def episode_restart(self):
Scene.episode_restart(self)
if self.score_right + self.score_left > 0:
sys.stdout.write("%i:%i " % (self.score_left, self.score_right))
sys.stdout.flush()
self.mjcf = self.cpp_world.load_mjcf(os.path.join(os.path.dirname(__file__), "models_robot/roboschool_pong.xml"))
dump = 0
for r in self.mjcf:
if dump: print("ROBOT '%s'" % r.root_part.name)
for part in r.parts:
if dump: print("\tPART '%s'" % part.name)
#if part.name==self.robot_name:
for j in r.joints:
if j.name=="p0x": self.p0x = j
if j.name=="p0y": self.p0y = j
if j.name=="p1x": self.p1x = j
if j.name=="p1y": self.p1y = j
if j.name=="ballx": self.ballx = j
if j.name=="bally": self.bally = j
self.ballx.set_motor_torque(0.0)
self.bally.set_motor_torque(0.0)
for r in self.mjcf:
r.query_position()
fpose = cpp_household.Pose()
fpose.set_xyz(0,0,-0.04)
self.field = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(__file__), "models_outdoor/stadium/pong1.obj"),
fpose, 1.0, 0, 0xFFFFFF, True)
self.camera = self.cpp_world.new_camera_free_float(self.VIDEO_W, self.VIDEO_H, "video_camera")
self.camera_itertia = 0
self.frame = 0
self.jstate_for_frame = -1
self.score_left = 0
self.score_right = 0
self.restart_from_center(self.players_count==1 or self.np_random.randint(2)==0)
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()
stadium_pose = cpp_household.Pose()
if self.zero_at_running_strip_start_line:
stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
self.stadium = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(__file__), "models_outdoor/stadium/stadium1.obj"),
stadium_pose, 1.0, 0, 0xFFFFFF, True)
self.ground_plane_mjcf = self.cpp_world.load_mjcf(os.path.join(os.path.dirname(__file__), "mujoco_assets/ground_plane.xml"))
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()
lab_ground_pose = cpp_household.Pose()
lab_ground_pose.set_xyz(0, 0, 1)
lab_ground_pose.set_rpy(np.pi / 2, 0, 0)
# if self.zero_at_running_strip_start_line:
# lab_pose.set_xyz(0, 0, 0) # see RUN_STARTLINE, RUN_RAD constants
# scale seems not working
self.lab_ground = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(__file__), "models_indoor/floor.obj"),
lab_ground_pose, 1.0, 0, 0xFFFFFF, True)
table_pose = cpp_household.Pose()
table_pose.set_rpy(0, 0, np.pi / 2)
table_pose.set_xyz(0.7, 0, 0.75)
self.table = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/bordered_table.urdf"), table_pose,
False, False)
slope_pose = cpp_household.Pose()
slope_pose.set_rpy(0, 0, np.pi / 2)
slope_pose.set_xyz(0.6, -0.4, 0.8)
self.slope = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/slope.urdf"), slope_pose, False,
False)
ball_pose = cpp_household.Pose()
ball_pose.set_xyz(0.6, -0.4, 0.88)
self.ball = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/ball.urdf"), ball_pose, False,
False)
self.ball_home_pose = ball_pose
self.ball_r = 0.025
frame_pose = cpp_household.Pose()
frame_pose.set_xyz(.95, 0.4, 0.88)
frame_pose.set_rpy(0, 0, np.pi / 2)
self.frame = self.cpp_world.load_urdf(
os.path.join(os.path.dirname(__file__),
"models_indoor/lab/frame.urdf"), frame_pose, False,
False)
self.frame_home_pose = frame_pose
self.frame_width = 0.14
self.frame_height = 0.07
self.ground_plane_mjcf = self.cpp_world.load_mjcf(
os.path.join(os.path.dirname(__file__),
"mujoco_assets/ground_plane.xml"))
def __init__(self):
Scene.__init__(self, gravity=9.8, timestep=0.0165 / 4, frame_skip=4)
self.score_left = 0
self.score_right = 0
self.ball_x = 0
# Add by xian, record information
self.score_board = {"left": {"oppo_miss_start": 0,
"oppo_slow_ball": 0,
"oppo_miss_catch": 0,
"oppo_double_hit": 0,
"not_finish": 0},
"right": {"oppo_miss_start": 0,
"oppo_slow_ball": 0,
"oppo_miss_catch": 0,
"oppo_double_hit": 0},
}
def global_step(self):
self.frame += 1
if not self.multiplayer:
# Trainer
self.p1x.set_servo_target(self.trainer_x, 1.0, 0.02, 0.02, 4)
self.p1y.set_servo_target(self.trainer_y, 1.0, 0.02, 0.02, 4)
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
if ball_vx * self.timeout_dir < 0:
if self.timeout_dir < 0:
self.score_left += 0.01 * np.abs(
ball_vx) # hint for early learning: hit the ball!
else:
self.score_right += 0.01 * np.abs(ball_vx)
self.timeout_dir *= -1
self.timeout = 150
self.bounce_n += 1
else:
self.timeout -= 1
if np.abs(self.ball_x) > 1.65 or self.timeout == 0:
if self.timeout == 0:
self.restart_from_center(
self.players_count == 1
or ball_vx < 0) # send ball in same dir on timeout
elif ball_vx > 0:
if self.bounce_n > 0:
self.score_left += 1
self.score_right -= 1
self.restart_from_center(
self.players_count == 1
or ball_vx > 0) # winning streak, let it hit more
else:
if self.bounce_n > 0:
self.score_right += 1.0
self.score_left -= 1
self.restart_from_center(self.players_count == 1
or ball_vx > 0)
def episode_restart(self):
Scene.episode_restart(self)
stadium_pose = cpp_household.Pose()
if self.zero_at_running_strip_start_line:
stadium_pose.set_xyz(27, 21, 0)
if self.render:
if self.inclined:
self.hfield = self.cpp_world.load_thingy(
'assets/incline_grass.obj', stadium_pose, 1.0, 0, 0xFFFFFF,
True)
else:
self.stadium = self.cpp_world.load_thingy(
os.path.join(os.path.dirname(roboschool.__file__),
"models_outdoor/stadium/stadium1.obj"),
stadium_pose, 1.0, 0, 0xFFFFFF, True)
if self.inclined:
self.ground_plane_mjcf = self.cpp_world.load_mjcf(
"assets/incline_plane.mjcf")
else:
self.ground_plane_mjcf = self.cpp_world.load_mjcf(
"assets/level_plane.mjcf")
def global_step(self):
self.frame += 1
# if not self.multiplayer:
# # Trainer
# self.p1x.set_servo_target( self.trainer_x, 0.02, 0.02, 4 )
# self.p1y.set_servo_target( self.trainer_y, 0.02, 0.02, 4 )
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
if ball_vx * self.timeout_dir < 0:
# if self.timeout_dir < 0:
# self.score_left += 0.00*np.abs(ball_vx) # hint for early learning: hit the ball!
# else:
# self.score_right += 0.00*np.abs(ball_vx)
self.timeout_dir *= -1
self.timeout = self.TIMEOUT
self.bounce_n += 1
def global_step(self):
self.frame += 1
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
if ball_vx * self.timeout_dir < 0:
# if self.timeout_dir < 0:
# self.score_left += 0.00*np.abs(ball_vx) # hint for early learning: hit the ball!
# else:
# self.score_right += 0.00*np.abs(ball_vx)
self.timeout_dir *= -1
# self.timeout = self.TIMEOUT
self.bounce_n += 1
# print("bounce", self.bounce_n)
# else:
# self.timeout -= 1
if np.abs(self.ball_x) > 1.65 or self.timeout == 0:
if self.timeout == 0:
self.restart_from_center(ball_vx < 0) # send ball in same dir on timeout
# if self.score_right + self.score_left >
elif ball_vx > 0:
self.score_left += 1
self.restart_from_center(ball_vx > 0) # winning streak, let it hit more
else:
self.score_right += 1.0
self.restart_from_center(ball_vx > 0)
self.timeout = self.TIMEOUT
else:
self.timeout -= 1
def __init__(self):
Scene.__init__(self, gravity=9.8, timestep=0.0165 / 4, frame_skip=4)
self.score_left = 0
self.score_right = 0
def global_step(self):
self.frame += 1
if not self.multiplayer:
# Trainer
self.p1x.set_servo_target(self.trainer_x, 0.02, 0.02, 4)
self.p1y.set_servo_target(self.trainer_y, 0.02, 0.02, 4)
Scene.global_step(self)
self.ball_x, ball_vx = self.ballx.current_position()
self.ball_y, ball_vy = self.bally.current_position()
if np.abs(self.ball_y) > 1.0 and self.ball_y * ball_vy > 0:
self.bally.reset_current_position(self.ball_y, -ball_vy)
# Add by xian, according to the status of Pong, give different scores
# The following if / else are adaptively changed
if ball_vx * self.timeout_dir < 0:
if self.timeout_dir < 0:
self.score_left += 0.01 * np.abs(ball_vx) # hint for early learning: hit the ball!
else:
self.score_right += 0.01 * np.abs(ball_vx)
self.timeout_dir *= -1
self.timeout = self.TIMEOUT # hua-todo
self.bounce_n += 1
if self.ball_x > 0: # hua-todo
self.bounce_n_right += 1
self.bounce_n_left = 0
else:
self.bounce_n_left += 1
self.bounce_n_right = 0
else:
self.timeout -= 1
self.episode_time -= 1
if self.bounce_n_right > 1: #
self.score_left += 1
self.score_right -= 1
self.score_board['left']['oppo_double_hit'] += 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0)
elif self.bounce_n_left > 1:
self.score_left -= 1
self.score_right += 1
self.score_board['right']['oppo_double_hit'] += 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0)
if np.abs(self.ball_x) > 1.65 or self.timeout == 0:
if self.timeout == 0:
if np.abs(self.ball_x) < 1:
if self.timeout_dir < 0:
self.score_left += 1
self.score_right -= 1
self.score_board['left']['oppo_slow_ball'] += 1
else:
self.score_left -= 1
self.score_right += 1
self.score_board['right']['oppo_slow_ball'] += 1
else:
if self.timeout_dir < 0:
self.score_left -= 1
self.score_right += 1
self.score_board['right']['oppo_miss_catch'] += 1
else:
self.score_left += 1
self.score_right -= 1
self.score_board['left']['oppo_miss_catch'] += 1
self.restart_from_center(self.players_count == 1 or ball_vx < 0) # send ball in same dir on timeout
elif ball_vx > 0:
if self.bounce_n > 0:
self.score_left += 1
self.score_board['left']['oppo_miss_catch'] += 1
else:
self.score_board['left']['oppo_miss_start'] += 1
self.score_right -= 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0) # winning streak, let it hit more
else:
if self.bounce_n > 0:
self.score_right += 1.0
self.score_board['right']['oppo_miss_catch'] += 1
else:
self.score_board['right']['oppo_miss_start'] += 1
self.score_left -= 1
self.restart_from_center(self.players_count == 1 or ball_vx > 0)
elif self.episode_time < 0:
self.score_left -= 1
self.score_board['left']['not_finish'] -= 1
self.restart_from_center(self.players_count == 1 or ball_vx < 0)
