def __init__(self,
headless=False,
simple=False,
max_force=1000,
max_vel=100,
goal_halfsphere=False,
backlash=.1,
double_goal=False):
self.simple = simple
self.max_force = max_force
self.max_vel = max_vel
self.double_goal = double_goal
self.robot = SingleRobot(
debug=not headless, heavy=True, new_backlash=backlash, silent=True)
self.ball = Ball(1)
self.rhis = RandomPointInHalfSphere(
0.0,
3.69,
4.37,
radius=RADIUS,
height=26.10,
min_dist=10.,
halfsphere=goal_halfsphere)
self.goal = None
self.goals_done = 0
self.goal_dirty = False
self.dist = DistanceBetweenObjects(
bodyA=self.robot.id, bodyB=self.ball.id, linkA=19, linkB=1)
self.episodes = 0 # used for resetting the sim every so often
self.restart_every_n_episodes = 1000
self.force_urdf_reload = False
self.metadata = {'render.modes': ['human']}
if not simple:
# observation = 6 joints + 6 velocities + 3 coordinates for target
self.observation_space = spaces.Box(
low=-1, high=1, shape=(6 + 6 + 3,), dtype=np.float32) #
# action = 6 joint angles
self.action_space = spaces.Box(
low=-1, high=1, shape=(6,), dtype=np.float32) #
else:
# observation = 4 joints + 4 velocities + 2 coordinates for target
self.observation_space = spaces.Box(
low=-1, high=1, shape=(4 + 4 + 2,), dtype=np.float32) #
# action = 4 joint angles
self.action_space = spaces.Box(
low=-1, high=1, shape=(4,), dtype=np.float32) #
super().__init__()
class Cube(object):
def __init__(self, robot_id, spawn="linear"):
assert spawn in ["linear", "square"]
self.robot_id = robot_id
self.spawn = spawn
self.cube = None
self.dbo = None
xml_path = get_scene("ergojr-gripper-cube")
self.robot_file = URDF(xml_path, force_recompile=True).get_path()
# # GYM env has to do this
# self.hard_reset()
def add_cube(self, y=None, x=None):
if x is None and self.spawn == "linear":
x = 0
if x is None and self.spawn == "square":
# shorter Y otherwise out of reach
if y is None:
y = np.random.uniform(.1, .17)
x = np.random.uniform(-.12, .12)
if y is None:
y = np.random.uniform(.1, .25)
cube_pos = [x, y, 0]
cube_rot = p.getQuaternionFromEuler([
0, 0, np.deg2rad(np.random.randint(0, 180))
]) # rotated around which axis? # np.deg2rad(90)
self.cube = p.loadURDF(
self.robot_file, cube_pos, cube_rot, useFixedBase=0)
self.dbo = DistanceBetweenObjects(self.robot_id, 15, self.cube, 0)
def normalize_cube(self):
_, posB = self.dbo.query(True)
x = posB[0]
y = (posB[1] - GRIPPER_CUBE_Y[0]) / (
GRIPPER_CUBE_Y[1] - GRIPPER_CUBE_Y[0])
z = posB[2]
return np.array([x, y, z])
def reset(self):
self.cleanup()
self.add_cube()
def cleanup(self):
if self.cube is not None:
p.removeBody(self.cube)
def load_cube():
# cube_pos = [0, 0.1, 0.015]
# cube_pos = [0, 0.25, 0]
cube_pos = [0, np.random.uniform(.1, .25), 0]
cube_rot = p.getQuaternionFromEuler([
0, 0, np.deg2rad(np.random.randint(0, 180))
]) # rotated around which axis? # np.deg2rad(90)
cube = p.loadURDF(robot_file, cube_pos, cube_rot, useFixedBase=0)
dbo = DistanceBetweenObjects(robot, 15, cube, 0)
return cube, dbo
def add_cube(self, y=None, x=None):
if x is None and self.spawn == "linear":
x = 0
if x is None and self.spawn == "square":
# shorter Y otherwise out of reach
if y is None:
y = np.random.uniform(.1, .17)
x = np.random.uniform(-.12, .12)
if y is None:
y = np.random.uniform(.1, .25)
cube_pos = [x, y, 0]
cube_rot = p.getQuaternionFromEuler([
0, 0, np.deg2rad(np.random.randint(0, 180))
]) # rotated around which axis? # np.deg2rad(90)
self.cube = p.loadURDF(
self.robot_file, cube_pos, cube_rot, useFixedBase=0)
self.dbo = DistanceBetweenObjects(self.robot_id, 15, self.cube, 0)
def add_puck(self):
self.puck = p.loadURDF(
self.robot_file, [
np.random.uniform(PUSHER_PUCK_X[0], PUSHER_PUCK_X[1]),
np.random.uniform(PUSHER_PUCK_Y[0], PUSHER_PUCK_Y[1]), 0.0
],
p.getQuaternionFromEuler([0, 0, 0]),
useFixedBase=1)
for joint in [0, 1]:
p.setJointMotorControl2(
self.puck,
joint,
p.VELOCITY_CONTROL,
force=self.friction,
targetVelocity=0)
self.dbo = DistanceBetweenObjects(self.puck, 1)
def load_puck():
puck = p.loadURDF(
robot_file,
[np.random.uniform(-0.08, -0.14),
np.random.uniform(0.05, 0.1), 0.0],
startOrientation,
useFixedBase=1)
jointFrictionForce = .4
for joint in [0, 1]:
p.setJointMotorControl2(puck,
joint,
p.VELOCITY_CONTROL,
force=jointFrictionForce,
targetVelocity=0)
dbo = DistanceBetweenObjects(puck, 1)
return puck, dbo
def __init__(self,
headless=False,
simple=False,
backlash=False,
max_force=1,
max_vel=18,
goal_halfsphere=False,
multi_goal=False,
goals=3,
gripper=False):
self.simple = simple
self.backlash = backlash
self.max_force = max_force
self.max_vel = max_vel
self.multigoal = multi_goal
self.n_goals = goals
self.gripper = gripper
self.goals_done = 0
self.is_initialized = False
self.robot = SingleRobot(debug=not headless, backlash=backlash)
self.ball = Ball()
self.rhis = RandomPointInHalfSphere(0.0,
0.0369,
0.0437,
radius=RADIUS,
height=0.2610,
min_dist=0.1,
halfsphere=goal_halfsphere)
self.goal = None
self.dist = DistanceBetweenObjects(bodyA=self.robot.id,
bodyB=self.ball.id,
linkA=13,
linkB=1)
self.episodes = 0 # used for resetting the sim every so often
self.restart_every_n_episodes = 1000
self.metadata = {'render.modes': ['human']}
if not simple and not gripper: # default
# observation = 6 joints + 6 velocities + 3 coordinates for target
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(6 + 6 + 3, ),
dtype=np.float32) #
# action = 6 joint angles
self.action_space = spaces.Box(low=-1,
high=1,
shape=(6, ),
dtype=np.float32) #
elif not gripper: # simple
# observation = 4 joints + 4 velocities + 2 coordinates for target
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(4 + 4 + 2, ),
dtype=np.float32) #
# action = 4 joint angles
self.action_space = spaces.Box(low=-1,
high=1,
shape=(4, ),
dtype=np.float32) #
else: # gripper
# observation = 3 joints + 3 velocities + 2 coordinates for target
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(3 + 3 + 2, ),
dtype=np.float32) #
# action = 3 joint angles, [-,1,2,-,4,-]
self.action_space = spaces.Box(low=-1,
high=1,
shape=(3, ),
dtype=np.float32) #
super().__init__()
class ErgoReacherEnv(gym.Env):
def __init__(self,
headless=False,
simple=False,
backlash=False,
max_force=1,
max_vel=18,
goal_halfsphere=False,
multi_goal=False,
goals=3,
gripper=False):
self.simple = simple
self.backlash = backlash
self.max_force = max_force
self.max_vel = max_vel
self.multigoal = multi_goal
self.n_goals = goals
self.gripper = gripper
self.goals_done = 0
self.is_initialized = False
self.robot = SingleRobot(debug=not headless, backlash=backlash)
self.ball = Ball()
self.rhis = RandomPointInHalfSphere(0.0,
0.0369,
0.0437,
radius=RADIUS,
height=0.2610,
min_dist=0.1,
halfsphere=goal_halfsphere)
self.goal = None
self.dist = DistanceBetweenObjects(bodyA=self.robot.id,
bodyB=self.ball.id,
linkA=13,
linkB=1)
self.episodes = 0 # used for resetting the sim every so often
self.restart_every_n_episodes = 1000
self.metadata = {'render.modes': ['human']}
if not simple and not gripper: # default
# observation = 6 joints + 6 velocities + 3 coordinates for target
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(6 + 6 + 3, ),
dtype=np.float32) #
# action = 6 joint angles
self.action_space = spaces.Box(low=-1,
high=1,
shape=(6, ),
dtype=np.float32) #
elif not gripper: # simple
# observation = 4 joints + 4 velocities + 2 coordinates for target
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(4 + 4 + 2, ),
dtype=np.float32) #
# action = 4 joint angles
self.action_space = spaces.Box(low=-1,
high=1,
shape=(4, ),
dtype=np.float32) #
else: # gripper
# observation = 3 joints + 3 velocities + 2 coordinates for target
self.observation_space = spaces.Box(low=-1,
high=1,
shape=(3 + 3 + 2, ),
dtype=np.float32) #
# action = 3 joint angles, [-,1,2,-,4,-]
self.action_space = spaces.Box(low=-1,
high=1,
shape=(3, ),
dtype=np.float32) #
super().__init__()
def seed(self, seed=None):
return [np.random.seed(seed)]
def step(self, action):
if self.simple or self.gripper:
action_ = np.zeros(6, np.float32)
if self.simple:
action_[[1, 2, 4, 5]] = action
if self.gripper:
action_[[1, 2, 4]] = action
action = action_
self.robot.act2(action, max_force=self.max_force, max_vel=self.max_vel)
self.robot.step()
reward, done, dist = self._getReward()
obs = self._get_obs()
return obs, reward, done, {"distance": dist}
def _getReward(self):
done = False
reward = self.dist.query()
distance = reward.copy()
if not self.multigoal: # this is the normal mode
reward *= -1 # the reward is the inverse distance
if reward > GOAL_REACHED_DISTANCE: # this is a bit arbitrary, but works well
self.goals_done += 1
done = True
reward = 1
else:
if -reward > GOAL_REACHED_DISTANCE:
self.goals_done += 1
if self.goals_done == self.n_goals:
done = True
else:
robot_state = self._get_obs()[:8]
self.move_ball()
self._set_state(
robot_state) # move robot back after ball has movedÒ
self.robot.step()
reward = self.dist.query()
reward = (self.goals_done * DIA +
(DIA - reward)) / (self.n_goals * DIA)
if done:
reward = 1
if self.gripper:
reward *= 10
if self.goals_done == RESET_EVERY:
self.goals_done = 0
self.reset(True)
done = False
# normalize - [-1,1] range:
# reward = reward * 2 - 1
return reward, done, distance
def _setDist(self):
self.dist.bodyA = self.robot.id
self.dist.bodyB = self.ball.id
def move_ball(self):
if self.simple or self.gripper:
self.goal = self.rhis.sampleSimplePoint()
else:
self.goal = self.rhis.samplePoint()
self.dist.goal = self.goal
self.ball.changePos(self.goal, 4)
for _ in range(20):
self.robot.step() # we need this to move the ball
def reset(self, forced=False):
self.goals_done = 0
self.episodes += 1
if self.episodes >= self.restart_every_n_episodes:
self.robot.hard_reset() # this always has to go first
self.ball.hard_reset()
self._setDist()
self.episodes = 0
if self.is_initialized:
robot_state = self._get_state()
self.move_ball()
if self.gripper and self.is_initialized:
self._set_state(
robot_state[:6]) # move robot back after ball has movedÒ
self.robot.step()
if forced or not self.gripper: # if it's the gripper
qpos = np.random.uniform(low=-0.2, high=0.2, size=6)
if self.simple:
qpos[[0, 3]] = 0
self.robot.reset()
self.robot.set(np.hstack((qpos, [0] * 6)))
self.robot.act2(np.hstack((qpos)))
self.robot.step()
self.is_initialized = True
return self._get_obs()
def _get_obs(self):
obs = np.hstack([self.robot.observe(), self.rhis.normalize(self.goal)])
if self.simple:
obs = obs[[1, 2, 4, 5, 7, 8, 10, 11, 13, 14]]
if self.gripper:
obs = obs[[1, 2, 4, 7, 8, 10, 13, 14]]
return obs
def render(self, mode='human', close=False):
pass
def close(self):
self.robot.close()
def _get_state(self):
return self.robot.observe()
def _set_state(self, posvel):
if self.simple or self.gripper:
new_state = np.zeros((12), dtype=np.float32)
if self.simple:
new_state[[1, 2, 4, 5, 7, 8, 10, 11]] = posvel
if self.gripper:
new_state[[1, 2, 4, 7, 8, 10]] = posvel
else:
new_state = np.array(posvel)
self.robot.set(new_state)
debugParams.append(motor)
read_pos = p.addUserDebugParameter("read pos - slide right".format(i + 1), 0,
1, 0)
read_pos_once = True
start = time.time()
rhis = RandomPointInHalfSphere(0.0,
0.0369,
0.0437,
radius=0.2022,
height=0.2610,
min_dist=0.0477)
dist = DistanceBetweenObjects(bodyA=robot, bodyB=ball.id, linkA=13, linkB=-1)
for i in range(frequency * 30):
motorPos = []
for m in range(len(motors)):
pos = (math.pi / 2) * p.readUserDebugParameter(debugParams[m])
motorPos.append(pos)
p.setJointMotorControl2(robot,
motors[m],
p.POSITION_CONTROL,
targetPosition=pos)
p.stepSimulation()
time.sleep(1. / frequency)
link_state = p.getLinkState(robot, 13)
class ErgoReacherHeavyEnv(gym.Env):
def __init__(self,
headless=False,
simple=False,
max_force=1000,
max_vel=100,
goal_halfsphere=False,
backlash=.1,
double_goal=False):
self.simple = simple
self.max_force = max_force
self.max_vel = max_vel
self.double_goal = double_goal
self.robot = SingleRobot(
debug=not headless, heavy=True, new_backlash=backlash, silent=True)
self.ball = Ball(1)
self.rhis = RandomPointInHalfSphere(
0.0,
3.69,
4.37,
radius=RADIUS,
height=26.10,
min_dist=10.,
halfsphere=goal_halfsphere)
self.goal = None
self.goals_done = 0
self.goal_dirty = False
self.dist = DistanceBetweenObjects(
bodyA=self.robot.id, bodyB=self.ball.id, linkA=19, linkB=1)
self.episodes = 0 # used for resetting the sim every so often
self.restart_every_n_episodes = 1000
self.force_urdf_reload = False
self.metadata = {'render.modes': ['human']}
if not simple:
# observation = 6 joints + 6 velocities + 3 coordinates for target
self.observation_space = spaces.Box(
low=-1, high=1, shape=(6 + 6 + 3,), dtype=np.float32) #
# action = 6 joint angles
self.action_space = spaces.Box(
low=-1, high=1, shape=(6,), dtype=np.float32) #
else:
# observation = 4 joints + 4 velocities + 2 coordinates for target
self.observation_space = spaces.Box(
low=-1, high=1, shape=(4 + 4 + 2,), dtype=np.float32) #
# action = 4 joint angles
self.action_space = spaces.Box(
low=-1, high=1, shape=(4,), dtype=np.float32) #
super().__init__()
def seed(self, seed=None):
return [np.random.seed(seed)]
def step(self, action):
if self.simple:
action_ = np.zeros(6, np.float32)
action_[[1, 2, 4, 5]] = action
action = action_
self.robot.act2(action, max_force=self.max_force, max_vel=self.max_vel)
self.robot.step()
self.robot.step()
self.robot.step()
reward, done = self._getReward()
obs = self._get_obs()
return obs, reward, done, {}
def _getReward(self):
done = False
reward = self.dist.query()
reward *= -1 # the reward is the inverse distance
if not self.double_goal: # this is the normal mode
if reward > -1.6: # this is a bit arbitrary, but works well
done = True
reward = 1
else:
if reward > -1.6:
self.goals_done += 1
if self.goals_done == MAX_GOALS:
done = True
else:
self.move_ball()
self.goal_dirty = True
max_multiplier = (MAX_GOALS - self.goals_done - 1)
if self.goal_dirty:
max_multiplier += 1
self.goal_dirty = False
# unnormalized:
reward = reward - (RADIUS * 2 * max_multiplier)
# # normalize - [0,1] range:
reward = (reward + (RADIUS * 2 * (MAX_GOALS))) / (
RADIUS * 2 * (MAX_GOALS))
if done:
reward = 1
# normalize - [-1,1] range:
reward = reward * 2 - 1
return reward, done
def _setDist(self):
self.dist.bodyA = self.robot.id
self.dist.bodyB = self.ball.id
def update_backlash(self, new_val):
self.robot.new_backlash = new_val
self.force_urdf_reload = True
# and now on the next self.reset() the new modified URDF will be loaded
def move_ball(self):
if self.simple:
self.goal = self.rhis.sampleSimplePoint()
else:
self.goal = self.rhis.samplePoint()
self.dist.goal = self.goal
self.ball.changePos(self.goal, 4)
for _ in range(20):
self.robot.step() # we need this to move the ball
def reset(self):
self.goals_done = 0
self.goal_dirty = False
self.episodes += 1
if self.force_urdf_reload or self.episodes >= self.restart_every_n_episodes:
self.robot.hard_reset() # this always has to go first
self.ball.hard_reset()
self._setDist()
self.episodes = 0
self.force_urdf_reload = False
self.move_ball()
qpos = np.random.uniform(low=-0.2, high=0.2, size=6)
if self.simple:
qpos[[0, 3]] = 0
self.robot.reset()
self.robot.set(np.hstack((qpos, [0] * 6)))
self.robot.act2(np.hstack((qpos)))
self.robot.step()
return self._get_obs()
def _get_obs(self):
obs = np.hstack([self.robot.observe(), self.rhis.normalize(self.goal)])
if self.simple:
obs = obs[[1, 2, 4, 5, 7, 8, 10, 11, 13, 14]]
return obs
def render(self, mode='human', close=False):
pass
def close(self):
self.robot.close()
def _get_state(self):
return self.robot.observe()
def _set_state(self, posvel):
if self.simple:
new_state = np.zeros((12), dtype=np.float32)
new_state[[1, 2, 4, 5, 7, 8, 10, 11]] = posvel
else:
new_state = np.array(posvel)
self.robot.set(new_state)