class MujocoEnv(Env):
FILE = None
@autoargs.arg('action_noise',
type=float,
help='Noise added to the controls, which will be '
'proportional to the action bounds')
def __init__(
self,
action_noise=0.0,
file_path=None,
template_args=None,
random_init_state=False,
):
#Haoran: even if random_init_state
# compile template
if file_path is None:
if self.__class__.FILE is None:
raise "Mujoco file not specified"
file_path = osp.join(MODEL_DIR, self.__class__.FILE)
if file_path.endswith(".mako"):
lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
with open(file_path) as template_file:
template = mako.template.Template(template_file.read(),
lookup=lookup)
content = template.render(
opts=template_args if template_args is not None else {}, )
tmp_f, file_path = tempfile.mkstemp(text=True)
with open(file_path, 'w') as f:
f.write(content)
self.model = MjModel(file_path)
os.close(tmp_f)
# os.remove(file_path)
# TODO
else:
self.model = MjModel(file_path)
self.data = self.model.data
self.viewer = None
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.init_damping = (self.model.dof_damping[:, 0]).copy()
self.init_armature = (self.model.dof_armature[:, 0]).copy()
self.init_frictionloss = (self.model.dof_frictionloss[:, 0]).copy()
self.qpos_dim = self.init_qpos.size
self.qvel_dim = self.init_qvel.size
self.ctrl_dim = self.init_ctrl.size
self.action_noise = action_noise
self.random_init_state = random_init_state
if "frame_skip" in self.model.numeric_names:
frame_skip_id = self.model.numeric_names.index("frame_skip")
addr = self.model.numeric_adr.flat[frame_skip_id]
self.frame_skip = int(self.model.numeric_data.flat[addr])
else:
self.frame_skip = 1
if "init_qpos" in self.model.numeric_names:
init_qpos_id = self.model.numeric_names.index("init_qpos")
addr = self.model.numeric_adr.flat[init_qpos_id]
size = self.model.numeric_size.flat[init_qpos_id]
init_qpos = self.model.numeric_data.flat[addr:addr + size]
self.init_qpos = init_qpos
self.dcom = None
self.current_com = None
self.reset()
super(MujocoEnv, self).__init__()
@property
@overrides
def action_space(self):
bounds = self.model.actuator_ctrlrange
lb = bounds[:, 0]
ub = bounds[:, 1]
return spaces.Box(lb, ub)
@property
@overrides
def observation_space(self):
shp = self.get_current_obs().shape
ub = BIG * np.ones(shp)
return spaces.Box(ub * -1, ub)
@property
def action_bounds(self):
return self.action_space.bounds
def reset_mujoco(self, init_state=None):
# init_state = (0.387, 1.137, -2.028, -1.744, 2.029, -0.873, 1.55, 0, 0)
if init_state is None:
if self.random_init_state:
self.model.data.qpos = self.init_qpos + \
np.random.normal(size=self.init_qpos.shape) * 0.01
self.model.data.qvel = self.init_qvel + \
np.random.normal(size=self.init_qvel.shape) * 0.1
else:
self.model.data.qpos = self.init_qpos
self.model.data.qvel = self.init_qvel
self.model.data.qacc = self.init_qacc
self.model.data.ctrl = self.init_ctrl
else:
start = 0
for datum_name in ["qpos", "qvel", "qacc", "ctrl"]:
datum = getattr(self.model.data, datum_name)
datum_dim = datum.shape[0]
datum = init_state[start:start + datum_dim]
if len(datum) == 0:
datum = getattr(self, 'init_' + datum_name)
setattr(self.model.data, datum_name, datum)
start += datum_dim
self.model.forward()
# print("inside mujoco reset: ", self.model.data.qpos, self.model.data.qvel, self.model.data.qacc, self.model.data.ctrl)
@overrides
def reset(self, init_state=None, *args, **kwargs):
self.reset_mujoco(init_state)
self.model.forward()
self.current_com = self.model.data.com_subtree[0]
self.dcom = np.zeros_like(self.current_com)
# print("outside mujoco reset: ", self.model.data.qpos, self.model.data.qvel, self.model.data.qacc, self.model.data.ctrl)
return self.get_current_obs()
def get_current_obs(self):
return self._get_full_obs()
def _get_full_obs(self):
data = self.model.data
cdists = np.copy(self.model.geom_margin).flat
for c in self.model.data.contact:
cdists[c.geom2] = min(cdists[c.geom2], c.dist)
obs = np.concatenate([
data.qpos.flat,
data.qvel.flat,
# data.cdof.flat,
data.cinert.flat,
data.cvel.flat,
# data.cacc.flat,
data.qfrc_actuator.flat,
data.cfrc_ext.flat,
data.qfrc_constraint.flat,
cdists,
# data.qfrc_bias.flat,
# data.qfrc_passive.flat,
self.dcom.flat,
])
return obs
@property
def _state(self):
return np.concatenate(
[self.model.data.qpos.flat, self.model.data.qvel.flat])
@property
def _full_state(self):
return np.concatenate([
self.model.data.qpos,
self.model.data.qvel,
self.model.data.qacc,
self.model.data.ctrl,
]).ravel()
def inject_action_noise(self, action):
# generate action noise
noise = self.action_noise * \
np.random.normal(size=action.shape)
# rescale the noise to make it proportional to the action bounds
lb, ub = self.action_bounds
noise = 0.5 * (ub - lb) * noise
return action + noise
def forward_dynamics(self, action):
self.model.data.ctrl = self.inject_action_noise(action)
for _ in range(self.frame_skip):
self.model.step()
self.model.forward()
new_com = self.model.data.com_subtree[0]
self.dcom = new_com - self.current_com
self.current_com = new_com
def get_viewer(self, config=None):
if self.viewer is None:
self.viewer = MjViewer()
self.viewer.start()
self.viewer.set_model(self.model)
if config is not None:
self.viewer.set_window_pose(config["xpos"], config["ypos"])
self.viewer.set_window_size(config["width"], config["height"])
self.viewer.set_window_title(config["title"])
return self.viewer
def setup_camera(self, cam_pos=None, viewer=None):
"""Setup camera
"""
if cam_pos is None:
cam_pos = self._params["cam_pos"]
if viewer is None:
viewer = self._viewer
viewer.cam.lookat[0] = cam_pos[0]
viewer.cam.lookat[1] = cam_pos[1]
viewer.cam.lookat[2] = cam_pos[2]
viewer.cam.distance = cam_pos[3]
viewer.cam.elevation = cam_pos[4]
viewer.cam.azimuth = cam_pos[5]
viewer.cam.trackbodyid = -1
def render(self, close=False, mode='human', config=None):
if mode == 'human':
viewer = self.get_viewer(config=config)
viewer.loop_once()
elif mode == 'rgb_array':
viewer = self.get_viewer(config=config)
viewer.loop_once()
# self.get_viewer(config=config).render()
data, width, height = self.get_viewer(config=config).get_image()
return np.fromstring(data,
dtype='uint8').reshape(height, width,
3)[::-1, :, :]
if close:
self.stop_viewer()
def start_viewer(self):
viewer = self.get_viewer()
if not viewer.running:
viewer.start()
def stop_viewer(self):
if self.viewer:
self.viewer.finish()
self.viewer = None
def release(self):
# temporarily alleviate the issue (but still some leak)
from rllab.mujoco_py.mjlib import mjlib
mjlib.mj_deleteModel(self.model._wrapped)
mjlib.mj_deleteData(self.data._wrapped)
def get_body_xmat(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.data.xmat[idx].reshape((3, 3))
def get_body_com(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.data.com_subtree[idx]
def get_body_comvel(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.body_comvels[idx]
def print_stats(self):
super(MujocoEnv, self).print_stats()
print("qpos dim:\t%d" % len(self.model.data.qpos))
def action_from_key(self, key):
raise NotImplementedError
def set_state_tmp(self, state, restore=True):
if restore:
prev_pos = self.model.data.qpos
prev_qvel = self.model.data.qvel
prev_ctrl = self.model.data.ctrl
prev_act = self.model.data.act
qpos, qvel = self.decode_state(state)
self.model.data.qpos = qpos
self.model.data.qvel = qvel
self.model.forward()
yield
if restore:
self.model.data.qpos = prev_pos
self.model.data.qvel = prev_qvel
self.model.data.ctrl = prev_ctrl
self.model.data.act = prev_act
self.model.forward()
def get_param_values(self):
return {}
def set_param_values(self, values):
pass
class MujocoEnv(Env):
FILE = None
@autoargs.arg('action_noise', type=float,
help='Noise added to the controls, which will be '
'proportional to the action bounds')
def __init__(self, action_noise=0.0, file_path=None, template_args=None):
# compile template
if file_path is None:
if self.__class__.FILE is None:
raise "Mujoco file not specified"
file_path = osp.join(MODEL_DIR, self.__class__.FILE)
if file_path.endswith(".mako"):
lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
with open(file_path) as template_file:
template = mako.template.Template(
template_file.read(), lookup=lookup)
content = template.render(
opts=template_args if template_args is not None else {},
)
tmp_f, file_path = tempfile.mkstemp(text=True)
with open(file_path, 'w') as f:
f.write(content)
self.model = MjModel(file_path)
os.close(tmp_f)
else:
self.model = MjModel(file_path)
self.data = self.model.data
self.viewer = None
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.qpos_dim = self.init_qpos.size
self.qvel_dim = self.init_qvel.size
self.ctrl_dim = self.init_ctrl.size
self.action_noise = action_noise
if "frame_skip" in self.model.numeric_names:
frame_skip_id = self.model.numeric_names.index("frame_skip")
addr = self.model.numeric_adr.flat[frame_skip_id]
self.frame_skip = int(self.model.numeric_data.flat[addr])
else:
self.frame_skip = 1
if "init_qpos" in self.model.numeric_names:
init_qpos_id = self.model.numeric_names.index("init_qpos")
addr = self.model.numeric_adr.flat[init_qpos_id]
size = self.model.numeric_size.flat[init_qpos_id]
init_qpos = self.model.numeric_data.flat[addr:addr + size]
self.init_qpos = init_qpos
self.dcom = None
self.current_com = None
self.reset()
super(MujocoEnv, self).__init__()
@property
@overrides
def action_space(self):
bounds = self.model.actuator_ctrlrange
lb = bounds[:, 0]
ub = bounds[:, 1]
return spaces.Box(lb, ub)
@property
@overrides
def observation_space(self):
shp = self.get_current_obs().shape
ub = BIG * np.ones(shp)
return spaces.Box(ub * -1, ub)
@property
def action_bounds(self):
return self.action_space.bounds
def reset_mujoco(self, init_state=None):
if init_state is None:
self.model.data.qpos = self.init_qpos + \
np.random.normal(size=self.init_qpos.shape) * 0.01
self.model.data.qvel = self.init_qvel + \
np.random.normal(size=self.init_qvel.shape) * 0.1
self.model.data.qacc = self.init_qacc
self.model.data.ctrl = self.init_ctrl
else:
start = 0
for datum_name in ["qpos", "qvel", "qacc", "ctrl"]:
datum = getattr(self.model.data, datum_name)
datum_dim = datum.shape[0]
datum = init_state[start: start + datum_dim]
setattr(self.model.data, datum_name, datum)
start += datum_dim
@overrides
def reset(self, init_state=None):
self.reset_mujoco(init_state)
self.model.forward()
self.current_com = self.model.data.com_subtree[0]
self.dcom = np.zeros_like(self.current_com)
return self.get_current_obs()
def get_current_obs(self):
return self._get_full_obs()
def _get_full_obs(self):
data = self.model.data
cdists = np.copy(self.model.geom_margin).flat
for c in self.model.data.contact:
cdists[c.geom2] = min(cdists[c.geom2], c.dist)
obs = np.concatenate([
data.qpos.flat,
data.qvel.flat,
# data.cdof.flat,
data.cinert.flat,
data.cvel.flat,
# data.cacc.flat,
data.qfrc_actuator.flat,
data.cfrc_ext.flat,
data.qfrc_constraint.flat,
cdists,
# data.qfrc_bias.flat,
# data.qfrc_passive.flat,
self.dcom.flat,
])
return obs
@property
def _state(self):
return np.concatenate([
self.model.data.qpos.flat,
self.model.data.qvel.flat
])
@property
def _full_state(self):
return np.concatenate([
self.model.data.qpos,
self.model.data.qvel,
self.model.data.qacc,
self.model.data.ctrl,
]).ravel()
def inject_action_noise(self, action):
# generate action noise
noise = self.action_noise * \
np.random.normal(size=action.shape)
# rescale the noise to make it proportional to the action bounds
lb, ub = self.action_bounds
noise = 0.5 * (ub - lb) * noise
return action + noise
def forward_dynamics(self, action):
self.model.data.ctrl = self.inject_action_noise(action)
for _ in range(self.frame_skip):
self.model.step()
self.model.forward()
new_com = self.model.data.com_subtree[0]
self.dcom = new_com - self.current_com
self.current_com = new_com
def get_viewer(self):
if self.viewer is None:
self.viewer = MjViewer()
self.viewer.start()
self.viewer.set_model(self.model)
return self.viewer
def render(self):
viewer = self.get_viewer()
viewer.loop_once()
def start_viewer(self):
viewer = self.get_viewer()
if not viewer.running:
viewer.start()
def stop_viewer(self):
if self.viewer:
self.viewer.finish()
def release(self):
# temporarily alleviate the issue (but still some leak)
from rllab.mujoco_py.mjlib import mjlib
mjlib.mj_deleteModel(self.model._wrapped)
mjlib.mj_deleteData(self.data._wrapped)
def get_body_xmat(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.data.xmat[idx].reshape((3, 3))
def get_body_com(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.data.com_subtree[idx]
def get_body_comvel(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.body_comvels[idx]
def print_stats(self):
super(MujocoEnv, self).print_stats()
print("qpos dim:\t%d" % len(self.model.data.qpos))
def action_from_key(self, key):
raise NotImplementedError
class MujocoEnv(Env):
FILE = None
@autoargs.arg('action_noise', type=float,
help='Noise added to the controls, which will be '
'proportional to the action bounds')
def __init__(self, action_noise=0.0, file_path=None, template_args=None):
# compile template
if file_path is None:
if self.__class__.FILE is None:
raise "Mujoco file not specified"
file_path = osp.join(MODEL_DIR, self.__class__.FILE)
if file_path.endswith(".mako"):
lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
with open(file_path) as template_file:
template = mako.template.Template(
template_file.read(), lookup=lookup)
content = template.render(
opts=template_args if template_args is not None else {},
)
tmp_f, file_path = tempfile.mkstemp(text=True)
with open(file_path, 'w') as f:
f.write(content)
self.model = MjModel(file_path)
os.close(tmp_f)
else:
self.model = MjModel(file_path)
self.data = self.model.data
self.viewer = None
self.init_qpos = self.model.data.qpos
self.init_qvel = self.model.data.qvel
self.init_qacc = self.model.data.qacc
self.init_ctrl = self.model.data.ctrl
self.qpos_dim = self.init_qpos.size
self.qvel_dim = self.init_qvel.size
self.ctrl_dim = self.init_ctrl.size
self.action_noise = action_noise
if "frame_skip" in self.model.numeric_names:
frame_skip_id = self.model.numeric_names.index("frame_skip")
addr = self.model.numeric_adr.flat[frame_skip_id]
self.frame_skip = int(self.model.numeric_data.flat[addr])
else:
self.frame_skip = 1
if "init_qpos" in self.model.numeric_names:
init_qpos_id = self.model.numeric_names.index("init_qpos")
addr = self.model.numeric_adr.flat[init_qpos_id]
size = self.model.numeric_size.flat[init_qpos_id]
init_qpos = self.model.numeric_data.flat[addr:addr + size]
self.init_qpos = init_qpos
self.dcom = None
self.current_com = None
self.reset()
super(MujocoEnv, self).__init__()
@property
@overrides
def action_space(self):
bounds = self.model.actuator_ctrlrange
lb = bounds[:, 0]
ub = bounds[:, 1]
return spaces.Box(lb, ub)
@property
@overrides
def observation_space(self):
shp = self.get_current_obs().shape
ub = BIG * np.ones(shp)
return spaces.Box(ub * -1, ub)
@property
def action_bounds(self):
return self.action_space.bounds
def reset_mujoco(self):
self.model.data.qpos = self.init_qpos + \
np.random.normal(size=self.init_qpos.shape) * 0.01
self.model.data.qvel = self.init_qvel + \
np.random.normal(size=self.init_qvel.shape) * 0.1
self.model.data.qacc = self.init_qacc
self.model.data.ctrl = self.init_ctrl
@overrides
def reset(self):
self.reset_mujoco()
self.model.forward()
self.current_com = self.model.data.com_subtree[0]
self.dcom = np.zeros_like(self.current_com)
return self.get_current_obs()
def get_current_obs(self):
return self._get_full_obs()
def _get_full_obs(self):
data = self.model.data
cdists = np.copy(self.model.geom_margin).flat
for c in self.model.data.contact:
cdists[c.geom2] = min(cdists[c.geom2], c.dist)
obs = np.concatenate([
data.qpos.flat,
data.qvel.flat,
# data.cdof.flat,
data.cinert.flat,
data.cvel.flat,
# data.cacc.flat,
data.qfrc_actuator.flat,
data.cfrc_ext.flat,
data.qfrc_constraint.flat,
cdists,
# data.qfrc_bias.flat,
# data.qfrc_passive.flat,
self.dcom.flat,
])
return obs
@property
def _state(self):
return np.concatenate([
self.model.data.qpos.flat,
self.model.data.qvel.flat
])
def inject_action_noise(self, action):
# generate action noise
noise = self.action_noise * \
np.random.normal(size=action.shape)
# rescale the noise to make it proportional to the action bounds
lb, ub = self.action_bounds
noise = 0.5 * (ub - lb) * noise
return action + noise
def forward_dynamics(self, action):
self.model.data.ctrl = self.inject_action_noise(action)
for _ in range(self.frame_skip):
self.model.step()
self.model.forward()
new_com = self.model.data.com_subtree[0]
self.dcom = new_com - self.current_com
self.current_com = new_com
def get_viewer(self):
if self.viewer is None:
self.viewer = MjViewer()
self.viewer.start()
self.viewer.set_model(self.model)
return self.viewer
def render(self):
viewer = self.get_viewer()
viewer.loop_once()
def start_viewer(self):
viewer = self.get_viewer()
if not viewer.running:
viewer.start()
def stop_viewer(self):
if self.viewer:
self.viewer.finish()
def release(self):
# temporarily alleviate the issue (but still some leak)
from rllab.mujoco_py.mjlib import mjlib
mjlib.mj_deleteModel(self.model._wrapped)
mjlib.mj_deleteData(self.data._wrapped)
def get_body_xmat(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.data.xmat[idx].reshape((3, 3))
def get_body_com(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.data.com_subtree[idx]
def get_body_comvel(self, body_name):
idx = self.model.body_names.index(body_name)
return self.model.body_comvels[idx]
def print_stats(self):
super(MujocoEnv, self).print_stats()
print "qpos dim:\t%d" % len(self.model.data.qpos)
def action_from_key(self, key):
raise NotImplementedError