def __init__(self, *args):
super(FiveBlocks, self).__init__(*args)
connect(use_gui=self.experiment_dict['render'])
if (self.detailed_gmp):
self.robot = p.loadURDF(
DRAKE_IIWA_URDF, useFixedBase=True,
globalScaling=1.2) # KUKA_IIWA_URDF | DRAKE_IIWA_URDF
else:
self.robot = None
# Construct camera
set_default_camera()
# Load in the objects
self.floor = p.loadURDF('models/short_floor.urdf', useFixedBase=True)
self.green_block = p.loadURDF("models/box_green.urdf",
useFixedBase=False)
self.red_block = p.loadURDF("models/box_red.urdf", useFixedBase=False)
self.blue_block = p.loadURDF("models/box_blue.urdf",
useFixedBase=False)
self.purple_block = p.loadURDF("models/box_purple.urdf",
useFixedBase=False)
self.cyan_block = p.loadURDF("models/box_yellow.urdf",
useFixedBase=False)
self.objects = [
self.green_block, self.red_block, self.blue_block,
self.purple_block, self.cyan_block
]
self.static_objects = []
# Only used for some curiosity types
self.perspectives = [(0, -90)]
# In this environment, if it times out, we know an object fell off the screen
self.break_on_timeout = True
# Set up macro-actions
self.macroaction = MacroAction(
macroaction_list=[
PickPlace(objects=self.objects,
robot=self.robot,
fixed=self.fixed,
gmp=self.detailed_gmp),
# AddLink(objects = self.objects, robot=self.robot, fixed=self.fixed, gmp=self.detailed_gmp),
],
experiment_dict=self.experiment_dict)
# Config state attributes
self.config_state_attrs()
p.setGravity(0, 0, -10)
p.stepSimulation(physicsClientId=0)
def __init__(self, *args):
super(TwoBlocks, self).__init__(*args)
connect(use_gui=self.experiment_dict['render'])
if (self.detailed_gmp):
self.robot = p.loadURDF(
DRAKE_IIWA_URDF, useFixedBase=True,
globalScaling=1.2) # KUKA_IIWA_URDF | DRAKE_IIWA_URDF
else:
self.robot = None
# Construct camera
set_default_camera()
# Set up objects
self.floor = p.loadURDF('models/short_floor.urdf', useFixedBase=True)
self.green_block = p.loadURDF("models/box_green.urdf",
useFixedBase=False)
self.red_block = p.loadURDF("models/box_red.urdf", useFixedBase=False)
self.objects = [self.green_block, self.red_block]
self.static_objects = []
# Only used for some curiosity types
self.perspectives = [(0, -90)]
# Set up the state space and action space for this task
self.break_on_timeout = True
self.macroaction = MacroAction(
macroaction_list=[
PickPlace(objects=self.objects,
robot=self.robot,
fixed=self.fixed,
gmp=self.detailed_gmp),
# AddLink(objects = self.objects, robot=self.robot, fixed=self.fixed, gmp=self.detailed_gmp),
],
experiment_dict=self.experiment_dict)
# Config state attributes
self.config_state_attrs()
# Start the simulation
p.setGravity(0, 0, -10)
p.stepSimulation(physicsClientId=0)
def __init__(self, *args):
super(BookShelf, self).__init__(*args)
connect(use_gui=self.experiment_dict['render'])
self.arm_size = 1
if (self.detailed_gmp):
self.robot = p.loadURDF(
DRAKE_IIWA_URDF, useFixedBase=True,
globalScaling=1) # KUKA_IIWA_URDF | DRAKE_IIWA_URDF
else:
self.robot = None
self.current_constraint_id = None
self.default_links = [0]
self.y_offset = 0.5
self.floor = p.loadURDF('models/short_floor.urdf', useFixedBase=True)
self.ARM_LEN = 0.8
set_default_camera()
self.shelf = p.loadURDF("models/kiva_shelf/bookcase.urdf",
globalScaling=3.0,
useFixedBase=True)
set_pose(
self.shelf,
Pose(Point(x=-0.2, y=-1.6, z=-0.010),
Euler(yaw=0, pitch=0, roll=math.pi / 2)))
self.book = p.loadURDF("models/book/book.urdf",
globalScaling=0.15,
useFixedBase=False)
self.book_pos = [0.06, -1.43, 0.488]
self.book_rot = [math.pi / 2, 0, 0]
set_pose(
self.book,
Pose(
Point(x=self.book_pos[0],
y=self.book_pos[1],
z=self.book_pos[2]),
Euler(roll=self.book_rot[0],
pitch=self.book_rot[1],
yaw=self.book_rot[2])))
self.blue_rod_1 = p.loadURDF("models/blue_rod.urdf",
globalScaling=2.0,
useFixedBase=False)
set_pose(self.blue_rod_1,
Pose(Point(x=0.7, y=0, z=1.2), Euler(yaw=0, pitch=0, roll=0)))
self.blue_rod_2 = p.loadURDF("models/blue_rod.urdf",
globalScaling=2.0,
useFixedBase=False)
set_pose(
self.blue_rod_2,
Pose(Point(x=-0.7, y=0, z=1.2), Euler(yaw=0, pitch=0, roll=0)))
self.objects = [self.blue_rod_1, self.blue_rod_2]
self.static_objects = [self.book]
self.perspectives = [(0, -90)]
self.break_on_timeout = False
self.macroaction = MacroAction(macroaction_list=[
PickPlace(objects=self.objects,
robot=self.robot,
fixed=self.fixed,
gmp=self.detailed_gmp),
AddLink(objects=self.objects,
robot=self.robot,
fixed=self.fixed,
gmp=self.detailed_gmp),
],
experiment_dict=self.experiment_dict)
# Config state attributes
self.config_state_attrs(linking=True)
p.setGravity(0, 0, -10, physicsClientId=0)
self.break_on_timeout = True
self.actor_critic = opt_cuda(
Policy([self.config_size],
self.action_space,
base_kwargs={'recurrent': False}))