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https://github.com/bulletphysics/bullet3
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198 lines
7.0 KiB
Python
198 lines
7.0 KiB
Python
from .scene_stadium import SinglePlayerStadiumScene
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from .env_bases import MJCFBaseBulletEnv
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import numpy as np
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import pybullet
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from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid, HumanoidFlagrun, HumanoidFlagrunHarder
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class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
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def __init__(self, robot, render=False):
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# print("WalkerBase::__init__ start")
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MJCFBaseBulletEnv.__init__(self, robot, render)
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self.camera_x = 0
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self.walk_target_x = 1e3 # kilometer away
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self.walk_target_y = 0
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self.stateId = -1
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def create_single_player_scene(self, bullet_client):
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self.stadium_scene = SinglePlayerStadiumScene(bullet_client,
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gravity=9.8,
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timestep=0.0165 / 4,
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frame_skip=4)
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return self.stadium_scene
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def reset(self):
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if (self.stateId >= 0):
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#print("restoreState self.stateId:",self.stateId)
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self._p.restoreState(self.stateId)
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r = MJCFBaseBulletEnv.reset(self)
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self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
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self._p, self.stadium_scene.ground_plane_mjcf)
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self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex],
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self.parts[f].bodyPartIndex) for f in self.foot_ground_object_names])
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self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
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if (self.stateId < 0):
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self.stateId = self._p.saveState()
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#print("saving state self.stateId:",self.stateId)
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return r
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def _isDone(self):
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return self._alive < 0
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def move_robot(self, init_x, init_y, init_z):
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"Used by multiplayer stadium to move sideways, to another running lane."
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self.cpp_robot.query_position()
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pose = self.cpp_robot.root_part.pose()
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pose.move_xyz(
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init_x, init_y, init_z
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) # Works because robot loads around (0,0,0), and some robots have z != 0 that is left intact
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self.cpp_robot.set_pose(pose)
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electricity_cost = -2.0 # cost for using motors -- this parameter should be carefully tuned against reward for making progress, other values less improtant
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stall_torque_cost = -0.1 # cost for running electric current through a motor even at zero rotational speed, small
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foot_collision_cost = -1.0 # touches another leg, or other objects, that cost makes robot avoid smashing feet into itself
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foot_ground_object_names = set(["floor"]) # to distinguish ground and other objects
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joints_at_limit_cost = -0.1 # discourage stuck joints
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def step(self, a):
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if not self.scene.multiplayer: # if multiplayer, action first applied to all robots, then global step() called, then _step() for all robots with the same actions
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self.robot.apply_action(a)
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self.scene.global_step()
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state = self.robot.calc_state() # also calculates self.joints_at_limit
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self._alive = float(
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self.robot.alive_bonus(
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state[0] + self.robot.initial_z,
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self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch
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done = self._isDone()
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if not np.isfinite(state).all():
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print("~INF~", state)
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done = True
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potential_old = self.potential
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self.potential = self.robot.calc_potential()
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progress = float(self.potential - potential_old)
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feet_collision_cost = 0.0
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for i, f in enumerate(
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self.robot.feet
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): # TODO: Maybe calculating feet contacts could be done within the robot code
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contact_ids = set((x[2], x[4]) for x in f.contact_list())
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#print("CONTACT OF '%d' WITH %d" % (contact_ids, ",".join(contact_names)) )
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if (self.ground_ids & contact_ids):
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#see Issue 63: https://github.com/openai/roboschool/issues/63
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#feet_collision_cost += self.foot_collision_cost
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self.robot.feet_contact[i] = 1.0
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else:
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self.robot.feet_contact[i] = 0.0
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electricity_cost = self.electricity_cost * float(np.abs(a * self.robot.joint_speeds).mean(
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)) # let's assume we have DC motor with controller, and reverse current braking
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electricity_cost += self.stall_torque_cost * float(np.square(a).mean())
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joints_at_limit_cost = float(self.joints_at_limit_cost * self.robot.joints_at_limit)
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debugmode = 0
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if (debugmode):
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print("alive=")
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print(self._alive)
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print("progress")
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print(progress)
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print("electricity_cost")
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print(electricity_cost)
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print("joints_at_limit_cost")
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print(joints_at_limit_cost)
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print("feet_collision_cost")
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print(feet_collision_cost)
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self.rewards = [
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self._alive, progress, electricity_cost, joints_at_limit_cost, feet_collision_cost
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]
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if (debugmode):
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print("rewards=")
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print(self.rewards)
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print("sum rewards")
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print(sum(self.rewards))
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self.HUD(state, a, done)
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self.reward += sum(self.rewards)
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return state, sum(self.rewards), bool(done), {}
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def camera_adjust(self):
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x, y, z = self.body_xyz
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self.camera_x = 0.98 * self.camera_x + (1 - 0.98) * x
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self.camera.move_and_look_at(self.camera_x, y - 2.0, 1.4, x, y, 1.0)
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class HopperBulletEnv(WalkerBaseBulletEnv):
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def __init__(self, render=False):
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self.robot = Hopper()
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WalkerBaseBulletEnv.__init__(self, self.robot, render)
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class Walker2DBulletEnv(WalkerBaseBulletEnv):
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def __init__(self, render=False):
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self.robot = Walker2D()
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WalkerBaseBulletEnv.__init__(self, self.robot, render)
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class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
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def __init__(self, render=False):
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self.robot = HalfCheetah()
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WalkerBaseBulletEnv.__init__(self, self.robot, render)
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def _isDone(self):
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return False
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class AntBulletEnv(WalkerBaseBulletEnv):
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def __init__(self, render=False):
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self.robot = Ant()
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WalkerBaseBulletEnv.__init__(self, self.robot, render)
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class HumanoidBulletEnv(WalkerBaseBulletEnv):
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def __init__(self, robot=Humanoid(), render=False):
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self.robot = robot
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WalkerBaseBulletEnv.__init__(self, self.robot, render)
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self.electricity_cost = 4.25 * WalkerBaseBulletEnv.electricity_cost
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self.stall_torque_cost = 4.25 * WalkerBaseBulletEnv.stall_torque_cost
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class HumanoidFlagrunBulletEnv(HumanoidBulletEnv):
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random_yaw = True
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def __init__(self, render=False):
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self.robot = HumanoidFlagrun()
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HumanoidBulletEnv.__init__(self, self.robot, render)
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def create_single_player_scene(self, bullet_client):
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s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
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s.zero_at_running_strip_start_line = False
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return s
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class HumanoidFlagrunHarderBulletEnv(HumanoidBulletEnv):
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random_lean = True # can fall on start
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def __init__(self, render=False):
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self.robot = HumanoidFlagrunHarder()
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self.electricity_cost /= 4 # don't care that much about electricity, just stand up!
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HumanoidBulletEnv.__init__(self, self.robot, render)
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def create_single_player_scene(self, bullet_client):
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s = HumanoidBulletEnv.create_single_player_scene(self, bullet_client)
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s.zero_at_running_strip_start_line = False
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return s
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