def _set_action(self, action):
assert action.shape == (self.n_actions,)
action = action.copy() # ensure that we don't change the action outside of this scope
action_obj = action[4:]
action_obj = action_obj.reshape(self.n_obj_mocaps, -1)
pos_ctrl, gripper_ctrl = action[:3], action[3]
obj_ctrl = np.concatenate((np.zeros((self.n_obj_mocaps, 3)),
np.ones((self.n_obj_mocaps, 1)), np.zeros((self.n_obj_mocaps, 3))), axis=1)
for i_action in range(len(self.obj_action_type)):
obj_ctrl[:,self.obj_action_type[i_action]] = action_obj[:,i_action]
pos_ctrl *= 0.05 # limit maximum change in position
rot_ctrl = [1., 0., 1., 0.] # fixed rotation of the end effector, expressed as a quaternion
gripper_ctrl = np.array([gripper_ctrl, gripper_ctrl])
assert gripper_ctrl.shape == (2,)
if self.block_gripper:
gripper_ctrl = np.zeros_like(gripper_ctrl)
if self.ai_object:
obj_ctrl *= 0.05
else:
obj_ctrl *= 0.00
obj_ctrl = np.concatenate((obj_ctrl, np.zeros((self.sim.model.nmocap-self.n_obj_mocaps-1, 7))), axis=0)
action = np.concatenate([pos_ctrl, rot_ctrl, obj_ctrl.ravel(), gripper_ctrl])
# Apply action to simulation.
utils.ctrl_set_action(self.sim, action)
utils.mocap_set_action(self.sim, action)
def _set_action(self, action):
assert action.shape == (self.n_actions, )
action = action.copy(
) # ensure that we don't change the action outside of this scope
#pdb.set_trace()
ctrlrange = self.sim.model.actuator_ctrlrange
actuation_range = (ctrlrange[:, 1] - ctrlrange[:, 0]) / 2.
#actuation_center = (ctrlrange[:, 1] + ctrlrange[:, 0]) / 2.
actuation_center = np.zeros_like(action[:9])
for i in range(self.sim.data.ctrl.shape[0]):
actuation_center[i] = self.sim.data.get_joint_qpos(
self.sim.model.actuator_names[i].replace(':A_', ':'))
pos_ctrl, gripper_ctrl = action[:7], action[7]
#pos_ctrl *= 0.05
gripper_ctrl = np.array([gripper_ctrl, gripper_ctrl])
assert gripper_ctrl.shape == (2, )
if self.block_gripper:
gripper_ctrl = np.zeros_like(gripper_ctrl)
self.sim.data.ctrl[:
7] = actuation_center[:
7] + pos_ctrl * actuation_range[:
7]
self.sim.data.ctrl[:7] = np.clip(self.sim.data.ctrl[:7],
ctrlrange[:7, 0], ctrlrange[:7, 1])
self.sim.data.ctrl[7:9] = gripper_ctrl
# object actions
action_obj = action[8:]
action_obj = action_obj.reshape(self.n_objects, -1)
obj_ctrl = np.concatenate((np.zeros(
(self.n_objects, 3)), np.ones(
(self.n_objects, 1)), np.zeros((self.n_objects, 3))),
axis=1)
for i_action in range(len(self.obj_action_type)):
obj_ctrl[:, self.obj_action_type[i_action]] = action_obj[:,
i_action]
if self.ai_object:
obj_ctrl *= 0.05
else:
obj_ctrl *= 0.00
obj_ctrl = np.concatenate(
(obj_ctrl, np.zeros((self.sim.model.nmocap - self.n_objects, 7))),
axis=0)
action_obj = np.concatenate([obj_ctrl.ravel()])
utils.mocap_set_action(self.sim, action_obj)
def _set_action(self, action):
assert action.shape == (self.n_actions, )
action = action.copy(
) # ensure that we don't change the action outside of this scope
ctrlrange = self.sim.model.actuator_ctrlrange
actuation_range = (ctrlrange[:, 1] - ctrlrange[:, 0]) / 2.
if self.relative_control:
actuation_center = np.zeros_like(action[:20])
for i in range(self.sim.data.ctrl.shape[0]):
actuation_center[i] = self.sim.data.get_joint_qpos(
self.sim.model.actuator_names[i].replace(':A_', ':'))
for joint_name in ['FF', 'MF', 'RF', 'LF']:
act_idx = self.sim.model.actuator_name2id(
'robot0:A_{}J1'.format(joint_name))
actuation_center[act_idx] += self.sim.data.get_joint_qpos(
'robot0:{}J0'.format(joint_name))
else:
actuation_center = (ctrlrange[:, 1] + ctrlrange[:, 0]) / 2.
self.sim.data.ctrl[:] = actuation_center + action[:20] * actuation_range
self.sim.data.ctrl[:] = np.clip(self.sim.data.ctrl, ctrlrange[:, 0],
ctrlrange[:, 1])
# object actions
action_obj = action[20:]
action_obj = action_obj.reshape(self.n_objects, -1)
obj_ctrl = np.concatenate((np.zeros(
(self.n_objects, 3)), np.ones(
(self.n_objects, 1)), np.zeros((self.n_objects, 3))),
axis=1)
#for i_action in range(len(self.obj_action_type)):
# if self.obj_action_type[i_action] > 2:
# obj_ctrl[:,self.obj_action_type[i_action]] = action_obj[:,i_action] * 0.05
# else:
# obj_ctrl[:,self.obj_action_type[i_action]] = action_obj[:,i_action] * 0.05
for i_action in range(len(self.obj_action_type)):
obj_ctrl[:, self.obj_action_type[i_action]] = action_obj[:,
i_action]
if self.ai_object:
obj_ctrl *= 0.05
else:
obj_ctrl *= 0.00
action_obj = np.concatenate([obj_ctrl.ravel()])
utils.mocap_set_action(self.sim, action_obj)
def _set_action(self, action):
assert action.shape == (4, )
action = action.copy(
) # ensure that we don't change the action outside of this scope
pos_ctrl, gripper_ctrl = action[:3], action[3]
pos_ctrl *= 0.05 # limit maximum change in position
rot_ctrl = [
1., 0., 1., 0.
] # fixed rotation of the end effector, expressed as a quaternion
gripper_ctrl = np.array([gripper_ctrl, gripper_ctrl])
assert gripper_ctrl.shape == (2, )
if self.block_gripper:
gripper_ctrl = np.zeros_like(gripper_ctrl)
action = np.concatenate([pos_ctrl, rot_ctrl, gripper_ctrl])
# Apply action to simulation.
utils.ctrl_set_action(self.sim, action)
utils.mocap_set_action(self.sim, action)