def __init__(self, xml):
WalkerBase.__init__(self,
xml,
"torso",
action_dim=8,
obs_dim=28,
power=2.5)
def _robo_init(self, model_xml, robot_name, action_dim, obs_dim):
WalkerBase.__init__(self,
model_xml,
robot_name,
action_dim,
obs_dim,
power=0.40)
def __init__(self, xml, param, env, powercoeffs=[1., 1., 1.]):
self.step_num = 0
self.env = env
self.xml = xml
self.param = param
self.powercoeffs = powercoeffs
WalkerBase.__init__(self, xml, "torso", action_dim=6, obs_dim=22, power=0.40)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
# Adjust power coefficients so that motors won't exert power that is too large or too small.
# Power that is too large will cause PyBullet to have the "fly-away" bug.
# Power that is too small won't be possible to achieve the locomotion task.
empirical_c1 = 2e4
empirical_c2 = 2e4 # the torso is especially prone to the "fly-away" bug, so this number should keep small.
# power coefficients is proportional to the volume of adjacent parts.
thigh_joint_power_coef = (self.param["volume_torso"] +
self.param["volume_thigh"]) * empirical_c1
leg_joint_power_coef = (self.param["volume_thigh"] +
self.param["volume_leg"]) * empirical_c1
foot_joint_power_coef = (self.param["volume_leg"] +
self.param["volume_foot"]) * empirical_c1
# avoid too large
torso_max_power_coef = self.param["volume_torso"] * empirical_c2
thigh_joint_power_coef = min(torso_max_power_coef,
thigh_joint_power_coef)
# set them
joint_names = ["thigh", "leg", "foot"]
joint_powers = [
thigh_joint_power_coef, leg_joint_power_coef, foot_joint_power_coef
]
for joint_name, joint_power, coef in zip(joint_names, joint_powers,
self.powercoeffs):
self.jdict[f"{joint_name}_joint"].power_coef = joint_power * coef
self.jdict[
f"{joint_name}_left_joint"].power_coef = joint_power * coef
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
self.motor_power = [100, 100, 100]
self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
self.motor_power += [100, 100, 300, 200]
self.motor_names += ["right_shoulder_x", "right_shoulder_y", "right_elbow"]
self.motor_power += [75, 75, 75]
self.motor_names += ["left_shoulder_x", "left_shoulder_y", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motor_names += ["right_ankle_y"]
self.motor_power += [200]
self.motor_names += ["left_ankle_y"]
self.motor_power += [200]
self.motors = [self.jdict[n] for n in self.motor_names]
if self.random_yaw:
yaw = self.np_random.uniform(low=-3.14, high=3.14)
position = [0, 0, 1.4]
orientation = [
0,
0,
yaw,
] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(orientation)
self.initial_z = 0.8
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.jdict["leg_joint"].set_position(self.init_pos[0] * 180 / pi)
self.jdict["thigh_joint"].set_position(self.init_pos[2] * 180 / pi)
self.jdict["leg_left_joint"].set_position(-self.init_pos[1] * 180 / pi)
self.jdict["thigh_left_joint"].set_position(self.init_pos[3] * 180 /
pi)
def __init__(self, xml, param, render=False):
self.param = param
WalkerBase.__init__(self,
xml,
"torso",
action_dim=6,
obs_dim=22,
power=0.40)
def __init__(self):
# change obs_dim from 22 to 23
WalkerBase.__init__(self,
"walker2d.xml",
"torso",
action_dim=6,
obs_dim=23,
power=0.40)
def __init__(self):
WalkerBase.__init__(
self,
"humanoid_symmetric_2.xml",
"torso",
action_dim=19,
obs_dim=44,
power=0.41,
)
def __init__(self):
WalkerBase.__init__(self,
getResourcePath() + "/Walker2d_five.xml",
"torso",
action_dim=4,
obs_dim=18,
power=0.40)
self.init_pos = [-0.86647779, -5.57969548, 4.56618282, -0.86647779]
self.init_vel = [-0.08985754, 2.59193943, -0.48066481, 1.88797459]
def __init__(self, xml, powercoeffs=[1., 1., 1.]):
self.step_num = 0
self.powercoeffs = powercoeffs
WalkerBase.__init__(self,
xml,
"torso",
action_dim=6,
obs_dim=22,
power=0.40)
def __init__(self, design=None, design_mode='24lr'): self.design_mode = design_mode self.design = design self._adapted_xml_file = tempfile.NamedTemporaryFile(delete=False, prefix='ant_', suffix='.xml') self._adapted_xml_filepath = self._adapted_xml_file.name file = self._adapted_xml_filepath self._adapted_xml_file.close() atexit.register(cleanup_func_for_tmp, self._adapted_xml_filepath) self.adapt_xml(self._adapted_xml_filepath, design) WalkerBase.__init__(self, file, "torso", action_dim=8, obs_dim=28, power=2.5)
def __init__(self, scale=1):
WalkerBase.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=30,
power=2.5)
self.walk_target_x = 0
self.walk_target_y = 0
self.SCALE = scale
def __init__(self, xml, param):
self.param = param
WalkerBase.__init__(self,
xml,
"torso",
action_dim=6,
obs_dim=22,
power=0.5)
self.height_using_knees = (
self.param["z0"] + self.param["z1"]) / 2 - self.param["z2"] + 0.1
def __init__(self):
WalkerBase.__init__(self,
"ant.xml",
"torso",
action_dim=8,
obs_dim=34,
power=2.5)
self.walk_target_x = 0
self.walk_target_y = 0
self.init_ball_pos = [0, 0, .25]
self.init_robot_pos = [0, -1.5, .5]
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
torso_length = 4
torso_width = 5
torso_max_power_coef = torso_length * torso_width * torso_width
joint_names = ["thigh", "leg", "foot"]
joint_powers = [torso_max_power_coef, 100, 30] # where is 80?
for joint_name, joint_power, coef in zip(joint_names, joint_powers,
self.powercoeffs):
self.jdict[f"{joint_name}_joint"].power_coef = joint_power * coef
self.jdict[
f"{joint_name}_left_joint"].power_coef = joint_power * coef
def __init__(self, xml, param, name, env, powercoeffs=[1., 1., 1.]):
self.step_num = 0
self.env = env
self.xml = xml
# remove private params
private_keys = []
for key in param:
if key.startswith("_"):
private_keys.append(key)
for key in private_keys:
del param[key]
self.param = param
self.name = name
self.powercoeffs = powercoeffs
self.sqrt2 = np.sqrt(2)
WalkerBase.__init__(self, xml, "torso", action_dim=8, obs_dim=28, power=2.5) # larger power? because we have larger bodies in variation. original = 2.5
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
# power coefficient should be proportional to the min possible volume of that part. (Avoid pybullet fly-away bug.)
self.jdict["thigh_joint"].power_coef = 65
self.jdict["leg_joint"].power_coef = 31
self.jdict["foot_joint"].power_coef = 18
self.jdict["thigh_left_joint"].power_coef = 65
self.jdict["leg_left_joint"].power_coef = 31
self.jdict["foot_left_joint"].power_coef = 18
# I deleted ignore_joints in mujoco xml files, so i need to place the robot at an appropriate initial place manually.
robot_id = self.objects[0] # is the robot pybullet_id
bullet_client.resetBasePositionAndOrientation(
bodyUniqueId=robot_id,
posObj=[0, 0, self.param["torso_center_height"] + 0.1],
ornObj=[0, 0, 0, 1]) # Lift the robot higher above ground
def __init__(self):
self.p = None
self.camera_width = 256
self.camera_height = 256
self.camera_channel = 3
self.gravity = -9.8
super().__init__()
# Reset the robot XML file:
total_joints = 18
WalkerBase.__init__(self,
f'{os.getcwd()}/erl/envs/xmls/humanoid_symmetric.xml',
'torso',
action_dim=total_joints,
# 10 real numbers of basic information
# each joint has 2 real numbers (position, velocity)
# WxHxC from camera image
obs_dim=10 + total_joints*2 + self.camera_width*self.camera_height*self.camera_channel,
power=0.41)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
# Robot to initial position
self.robot_body.reset_position(self.init_robot_pos)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
body_pose = self.robot_body.pose()
x, y, z = body_pose.xyz()
self._initial_z = z
def __init__(self, xml):
WalkerBase.__init__(
self, xml, "torso", action_dim=0, obs_dim=0, power=0.75
) # action_dim and obs_dim will be set automatically in function reset_spaces()
self.body_parts = None
