)
else:
raise AttributeError('setting camera position and quat requires renderer to be either NVISII or iGibson.')
def reset_from_xml_string(self, xml_string):
"""
Reloads the environment from an XML description of the environment.
Args:
xml_string (str): Filepath to the xml file that will be loaded directly into the sim
"""
# if there is an active viewer window, destroy it
if self.renderer != 'nvisii':
self.close()
# Since we are reloading from an xml_string, we are deterministically resetting
self.deterministic_reset = True
# initialize sim from xml
self._initialize_sim(xml_string=xml_string)
# Now reset as normal
self.reset()
# Turn off deterministic reset
self.deterministic_reset = False
def check_contact(self, geoms_1, geoms_2=None):
"""
Finds contact between two geom groups.
Args:
geoms_1 (str or list of str or MujocoModel): an individual geom name or list of geom names or a model. If
a MujocoModel is specified, the geoms checked will be its contact_geoms
geoms_2 (str or list of str or MujocoModel or None): another individual geom name or list of geom names.
If a MujocoModel is specified, the geoms checked will be its contact_geoms. If None, will check
any collision with @geoms_1 to any other geom in the environment
Returns:
bool: True if any geom in @geoms_1 is in contact with any geom in @geoms_2.
"""
# Check if either geoms_1 or geoms_2 is a string, convert to list if so
if type(geoms_1) is str:
geoms_1 = [geoms_1]
elif isinstance(geoms_1, MujocoModel):
geoms_1 = geoms_1.contact_geoms
if type(geoms_2) is str:
geoms_2 = [geoms_2]
elif isinstance(geoms_2, MujocoModel):
geoms_2 = geoms_2.contact_geoms
for contact in self.sim.data.contact[: self.sim.data.ncon]:
# check contact geom in geoms
c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1
c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2 if geoms_2 is not None else True
# check contact geom in geoms (flipped)
c2_in_g1 = self.sim.model.geom_id2name(contact.geom2) in geoms_1
c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2 if geoms_2 is not None else True
if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1):
return True
return False
def get_contacts(self, model):
"""
Checks for any contacts with @model (as defined by @model's contact_geoms) and returns the set of
geom names currently in contact with that model (excluding the geoms that are part of the model itself).
Args:
model (MujocoModel): Model to check contacts for.
Returns:
set: Unique geoms that are actively in contact with this model.
Raises:
AssertionError: [Invalid input type]
"""
# Make sure model is MujocoModel type
assert isinstance(model, MujocoModel), \
"Inputted model must be of type MujocoModel; got type {} instead!".format(type(model))
contact_set = set()
for contact in self.sim.data.contact[: self.sim.data.ncon]:
# check contact geom in geoms; add to contact set if match is found
g1, g2 = self.sim.model.geom_id2name(contact.geom1), self.sim.model.geom_id2name(contact.geom2)
if g1 in model.contact_geoms and g2 not in model.contact_geoms:
contact_set.add(g2)
elif g2 in model.contact_geoms and g1 not in model.contact_geoms:
contact_set.add(g1)
return contact_set
def add_observable(self, observable):
"""
Adds an observable to this environment.
Args:
observable (Observable): Observable instance.
"""
assert observable.name not in self._observables,\
"Observable name {} is already associated with an existing observable! Use modify_observable(...) " \
"to modify a pre-existing observable.".format(observable.name)
self._observables[observable.name] = observable
def modify_observable(self, observable_name, attribute, modifier):
"""
Modifies observable with associated name @observable_name, replacing the given @attribute with @modifier.
Args:
observable_name (str): Observable to modify
attribute (str): Observable attribute to modify.
Options are {`'sensor'`, `'corrupter'`,`'filter'`, `'delayer'`, `'sampling_rate'`,
`'enabled'`, `'active'`}
modifier (any): New function / value to replace with for observable. If a function, new signature should
match the function being replaced.
"""
# Find the observable
assert observable_name in self._observables, "No valid observable with name {} found. Options are: {}".\
format(observable_name, self.observation_names)
obs = self._observables[observable_name]
# replace attribute accordingly
if attribute == "sensor":
obs.set_sensor(modifier)
elif attribute == "corrupter":
obs.set_corrupter(modifier)
elif attribute == "filter":
obs.set_filter(modifier)
elif attribute == "delayer":
obs.set_delayer(modifier)
elif attribute == "sampling_rate":
obs.set_sampling_rate(modifier)
elif attribute == "enabled":
obs.set_enabled(modifier)
elif attribute == "active":
obs.set_active(modifier)
else:
# Invalid attribute specified
raise ValueError("Invalid observable attribute specified. Requested: {}, valid options are {}".
format(attribute, {"sensor", "corrupter", "filter", "delayer",
"sampling_rate", "enabled", "active"}))
def _check_success(self):
"""
Checks if the task has been completed. Should be implemented by subclasses
Returns:
bool: True if the task has been completed
"""
raise NotImplementedError
def _destroy_viewer(self):
"""
Destroys the current mujoco renderer instance if it exists
"""
# if there is an active viewer window, destroy it
if self.viewer is not None:
self.viewer.close() # change this to viewer.finish()?
self.viewer = None
def close(self):
"""Do any cleanup necessary here."""
self._destroy_viewer()
@property
def observation_modalities(self):
"""
Modalities for this environment's observations
Returns:
set: All observation modalities
"""
return set([observable.modality for observable in self._observables.values()])
@property
def observation_names(self):
"""
Grabs all names for this environment's observables
Returns:
set: All observation names
"""
return set(self._observables.keys())
@property
def enabled_observables(self):
"""
Grabs all names of enabled observables for this environment. An observable is considered enabled if its values
are being continually computed / updated at each simulation timestep.
Returns:
set: All enabled observation names
"""
return set([name for name, observable in self._observables.items() if observable.is_enabled()])
@property
def active_observables(self):
"""
Grabs all names of active observables for this environment. An observable is considered active if its value is
being returned in the observation dict from _get_observations() call or from the step() call (assuming this
observable is enabled).
Returns:
set: All active observation names
"""
return set([name for name, observable in self._observables.items() if observable.is_active()])
@property
def _visualizations(self):
"""
Visualization keywords for this environment
Returns:
set: All components that can be individually visualized for this environment
"""
return {"env"}
@property
def action_spec(self):
"""
Action specification should be implemented in subclasses.
Action space is represented by a tuple of (low, high), which are two numpy
vectors that specify the min/max action limits per dimension.
"""
raise NotImplementedError
@property
def action_dim(self):
"""
Size of the action space
Returns:
int: Action space dimension
"""
raise NotImplementedError
class MujocoEnv(metaclass=EnvMeta):
"""Initializes a Mujoco Environment."""
def __init__(
self,
has_renderer=False,
has_offscreen_renderer=True,
render_collision_mesh=False,
render_visual_mesh=True,
control_freq=10,
horizon=1000,
ignore_done=False,
use_camera_obs=False,
camera_name="frontview",
camera_height=256,
camera_width=256,
camera_depth=False,
):
"""
Args:
has_renderer (bool): If true, render the simulation state in
a viewer instead of headless mode.
has_offscreen_renderer (bool): True if using off-screen rendering.
render_collision_mesh (bool): True if rendering collision meshes
in camera. False otherwise.
render_visual_mesh (bool): True if rendering visual meshes
in camera. False otherwise.
control_freq (float): how many control signals to receive
in every simulated second. This sets the amount of simulation time
that passes between every action input.
horizon (int): Every episode lasts for exactly @horizon timesteps.
ignore_done (bool): True if never terminating the environment (ignore @horizon).
use_camera_obs (bool): if True, every observation includes a
rendered image.
camera_name (str): name of camera to be rendered. Must be
set if @use_camera_obs is True.
camera_height (int): height of camera frame.
camera_width (int): width of camera frame.
camera_depth (bool): True if rendering RGB-D, and RGB otherwise.
"""
self.has_renderer = has_renderer
self.has_offscreen_renderer = has_offscreen_renderer
self.render_collision_mesh = render_collision_mesh
self.render_visual_mesh = render_visual_mesh
self.control_freq = control_freq
self.horizon = horizon
self.ignore_done = ignore_done
self.viewer = None
self.model = None
# settings for camera observations
self.use_camera_obs = use_camera_obs
if self.use_camera_obs and not self.has_offscreen_renderer:
raise ValueError("Camera observations require an offscreen renderer.")
self.camera_name = camera_name
if self.use_camera_obs and self.camera_name is None:
raise ValueError("Must specify camera name when using camera obs")
self.camera_height = camera_height
self.camera_width = camera_width
self.camera_depth = camera_depth
self._reset_internal()
def initialize_time(self, control_freq):
"""
Initializes the time constants used for simulation.
"""
self.cur_time = 0
self.model_timestep = self.sim.model.opt.timestep
if self.model_timestep <= 0:
raise XMLError("xml model defined non-positive time step")
self.control_freq = control_freq
if control_freq <= 0:
raise SimulationError(
"control frequency {} is invalid".format(control_freq)
)
self.control_timestep = 1. / control_freq
def _load_model(self):
"""Loads an xml model, puts it in self.model"""
pass
def _get_reference(self):
"""
Sets up references to important components. A reference is typically an
index or a list of indices that point to the corresponding elements
in a flatten array, which is how MuJoCo stores physical simulation data.
"""
pass
def reset(self):
"""Resets simulation."""
# TODO(yukez): investigate black screen of death
# if there is an active viewer window, destroy it
self._destroy_viewer()
self._reset_internal()
self.sim.forward()
return self._get_observation()
def _reset_internal(self):
"""Resets simulation internal configurations."""
# instantiate simulation from MJCF model
self._load_model()
self.mjpy_model = self.model.get_model(mode="mujoco_py")
self.sim = MjSim(self.mjpy_model)
self.initialize_time(self.control_freq)
# create visualization screen or renderer
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.viewer.viewer.vopt.geomgroup[1] = 1 if self.render_visual_mesh else 0
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
elif self.has_offscreen_renderer:
if self.sim._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self.sim)
self.sim.add_render_context(render_context)
self.sim._render_context_offscreen.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.sim._render_context_offscreen.vopt.geomgroup[1] = (
1 if self.render_visual_mesh else 0
)
# additional housekeeping
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
self.done = False
def _get_observation(self):
"""Returns an OrderedDict containing observations [(name_string, np.array), ...]."""
return OrderedDict()
def step(self, action):
"""Takes a step in simulation with control command @action."""
if self.done:
raise ValueError("executing action in terminated episode")
self.timestep += 1
self._pre_action(action)
end_time = self.cur_time + self.control_timestep
while self.cur_time < end_time:
self.sim.step()
self.cur_time += self.model_timestep
reward, done, info = self._post_action(action)
return self._get_observation(), reward, done, info
def _pre_action(self, action):
"""Do any preprocessing before taking an action."""
self.sim.data.ctrl[:] = action
def _post_action(self, action):
"""Do any housekeeping after taking an action."""
reward = self.reward(action)
# done if number of elapsed timesteps is greater than horizon
self.done = (self.timestep >= self.horizon) and not self.ignore_done
return reward, self.done, {}
def reward(self, action):
"""Reward should be a function of state and action."""
return 0
def render(self):
"""
Renders to an on-screen window.
"""
self.viewer.render()
def observation_spec(self):
"""
Returns an observation as observation specification.
An alternative design is to return an OrderedDict where the keys
are the observation names and the values are the shapes of observations.
We leave this alternative implementation commented out, as we find the
current design is easier to use in practice.
"""
observation = self._get_observation()
return observation
# observation_spec = OrderedDict()
# for k, v in observation.items():
# observation_spec[k] = v.shape
# return observation_spec
def action_spec(self):
"""
Action specification should be implemented in subclasses.
Action space is represented by a tuple of (low, high), which are two numpy
vectors that specify the min/max action limits per dimension.
"""
raise NotImplementedError
def reset_from_xml_string(self, xml_string):
"""Reloads the environment from an XML description of the environment."""
# if there is an active viewer window, destroy it
self.close()
# load model from xml
self.mjpy_model = load_model_from_xml(xml_string)
self.sim = MjSim(self.mjpy_model)
self.initialize_time(self.control_freq)
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.viewer.viewer.vopt.geomgroup[1] = 1 if self.render_visual_mesh else 0
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
elif self.has_offscreen_renderer:
render_context = MjRenderContextOffscreen(self.sim)
render_context.vopt.geomgroup[0] = 1 if self.render_collision_mesh else 0
render_context.vopt.geomgroup[1] = 1 if self.render_visual_mesh else 0
self.sim.add_render_context(render_context)
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
self.done = False
# necessary to refresh MjData
self.sim.forward()
def find_contacts(self, geoms_1, geoms_2):
"""
Finds contact between two geom groups.
Args:
geoms_1: a list of geom names (string)
geoms_2: another list of geom names (string)
Returns:
iterator of all contacts between @geoms_1 and @geoms_2
"""
for contact in self.sim.data.contact[0 : self.sim.data.ncon]:
# check contact geom in geoms
c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1
c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2
# check contact geom in geoms (flipped)
c2_in_g1 = self.sim.model.geom_id2name(contact.geom2) in geoms_1
c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2
if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1):
yield contact
def _check_contact(self):
"""Returns True if gripper is in contact with an object."""
return False
def _check_success(self):
"""
Returns True if task has been completed.
"""
return False
def _destroy_viewer(self):
# if there is an active viewer window, destroy it
if self.viewer is not None:
self.viewer.close() # change this to viewer.finish()?
self.viewer = None
def close(self):
"""Do any cleanup necessary here."""
self._destroy_viewer()
class MujocoEnv(metaclass=EnvMeta):
"""
Initializes a Mujoco Environment.
Args:
has_renderer (bool): If true, render the simulation state in
a viewer instead of headless mode.
has_offscreen_renderer (bool): True if using off-screen rendering.
render_camera (str): Name of camera to render if `has_renderer` is True. Setting this value to 'None'
will result in the default angle being applied, which is useful as it can be dragged / panned by
the user using the mouse
render_collision_mesh (bool): True if rendering collision meshes
in camera. False otherwise.
render_visual_mesh (bool): True if rendering visual meshes
in camera. False otherwise.
render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
Defaults to -1, in which case the device will be inferred from environment variables
(GPUS or CUDA_VISIBLE_DEVICES).
control_freq (float): how many control signals to receive
in every simulated second. This sets the amount of simulation time
that passes between every action input.
horizon (int): Every episode lasts for exactly @horizon timesteps.
ignore_done (bool): True if never terminating the environment (ignore @horizon).
hard_reset (bool): If True, re-loads model, sim, and render object upon a reset call, else,
only calls sim.reset and resets all robosuite-internal variables
Raises:
ValueError: [Invalid renderer selection]
"""
def __init__(
self,
has_renderer=False,
has_offscreen_renderer=True,
render_camera="frontview",
render_collision_mesh=False,
render_visual_mesh=True,
render_gpu_device_id=-1,
control_freq=20,
horizon=1000,
ignore_done=False,
hard_reset=True
):
# First, verify that both the on- and off-screen renderers are not being used simultaneously
if has_renderer is True and has_offscreen_renderer is True:
raise ValueError("the onscreen and offscreen renderers cannot be used simultaneously.")
# Rendering-specific attributes
self.has_renderer = has_renderer
self.has_offscreen_renderer = has_offscreen_renderer
self.render_camera = render_camera
self.render_collision_mesh = render_collision_mesh
self.render_visual_mesh = render_visual_mesh
self.render_gpu_device_id = render_gpu_device_id
self.viewer = None
# Simulation-specific attributes
self.control_freq = control_freq
self.horizon = horizon
self.ignore_done = ignore_done
self.hard_reset = hard_reset
self._model_postprocessor = None # Function to post-process model after load_model() call
self.model = None
self.cur_time = None
self.model_timestep = None
self.control_timestep = None
self.deterministic_reset = False # Whether to add randomized resetting of objects / robot joints
# Load the model
self._load_model()
# Post-process model
self._postprocess_model()
# Initialize the simulation
self._initialize_sim()
# Run all further internal (re-)initialization required
self._reset_internal()
def initialize_time(self, control_freq):
"""
Initializes the time constants used for simulation.
Args:
control_freq (float): Hz rate to run control loop at within the simulation
"""
self.cur_time = 0
self.model_timestep = self.sim.model.opt.timestep
if self.model_timestep <= 0:
raise XMLError("xml model defined non-positive time step")
self.control_freq = control_freq
if control_freq <= 0:
raise SimulationError(
"control frequency {} is invalid".format(control_freq)
)
self.control_timestep = 1. / control_freq
def set_model_postprocessor(self, postprocessor):
"""
Sets the post-processor function that self.model will be passed to after load_model() is called during resets.
Args:
postprocessor (None or function): If set, postprocessing method should take in a Task-based instance and
return no arguments.
"""
self._model_postprocessor = postprocessor
def _load_model(self):
"""Loads an xml model, puts it in self.model"""
pass
def _postprocess_model(self):
"""
Post-processes model after load_model() call. Useful for external objects (e.g.: wrappers) to
be able to modify the sim model before it is actually loaded into the simulation
"""
if self._model_postprocessor is not None:
self._model_postprocessor(self.model)
def _get_reference(self):
"""
Sets up references to important components. A reference is typically an
index or a list of indices that point to the corresponding elements
in a flatten array, which is how MuJoCo stores physical simulation data.
"""
pass
def _initialize_sim(self, xml_string=None):
"""
Creates a MjSim object and stores it in self.sim. If @xml_string is specified, the MjSim object will be created
from the specified xml_string. Else, it will pull from self.model to instantiate the simulation
Args:
xml_string (str): If specified, creates MjSim object from this filepath
"""
# if we have an xml string, use that to create the sim. Otherwise, use the local model
self.mjpy_model = load_model_from_xml(xml_string) if xml_string else self.model.get_model(mode="mujoco_py")
# Create the simulation instance and run a single step to make sure changes have propagated through sim state
self.sim = MjSim(self.mjpy_model)
self.sim.forward()
# Setup sim time based on control frequency
self.initialize_time(self.control_freq)
def reset(self):
"""
Resets simulation.
Returns:
OrderedDict: Environment observation space after reset occurs
"""
# TODO(yukez): investigate black screen of death
# Use hard reset if requested
if self.hard_reset and not self.deterministic_reset:
self._destroy_viewer()
self._load_model()
self._postprocess_model()
self._initialize_sim()
# Else, we only reset the sim internally
else:
self.sim.reset()
# Reset necessary robosuite-centric variables
self._reset_internal()
self.sim.forward()
# Make sure that all sites are toggled OFF by default
self.visualize(vis_settings={vis: False for vis in self._visualizations})
# Return new observations
return self._get_observation()
def _reset_internal(self):
"""Resets simulation internal configurations."""
# create visualization screen or renderer
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (1 if self.render_collision_mesh else 0)
self.viewer.viewer.vopt.geomgroup[1] = (1 if self.render_visual_mesh else 0)
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
# make sure mujoco-py doesn't block rendering frames
# (see https://github.com/StanfordVL/robosuite/issues/39)
self.viewer.viewer._render_every_frame = True
# Set the camera angle for viewing
if self.render_camera is not None:
self.viewer.set_camera(camera_id=self.sim.model.camera_name2id(self.render_camera))
elif self.has_offscreen_renderer:
if self.sim._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
self.sim.add_render_context(render_context)
self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.render_collision_mesh else 0)
self.sim._render_context_offscreen.vopt.geomgroup[1] = (1 if self.render_visual_mesh else 0)
# additional housekeeping
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
self.done = False
def _get_observation(self):
"""
Grabs observations from the environment.
Returns:
OrderedDict: OrderedDict containing observations [(name_string, np.array), ...]
"""
return OrderedDict()
def step(self, action):
"""
Takes a step in simulation with control command @action.
Args:
action (np.array): Action to execute within the environment
Returns:
4-tuple:
- (OrderedDict) observations from the environment
- (float) reward from the environment
- (bool) whether the current episode is completed or not
- (dict) misc information
Raises:
ValueError: [Steps past episode termination]
"""
if self.done:
raise ValueError("executing action in terminated episode")
self.timestep += 1
# Since the env.step frequency is slower than the mjsim timestep frequency, the internal controller will output
# multiple torque commands in between new high level action commands. Therefore, we need to denote via
# 'policy_step' whether the current step we're taking is simply an internal update of the controller,
# or an actual policy update
policy_step = True
# Loop through the simulation at the model timestep rate until we're ready to take the next policy step
# (as defined by the control frequency specified at the environment level)
for i in range(int(self.control_timestep / self.model_timestep)):
self.sim.forward()
self._pre_action(action, policy_step)
self.sim.step()
policy_step = False
# Note: this is done all at once to avoid floating point inaccuracies
self.cur_time += self.control_timestep
reward, done, info = self._post_action(action)
return self._get_observation(), reward, done, info
def _pre_action(self, action, policy_step=False):
"""
Do any preprocessing before taking an action.
Args:
action (np.array): Action to execute within the environment
policy_step (bool): Whether this current loop is an actual policy step or internal sim update step
"""
self.sim.data.ctrl[:] = action
def _post_action(self, action):
"""
Do any housekeeping after taking an action.
Args:
action (np.array): Action to execute within the environment
Returns:
3-tuple:
- (float) reward from the environment
- (bool) whether the current episode is completed or not
- (dict) empty dict to be filled with information by subclassed method
"""
reward = self.reward(action)
# done if number of elapsed timesteps is greater than horizon
self.done = (self.timestep >= self.horizon) and not self.ignore_done
return reward, self.done, {}
def reward(self, action):
"""
Reward should be a function of state and action
Args:
action (np.array): Action to execute within the environment
Returns:
float: Reward from environment
"""
raise NotImplementedError
def render(self):
"""
Renders to an on-screen window.
"""
self.viewer.render()
def observation_spec(self):
"""
Returns an observation as observation specification.
An alternative design is to return an OrderedDict where the keys
are the observation names and the values are the shapes of observations.
We leave this alternative implementation commented out, as we find the
current design is easier to use in practice.
Returns:
OrderedDict: Observations from the environment
"""
observation = self._get_observation()
return observation
def clear_objects(self, object_names):
"""
Clears objects with the name @object_names out of the task space. This is useful
for supporting task modes with single types of objects, as in
@self.single_object_mode without changing the model definition.
Args:
object_names (str or list of str): Name of object(s) to remove from the task workspace
"""
object_names = {object_names} if type(object_names) is str else set(object_names)
for obj in self.model.mujoco_objects:
if obj.name in object_names:
self.sim.data.set_joint_qpos(obj.joints[0], np.array((10, 10, 10, 1, 0, 0, 0)))
def visualize(self, vis_settings):
"""
Do any needed visualization here
Args:
vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
component should be visualized. Should have "env" keyword as well as any other relevant
options specified.
"""
# Set visuals for environment objects
for obj in self.model.mujoco_objects:
obj.set_sites_visibility(sim=self.sim, visible=vis_settings["env"])
@property
def _visualizations(self):
"""
Visualization keywords for this environment
Returns:
set: All components that can be individually visualized for this environment
"""
return {"env"}
@property
def action_spec(self):
"""
Action specification should be implemented in subclasses.
Action space is represented by a tuple of (low, high), which are two numpy
vectors that specify the min/max action limits per dimension.
"""
raise NotImplementedError
@property
def action_dim(self):
"""
Size of the action space
Returns:
int: Action space dimension
"""
raise NotImplementedError
def reset_from_xml_string(self, xml_string):
"""
Reloads the environment from an XML description of the environment.
Args:
xml_string (str): Filepath to the xml file that will be loaded directly into the sim
"""
# if there is an active viewer window, destroy it
self.close()
# Since we are reloading from an xml_string, we are deterministically resetting
self.deterministic_reset = True
# initialize sim from xml
self._initialize_sim(xml_string=xml_string)
# Now reset as normal
self.reset()
# Turn off deterministic reset
self.deterministic_reset = False
def check_contact(self, geoms_1, geoms_2=None):
"""
Finds contact between two geom groups.
Args:
geoms_1 (str or list of str or MujocoModel): an individual geom name or list of geom names or a model. If
a MujocoModel is specified, the geoms checked will be its contact_geoms
geoms_2 (str or list of str or MujocoModel or None): another individual geom name or list of geom names.
If a MujocoModel is specified, the geoms checked will be its contact_geoms. If None, will check
any collision with @geoms_1 to any other geom in the environment
Returns:
bool: True if any geom in @geoms_1 is in contact with any geom in @geoms_2.
"""
# Check if either geoms_1 or geoms_2 is a string, convert to list if so
if type(geoms_1) is str:
geoms_1 = [geoms_1]
elif isinstance(geoms_1, MujocoModel):
geoms_1 = geoms_1.contact_geoms
if type(geoms_2) is str:
geoms_2 = [geoms_2]
elif isinstance(geoms_2, MujocoModel):
geoms_2 = geoms_2.contact_geoms
for contact in self.sim.data.contact[: self.sim.data.ncon]:
# check contact geom in geoms
c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1
c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2 if geoms_2 is not None else True
# check contact geom in geoms (flipped)
c2_in_g1 = self.sim.model.geom_id2name(contact.geom2) in geoms_1
c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2 if geoms_2 is not None else True
if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1):
return True
return False
def get_contacts(self, model):
"""
Checks for any contacts with @model (as defined by @model's contact_geoms) and returns the set of
geom names currently in contact with that model (excluding the geoms that are part of the model itself).
Args:
model (MujocoModel): Model to check contacts for.
Returns:
set: Unique geoms that are actively in contact with this model.
Raises:
AssertionError: [Invalid input type]
"""
# Make sure model is MujocoModel type
assert isinstance(model, MujocoModel), \
"Inputted model must be of type MujocoModel; got type {} instead!".format(type(model))
contact_set = set()
for contact in self.sim.data.contact[: self.sim.data.ncon]:
# check contact geom in geoms; add to contact set if match is found
g1, g2 = self.sim.model.geom_id2name(contact.geom1), self.sim.model.geom_id2name(contact.geom2)
if g1 in model.contact_geoms and g2 not in model.contact_geoms:
contact_set.add(g2)
elif g2 in model.contact_geoms and g1 not in model.contact_geoms:
contact_set.add(g1)
return contact_set
def _check_success(self):
"""
Checks if the task has been completed. Should be implemented by subclasses
Returns:
bool: True if the task has been completed
"""
raise NotImplementedError
def _destroy_viewer(self):
"""
Destroys the current mujoco renderer instance if it exists
"""
# if there is an active viewer window, destroy it
if self.viewer is not None:
self.viewer.close() # change this to viewer.finish()?
self.viewer = None
def close(self):
"""Do any cleanup necessary here."""
self._destroy_viewer()
class MujocoEnv(metaclass=EnvMeta):
"""Initializes a Mujoco Environment."""
def __init__(
self,
has_renderer=False,
has_offscreen_renderer=False,
render_camera="frontview",
render_collision_mesh=False,
render_visual_mesh=True,
control_freq=10,
horizon=1000,
ignore_done=False,
):
"""
Args:
has_renderer (bool): If true, render the simulation state in a viewer instead of headless mode.
has_offscreen_renderer (bool): True if using off-screen rendering.
render_camera (str): Name of camera to render if `has_renderer` is True.
render_collision_mesh (bool): True if rendering collision meshes in camera. False otherwise.
render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
control_freq (float): how many control signals to receive in every simulated second. This sets the amount of simulation time that passes between every action input.
horizon (int): Every episode lasts for exactly @horizon timesteps.
ignore_done (bool): True if never terminating the environment (ignore @horizon).
"""
# Rendering-specific attributes
self.has_renderer = has_renderer
self.has_offscreen_renderer = has_offscreen_renderer
self.render_camera = render_camera
self.render_collision_mesh = render_collision_mesh
self.render_visual_mesh = render_visual_mesh
self.viewer = None
self.viewers = {}
# Simulation-specific attributes
self.control_freq = control_freq
self.horizon = horizon
self.ignore_done = ignore_done
self.model = None
self.cur_time = None
self.model_timestep = None
self.control_timestep = None
self.deterministic_reset = False # Whether to add randomized resetting of objects / robot joints
# Load the model
self._load_model()
# Initialize the simulation
self._initialize_sim()
# Run all further internal (re-)initialization required
self._reset_internal()
def initialize_time(self, control_freq):
"""
Initializes the time constants used for simulation.
"""
self.cur_time = 0
self.model_timestep = self.sim.model.opt.timestep
if self.model_timestep <= 0:
raise XMLError("xml model defined non-positive time step")
self.control_freq = control_freq
if control_freq <= 0:
raise SimulationError(
"control frequency {} is invalid".format(control_freq))
self.control_timestep = 1. / control_freq
def _load_model(self):
"""Loads an xml model, puts it in self.model"""
pass
def _get_reference(self):
"""
Sets up references to important components. A reference is typically an
index or a list of indices that point to the corresponding elements
in a flatten array, which is how MuJoCo stores physical simulation data.
"""
pass
def _initialize_sim(self, xml_string=None):
"""
Creates a MjSim object and stores it in self.sim. If @xml_string is specified, the MjSim object will be created
from the specified xml_string. Else, it will pull from self.model to instantiate the simulation
"""
# if we have an xml string, use that to create the sim. Otherwise, use the local model
self.mjpy_model = load_model_from_xml(
xml_string) if xml_string else self.model.get_model(
mode="mujoco_py")
# Create the simulation instance and run a single step to make sure changes have propagated through sim state
self.sim = MjSim(self.mjpy_model)
self.sim.step()
self.init_qpos = np.copy(self.sim.data.qpos)
self.init_qvel = np.copy(self.sim.data.qvel)
# Setup sim time based on control frequency
self.initialize_time(self.control_freq)
def reset(self, **kwargs):
"""Resets simulation."""
# TODO(yukez): investigate black screen of death
self._reset_internal(**kwargs)
self.sim.forward()
return self._get_observation()
def _reset_internal(self):
"""Resets simulation internal configurations."""
# create visualization screen or renderer
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0)
self.viewer.viewer.vopt.geomgroup[1] = (
1 if self.render_visual_mesh else 0)
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
# make sure mujoco-py doesn't block rendering frames
# (see https://github.com/StanfordVL/robosuite/issues/39)
self.viewer.viewer._render_every_frame = True
# Set the camera angle for viewing
self.viewer.set_camera(
camera_id=self.sim.model.camera_name2id(self.render_camera))
elif self.has_offscreen_renderer:
if self.sim._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self.sim)
self.sim.add_render_context(render_context)
self.sim._render_context_offscreen.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0)
self.sim._render_context_offscreen.vopt.geomgroup[1] = (
1 if self.render_visual_mesh else 0)
# additional housekeeping
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
def _get_observation(self):
"""Returns an OrderedDict containing observations [(name_string, np.array), ...]."""
return OrderedDict()
def step(self, action):
"""Takes a step in simulation with control command @action."""
self.timestep += 1
# Since the env.step frequency is slower than the mjsim timestep frequency, the internal controller will output
# multiple torque commands in between new high level action commands. Therefore, we need to denote via
# 'policy_step' whether the current step we're taking is simply an internal update of the controller,
# or an actual policy update
policy_step = True
# Loop through the simulation at the model timestep rate until we're ready to take the next policy step
# (as defined by the control frequency specified at the environment level)
try:
for i in range(int(self.control_timestep / self.model_timestep)):
self._pre_action(action, policy_step)
self.sim.step()
policy_step = False
except:
print("error. resetting")
self.reset()
return self.step(action)
# Note: this is done all at once to avoid floating point inaccuracies
self.cur_time += self.control_timestep
next_state = self._get_observation()
reward, done, info = self._post_action(action)
return next_state, reward, done, info
def _pre_action(self, action, policy_step=False):
"""Do any preprocessing before taking an action."""
self.sim.data.ctrl[:] = action
def _post_action(self, action):
"""Do any housekeeping after taking an action."""
reward = self.reward(action)
done = self.done()
return reward, done, {}
def reward(self, action):
"""Reward should be a function of state and action."""
return 0
def done(self):
# done if number of elapsed timesteps is greater than horizon
return (self.timestep >= self.horizon) and not self.ignore_done
def render(self,
mode='human',
width=DEFAULT_SIZE,
height=DEFAULT_SIZE,
camera_name=None):
if mode == 'rgb_array':
camera_id = self.mjpy_model.camera_name2id(
camera_name
) if camera_name in self.mjpy_model._camera_name2id else None
self.get_viewer(mode).render(width, height, camera_id=camera_id)
data = self.get_viewer(mode).read_pixels(width,
height,
depth=False)
return data[::-1, :, :]
elif mode == 'depth_array':
self.get_viewer(mode).render(width, height)
data = self.get_viewer(mode).read_pixels(width, height,
depth=True)[1]
return data[::-1, :]
elif mode == 'human':
self.get_viewer(mode).render()
def get_viewer(self, mode):
self.viewer = self.viewers.get(mode)
if self.viewer is None:
self.viewer = mujoco_py.MjViewer(self.sim) if mode in [
"human"
] else mujoco_py.MjRenderContextOffscreen(
self.sim, -1) if mode in ["rgb_array", "depth_array"] else None
self.viewer.vopt.geomgroup[0] = (1 if self.render_collision_mesh
else 0)
self.viewer.vopt.geomgroup[1] = (1
if self.render_visual_mesh else 0)
self.viewer._hide_overlay = True
self.viewer._render_every_frame = True
self.viewer.cam.trackbodyid = 0
self.viewer.cam.azimuth = 180
self.viewer.cam.elevation = -15
self.viewers[mode] = self.viewer
return self.viewer
def observation_spec(self):
"""
Returns an observation as observation specification.
An alternative design is to return an OrderedDict where the keys
are the observation names and the values are the shapes of observations.
We leave this alternative implementation commented out, as we find the
current design is easier to use in practice.
"""
observation = self._get_observation()
return observation
# observation_spec = OrderedDict()
# for k, v in observation.items():
# observation_spec[k] = v.shape
# return observation_spec
@property
def action_spec(self):
"""
Action specification should be implemented in subclasses.
Action space is represented by a tuple of (low, high), which are two numpy
vectors that specify the min/max action limits per dimension.
"""
raise NotImplementedError
def reset_from_xml_string(self, xml_string):
"""Reloads the environment from an XML description of the environment."""
# if there is an active viewer window, destroy it
self.close()
# Since we are reloading from an xml_string, we are deterministically resetting
self.deterministic_reset = True
# initialize sim from xml
self._initialize_sim(xml_string=xml_string)
# Now reset as normal
self.reset()
# Turn off deterministic reset
self.deterministic_reset = False
def find_contacts(self, geoms_1, geoms_2):
"""
Finds contact between two geom groups.
Args:
geoms_1: a list of geom names (string)
geoms_2: another list of geom names (string)
Returns:
iterator of all contacts between @geoms_1 and @geoms_2
"""
for contact in self.sim.data.contact[0:self.sim.data.ncon]:
# check contact geom in geoms
c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1
c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2
# check contact geom in geoms (flipped)
c2_in_g1 = self.sim.model.geom_id2name(contact.geom2) in geoms_1
c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2
if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1):
yield contact
def _check_contact(self):
"""Returns True if gripper is in contact with an object."""
return False
def _check_success(self):
"""
Returns True if task has been completed.
"""
return False
def _destroy_viewer(self):
# if there is an active viewer window, destroy it
if self.viewer is not None:
self.viewer.close() # change this to viewer.finish()?
self.viewer = None
def get_body_pos(self, body_name):
# pos = self.sim.data.get_body_xpos(body_name)
pos = self.sim.model.body_pos[self.sim.model.body_names.index(
body_name)]
return pos
def set_state(self, qpos=None, qvel=None):
old_state = self.sim.get_state()
qpos = old_state.qpos if qpos is None else qpos
qvel = old_state.qvel if qvel is None else qvel
new_state = mujoco_py.MjSimState(old_state.time, qpos, qvel,
old_state.act, old_state.udd_state)
self.sim.set_state(new_state)
self.sim.forward()
self.sim.step()
def close(self):
"""Do any cleanup necessary here."""
self._destroy_viewer()
class MujocoEnv(metaclass=EnvMeta):
"""
Initializes a Mujoco Environment.
Args:
has_renderer (bool): If true, render the simulation state in
a viewer instead of headless mode.
has_offscreen_renderer (bool): True if using off-screen rendering.
render_camera (str): Name of camera to render if `has_renderer` is True. Setting this value to 'None'
will result in the default angle being applied, which is useful as it can be dragged / panned by
the user using the mouse
render_collision_mesh (bool): True if rendering collision meshes
in camera. False otherwise.
render_visual_mesh (bool): True if rendering visual meshes
in camera. False otherwise.
control_freq (float): how many control signals to receive
in every simulated second. This sets the amount of simulation time
that passes between every action input.
horizon (int): Every episode lasts for exactly @horizon timesteps.
ignore_done (bool): True if never terminating the environment (ignore @horizon).
hard_reset (bool): If True, re-loads model, sim, and render object upon a reset call, else,
only calls sim.reset and resets all robosuite-internal variables
Raises:
ValueError: [Invalid renderer selection]
"""
def __init__(self,
has_renderer=False,
has_offscreen_renderer=True,
render_camera="frontview",
render_collision_mesh=False,
render_visual_mesh=True,
control_freq=10,
horizon=1000,
ignore_done=False,
hard_reset=True):
# First, verify that both the on- and off-screen renderers are not being used simultaneously
if has_renderer is True and has_offscreen_renderer is True:
raise ValueError(
"the onscreen and offscreen renderers cannot be used simultaneously."
)
# Rendering-specific attributes
self.has_renderer = has_renderer
self.has_offscreen_renderer = has_offscreen_renderer
self.render_camera = render_camera
self.render_collision_mesh = render_collision_mesh
self.render_visual_mesh = render_visual_mesh
self.viewer = None
# Simulation-specific attributes
self.control_freq = control_freq
self.horizon = horizon
self.ignore_done = ignore_done
self.hard_reset = hard_reset
self.model = None
self.cur_time = None
self.model_timestep = None
self.control_timestep = None
self.deterministic_reset = False # Whether to add randomized resetting of objects / robot joints
# Load the model
self._load_model()
# Initialize the simulation
self._initialize_sim()
# Run all further internal (re-)initialization required
self._reset_internal()
def initialize_time(self, control_freq):
"""
Initializes the time constants used for simulation.
Args:
control_freq (float): Hz rate to run control loop at within the simulation
"""
self.cur_time = 0
self.model_timestep = self.sim.model.opt.timestep
if self.model_timestep <= 0:
raise XMLError("xml model defined non-positive time step")
self.control_freq = control_freq
if control_freq <= 0:
raise SimulationError(
"control frequency {} is invalid".format(control_freq))
self.control_timestep = 1. / control_freq
def _load_model(self):
"""Loads an xml model, puts it in self.model"""
pass
def _get_reference(self):
"""
Sets up references to important components. A reference is typically an
index or a list of indices that point to the corresponding elements
in a flatten array, which is how MuJoCo stores physical simulation data.
"""
pass
def _initialize_sim(self, xml_string=None):
"""
Creates a MjSim object and stores it in self.sim. If @xml_string is specified, the MjSim object will be created
from the specified xml_string. Else, it will pull from self.model to instantiate the simulation
Args:
xml_string (str): If specified, creates MjSim object from this filepath
"""
# if we have an xml string, use that to create the sim. Otherwise, use the local model
self.mjpy_model = load_model_from_xml(
xml_string) if xml_string else self.model.get_model(
mode="mujoco_py")
# Create the simulation instance and run a single step to make sure changes have propagated through sim state
self.sim = MjSim(self.mjpy_model)
self.sim.step()
# Setup sim time based on control frequency
self.initialize_time(self.control_freq)
def reset(self):
"""
Resets simulation.
Returns:
OrderedDict: Environment observation space after reset occurs
"""
# TODO(yukez): investigate black screen of death
# Use hard reset if requested
if self.hard_reset and not self.deterministic_reset:
self._destroy_viewer()
self._load_model()
self._initialize_sim()
# Else, we only reset the sim internally
else:
self.sim.reset()
# Reset necessary robosuite-centric variables
self._reset_internal()
self.sim.forward()
return self._get_observation()
def _reset_internal(self):
"""Resets simulation internal configurations."""
# create visualization screen or renderer
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0)
self.viewer.viewer.vopt.geomgroup[1] = (
1 if self.render_visual_mesh else 0)
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
# make sure mujoco-py doesn't block rendering frames
# (see https://github.com/StanfordVL/robosuite/issues/39)
self.viewer.viewer._render_every_frame = True
# Set the camera angle for viewing
if self.render_camera is not None:
self.viewer.set_camera(camera_id=self.sim.model.camera_name2id(
self.render_camera))
elif self.has_offscreen_renderer:
if self.sim._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self.sim)
self.sim.add_render_context(render_context)
self.sim._render_context_offscreen.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0)
self.sim._render_context_offscreen.vopt.geomgroup[1] = (
1 if self.render_visual_mesh else 0)
# additional housekeeping
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
self.done = False
def _get_observation(self):
"""
Grabs observations from the environment.
Returns:
OrderedDict: OrderedDict containing observations [(name_string, np.array), ...]
"""
return OrderedDict()
def step(self, action):
"""
Takes a step in simulation with control command @action.
Args:
action (np.array): Action to execute within the environment
Returns:
4-tuple:
- (OrderedDict) observations from the environment
- (float) reward from the environment
- (bool) whether the current episode is completed or not
- (dict) misc information
Raises:
ValueError: [Steps past episode termination]
"""
if self.done:
raise ValueError("executing action in terminated episode")
self.timestep += 1
# Since the env.step frequency is slower than the mjsim timestep frequency, the internal controller will output
# multiple torque commands in between new high level action commands. Therefore, we need to denote via
# 'policy_step' whether the current step we're taking is simply an internal update of the controller,
# or an actual policy update
policy_step = True
# Loop through the simulation at the model timestep rate until we're ready to take the next policy step
# (as defined by the control frequency specified at the environment level)
for i in range(int(self.control_timestep / self.model_timestep)):
self.sim.forward()
self._pre_action(action, policy_step)
self.sim.step()
policy_step = False
# Note: this is done all at once to avoid floating point inaccuracies
self.cur_time += self.control_timestep
reward, done, info = self._post_action(action)
return self._get_observation(), reward, done, info
def _pre_action(self, action, policy_step=False):
"""
Do any preprocessing before taking an action.
Args:
action (np.array): Action to execute within the environment
policy_step (bool): Whether this current loop is an actual policy step or internal sim update step
"""
self.sim.data.ctrl[:] = action
def _post_action(self, action):
"""
Do any housekeeping after taking an action.
Args:
action (np.array): Action to execute within the environment
Returns:
3-tuple:
- (float) reward from the environment
- (bool) whether the current episode is completed or not
- (dict) empty dict to be filled with information by subclassed method
"""
reward = self.reward(action)
# done if number of elapsed timesteps is greater than horizon
self.done = (self.timestep >= self.horizon) and not self.ignore_done
return reward, self.done, {}
def reward(self, action):
"""
Reward should be a function of state and action
Args:
action (np.array): Action to execute within the environment
Returns:
float: Reward from environment
"""
raise NotImplementedError
def render(self):
"""
Renders to an on-screen window.
"""
self.viewer.render()
def observation_spec(self):
"""
Returns an observation as observation specification.
An alternative design is to return an OrderedDict where the keys
are the observation names and the values are the shapes of observations.
We leave this alternative implementation commented out, as we find the
current design is easier to use in practice.
Returns:
OrderedDict: Observations from the environment
"""
observation = self._get_observation()
return observation
@property
def action_spec(self):
"""
Action specification should be implemented in subclasses.
Action space is represented by a tuple of (low, high), which are two numpy
vectors that specify the min/max action limits per dimension.
"""
raise NotImplementedError
@property
def action_dim(self):
"""
Size of the action space
Returns:
int: Action space dimension
"""
raise NotImplementedError
def reset_from_xml_string(self, xml_string):
"""
Reloads the environment from an XML description of the environment.
Args:
xml_string (str): Filepath to the xml file that will be loaded directly into the sim
"""
# if there is an active viewer window, destroy it
self.close()
# Since we are reloading from an xml_string, we are deterministically resetting
self.deterministic_reset = True
# initialize sim from xml
self._initialize_sim(xml_string=xml_string)
# Now reset as normal
self.reset()
# Turn off deterministic reset
self.deterministic_reset = False
def find_contacts(self, geoms_1, geoms_2):
"""
Finds contact between two geom groups.
Args:
geoms_1 (list of str): a list of geom names
geoms_2 (list of str): another list of geom names
Returns:
generator: iterator of all contacts between @geoms_1 and @geoms_2
"""
for contact in self.sim.data.contact[0:self.sim.data.ncon]:
# check contact geom in geoms
c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1
c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2
# check contact geom in geoms (flipped)
c2_in_g1 = self.sim.model.geom_id2name(contact.geom2) in geoms_1
c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2
if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1):
yield contact
def _check_success(self):
"""
Checks if the task has been completed. Should be implemented by subclasses
Returns:
bool: True if the task has been completed
"""
raise NotImplementedError
def _destroy_viewer(self):
"""
Destroys the current mujoco renderer instance if it exists
"""
# if there is an active viewer window, destroy it
if self.viewer is not None:
self.viewer.close() # change this to viewer.finish()?
self.viewer = None
def close(self):
"""Do any cleanup necessary here."""
self._destroy_viewer()
