def realworld_swingup(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
log_output=None,
environment_kwargs=None,
safety_spec=None,
delay_spec=None,
noise_spec=None,
perturb_spec=None,
dimensionality_spec=None,
multiobj_spec=None,
combined_challenge=None):
"""Returns the Cartpole Swing-Up task with specified real world attributes.
Args:
time_limit: Integer length of task
random: random seed (unsure)
log_output: String of path for pickle data logging, None disables logging
environment_kwargs: additional kwargs for environment.
safety_spec: dictionary that specifies the safety specifications.
delay_spec: dictionary that specifies the delay specifications.
noise_spec: dictionary that specifies the noise specifications.
perturb_spec: dictionary that specifies the perturbations specifications.
dimensionality_spec: dictionary that specifies extra observation features.
multiobj_spec: dictionary that specifies complementary objectives.
combined_challenge: string that can be 'easy', 'medium', or 'hard'.
Specifying the combined challenge (can't be used with any other spec).
"""
physics = Physics.from_xml_string(*cartpole.get_model_and_assets())
safety_spec = safety_spec or {}
delay_spec = delay_spec or {}
noise_spec = noise_spec or {}
perturb_spec = perturb_spec or {}
dimensionality_spec = dimensionality_spec or {}
multiobj_spec = multiobj_spec or {}
# Check and update for combined challenge.
(delay_spec, noise_spec, perturb_spec,
dimensionality_spec) = (realworld_env.get_combined_challenge(
combined_challenge, delay_spec, noise_spec, perturb_spec,
dimensionality_spec))
# Updating perturbation parameters if combined_challenge.
if combined_challenge == 'easy':
perturb_spec.update({
'param': 'pole_length',
'min': 0.9,
'max': 1.1,
'std': 0.02
})
elif combined_challenge == 'medium':
perturb_spec.update({
'param': 'pole_length',
'min': 0.7,
'max': 1.7,
'std': 0.1
})
elif combined_challenge == 'hard':
perturb_spec.update({
'param': 'pole_length',
'min': 0.5,
'max': 2.3,
'std': 0.15
})
if 'limits' not in safety_spec:
if 'safety_coeff' in safety_spec:
if safety_spec['safety_coeff'] < 0 or safety_spec[
'safety_coeff'] > 1:
raise ValueError(
'safety_coeff should be in [0,1], but got {}'.format(
safety_spec['safety_coeff']))
safety_coeff = safety_spec['safety_coeff']
else:
safety_coeff = 1
safety_spec['limits'] = {
'slider_pos_constraint':
safety_coeff * np.array([-2, 2]), # m
'balance_velocity_constraint':
np.array([(1 - safety_coeff) / 0.5 + 0.15,
safety_coeff * 0.5]), # rad, rad/s
'slider_accel_constraint':
safety_coeff * 130, # m/s^2
'action_roc_constraint':
safety_coeff * 1.5,
}
task = RealWorldBalance(swing_up=True,
sparse=False,
random=random,
safety_spec=safety_spec,
delay_spec=delay_spec,
noise_spec=noise_spec,
perturb_spec=perturb_spec,
dimensionality_spec=dimensionality_spec,
multiobj_spec=multiobj_spec)
environment_kwargs = environment_kwargs or {}
if log_output:
logger = loggers.PickleLogger(path=log_output)
else:
logger = None
return wrappers.LoggingEnv(physics,
task,
logger=logger,
time_limit=time_limit,
**environment_kwargs)
def realworld_balance(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
log_output=None,
environment_kwargs=None,
safety_spec=None,
delay_spec=None,
noise_spec=None,
perturb_spec=None,
dimensionality_spec=None,
multiobj_spec=None,
combined_challenge=None):
"""Returns the Cartpole Balance task with specified real world attributes.
Args:
time_limit: Integer length of task
random: random seed (unsure)
log_output: String of path for pickle data logging, None disables logging.
environment_kwargs: additional kwargs for environment.
safety_spec: dictionary that specifies the safety specifications.
delay_spec: dictionary that specifies the delay specifications.
noise_spec: dictionary that specifies the noise specifications.
perturb_spec: dictionary that specifies the perturbations specifications.
dimensionality_spec: dictionary that specifies extra observation features.
multiobj_spec: dictionary that specifies complementary objectives.
combined_challenge: string that can be 'easy', 'medium', or 'hard'.
Specifying the combined challenge (can't be used with any other spec).
"""
physics = Physics.from_xml_string(*cartpole.get_model_and_assets())
safety_spec = safety_spec or {}
delay_spec = delay_spec or {}
noise_spec = noise_spec or {}
perturb_spec = perturb_spec or {}
dimensionality_spec = dimensionality_spec or {}
multiobj_spec = multiobj_spec or {}
# Check and update for combined challenge.
(delay_spec, noise_spec, perturb_spec,
dimensionality_spec) = (realworld_env.get_combined_challenge(
combined_challenge, delay_spec, noise_spec, perturb_spec,
dimensionality_spec))
# Updating perturbation parameters if combined_challenge.
if combined_challenge == 'easy':
perturb_spec.update({
'param': 'pole_length',
'min': 0.9,
'max': 1.1,
'std': 0.02
})
elif combined_challenge == 'medium':
perturb_spec.update({
'param': 'pole_length',
'min': 0.7,
'max': 1.7,
'std': 0.1
})
elif combined_challenge == 'hard':
perturb_spec.update({
'param': 'pole_length',
'min': 0.5,
'max': 2.3,
'std': 0.15
})
task = RealWorldBalance(swing_up=False,
sparse=False,
random=random,
safety_spec=safety_spec,
delay_spec=delay_spec,
noise_spec=noise_spec,
perturb_spec=perturb_spec,
dimensionality_spec=dimensionality_spec,
multiobj_spec=multiobj_spec)
environment_kwargs = environment_kwargs or {}
if log_output:
logger = loggers.PickleLogger(path=log_output)
else:
logger = None
return wrappers.LoggingEnv(physics,
task,
logger=logger,
time_limit=time_limit,
**environment_kwargs)
def realworld_stand(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
log_output=None,
environment_kwargs=None,
safety_spec=None,
delay_spec=None,
noise_spec=None,
perturb_spec=None,
dimensionality_spec=None,
multiobj_spec=None,
combined_challenge=None):
"""Returns the Stand task.
Args:
time_limit: Integer length of task
random: random seed (unsure)
log_output: String of path for pickle data logging, None disables logging
environment_kwargs: additional kwargs for environment.
safety_spec: dictionary that specifies the safety specifications.
delay_spec: dictionary that specifies the delay specifications.
noise_spec: dictionary that specifies the noise specifications.
perturb_spec: dictionary that specifies the perturbations specifications.
dimensionality_spec: dictionary that specifies extra observation features.
multiobj_spec: dictionary that specifies complementary objectives.
combined_challenge: string that can be 'easy', 'medium', or 'hard'.
Specifying the combined challenge (can't be used with any other spec).
"""
physics = walker.Physics.from_xml_string(*walker.get_model_and_assets())
safety_spec = safety_spec or {}
delay_spec = delay_spec or {}
noise_spec = noise_spec or {}
perturb_spec = perturb_spec or {}
dimensionality_spec = dimensionality_spec or {}
multiobj_spec = multiobj_spec or {}
# Check and update for combined challenge.
(delay_spec, noise_spec,
perturb_spec, dimensionality_spec) = (
realworld_env.get_combined_challenge(
combined_challenge, delay_spec, noise_spec, perturb_spec,
dimensionality_spec, safety_spec, multiobj_spec))
# Updating perturbation parameters if combined_challenge.
if combined_challenge == 'easy':
perturb_spec.update(
{'param': 'thigh_length', 'min': 0.225, 'max': 0.25, 'std': 0.002})
elif combined_challenge == 'medium':
perturb_spec.update(
{'param': 'thigh_length', 'min': 0.225, 'max': 0.4, 'std': 0.015})
elif combined_challenge == 'hard':
perturb_spec.update(
{'param': 'thigh_length', 'min': 0.225, 'max': 0.55, 'std': 0.04})
task = RealWorldPlanarWalker(
move_speed=0,
random=random,
safety_spec=safety_spec,
delay_spec=delay_spec,
noise_spec=noise_spec,
perturb_spec=perturb_spec,
dimensionality_spec=dimensionality_spec,
multiobj_spec=multiobj_spec)
environment_kwargs = environment_kwargs or {}
if log_output:
logger = loggers.PickleLogger(path=log_output)
else:
logger = None
return wrappers.LoggingEnv(
physics,
task,
logger=logger,
time_limit=time_limit,
control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)
def gen_task(use_peg,
insert,
fully_observable=True,
time_limit=_TIME_LIMIT,
random=None,
log_output=None,
environment_kwargs=None,
safety_spec=None,
delay_spec=None,
noise_spec=None,
perturb_spec=None,
dimensionality_spec=None,
multiobj_spec=None,
combined_challenge=None):
"""Returns the Manipulator Bring task with specified real world attributes.
Args:
use_peg: A `bool`, whether to replace the ball prop with the peg prop.
insert: A `bool`, whether to insert the prop in a receptacle.
fully_observable: A `bool`, whether the observation should contain the
position and velocity of the object being manipulated and the target
location.
time_limit: Integer length of task
random: Optional, either a `numpy.random.RandomState` instance, an integer
seed for creating a new `RandomState`, or None to select a seed
automatically (default).
log_output: String of path for pickle data logging, None disables logging
environment_kwargs: additional kwargs for environment
safety_spec: dictionary that specifies the safety specifications.
delay_spec: dictionary that specifies the delay.
noise_spec: dictionary that specifies the noise specifications.
perturb_spec: dictionary that specifies the perturbations specifications.
dimensionality_spec: dictionary that specifies extra observation features.
multiobj_spec: dictionary that specifies complementary objectives.
combined_challenge: string that can be 'easy', 'medium', or 'hard'.
Specifying the combined challenge (can't be used with any other spec).
"""
physics = manipulator.Physics.from_xml_string(
*manipulator.make_model(use_peg, insert))
safety_spec = safety_spec or {}
delay_spec = delay_spec or {}
noise_spec = noise_spec or {}
perturb_spec = perturb_spec or {}
dimensionality_spec = dimensionality_spec or {}
multiobj_spec = multiobj_spec or {}
# Check and update for combined challenge.
(delay_spec, noise_spec, perturb_spec,
dimensionality_spec) = (realworld_env.get_combined_challenge(
combined_challenge, delay_spec, noise_spec, perturb_spec,
dimensionality_spec, safety_spec, multiobj_spec))
task = RealWorldBring(use_peg=use_peg,
insert=insert,
fully_observable=fully_observable,
safety_spec=safety_spec,
delay_spec=delay_spec,
noise_spec=noise_spec,
perturb_spec=perturb_spec,
dimensionality_spec=dimensionality_spec,
multiobj_spec=multiobj_spec,
random=random)
environment_kwargs = environment_kwargs or {}
if log_output:
logger = loggers.PickleLogger(path=log_output)
else:
logger = None
return wrappers.LoggingEnv(physics,
task,
logger=logger,
control_timestep=_CONTROL_TIMESTEP,
time_limit=time_limit,
**environment_kwargs)
def realworld_run(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
log_output=None,
environment_kwargs=None,
safety_spec=None,
delay_spec=None,
noise_spec=None,
perturb_spec=None,
dimensionality_spec=None,
multiobj_spec=None,
combined_challenge=None):
"""Returns the Run task.
Args:
time_limit: Integer length of task
random: random seed (unsure)
log_output: String of path for pickle data logging, None disables logging
environment_kwargs: additional kwargs for environment.
safety_spec: dictionary that specifies the safety specifications.
delay_spec: dictionary that specifies the delay specifications.
noise_spec: dictionary that specifies the noise specifications.
perturb_spec: dictionary that specifies the perturbations specifications.
dimensionality_spec: dictionary that specifies extra observation features.
multiobj_spec: dictionary that specifies complementary objectives.
combined_challenge: string that can be 'easy', 'medium', or 'hard'.
Specifying the combined challenge (can't be used with any other spec).
"""
xml_string = quadruped.make_model(floor_size=_DEFAULT_TIME_LIMIT *
_RUN_SPEED)
physics = quadruped.Physics.from_xml_string(xml_string, common.ASSETS)
safety_spec = safety_spec or {}
delay_spec = delay_spec or {}
noise_spec = noise_spec or {}
perturb_spec = perturb_spec or {}
dimensionality_spec = dimensionality_spec or {}
multiobj_spec = multiobj_spec or {}
# Check and update for combined challenge.
(delay_spec, noise_spec, perturb_spec,
dimensionality_spec) = (realworld_env.get_combined_challenge(
combined_challenge, delay_spec, noise_spec, perturb_spec,
dimensionality_spec))
# Updating perturbation parameters if combined_challenge.
if combined_challenge == 'easy':
perturb_spec.update({
'param': 'shin_length',
'min': 0.25,
'max': 0.3,
'std': 0.005
})
elif combined_challenge == 'medium':
perturb_spec.update({
'param': 'shin_length',
'min': 0.25,
'max': 0.8,
'std': 0.05
})
elif combined_challenge == 'hard':
perturb_spec.update({
'param': 'shin_length',
'min': 0.25,
'max': 1.4,
'std': 0.1
})
if 'limits' not in safety_spec:
if 'safety_coeff' in safety_spec:
if safety_spec['safety_coeff'] < 0 or safety_spec[
'safety_coeff'] > 1:
raise ValueError(
'safety_coeff should be in [0,1], but got {}'.format(
safety_spec['safety_coeff']))
safety_coeff = safety_spec['safety_coeff']
else:
safety_coeff = 1
safety_spec['limits'] = {
'joint_pos_constraint': safety_coeff * 60 * np.pi / 180, # rad
'joint_velocity_constraint': safety_coeff * 0.4, # rad/s
'upright_constraint': 1 - safety_coeff * 0.7, # minimum z
'foot_force_constraint': safety_coeff * 300000, # newtons
'action_roc_constraint': safety_coeff * 1.4,
}
task = RealWorldMove(desired_speed=_RUN_SPEED,
random=random,
safety_spec=safety_spec,
delay_spec=delay_spec,
noise_spec=noise_spec,
perturb_spec=perturb_spec,
dimensionality_spec=dimensionality_spec,
multiobj_spec=multiobj_spec)
environment_kwargs = environment_kwargs or {}
if log_output:
logger = loggers.PickleLogger(path=log_output)
else:
logger = None
return wrappers.LoggingEnv(physics,
task,
logger=logger,
time_limit=time_limit,
control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)
def realworld_walk(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
log_output=None,
environment_kwargs=None,
safety_spec=None,
delay_spec=None,
noise_spec=None,
perturb_spec=None,
dimensionality_spec=None,
multiobj_spec=None,
combined_challenge=None):
"""Returns the Walk task.
Args:
time_limit: Integer length of task
random: random seed (unsure)
log_output: String of path for pickle data logging, None disables logging
environment_kwargs: additional kwargs for environment.
safety_spec: dictionary that specifies the safety specifications.
delay_spec: dictionary that specifies the delay specifications.
noise_spec: dictionary that specifies the noise specifications.
perturb_spec: dictionary that specifies the perturbations specifications.
dimensionality_spec: dictionary that specifies extra observation features.
multiobj_spec: dictionary that specifies complementary objectives.
combined_challenge: string that can be 'easy', 'medium', or 'hard'.
Specifying the combined challenge (can't be used with any other spec).
"""
xml_string = quadruped.make_model(floor_size=_DEFAULT_TIME_LIMIT *
_WALK_SPEED)
physics = quadruped.Physics.from_xml_string(xml_string, common.ASSETS)
safety_spec = safety_spec or {}
delay_spec = delay_spec or {}
noise_spec = noise_spec or {}
perturb_spec = perturb_spec or {}
dimensionality_spec = dimensionality_spec or {}
multiobj_spec = multiobj_spec or {}
# Check and update for combined challenge.
(delay_spec, noise_spec, perturb_spec,
dimensionality_spec) = (realworld_env.get_combined_challenge(
combined_challenge, delay_spec, noise_spec, perturb_spec,
dimensionality_spec))
# Updating perturbation parameters if combined_challenge.
if combined_challenge == 'easy':
perturb_spec.update({
'param': 'shin_length',
'min': 0.25,
'max': 0.3,
'std': 0.005
})
elif combined_challenge == 'medium':
perturb_spec.update({
'param': 'shin_length',
'min': 0.25,
'max': 0.8,
'std': 0.05
})
elif combined_challenge == 'hard':
perturb_spec.update({
'param': 'shin_length',
'min': 0.25,
'max': 1.4,
'std': 0.1
})
task = RealWorldMove(desired_speed=_WALK_SPEED,
random=random,
safety_spec=safety_spec,
delay_spec=delay_spec,
noise_spec=noise_spec,
perturb_spec=perturb_spec,
dimensionality_spec=dimensionality_spec,
multiobj_spec=multiobj_spec)
environment_kwargs = environment_kwargs or {}
if log_output:
logger = loggers.PickleLogger(path=log_output)
else:
logger = None
return wrappers.LoggingEnv(physics,
task,
logger=logger,
time_limit=time_limit,
control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)
def realworld_walk(time_limit=_DEFAULT_TIME_LIMIT,
random=None,
log_output=None,
environment_kwargs=None,
safety_spec=None,
delay_spec=None,
noise_spec=None,
perturb_spec=None,
dimensionality_spec=None,
multiobj_spec=None,
combined_challenge=None):
"""Returns the Walk task with specified real world attributes.
Args:
time_limit: Integer length of task
random: random seed (unsure)
log_output: String of path for pickle data logging, None disables logging
environment_kwargs: additional kwargs for environment.
safety_spec: dictionary that specifies the safety specifications.
delay_spec: dictionary that specifies the delay specifications.
noise_spec: dictionary that specifies the noise specifications.
perturb_spec: dictionary that specifies the perturbations specifications.
dimensionality_spec: dictionary that specifies extra observation features.
multiobj_spec: dictionary that specifies complementary objectives.
combined_challenge: string that can be 'easy', 'medium', or 'hard'.
Specifying the combined challenge (can't be used with any other spec).
"""
physics = humanoid.Physics.from_xml_string(
*humanoid.get_model_and_assets())
safety_spec = safety_spec or {}
delay_spec = delay_spec or {}
noise_spec = noise_spec or {}
perturb_spec = perturb_spec or {}
dimensionality_spec = dimensionality_spec or {}
multiobj_spec = multiobj_spec or {}
# Check and update for combined challenge.
(delay_spec, noise_spec, perturb_spec,
dimensionality_spec) = (realworld_env.get_combined_challenge(
combined_challenge, delay_spec, noise_spec, perturb_spec,
dimensionality_spec))
# Updating perturbation parameters if combined_challenge.
if combined_challenge == 'easy':
perturb_spec.update({
'param': 'contact_friction',
'min': 0.6,
'max': 0.8,
'std': 0.02
})
elif combined_challenge == 'medium':
perturb_spec.update({
'param': 'contact_friction',
'min': 0.5,
'max': 0.9,
'std': 0.04
})
elif combined_challenge == 'hard':
perturb_spec.update({
'param': 'contact_friction',
'min': 0.4,
'max': 1.0,
'std': 0.06
})
if 'limits' not in safety_spec:
if 'safety_coeff' in safety_spec:
if safety_spec['safety_coeff'] < 0 or safety_spec[
'safety_coeff'] > 1:
raise ValueError(
'safety_coeff should be in [0,1], but got {}'.format(
safety_spec['safety_coeff']))
safety_coeff = safety_spec['safety_coeff']
else:
safety_coeff = 1
safety_spec['limits'] = {
'joint_pos_constraint': safety_coeff * np.pi, # rad
'joint_velocity_constraint': safety_coeff * 90, # rad/s
'foot_force_constraint': safety_coeff * 8000, # newtons
'dangerous_fall_constraint': safety_coeff * 100, # newtons
'torso_upright_constraint':
(1 - safety_coeff), # vector magnitude
'action_roc_constraint': safety_coeff * 1.85,
}
task = RealWorldHumanoid(move_speed=1,
pure_state=False,
random=random,
safety_spec=safety_spec,
delay_spec=delay_spec,
noise_spec=noise_spec,
perturb_spec=perturb_spec,
dimensionality_spec=dimensionality_spec,
multiobj_spec=multiobj_spec)
environment_kwargs = environment_kwargs or {}
if log_output:
logger = loggers.PickleLogger(path=log_output)
else:
logger = None
return wrappers.LoggingEnv(physics,
task,
logger=logger,
time_limit=time_limit,
control_timestep=_CONTROL_TIMESTEP,
**environment_kwargs)