def __init__(
self, arena, arm, hand, prop, obs_settings, workspace, control_timestep):
"""Initializes a new `Reach` task.
Args:
arena: `composer.Entity` instance.
arm: `robot_base.RobotArm` instance.
hand: `robot_base.RobotHand` instance.
prop: `composer.Entity` instance specifying the prop to reach to, or None
in which case the target is a fixed site whose position is specified by
the workspace.
obs_settings: `observations.ObservationSettings` instance.
workspace: `_ReachWorkspace` specifying the placement of the prop and TCP.
control_timestep: Float specifying the control timestep in seconds.
"""
self._arena = arena
self._arm = arm
self._hand = hand
self._arm.attach(self._hand)
self._arena.attach_offset(self._arm, offset=workspace.arm_offset)
self.control_timestep = control_timestep
self._tcp_initializer = initializers.ToolCenterPointInitializer(
self._hand, self._arm,
position=distributions.Uniform(*workspace.tcp_bbox),
quaternion=workspaces.DOWN_QUATERNION)
# Add custom camera observable.
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE)
target_pos_distribution = distributions.Uniform(*workspace.target_bbox)
self._prop = prop
if prop:
# The prop itself is used to visualize the target location.
self._make_target_site(parent_entity=prop, visible=False)
self._target = self._arena.add_free_entity(prop)
self._prop_placer = initializers.PropPlacer(
props=[prop],
position=target_pos_distribution,
quaternion=workspaces.uniform_z_rotation,
settle_physics=True)
else:
self._target = self._make_target_site(parent_entity=arena, visible=True)
self._target_placer = target_pos_distribution
obs = observable.MJCFFeature('pos', self._target)
obs.configure(**obs_settings.prop_pose._asdict())
self._task_observables['target_position'] = obs
# Add sites for visualizing the prop and target bounding boxes.
workspaces.add_bbox_site(
body=self.root_entity.mjcf_model.worldbody,
lower=workspace.tcp_bbox.lower, upper=workspace.tcp_bbox.upper,
rgba=constants.GREEN, name='tcp_spawn_area')
workspaces.add_bbox_site(
body=self.root_entity.mjcf_model.worldbody,
lower=workspace.target_bbox.lower, upper=workspace.target_bbox.upper,
rgba=constants.BLUE, name='target_spawn_area')
def __init__(self, arena, arm, hand, prop, obs_settings, workspace,
control_timestep):
"""Initializes a new `Lift` task.
Args:
arena: `composer.Entity` instance.
arm: `robot_base.RobotArm` instance.
hand: `robot_base.RobotHand` instance.
prop: `composer.Entity` instance.
obs_settings: `observations.ObservationSettings` instance.
workspace: `_LiftWorkspace` specifying the placement of the prop and TCP.
control_timestep: Float specifying the control timestep in seconds.
"""
self._arena = arena
self._arm = arm
self._hand = hand
self._arm.attach(self._hand)
self._arena.attach_offset(self._arm, offset=workspace.arm_offset)
self.control_timestep = control_timestep
# Add custom camera observable.
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE)
self._tcp_initializer = initializers.ToolCenterPointInitializer(
self._hand,
self._arm,
position=distributions.Uniform(*workspace.tcp_bbox),
quaternion=workspaces.DOWN_QUATERNION)
self._prop = prop
self._arena.add_free_entity(prop)
self._prop_placer = initializers.PropPlacer(
props=[prop],
position=distributions.Uniform(*workspace.prop_bbox),
quaternion=workspaces.uniform_z_rotation,
ignore_collisions=True,
settle_physics=True)
# Add sites for visualizing bounding boxes and target height.
self._target_height_site = workspaces.add_bbox_site(
body=self.root_entity.mjcf_model.worldbody,
lower=(-1, -1, 0),
upper=(1, 1, 0),
rgba=constants.RED,
name='target_height')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.tcp_bbox.lower,
upper=workspace.tcp_bbox.upper,
rgba=constants.GREEN,
name='tcp_spawn_area')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.prop_bbox.lower,
upper=workspace.prop_bbox.upper,
rgba=constants.BLUE,
name='prop_spawn_area')
def __init__(self, arena, arm, hand, num_bricks, obs_settings, workspace,
control_timestep):
if not 2 <= num_bricks <= 6:
raise ValueError(
'`num_bricks` must be between 2 and 6, got {}.'.format(
num_bricks))
if num_bricks > 3:
# The default values computed by MuJoCo's compiler are too small if there
# are more than three stacked bricks, since each stacked pair generates
# a large number of contacts. The values below are sufficient for up to
# 6 stacked bricks.
# TODO(b/78331644): It may be useful to log the size of `physics.model`
# and `physics.data` after compilation to gauge the
# impact of these changes on MuJoCo's memory footprint.
arena.mjcf_model.size.nconmax = 400
arena.mjcf_model.size.njmax = 1200
self._arena = arena
self._arm = arm
self._hand = hand
self._arm.attach(self._hand)
self._arena.attach_offset(self._arm, offset=workspace.arm_offset)
self.control_timestep = control_timestep
# Add custom camera observable.
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE)
color_sequence = iter(_COLOR_VALUES)
brick_obs_options = observations.make_options(
obs_settings, observations.FREEPROP_OBSERVABLES)
bricks = []
brick_frames = []
goal_hint_bricks = []
for _ in range(num_bricks):
color = next(color_sequence)
brick = props.Duplo(color=color,
observable_options=brick_obs_options)
brick_frames.append(arena.add_free_entity(brick))
bricks.append(brick)
# Translucent, contactless brick with no observables. These are used to
# provide a visual hint representing the goal state for each task.
hint_brick = props.Duplo(color=color)
_hintify(hint_brick, alpha=_HINT_ALPHA)
arena.attach(hint_brick)
goal_hint_bricks.append(hint_brick)
self._bricks = bricks
self._brick_frames = brick_frames
self._goal_hint_bricks = goal_hint_bricks
# Position and quaternion for the goal hint.
self._goal_hint_pos = workspace.goal_hint_pos
self._goal_hint_quat = workspace.goal_hint_quat
self._tcp_initializer = initializers.ToolCenterPointInitializer(
self._hand,
self._arm,
position=distributions.Uniform(*workspace.tcp_bbox),
quaternion=workspaces.DOWN_QUATERNION)
# Add sites for visual debugging.
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.tcp_bbox.lower,
upper=workspace.tcp_bbox.upper,
rgba=constants.GREEN,
name='tcp_spawn_area')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.prop_bbox.lower,
upper=workspace.prop_bbox.upper,
rgba=constants.BLUE,
name='prop_spawn_area')
def __init__(self, arena, arm, hand, prop, obs_settings, workspace,
control_timestep, table_col_tag):
"""Initializes a new `Reach` task.
Args:
arena: `composer.Entity` instance.
arm: `robot_base.RobotArm` instance.
hand: `robot_base.RobotHand` instance.
prop: `composer.Entity` instance specifying the prop to reach to, or None
in which case the target is a fixed site whose position is specified by
the workspace.
obs_settings: `observations.ObservationSettings` instance.
workspace: `_ReachWorkspace` specifying the placement of the prop and TCP.
control_timestep: Float specifying the control timestep in seconds.
"""
self._arena = arena
self._arm = arm
self._hand = hand
self._arm.attach(self._hand)
self._arena.attach_offset(self._arm, offset=workspace.arm_offset)
self.control_timestep = control_timestep
self._tcp_initializer = initializers.ToolCenterPointInitializer(
self._hand,
self._arm,
position=distributions.Uniform(*workspace.tcp_bbox),
quaternion=workspaces.DOWN_QUATERNION)
# Add custom camera observable.
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_FAR)
target_pos_distribution = distributions.Uniform(*workspace.target_bbox)
self._prop = prop
if prop:
# The prop itself is used to visualize the target location.
self._make_target_site(parent_entity=prop, visible=False)
self._target = self._arena.add_free_entity(prop)
self._prop_placer = initializers.PropPlacer(
props=[prop],
position=target_pos_distribution,
quaternion=workspaces.uniform_z_rotation,
settle_physics=True)
else:
self._target = self._make_target_site(parent_entity=arena,
visible=True)
self._target_placer = target_pos_distribution
obs = observable.MJCFFeature('pos', self._target)
obs.configure(**obs_settings.prop_pose._asdict())
self._task_observables['target_position'] = obs
# Randomize the table surface
if table_col_tag == 0:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/robot_bw")
elif table_col_tag == 1:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/robot_bw")
elif table_col_tag == 2:
self.root_entity.mjcf_model.worldbody.add(
'geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/real_desk")
# Blue stary sky
self.root_entity.mjcf_model.asset.texture[0].mark = 'random'
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[.4, .6, .8])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
# How to remove the checkerboard groundplane ?
# For now this somehow sets it to a white plane!
self.root_entity.mjcf_model.asset.texture[1].width = 1
self.root_entity.mjcf_model.asset.texture[1].height = 1
# Add sites for visualizing the prop and target bounding boxes.
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.tcp_bbox.lower,
upper=workspace.tcp_bbox.upper,
rgba=constants.GREEN,
name='tcp_spawn_area')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.target_bbox.lower,
upper=workspace.target_bbox.upper,
rgba=constants.BLUE,
name='target_spawn_area')
def __init__(self, arena, arm, hand, prop, obs_settings, workspace,
control_timestep, table_col_tag, sky_col_tag):
"""Initializes a new `Reach` task.
Args:
arena: `composer.Entity` instance.
arm: `robot_base.RobotArm` instance.
hand: `robot_base.RobotHand` instance.
prop: `composer.Entity` instance specifying the prop to reach to, or None
in which case the target is a fixed site whose position is specified by
the workspace.
obs_settings: `observations.ObservationSettings` instance.
workspace: `_ReachWorkspace` specifying the placement of the prop and TCP.
control_timestep: Float specifying the control timestep in seconds.
"""
self._arena = arena
self._arm = arm
self._hand = hand
self._arm.attach(self._hand)
self._arena.attach_offset(self._arm, offset=workspace.arm_offset)
self.control_timestep = control_timestep
self._tcp_initializer = initializers.ToolCenterPointInitializer(
self._hand,
self._arm,
position=distributions.Uniform(*workspace.tcp_bbox),
quaternion=workspaces.DOWN_QUATERNION)
# Add custom camera observable.
# Randomize camera viewing angle during training
# Experimental
randomize_cam = False
if randomize_cam:
camera_angle = random.choice([0, 1, 2, 3])
if camera_angle == 0:
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_FAR)
elif camera_angle == 1:
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE)
elif camera_angle == 2:
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE_TILT_UP)
elif camera_angle == 3:
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE_TILT_DOWN)
else:
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_FAR)
target_pos_distribution = distributions.Uniform(*workspace.target_bbox)
self._prop = prop
if prop:
# The prop itself is used to visualize the target location.
self._make_target_site(parent_entity=prop, visible=False)
self._target = self._arena.add_free_entity(prop)
self._prop_placer = initializers.PropPlacer(
props=[prop],
position=target_pos_distribution,
quaternion=workspaces.uniform_z_rotation,
settle_physics=True)
else:
self._target = self._make_target_site(parent_entity=arena,
visible=True)
self._target_placer = target_pos_distribution
obs = observable.MJCFFeature('pos', self._target)
obs.configure(**obs_settings.prop_pose._asdict())
self._task_observables['target_position'] = obs
# Randomize the table surface
if table_col_tag == 0:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/darkwood")
elif table_col_tag == 1:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/marble")
elif table_col_tag == 2:
self.root_entity.mjcf_model.worldbody.add(
'geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/navy_blue")
elif table_col_tag == 3:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/tennis")
elif table_col_tag == 4:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/wood")
elif table_col_tag == 5:
self.root_entity.mjcf_model.worldbody.add(
'geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/wood_light")
elif table_col_tag == 6:
self.root_entity.mjcf_model.worldbody.add(
'geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/light_wood_v2")
elif table_col_tag == 7:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/metal")
elif table_col_tag == 8:
self.root_entity.mjcf_model.worldbody.add('geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/grass")
elif table_col_tag == 9:
self.root_entity.mjcf_model.worldbody.add(
'geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/blue_cloud")
elif table_col_tag == 10:
self.root_entity.mjcf_model.worldbody.add(
'geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/marble_v2")
elif table_col_tag == 11:
self.root_entity.mjcf_model.worldbody.add(
'geom',
type='plane',
pos="0 0 0.01",
size="0.6 0.6 0.5",
rgba=".6 .6 .5 1",
contype="1",
conaffinity="1",
friction="2 0.1 0.002",
material="j2s7/wood_gray")
# Sky change of colour
if sky_col_tag == 1:
# Red stary sky
self.root_entity.mjcf_model.asset.texture[0].mark = 'random'
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[.8, .1, .4])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
elif sky_col_tag == 2:
# Orange stary sky
self.root_entity.mjcf_model.asset.texture[0].mark = 'random'
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[.8, .5, .1])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
elif sky_col_tag == 3:
# Yellow stary sky
self.root_entity.mjcf_model.asset.texture[0].mark = 'random'
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[1, 1, .4])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
elif sky_col_tag == 4:
# Pink stary sky
self.root_entity.mjcf_model.asset.texture[0].mark = 'random'
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[1, .5, 1])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
elif sky_col_tag == 5:
# Amber stary sky
self.root_entity.mjcf_model.asset.texture[0].mark = 'random'
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[1, .6, .4])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
elif sky_col_tag == 6:
# White stary sky
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[1., 1., 1.])
self.root_entity.mjcf_model.asset.texture[0].rgb2 = np.array(
[1., 1., 1.])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
elif sky_col_tag == 7:
# Black stary sky
self.root_entity.mjcf_model.asset.texture[0].rgb1 = np.array(
[0, 0, 0])
self.root_entity.mjcf_model.asset.texture[0].width = 800
self.root_entity.mjcf_model.asset.texture[0].height = 800
elif sky_col_tag == 8:
# Leave the checkerboard
self.root_entity.mjcf_model.asset.texture[1].width = 1
self.root_entity.mjcf_model.asset.texture[1].height = 1
# TODO: Remove the checkerboard groundplane
# For now this somehow sets it to a white plane!
self.root_entity.mjcf_model.asset.texture[1].width = 1
self.root_entity.mjcf_model.asset.texture[1].height = 1
# Add sites for visualizing the prop and target bounding boxes.
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.tcp_bbox.lower,
upper=workspace.tcp_bbox.upper,
rgba=constants.GREEN,
name='tcp_spawn_area')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.target_bbox.lower,
upper=workspace.target_bbox.upper,
rgba=constants.BLUE,
name='target_spawn_area')
def __init__(self, arena, arm, hand, prop, obs_settings, workspace,
control_timestep, cradle):
"""Initializes a new `Place` task.
Args:
arena: `composer.Entity` instance.
arm: `robot_base.RobotArm` instance.
hand: `robot_base.RobotHand` instance.
prop: `composer.Entity` instance.
obs_settings: `observations.ObservationSettings` instance.
workspace: A `_PlaceWorkspace` instance.
control_timestep: Float specifying the control timestep in seconds.
cradle: `composer.Entity` onto which the `prop` must be placed.
"""
self._arena = arena
self._arm = arm
self._hand = hand
self._arm.attach(self._hand)
self._arena.attach_offset(self._arm, offset=workspace.arm_offset)
self.control_timestep = control_timestep
# Add custom camera observable.
self._task_observables = cameras.add_camera_observables(
arena, obs_settings, cameras.FRONT_CLOSE)
self._tcp_initializer = initializers.ToolCenterPointInitializer(
self._hand,
self._arm,
position=distributions.Uniform(*workspace.tcp_bbox),
quaternion=workspaces.DOWN_QUATERNION)
self._prop = prop
self._prop_frame = self._arena.add_free_entity(prop)
self._pedestal = Pedestal(cradle=cradle, target_radius=_TARGET_RADIUS)
self._arena.attach(self._pedestal)
for obs in six.itervalues(self._pedestal.observables.as_dict()):
obs.configure(**obs_settings.prop_pose._asdict())
self._prop_placer = initializers.PropPlacer(
props=[prop],
position=distributions.Uniform(*workspace.prop_bbox),
quaternion=workspaces.uniform_z_rotation,
settle_physics=True,
max_attempts_per_prop=50)
self._pedestal_placer = initializers.PropPlacer(
props=[self._pedestal],
position=distributions.Uniform(*workspace.target_bbox),
settle_physics=False)
# Add sites for visual debugging.
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.tcp_bbox.lower,
upper=workspace.tcp_bbox.upper,
rgba=constants.GREEN,
name='tcp_spawn_area')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.prop_bbox.lower,
upper=workspace.prop_bbox.upper,
rgba=constants.BLUE,
name='prop_spawn_area')
workspaces.add_bbox_site(body=self.root_entity.mjcf_model.worldbody,
lower=workspace.target_bbox.lower,
upper=workspace.target_bbox.upper,
rgba=constants.CYAN,
name='pedestal_spawn_area')