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robodesk.py
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robodesk.py
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"""Desk environment with Franka Panda arm."""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
from dm_control import mujoco
from dm_control.utils import inverse_kinematics
import gym
import numpy as np
from PIL import Image
class RoboDesk(gym.Env):
"""Multi-task manipulation environment."""
def __init__(self, task='open_slide', reward='dense', action_repeat=1,
episode_length=500, image_size=64):
assert reward in ('dense', 'sparse', 'success'), reward
model_path = os.path.join(os.path.dirname(__file__), 'assets/desk.xml')
self.physics = mujoco.Physics.from_xml_path(model_path)
self.physics_copy = self.physics.copy(share_model=True)
self.physics_copy.data.qpos[:] = self.physics.data.qpos[:]
# Robot constants
self.num_joints = 9
self.joint_bounds = self.physics.model.actuator_ctrlrange.copy()
# Environment params
self.image_size = image_size
self.action_dim = 5
self.reward = reward
self.success = None
# Action space
self.end_effector_scale = 0.01
self.wrist_scale = 0.02
self.joint_scale = 0.02
# Episode length
self.action_repeat = action_repeat
self.num_steps = 0
self.episode_length = episode_length
self.original_pos = {}
self.previous_z_angle = None
self.total_rotation = 0
# pylint: disable=g-long-lambda
self.reward_functions = {
# Core tasks
'open_slide': self._slide_reward,
'open_drawer': self._drawer_reward,
'push_green': (lambda reward_type: self._button_reward(
'green', reward_type)),
'stack': self._stack_reward,
'upright_block_off_table': (lambda reward_type: self._push_off_table(
'upright_block', reward_type)),
'flat_block_in_bin': (lambda reward_type: self._put_in_bin(
'flat_block', reward_type)),
'flat_block_in_shelf': (lambda reward_type: self._put_in_shelf(
'flat_block', reward_type)),
'lift_upright_block': (lambda reward_type: self._lift_block(
'upright_block', reward_type)),
'lift_ball': (lambda reward_type: self._lift_block(
'ball', reward_type)),
# Extra tasks
'push_blue': (lambda reward_type: self._button_reward(
'blue', reward_type)),
'push_red': (lambda reward_type: self._button_reward(
'red', reward_type)),
'flat_block_off_table': (lambda reward_type: self._push_off_table(
'flat_block', reward_type)),
'ball_off_table': (lambda reward_type: self._push_off_table(
'ball', reward_type)),
'upright_block_in_bin': (lambda reward_type: self._put_in_bin(
'upright_block', reward_type)),
'ball_in_bin': (lambda reward_type: self._put_in_bin(
'ball', reward_type)),
'upright_block_in_shelf': (lambda reward_type: self._put_in_shelf(
'upright_block', reward_type)),
'ball_in_shelf': (lambda reward_type: self._put_in_shelf(
'ball', reward_type)),
'lift_flat_block': (lambda reward_type: self._lift_block(
'flat_block', reward_type)),
}
self.core_tasks = list(self.reward_functions)[0:12]
self.all_tasks = list(self.reward_functions)
self.task = task
# pylint: enable=g-long-lambda
@property
def action_space(self):
return gym.spaces.Box(-np.ones(self.action_dim), np.ones(self.action_dim))
@property
def observation_space(self):
spaces = {
'image': gym.spaces.Box(
0, 255, (self.image_size, self.image_size, 3), np.uint8),
'qpos_robot': gym.spaces.Box(self.joint_bounds[:, 0],
self.joint_bounds[:, 1]),
'qvel_robot': gym.spaces.Box(-np.inf, np.inf, (9,), np.float32),
'end_effector': gym.spaces.Box(-np.inf, np.inf, (3,), np.float32),
'qpos_objects': gym.spaces.Box(-np.inf, np.inf, (26,), np.float32),
'qvel_objects': gym.spaces.Box(-np.inf, np.inf, (26,), np.float32)}
return gym.spaces.Dict(spaces)
def render(self, mode='rgb_array', resize=True):
params = {'distance': 1.8, 'azimuth': 90, 'elevation': -60,
'crop_box': (16.75, 25.0, 105.0, 88.75), 'size': 120}
camera = mujoco.Camera(
physics=self.physics, height=params['size'],
width=params['size'], camera_id=-1)
camera._render_camera.distance = params['distance'] # pylint: disable=protected-access
camera._render_camera.azimuth = params['azimuth'] # pylint: disable=protected-access
camera._render_camera.elevation = params['elevation'] # pylint: disable=protected-access
camera._render_camera.lookat[:] = [0, 0.535, 1.1] # pylint: disable=protected-access
image = camera.render(depth=False, segmentation=False)
camera._scene.free() # pylint: disable=protected-access
if resize:
image = Image.fromarray(image).crop(box=params['crop_box'])
image = image.resize([self.image_size, self.image_size],
resample=Image.ANTIALIAS)
image = np.asarray(image)
return image
def _ik(self, pos):
out = inverse_kinematics.qpos_from_site_pose(
self.physics_copy, 'end_effector', pos,
joint_names=('panda0_joint1', 'panda0_joint2', 'panda0_joint3',
'panda0_joint4', 'panda0_joint5', 'panda0_joint6'),
inplace=True)
return out.qpos[:]
def _action_to_delta_joint(self, unscaled_value, joint_bounds):
"""Convert actions from [-1, 1] range to joint bounds."""
joint_range = joint_bounds[1] - joint_bounds[0]
return (((unscaled_value + 1) * joint_range) / 2) + joint_bounds[0]
def _convert_action(self, full_action):
"""Converts action from [-1, 1] space to desired joint position."""
full_action = np.array(full_action)
delta_action = full_action[0:3] * self.end_effector_scale
position = (
self.physics.named.data.site_xpos['end_effector'] + delta_action)
joint = self._ik(position)
delta_wrist = self._action_to_delta_joint(full_action[3],
self.joint_bounds[6])
joint[6] = ((self.wrist_scale * delta_wrist) +
self.physics.named.data.qpos[6])
joint[6] = np.clip(joint[6], self.joint_bounds[6][0],
self.joint_bounds[6][1])
joint[7] = self._action_to_delta_joint(full_action[4],
self.joint_bounds[7])
joint[8] = joint[7]
return joint
def step(self, action):
total_reward = 0
for _ in range(self.action_repeat):
joint_position = self._convert_action(action)
for _ in range(10):
self.physics.data.ctrl[0:9] = joint_position[0:9]
# Ensure gravity compensation stays enabled.
self.physics.data.qfrc_applied[0:9] = self.physics.data.qfrc_bias[0:9]
self.physics.step()
self.physics_copy.data.qpos[:] = self.physics.data.qpos[:]
if self.reward == 'dense':
total_reward += self._get_task_reward(self.task, 'dense_reward')
elif self.reward == 'sparse':
total_reward += float(self._get_task_reward(self.task, 'success'))
elif self.reward == 'success':
if self.success:
total_reward += 0 # Only give reward once in case episode continues.
else:
self.success = self._get_task_reward(self.task, 'success')
total_reward += float(self.success)
else:
raise ValueError(self.reward)
self.num_steps += self.action_repeat
if self.episode_length and self.num_steps >= self.episode_length:
done = True
else:
done = False
return self._get_obs(), total_reward, done, {'discount': 1.0}
def _get_init_robot_pos(self):
init_joint_pose = np.array(
[-0.30, -0.4, 0.28, -2.5, 0.13, 1.87, 0.91, 0.01, 0.01])
init_joint_pose += 0.15 * np.random.uniform(
low=self.physics.model.actuator_ctrlrange[:self.num_joints, 0],
high=self.physics.model.actuator_ctrlrange[:self.num_joints, 1])
return init_joint_pose
def reset(self):
"""Resets environment."""
self.success = False
self.num_steps = 0
self.physics.reset()
# Randomize object positions.
self.physics.named.data.qpos['drawer_joint'] -= 0.10 * np.random.random()
self.physics.named.data.qpos['slide_joint'] += 0.20 * np.random.random()
self.physics.named.data.qpos['flat_block'][0] += 0.3 * np.random.random()
self.physics.named.data.qpos['flat_block'][1] += 0.07 * np.random.random()
self.physics.named.data.qpos['ball'][0] += 0.48 * np.random.random()
self.physics.named.data.qpos['ball'][1] += 0.08 * np.random.random()
self.physics.named.data.qpos['upright_block'][0] += (
0.3 * np.random.random() + 0.05)
self.physics.named.data.qpos['upright_block'][1] += (
0.05 * np.random.random())
# Set robot position.
self.physics.data.qpos[:self.num_joints] = self._get_init_robot_pos()
self.physics.data.qvel[:self.num_joints] = np.zeros(9)
# Relax object intersections.
self.physics.forward()
# Copy physics state into IK simulation.
self.physics_copy.data.qpos[:] = self.physics.data.qpos[:]
self.original_pos['ball'] = self.physics.named.data.xpos['ball']
self.original_pos['upright_block'] = self.physics.named.data.xpos[
'upright_block']
self.original_pos['flat_block'] = self.physics.named.data.xpos['flat_block']
self.drawer_opened = False
return self._get_obs()
def _did_not_move(self, block_name):
current_pos = self.physics.named.data.xpos[block_name]
dist = np.linalg.norm(current_pos - self.original_pos[block_name])
return dist < 0.01
def _total_movement(self, block_name, max_dist=5.0):
current_pos = self.physics.named.data.xpos[block_name]
dist = np.linalg.norm(current_pos - self.original_pos[block_name])
return dist / max_dist
def _get_dist_reward(self, object_pos, max_dist=1.0):
eepos = self.physics.named.data.site_xpos['end_effector']
dist = np.linalg.norm(eepos - object_pos)
reward = 1 - (dist / max_dist)
return max(0, min(1, reward))
def _slide_reward(self, reward_type='dense_reward'):
blocks = ['flat_block', 'upright_block', 'ball']
if reward_type == 'dense_reward':
door_pos = self.physics.named.data.qpos['slide_joint'][0] / 0.6
target_pos = (self.physics.named.data.site_xpos['slide_handle'] -
np.array([0.15, 0, 0]))
dist_reward = self._get_dist_reward(target_pos)
did_not_move_reward = (0.33 * self._did_not_move(blocks[0]) +
0.33 * self._did_not_move(blocks[1]) +
0.34 * self._did_not_move(blocks[2]))
task_reward = (0.75 * door_pos) + (0.25 * dist_reward)
return (0.9 * task_reward) + (0.1 * did_not_move_reward)
elif reward_type == 'success':
return 1 * (self.physics.named.data.qpos['slide_joint'] > 0.55)
def _drawer_reward(self, reward_type='dense_reward'):
if reward_type == 'dense_reward':
drawer_pos = abs(self.physics.named.data.qpos['drawer_joint'][0]) / 0.3
dist_reward = self._get_dist_reward(
self.physics.named.data.geom_xpos['drawer_handle'])
return (0.75 * drawer_pos) + (0.25 * dist_reward)
elif reward_type == 'success':
return 1 * (self.physics.named.data.qpos['drawer_joint'] < -0.2)
def _button_reward(self, color, reward_type='dense_reward'):
press_button = (
self.physics.named.data.qpos[color + '_light'][0] < -0.00453)
if reward_type == 'dense_reward':
dist_reward = self._get_dist_reward(
self.physics.named.data.xpos[color + '_button'])
return (0.25 * press_button) + (0.75 * dist_reward)
elif reward_type == 'success':
return 1.0 * press_button
def _stack_reward(self, reward_type='dense_reward'):
target_offset = [0, 0, 0.0377804]
current_offset = (self.physics.named.data.xpos['upright_block'] -
self.physics.named.data.xpos['flat_block'])
offset_difference = np.linalg.norm(target_offset - current_offset)
dist_reward = self._get_dist_reward(
self.physics.named.data.xpos['upright_block'])
if reward_type == 'dense_reward':
return -offset_difference + dist_reward
elif reward_type == 'success':
return offset_difference < 0.04
def _push_off_table(self, block_name, reward_type='dense_reward'):
blocks = ['flat_block', 'upright_block', 'ball']
blocks.remove(block_name)
if reward_type == 'dense_reward':
block_pushed = (1 - (self.physics.named.data.xpos[block_name][2] /
self.original_pos[block_name][2]))
block_0_stay_put = (1 - self._total_movement(blocks[0]))
block_1_stay_put = (1 - self._total_movement(blocks[1]))
reward = ((0.8 * block_pushed) + (0.1 * block_0_stay_put) +
(0.1 * block_1_stay_put))
reward = max(0, min(1, reward))
dist_reward = self._get_dist_reward(
self.physics.named.data.xpos[block_name])
return (0.75 * reward) + (0.25 * dist_reward)
elif reward_type == 'success':
return 1 * ((self.physics.named.data.qpos[block_name][2] < 0.6) and
self._did_not_move(blocks[0]) and
self._did_not_move(blocks[1]))
def _put_in_bin(self, block_name, reward_type='dense_reward'):
pos = self.physics.named.data.xpos[block_name]
success = (pos[0] > 0.28) and (pos[0] < 0.52) and (pos[1] > 0.38) and (
pos[1] < 0.62) and (pos[2] > 0) and (pos[2] < 0.4)
if reward_type == 'dense_reward':
dist_reward = self._get_dist_reward(
self.physics.named.data.xpos[block_name])
return (0.5 * dist_reward) + (0.5 * float(success))
elif reward_type == 'success':
return 1 * success
def _put_in_shelf(self, block_name, reward_type='dense_reward'):
x_success = (self.physics.named.data.xpos[block_name][0] > 0.2)
y_success = (self.physics.named.data.xpos[block_name][1] > 1.0)
success = x_success and y_success
blocks = ['flat_block', 'upright_block', 'ball']
blocks.remove(block_name)
if reward_type == 'dense_reward':
target_x_y = np.array([0.4, 1.1])
block_dist_reward = 1 - (np.linalg.norm(
target_x_y - self.physics.named.data.xpos[block_name][0:2]))
dist_reward = self._get_dist_reward(
self.physics.named.data.xpos[block_name])
block_0_stay_put = (1 - self._total_movement(blocks[0]))
block_1_stay_put = (1 - self._total_movement(blocks[1]))
block_in_shelf = ((0.33 * dist_reward) + (0.33 * block_dist_reward) +
(0.34 * float(success)))
reward = ((0.5 * block_in_shelf) + (0.25 * block_0_stay_put) +
(0.25 * block_1_stay_put))
return reward
elif reward_type == 'success':
return 1 * success
def _lift_block(self, block_name, reward_type='dense_reward'):
if reward_type == 'dense_reward':
dist_reward = self._get_dist_reward(
self.physics.named.data.xpos[block_name])
block_reward = (self.physics.named.data.xpos[block_name][2] -
self.original_pos[block_name][2]) * 10
block_reward = max(0, min(1, block_reward))
return (0.85 * block_reward) + (0.15 * dist_reward)
elif reward_type == 'success':
success_criteria = {'upright_block': 0.86, 'ball': 0.81,
'flat_block': 0.78}
threshold = success_criteria[block_name]
return 1 * (self.physics.named.data.xpos[block_name][2] > threshold)
def _get_task_reward(self, task, reward_type):
reward = self.reward_functions[task](reward_type)
reward = max(0, min(1, reward))
return reward
def _get_obs(self):
return {'image': self.render(resize=True),
'qpos_robot': self.physics.data.qpos[:self.num_joints].copy(),
'qvel_robot': self.physics.data.qvel[:self.num_joints].copy(),
'end_effector': self.physics.named.data.site_xpos['end_effector'],
'qpos_objects': self.physics.data.qvel[self.num_joints:].copy(),
'qvel_objects': self.physics.data.qvel[self.num_joints:].copy()}