def __init__(self):
self.robot_position = [-0.8, 0, 0]
self.contact_threshold = 0.1
self.action_dim = self.num_joints
URDFBasedRobot.__init__(
self,
'kuka_gripper_description/urdf/kuka_gripper.urdf',
'kuka0',
action_dim=self.action_dim,
obs_dim=1)
self.observation_space = gym.spaces.Dict({
self.ObsSpaces.JOINT_POSITIONS:
gym.spaces.Box(-np.inf, np.inf, [self.num_joints], dtype=float),
self.ObsSpaces.TOUCH_SENSORS:
gym.spaces.Box(0, np.inf, [self.num_touch_sensors], dtype=float),
self.ObsSpaces.RETINA:
gym.spaces.Box(0,
255, [Kuka.eye_height, Kuka.eye_width, 3],
dtype=float),
self.ObsSpaces.GOAL:
gym.spaces.Box(0,
255, [Kuka.eye_height, Kuka.eye_width, 3],
dtype=float)
})
self.target = "orange"
self.object_names = dict()
self.object_bodies = dict()
self.robot_parts = {}
def __init__(self):
self.robot_position = [0, 0, 0]
self.contact_threshold = 0.1
self.action_dim = self.num_joints
URDFBasedRobot.__init__(self,
'hand_description/urdf/hand.urdf',
'hand0', action_dim=self.action_dim, obs_dim=1)
self.observation_space = gym.spaces.Dict({
self.ObsSpaces.JOINT_POSITIONS: gym.spaces.Box(
-np.inf, np.inf, [self.num_joints], dtype = float),
self.ObsSpaces.TOUCH_SENSORS: gym.spaces.Box(
0, np.inf, [self.num_touch_sensors], dtype = float)})
self.object_names = dict()
self.object_bodies = dict()
self.robot_parts = {}
self.touch_sensors = []
self.joint_names = []
for arm_part in ["arm_base", "arm0", "arm1", "palm"]:
self.joint_names.append(arm_part)
for finger in ["thumb", "index", "middle", "ring", "little"]:
for nm in range(4):
if nm >= 2:
self.touch_sensors.append(finger+"%d"%nm)
self.joint_names.append(finger+"%d"%nm)
def __init__(self, additional_obs=False, objects=3):
self.robot_position = [-0.55, 0, -0.04]
self.contact_threshold = 0.1
self.used_objects = ["table", "cube",
"tomato", "mustard"][:objects+1]
self.action_dim = self.num_joints
URDFBasedRobot.__init__(self, 'kuka_gripper_description/urdf/'
'kuka_gripper.urdf', 'kuka0',
action_dim=self.action_dim, obs_dim=1)
self.min_joints = np.ones(9)*-np.pi*0.944
self.max_joints = np.ones(9)*np.pi*0.944
self.min_joints[0] = -np.pi*0.666 # Restricted range (min -0.944)
self.max_joints[0] = np.pi*0.666 # Restricted range (max 0.944)
self.min_joints[1:9:2] = -np.pi*0.666
self.max_joints[1:9:2] = np.pi*0.666
self.min_joints[6] = -np.pi*0.972
self.max_joints[6] = np.pi*0.972
self.min_joints[-2:] = 0
self.max_joints[-2:] = np.pi/2
self.action_space = gym.spaces.Box(low=self.min_joints,
high=self.max_joints,
dtype=float)
if additional_obs:
obj_obs = {}
for obj in self.used_objects[1:]:
high = np.array([np.finfo(np.float32).max,
np.finfo(np.float32).max,
np.finfo(np.float32).max])
obj_obs[obj] = gym.spaces.Box(-high, high, dtype=float)
self.observation_space = gym.spaces.Dict({
self.ObsSpaces.JOINT_POSITIONS: gym.spaces.Box(
-np.inf, np.inf, [self.num_joints], dtype=float),
self.ObsSpaces.TOUCH_SENSORS: gym.spaces.Box(
0, np.inf, [self.num_touch_sensors], dtype=float),
self.ObsSpaces.RETINA: gym.spaces.Box(
0, 255, [Kuka.eye_height, Kuka.eye_width, 3], dtype=np.uint8),
self.ObsSpaces.DEPTH: gym.spaces.Box(
0, 1, [Kuka.eye_height, Kuka.eye_width], dtype=float),
self.ObsSpaces.GOAL: gym.spaces.Box(
0, 255, [Kuka.eye_height, Kuka.eye_width, 3], dtype=np.uint8),
self.ObsSpaces.MASK: gym.spaces.Box(
0, 255, [Kuka.eye_height, Kuka.eye_width], dtype=np.int32),
self.ObsSpaces.GOAL_MASK: gym.spaces.Box(
0, 255, [Kuka.eye_height, Kuka.eye_width], dtype=np.int32),
self.ObsSpaces.OBJ_POS: gym.spaces.Dict(obj_obs),
self.ObsSpaces.GOAL_POS: gym.spaces.Dict(obj_obs)
}
)
else:
self.observation_space = gym.spaces.Dict({
self.ObsSpaces.JOINT_POSITIONS: gym.spaces.Box(
-np.inf, np.inf, [self.num_joints], dtype=float),
self.ObsSpaces.TOUCH_SENSORS: gym.spaces.Box(
0, np.inf, [self.num_touch_sensors], dtype=float),
self.ObsSpaces.RETINA: gym.spaces.Box(
0, 255, [Kuka.eye_height, Kuka.eye_width, 3], dtype=np.uint8),
self.ObsSpaces.DEPTH: gym.spaces.Box(
0, 1, [Kuka.eye_height, Kuka.eye_width], dtype=float),
self.ObsSpaces.GOAL: gym.spaces.Box(
0, 255, [Kuka.eye_height, Kuka.eye_width, 3], dtype=np.uint8)}
)
self.target = "orange"
self.object_names = dict()
self.object_bodies = dict()
self.robot_parts = {}
from robot_bases import XmlBasedRobot, MJCFBasedRobot, URDFBasedRobot