def launch(self):
if self._pyrep is not None:
raise RuntimeError('Already called launch!')
self._pyrep = PyRep()
self._pyrep.launch(join(DIR_PATH, TTT_FILE), headless=self._headless)
arm_class, gripper_class, _ = SUPPORTED_ROBOTS[
self._robot_configuration]
# We assume the panda is already loaded in the scene.
if self._robot_configuration is not 'panda':
# Remove the panda from the scene
panda_arm = Panda()
panda_pos = panda_arm.get_position()
panda_arm.remove()
arm_path = join(DIR_PATH, 'robot_ttms',
self._robot_configuration + '.ttm')
self._pyrep.import_model(arm_path)
arm, gripper = arm_class(), gripper_class()
arm.set_position(panda_pos)
else:
arm, gripper = arm_class(), gripper_class()
self._robot = Robot(arm, gripper)
if self._randomize_every is None:
self._scene = Scene(self._pyrep, self._robot, self._obs_config)
else:
self._scene = DomainRandomizationScene(
self._pyrep, self._robot, self._obs_config,
self._randomize_every, self._frequency,
self._visual_randomization_config,
self._dynamics_randomization_config)
self._set_arm_control_action()
def launch(self):
if self._pyrep is not None:
raise RuntimeError('Already called launch!')
self._pyrep = PyRep()
self._pyrep.launch(join(DIR_PATH, TTT_FILE), headless=self._headless)
self._pyrep.set_simulation_timestep(0.005)
self._robot = Robot(Panda(), PandaGripper())
self._scene = DomainRandomizationScene(self._pyrep, self._robot,
self._obs_config,
self._randomize_every,
self._frequency,
self._visual_rand_config,
self._dynamics_rand_config)
self._set_arm_control_action()
# Raise the domain randomized floor.
Shape('Floor').set_position(Dummy('FloorAnchor').get_position())
class Environment(object):
"""Each environment has a scene."""
def __init__(
self,
action_mode: ActionMode,
dataset_root: str = '',
obs_config=ObservationConfig(),
headless=False,
static_positions: bool = False,
robot_configuration='panda',
randomize_every: RandomizeEvery = None,
frequency: int = 1,
visual_randomization_config: VisualRandomizationConfig = None,
dynamics_randomization_config: DynamicsRandomizationConfig = None,
attach_grasped_objects: bool = True):
self._dataset_root = dataset_root
self._action_mode = action_mode
self._obs_config = obs_config
self._headless = headless
self._static_positions = static_positions
self._robot_configuration = robot_configuration
self._randomize_every = randomize_every
self._frequency = frequency
self._visual_randomization_config = visual_randomization_config
self._dynamics_randomization_config = dynamics_randomization_config
self._attach_grasped_objects = attach_grasped_objects
if robot_configuration not in SUPPORTED_ROBOTS.keys():
raise ValueError('robot_configuration must be one of %s' %
str(SUPPORTED_ROBOTS.keys()))
if (randomize_every is not None and visual_randomization_config is None
and dynamics_randomization_config is None):
raise ValueError(
'If domain randomization is enabled, must supply either '
'visual_randomization_config or dynamics_randomization_config')
self._check_dataset_structure()
self._pyrep = None
self._robot = None
self._scene = None
self._prev_task = None
def _set_arm_control_action(self):
self._robot.arm.set_control_loop_enabled(True)
if (self._action_mode.arm == ArmActionMode.ABS_JOINT_VELOCITY or
self._action_mode.arm == ArmActionMode.DELTA_JOINT_VELOCITY):
self._robot.arm.set_control_loop_enabled(False)
self._robot.arm.set_motor_locked_at_zero_velocity(True)
elif (self._action_mode.arm == ArmActionMode.ABS_JOINT_POSITION
or self._action_mode.arm == ArmActionMode.DELTA_JOINT_POSITION
or self._action_mode.arm == ArmActionMode.ABS_EE_POSE_WORLD_FRAME
or self._action_mode.arm
== ArmActionMode.DELTA_EE_POSE_WORLD_FRAME
or self._action_mode.arm
== ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME
or self._action_mode.arm
== ArmActionMode.DELTA_EE_POSE_PLAN_WORLD_FRAME
or self._action_mode.arm == ArmActionMode.EE_POSE_PLAN_EE_FRAME
or self._action_mode.arm == ArmActionMode.EE_POSE_EE_FRAME):
self._robot.arm.set_control_loop_enabled(True)
elif (self._action_mode.arm == ArmActionMode.ABS_JOINT_TORQUE
or self._action_mode.arm == ArmActionMode.DELTA_JOINT_TORQUE):
self._robot.arm.set_control_loop_enabled(False)
else:
raise RuntimeError('Unrecognised action mode.')
def _check_dataset_structure(self):
if len(self._dataset_root) > 0 and not exists(self._dataset_root):
raise RuntimeError('Data set root does not exists: %s' %
self._dataset_root)
def _string_to_task(self, task_name: str):
task_name = task_name.replace('.py', '')
try:
class_name = ''.join(
[w[0].upper() + w[1:] for w in task_name.split('_')])
mod = importlib.import_module("rlbench.tasks.%s" % task_name)
except Exception as e:
raise RuntimeError(
'Tried to interpret %s as a task, but failed. Only valid tasks '
'should belong in the tasks/ folder' % task_name) from e
return getattr(mod, class_name)
def launch(self):
if self._pyrep is not None:
raise RuntimeError('Already called launch!')
self._pyrep = PyRep()
self._pyrep.launch(join(DIR_PATH, TTT_FILE), headless=self._headless)
arm_class, gripper_class, _ = SUPPORTED_ROBOTS[
self._robot_configuration]
# We assume the panda is already loaded in the scene.
if self._robot_configuration is not 'panda':
# Remove the panda from the scene
panda_arm = Panda()
panda_pos = panda_arm.get_position()
panda_arm.remove()
arm_path = join(DIR_PATH, 'robot_ttms',
self._robot_configuration + '.ttm')
self._pyrep.import_model(arm_path)
arm, gripper = arm_class(), gripper_class()
arm.set_position(panda_pos)
else:
arm, gripper = arm_class(), gripper_class()
self._robot = Robot(arm, gripper)
if self._randomize_every is None:
self._scene = Scene(self._pyrep, self._robot, self._obs_config)
else:
self._scene = DomainRandomizationScene(
self._pyrep, self._robot, self._obs_config,
self._randomize_every, self._frequency,
self._visual_randomization_config,
self._dynamics_randomization_config)
self._set_arm_control_action()
def shutdown(self):
if self._pyrep is not None:
self._pyrep.shutdown()
self._pyrep = None
def get_task(self, task_class: Type[Task]) -> TaskEnvironment:
# If user hasn't called launch, implicitly call it.
if self._pyrep is None:
self.launch()
self._scene.unload()
task = task_class(self._pyrep, self._robot)
self._prev_task = task
return TaskEnvironment(self._pyrep, self._robot, self._scene, task,
self._action_mode, self._dataset_root,
self._obs_config, self._static_positions,
self._attach_grasped_objects)
@property
def action_size(self):
arm_action_size = 0
gripper_action_size = 1 # Only one gripper style atm
if (self._action_mode.arm == ArmActionMode.ABS_JOINT_VELOCITY
or self._action_mode.arm == ArmActionMode.DELTA_JOINT_VELOCITY
or self._action_mode.arm == ArmActionMode.ABS_JOINT_POSITION
or self._action_mode.arm == ArmActionMode.DELTA_JOINT_POSITION
or self._action_mode.arm == ArmActionMode.ABS_JOINT_TORQUE
or self._action_mode.arm == ArmActionMode.DELTA_JOINT_TORQUE):
arm_action_size = SUPPORTED_ROBOTS[self._robot_configuration][2]
elif (self._action_mode.arm == ArmActionMode.ABS_EE_POSE_WORLD_FRAME or
self._action_mode.arm == ArmActionMode.DELTA_EE_POSE_WORLD_FRAME
or self._action_mode.arm
== ArmActionMode.ABS_EE_POSE_PLAN_WORLD_FRAME
or self._action_mode.arm
== ArmActionMode.DELTA_EE_POSE_PLAN_WORLD_FRAME
or self._action_mode.arm == ArmActionMode.EE_POSE_PLAN_EE_FRAME
or self._action_mode.arm == ArmActionMode.EE_POSE_EE_FRAME):
arm_action_size = 7 # pose is always 7
return arm_action_size + gripper_action_size
def get_demos(self,
task_name: str,
amount: int,
variation_number=0,
image_paths=False) -> List[Demo]:
if self._dataset_root is None or len(self._dataset_root) == 0:
raise RuntimeError(
"Can't ask for a stored demo when no dataset root provided.")
demos = utils.get_stored_demos(amount, image_paths, self._dataset_root,
variation_number, task_name,
self._obs_config)
return demos