def _get_obs(self):
# "primary" information, either this is the visual frame or the object position and velocity
achieved_goal = self._get_achieved_goal().ravel()
if self.visual_input:
primary = self.render(mode="rgb_array",
height=VISION_WH,
width=VISION_WH)
else:
object_vel = self.sim.data.get_joint_qvel('object:joint')
primary = np.concatenate([achieved_goal, object_vel])
# get proprioceptive information (positions of joints)
robot_pos, robot_vel = manipulate.robot_get_obs(self.sim)
proprioception = np.concatenate([robot_pos, robot_vel])
# touch sensor information
if self.touch_get_obs == 'sensordata':
touch = self.sim.data.sensordata[self._touch_sensor_id]
else:
raise NotImplementedError("Only sensor data supported atm, sorry.")
return {
"observation":
np.array((primary.copy(), proprioception.copy(), touch.copy(),
self.goal.ravel().copy())),
"achieved_goal":
achieved_goal.copy(),
"desired_goal":
self.goal.ravel().copy(),
}
def _get_obs(self):
robot_qpos, robot_qvel = manipulate.robot_get_obs(self.sim)
object_qvel = self.sim.data.get_joint_qvel('object:joint')
fingertip_pos = self.sim.data.get_site_xpos('robot0:T_fftip_tip')
achieved_goal = np.concatenate(
[self._get_achieved_goal().ravel(),
fingertip_pos]) # this contains the object position + rotation
touch_values = [
] # get touch sensor readings. if there is one, set value to 1
if self.touch_get_obs == 'sensordata':
touch_values = self.sim.data.sensordata[self._touch_sensor_id]
elif self.touch_get_obs == 'boolean':
touch_values = self.sim.data.sensordata[
self._touch_sensor_id] > 0.0
elif self.touch_get_obs == 'log':
touch_values = np.log(
self.sim.data.sensordata[self._touch_sensor_id] + 1.0)
observation = np.concatenate(
[robot_qpos, fingertip_pos, touch_values, achieved_goal])
return {
'observation': observation.copy(),
'achieved_goal': achieved_goal.copy(),
'desired_goal': self.goal.ravel().copy(),
}
def _get_obs(self):
robot_qpos, robot_qvel = manipulate.robot_get_obs(self.sim)
object_qvel = self.sim.data.get_joint_qvel('object:joint')
achieved_goal = self._get_achieved_goal().ravel() # this contains the object position + rotation
touch_values = [] # get touch sensor readings. if there is one, set value to 1
if self.touch_get_obs == 'sensordata':
touch_values = self.sim.data.sensordata[self._touch_sensor_id]
elif self.touch_get_obs == 'boolean':
touch_values = self.sim.data.sensordata[self._touch_sensor_id] > 0.0
elif self.touch_get_obs == 'log':
touch_values = np.log(self.sim.data.sensordata[self._touch_sensor_id] + 1.0)
observation = np.concatenate([robot_qpos, robot_qvel, object_qvel, touch_values, achieved_goal])
return {
'observation': observation.copy(),
'achieved_goal': achieved_goal.copy(),
'desired_goal': self.goal.ravel().copy(),
}
def _get_obs(self):
# "primary" information, either this is the visual frame or the object position and velocity
achieved_goal = self._get_achieved_goal().ravel()
visual = self.render(mode="rgb_array",
height=VISION_WH,
width=VISION_WH)
# get proprioceptive information (positions of joints) and touch sensors
robot_pos, robot_vel = manipulate.robot_get_obs(self.sim)
proprioception = np.concatenate([robot_pos, robot_vel])
touch = self.sim.data.sensordata[self._touch_sensor_id]
return {
"observation":
np.array((visual.copy(), proprioception.copy(), touch.copy(),
self.goal.ravel().copy())),
"achieved_goal":
achieved_goal.copy(),
"desired_goal":
self.goal.ravel().copy(),
}
def _get_obs(self):
robot_qpos, robot_qvel = manipulate.robot_get_obs(self.sim)
object_qvel = self.sim.data.get_joint_qvel('object:joint')
achieved_goal = self._get_achieved_goal().ravel() # this contains the object position + rotation
touch_values = [] # get touch sensor readings. if there is one, set value to 1
if self.touch_get_obs == 'boolean':
for touch_sensor_id, site_id in self._touch_sensor_id_site_id:
value = 1.0 if self.sim.data.sensordata[touch_sensor_id] != 0.0 else 0.0
touch_values.append(value)
elif self.touch_get_obs == 'log':
for touch_sensor_id, site_id in self._touch_sensor_id_site_id:
value = self.sim.data.sensordata[touch_sensor_id]
touch_values.append(value)
if len(touch_values) > 0:
touch_values = np.log(np.array(touch_values) + 1.0)
observation = np.concatenate([robot_qpos, robot_qvel, object_qvel, touch_values, achieved_goal])
return {
'observation': observation.copy(),
'achieved_goal': achieved_goal.copy(),
'desired_goal': self.goal.ravel().copy(),
}
def _get_obs(self):
robot_qpos, robot_qvel = manipulate.robot_get_obs(self.sim)
object_qvel = self.sim.data.get_joint_qvel("object:joint")
achieved_goal = (self._get_achieved_goal().ravel()
) # this contains the object position + rotation
touch_values = [
] # get touch sensor readings. if there is one, set value to 1
if self.touch_get_obs == "sensordata":
touch_values = self.sim.data.sensordata[self._touch_sensor_id]
elif self.touch_get_obs == "boolean":
touch_values = self.sim.data.sensordata[
self._touch_sensor_id] > 0.0
elif self.touch_get_obs == "log":
touch_values = np.log(
self.sim.data.sensordata[self._touch_sensor_id] + 1.0)
observation = np.concatenate(
[robot_qpos, robot_qvel, object_qvel, touch_values, achieved_goal])
return {
"observation": observation.copy(),
"achieved_goal": achieved_goal.copy(),
"desired_goal": self.goal.ravel().copy(),
}