def _create_task(self, task_args: dict) -> Task:
# Set up task. We track the distance to the goal for both hands separately.
continuous_rew_fcn = task_args.get('continuous_rew_fcn', True)
mps_left = task_args.get('mps_left')
mps_right = task_args.get('mps_right')
if continuous_rew_fcn:
Q = np.diag([1, 1e-3])
R = 1e-4 * np.eye(self.act_space.flat_dim)
rew_fcn_factory = lambda: ExpQuadrErrRewFcn(Q, R)
else:
rew_fcn_factory = MinusOnePerStepRewFcn
succ_thold = 7.5e-2
tasks_left = [
create_goal_dist_distvel_task(self.spec, i, rew_fcn_factory(),
succ_thold)
for i in range(len(mps_left))
]
tasks_right = [
create_goal_dist_distvel_task(self.spec, i + len(mps_left),
rew_fcn_factory(), succ_thold)
for i in range(len(mps_right))
]
return ParallelTasks([
SequentialTasks(tasks_left, hold_rew_when_done=continuous_rew_fcn),
SequentialTasks(tasks_right,
hold_rew_when_done=continuous_rew_fcn),
],
hold_rew_when_done=continuous_rew_fcn)
def test_set_goals_fo_composite_tasks(sub_tasks):
# Check ParallelTasks
pt = ParallelTasks(sub_tasks)
pt.state_des = 1*[np.array([-0.2, 0.4, 0])]
assert np.all(pt.state_des == np.array([-0.2, 0.4, 0]))
pt.space_des = 1*[BoxSpace(-0.5, 2., shape=3)]
assert pt.space_des[0] == BoxSpace(-0.5, 2., shape=3) # pt.space_des is a list
# Check SequentialTasks
st = SequentialTasks(sub_tasks)
st.state_des = np.array([-0.2, 0.4, 0])
assert np.all(st.state_des == np.array([-0.2, 0.4, 0]))
st.idx_curr = 1
st.space_des = BoxSpace(-0.5, 2., shape=3)
assert st.space_des == BoxSpace(-0.5, 2., shape=3)
def test_composite_task_structure(envspec_432, task_type):
state_des1 = np.zeros(3)
state_des2 = -.5*np.ones(3)
state_des3 = +.5*np.ones(3)
rew_fcn = MinusOnePerStepRewFcn()
t1 = FinalRewTask(DesStateTask(envspec_432, state_des1, rew_fcn), mode=FinalRewMode(always_positive=True),
factor=10)
t2 = FinalRewTask(DesStateTask(envspec_432, state_des2, rew_fcn), mode=FinalRewMode(always_positive=True),
factor=10)
t3 = FinalRewTask(DesStateTask(envspec_432, state_des3, rew_fcn), mode=FinalRewMode(always_positive=True),
factor=10)
if task_type == 'ParallelTasks':
ct = ParallelTasks([t1, t2, t3])
elif task_type == 'SequentialTasks':
ct = SequentialTasks([t1, t2, t3])
else:
raise NotImplementedError
ct.reset(env_spec=envspec_432)
assert len(ct) == 3
assert ct.env_spec.obs_space == envspec_432.obs_space
assert ct.env_spec.act_space == envspec_432.act_space
assert ct.env_spec.state_space == envspec_432.state_space
assert isinstance(ct.tasks[0].rew_fcn, RewFcn)
assert isinstance(ct.tasks[1].rew_fcn, RewFcn)
assert isinstance(ct.tasks[2].rew_fcn, RewFcn)
if type == 'ParallelTasks':
assert np.all(ct.state_des[0] == state_des1)
assert np.all(ct.state_des[1] == state_des2)
assert np.all(ct.state_des[2] == state_des3)
elif type == 'SequentialTasks':
assert np.all(ct.state_des == state_des1)
def _create_task(self, task_args: dict) -> Task:
# Create the tasks
# task_box_flip = create_flipping_task(self.spec, ["Box_A"], des_angle_delta=np.pi / 2.0, endless=False)
task_box_lift = create_lifting_task(self.spec, ["Box_Z"], des_height=0.79, succ_thold=0.05)
task_post_lift = create_home_pos_task(
self.spec, ["PowerGrasp_R_Y", "PowerGrasp_R_Z"], state_des=np.array([-0.1, 1.1])
)
tasks_box = SequentialTasks([task_box_lift, task_post_lift], hold_rew_when_done=True, verbose=True)
task_check_bounds = create_check_all_boundaries_task(self.spec, penalty=1e3)
task_force = create_forcemin_task(
self.spec, ["WristLoadCellLBR_R_Fy", "WristLoadCellLBR_R_Fz"], Q=np.diag([1e-6, 1e-6])
)
# task_collision = create_collision_task(self.spec, factor=1.0)
# task_ts_discrepancy = create_task_space_discrepancy_task(
# self.spec, AbsErrRewFcn(q=0.5 * np.ones(2), r=np.zeros(self.act_space.shape))
# )
return ParallelTasks(
[
tasks_box,
task_check_bounds,
# task_force,
# task_collision,
# task_ts_discrepancy
],
hold_rew_when_done=False,
)
def _create_main_task(self, task_args: dict) -> Task:
# Create a DesStateTask that masks everything but the ball position
idcs = list(
range(self.state_space.flat_dim - 6,
self.state_space.flat_dim - 3)) # Cartesian ball position
spec = EnvSpec(
self.spec.obs_space, self.spec.act_space,
self.spec.state_space.subspace(
self.spec.state_space.create_mask(idcs)))
# If we do not use copy(), state_des coming from MuJoCo is a reference and updates automatically at each step.
# Note: sim.forward() + get_body_xpos() results in wrong output for state_des, as sim has not been updated to
# init_space.sample(), which is first called in reset()
if task_args.get('sparse_rew_fcn', False):
factor = task_args.get('success_bonus', 1)
# Binary final reward task
main_task = FinalRewTask(ConditionOnlyTask(
spec,
condition_fcn=self.check_ball_in_cup,
is_success_condition=True),
mode=FinalRewMode(always_positive=True),
factor=factor)
# Yield -1 on fail after the main task ist done (successfully or not)
dont_fail_after_succ_task = FinalRewTask(
GoallessTask(spec, ZeroPerStepRewFcn()),
mode=FinalRewMode(always_negative=True),
factor=factor)
# Augment the binary task with an endless dummy task, to avoid early stopping
task = SequentialTasks((main_task, dont_fail_after_succ_task))
return MaskedTask(self.spec, task, idcs)
else:
state_des = self.sim.data.get_site_xpos(
'cup_goal') # this is a reference
R_default = np.diag([
0, 0, 1, 1e-2, 1e-2, 1e-1
]) if self.num_dof == 7 else np.diag([0, 0, 1e-2, 1e-2])
rew_fcn = ExpQuadrErrRewFcn(
Q=task_args.get('Q', np.diag([
2e1, 1e-4, 2e1
])), # distance ball - cup; shouldn't move in y-direction
R=task_args.get('R',
R_default) # last joint is really unreliable
)
task = DesStateTask(spec, state_des, rew_fcn)
# Wrap the masked DesStateTask to add a bonus for the best state in the rollout
return BestStateFinalRewTask(MaskedTask(self.spec, task, idcs),
max_steps=self.max_steps,
factor=task_args.get(
'final_factor', 0.05))
def test_sequential_task_function(envspec_432, hold_rew_when_done):
# Create env spec and sub-tasks (state_space is necessary for the has_failed function)
state_des1 = -.5*np.ones(3)
state_des2 = np.zeros(3)
state_des3 = +.5*np.ones(3)
rew_fcn = MinusOnePerStepRewFcn()
succ_fcn = functools.partial(proximity_succeeded, thold_dist=1e-6) # necessary to stop a sub-task on success
t1 = FinalRewTask(DesStateTask(envspec_432, state_des1, rew_fcn, succ_fcn),
mode=FinalRewMode(always_positive=True), factor=10)
t2 = FinalRewTask(DesStateTask(envspec_432, state_des2, rew_fcn, succ_fcn),
mode=FinalRewMode(always_positive=True), factor=10)
t3 = FinalRewTask(DesStateTask(envspec_432, state_des3, rew_fcn, succ_fcn),
mode=FinalRewMode(always_positive=True), factor=10)
st = FinalRewTask(SequentialTasks([t1, t2, t3], 0, hold_rew_when_done),
mode=FinalRewMode(always_positive=True), factor=100)
# Create artificial dynamics by hard-coding a sequence of states
num_steps = 12
fixed_traj = np.linspace(-.5, +.6, num_steps, endpoint=True) # for the final step, all sub-tasks would be true
r = [-pyrado.inf]*num_steps
for i in range(num_steps):
# Advance the artificial state
state = fixed_traj[i]*np.ones(3)
# Get all sub-tasks step rew, check if they are done, and if so
r[i] = st.step_rew(state, act=np.zeros(2), remaining_steps=num_steps - (i + 1))
# Check if reaching the sub-goals is recognized
if np.all(state == state_des1):
assert st.wrapped_task.tasks[0].has_succeeded(state)
if hold_rew_when_done:
assert r[i] == 9 # only true for this specific setup
else:
assert r[i] == 9 # only true for this specific setup
if np.all(state == state_des2):
assert st.wrapped_task.tasks[1].has_succeeded(state)
if hold_rew_when_done:
assert r[i] == 8 # only true for this specific setup
else:
assert r[i] == 9 # only true for this specific setup
if np.all(state == state_des3):
assert st.wrapped_task.tasks[2].has_succeeded(state)
if hold_rew_when_done:
assert r[i] == 7 # only true for this specific setup
else:
assert r[i] == 9 # only true for this specific setup
if i < 10:
# The combined task is not successful until all sub-tasks are successful
assert not st.has_succeeded(state)
elif i == 10:
# Should succeed on the second to last
assert st.has_succeeded(state)
assert st.final_rew(state, 0) == pytest.approx(100.)
elif i == 11:
# The very last step reward
if hold_rew_when_done:
assert r[i] == -3.
else:
assert r[i] == 0.
assert st.final_rew(state, 0) == pytest.approx(0.) # only yield once
def _create_task(self, task_args: dict) -> Task:
# Define the indices for selection. This needs to match the observations' names in RcsPySim.
if task_args.get('consider_velocities', False):
idcs = ['Effector_X', 'Effector_Z', 'Effector_Xd', 'Effector_Zd']
else:
idcs = ['Effector_X', 'Effector_Z']
# Get the masked environment specification
spec = EnvSpec(
self.spec.obs_space, self.spec.act_space,
self.spec.state_space.subspace(
self.spec.state_space.create_mask(idcs)))
# Get and set goal position in world coordinates for all three sub-goals
p1 = self.get_body_position('Goal1', '', '')
p2 = self.get_body_position('Goal2', '', '')
p3 = self.get_body_position('Goal3', '', '')
if task_args.get('consider_velocities', False):
Q = np.diag([1e0, 1e0, 1e-1, 1e-1])
state_des1 = np.array([p1[0], p1[2], 0, 0])
state_des2 = np.array([p2[0], p2[2], 0, 0])
state_des3 = np.array([p3[0], p3[2], 0, 0])
else:
Q = np.diag([1e0, 1e0])
state_des1 = np.array([p1[0], p1[2]])
state_des2 = np.array([p2[0], p2[2]])
state_des3 = np.array([p3[0], p3[2]])
success_fcn = functools.partial(proximity_succeeded,
thold_dist=7.5e-2,
dims=[0, 1]) # min distance = 7cm
R = np.zeros((spec.act_space.flat_dim, spec.act_space.flat_dim))
# Create the tasks
subtask_11 = FinalRewTask(DesStateTask(spec, state_des1,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_21 = FinalRewTask(DesStateTask(spec, state_des2,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_1p = ParallelTasks([subtask_11, subtask_21],
hold_rew_when_done=True,
verbose=False)
subtask_3 = FinalRewTask(DesStateTask(spec, state_des3,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_12 = FinalRewTask(DesStateTask(spec, state_des1,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_22 = FinalRewTask(DesStateTask(spec, state_des2,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_2p = ParallelTasks([subtask_12, subtask_22],
hold_rew_when_done=True,
verbose=False)
task = FinalRewTask(SequentialTasks(
[subtask_1p, subtask_3, subtask_2p],
hold_rew_when_done=True,
verbose=True),
mode=FinalRewMode(always_positive=True),
factor=2e3)
masked_task = MaskedTask(self.spec, task, idcs)
task_check_bounds = create_check_all_boundaries_task(self.spec,
penalty=1e3)
# Return the masked task and and additional task that ends the episode if the unmasked state is out of bound
return ParallelTasks([masked_task, task_check_bounds])
def _create_task(self, task_args: dict) -> Task:
# Define the indices for selection. This needs to match the observations' names in RcsPySim.
if task_args.get("consider_velocities", False):
idcs = ["Effector_X", "Effector_Z", "Effector_Xd", "Effector_Zd"]
else:
idcs = ["Effector_X", "Effector_Z"]
# Get the masked environment specification
spec = EnvSpec(
self.spec.obs_space,
self.spec.act_space,
self.spec.state_space.subspace(
self.spec.state_space.create_mask(idcs)),
)
# Get the goal position in world coordinates for all three sub-goals
p1 = self.get_body_position("Goal1", "", "")
p2 = self.get_body_position("Goal2", "", "")
p3 = self.get_body_position("Goal3", "", "")
state_des1 = np.array([p1[0], p1[2], 0, 0])
state_des2 = np.array([p2[0], p2[2], 0, 0])
state_des3 = np.array([p3[0], p3[2], 0, 0])
if task_args.get("consider_velocities", False):
Q = np.diag([5e-1, 5e-1, 5e-3, 5e-3])
else:
Q = np.diag([1e0, 1e0])
state_des1 = state_des1[:2]
state_des2 = state_des2[:2]
state_des3 = state_des3[:2]
success_fcn = partial(proximity_succeeded,
thold_dist=7.5e-2,
dims=[0, 1]) # min distance = 7cm
R = np.zeros((spec.act_space.flat_dim, spec.act_space.flat_dim))
# Create the tasks
subtask_1 = FinalRewTask(DesStateTask(spec, state_des1,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_2 = FinalRewTask(DesStateTask(spec, state_des2,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_3 = FinalRewTask(DesStateTask(spec, state_des3,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_4 = FinalRewTask(DesStateTask(spec, state_des1,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_5 = FinalRewTask(DesStateTask(spec, state_des2,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
subtask_6 = FinalRewTask(DesStateTask(spec, state_des3,
ExpQuadrErrRewFcn(Q, R),
success_fcn),
mode=FinalRewMode(time_dependent=True))
task = FinalRewTask(
SequentialTasks(
[
subtask_1, subtask_2, subtask_3, subtask_4, subtask_5,
subtask_6
],
hold_rew_when_done=True,
verbose=True,
),
mode=FinalRewMode(always_positive=True),
factor=5e3,
)
masked_task = MaskedTask(self.spec, task, idcs)
# Additional tasks
task_check_bounds = create_check_all_boundaries_task(self.spec,
penalty=1e3)
if isinstance(self, Planar3LinkJointCtrlSim):
# Return the masked task and and additional task that ends the episode if the unmasked state is out of bound
return ParallelTasks([masked_task, task_check_bounds],
easily_satisfied=True)
else:
task_ts_discrepancy = create_task_space_discrepancy_task(
self.spec,
AbsErrRewFcn(q=0.5 * np.ones(2),
r=np.zeros(self.act_space.shape)))
# Return the masked task and and additional task that ends the episode if the unmasked state is out of bound
return ParallelTasks(
[masked_task, task_check_bounds, task_ts_discrepancy],
easily_satisfied=True)