| import functools |
| import os |
| import warnings |
|
|
| import elements |
| import embodied |
| import numpy as np |
|
|
|
|
| class LocoNav(embodied.Env): |
|
|
| DEFAULT_CAMERAS = dict( |
| ant=4, |
| quadruped=5, |
| ) |
|
|
| def __init__( |
| self, name, repeat=1, size=(64, 64), camera=-1, again=False, |
| termination=False, weaker=1.0): |
| if name.endswith('hz'): |
| name, freq = name.rsplit('_', 1) |
| freq = int(freq.strip('hz')) |
| else: |
| freq = 50 |
| if 'MUJOCO_GL' not in os.environ: |
| os.environ['MUJOCO_GL'] = 'egl' |
| from dm_control import composer |
| from dm_control.locomotion.props import target_sphere |
| from dm_control.locomotion.tasks import random_goal_maze |
| walker, arena = name.split('_', 1) |
| if camera == -1: |
| camera = self.DEFAULT_CAMERAS.get(walker, 0) |
| self._walker = self._make_walker(walker) |
| arena = self._make_arena(arena) |
| target = target_sphere.TargetSphere(radius=1.2, height_above_ground=0.0) |
| task = random_goal_maze.RepeatSingleGoalMaze( |
| walker=self._walker, maze_arena=arena, target=target, |
| max_repeats=1000 if again else 1, |
| randomize_spawn_rotation=True, |
| target_reward_scale=1.0, |
| aliveness_threshold=-0.5 if termination else -1.0, |
| contact_termination=False, |
| physics_timestep=min(1 / freq / 4, 0.02), |
| control_timestep=1 / freq) |
| if not again: |
| def after_step(self, physics, random_state): |
| super(random_goal_maze.RepeatSingleGoalMaze, self).after_step( |
| physics, random_state) |
| self._rewarded_this_step = self._target.activated |
| self._targets_obtained = int(self._target.activated) |
| task.after_step = functools.partial(after_step, task) |
| env = composer.Environment( |
| time_limit=60, task=task, random_state=None, |
| strip_singleton_obs_buffer_dim=True) |
| from . import dmc |
| self._env = dmc.DMC(env, repeat, size=size, camera=camera, image=False) |
| self._visited = None |
| self._weaker = weaker |
|
|
| @property |
| def obs_space(self): |
| spaces = self._env.obs_space.copy() |
| spaces['log/coverage'] = elements.Space(np.int32, low=-1) |
| return spaces |
|
|
| @property |
| def act_space(self): |
| return self._env.act_space |
|
|
| def step(self, action): |
| with warnings.catch_warnings(): |
| warnings.filterwarnings('ignore', '.*is a deprecated alias for.*') |
| action = action.copy() |
| action['action'] *= self._weaker |
| obs = self._env.step(action) |
| if obs['is_first']: |
| self._visited = set() |
| global_pos = self._walker.get_pose( |
| self._env._dmenv._physics)[0].reshape(-1) |
| self._visited.add(tuple(np.round(global_pos[:2]).astype(int).tolist())) |
| obs['log/coverage'] = np.int32(len(self._visited)) |
| return obs |
|
|
| def _make_walker(self, name): |
| if name == 'ant': |
| from dm_control.locomotion.walkers import ant |
| return ant.Ant() |
| elif name == 'quadruped': |
| from . import loconav_quadruped |
| return loconav_quadruped.Quadruped() |
| else: |
| raise NotImplementedError(name) |
|
|
| def _make_arena(self, name): |
| import labmaze |
| from dm_control import mjcf |
| from dm_control.locomotion.arenas import labmaze_textures |
| from dm_control.locomotion.arenas import mazes |
| import matplotlib.pyplot as plt |
| class WallTexture(labmaze_textures.WallTextures): |
| def _build(self, color=[0.8, 0.8, 0.8], model='labmaze_style_01'): |
| self._mjcf_root = mjcf.RootElement(model=model) |
| self._textures = [self._mjcf_root.asset.add( |
| 'texture', type='2d', name='wall', builtin='flat', |
| rgb1=color, width=100, height=100)] |
| wall_textures = {'*': WallTexture([0.8, 0.8, 0.8])} |
| cmap = plt.get_cmap('tab10') |
| for index in range(9): |
| wall_textures[str(index + 1)] = WallTexture(cmap(index)[:3]) |
| layout = ''.join([ |
| line[::2].replace('.', ' ') + '\n' for line in MAPS[name]]) |
| maze = labmaze.FixedMazeWithRandomGoals( |
| entity_layer=layout, |
| num_spawns=1, num_objects=1, random_state=None) |
| arena = mazes.MazeWithTargets( |
| maze, xy_scale=1.2, z_height=2.0, aesthetic='default', |
| wall_textures=wall_textures, name='maze') |
| return arena |
|
|
|
|
| MAPS = { |
|
|
| 'maze_s': ( |
| ' 6 6 6 6 6', |
| ' 6 . . . 6', |
| ' 6 . G . 6', |
| ' 6 . . . 6', |
| ' 5 . . . 4', |
| ' 5 . . . 4', |
| '1 1 1 1 5 5 5 . . . 4', |
| '1 . . . . . . . . . 3', |
| '1 . P . . . . . . . 3', |
| '1 . . . . . . . . . 3', |
| '1 1 1 1 2 2 2 3 3 3 3', |
| ), |
|
|
| 'maze_m': ( |
| '6 6 6 6 8 8 8 7 7 7 7', |
| '6 . . . . . . . . . 7', |
| '6 . G . . . . . . . 7', |
| '6 . . . . . . . . . 7', |
| '6 6 6 5 5 5 5 . . . 4', |
| ' 5 . . . 4', |
| '1 1 1 1 5 5 5 . . . 4', |
| '1 . . . . . . . . . 3', |
| '1 . P . . . . . . . 3', |
| '1 . . . . . . . . . 3', |
| '1 1 1 1 2 2 2 3 3 3 3', |
| ), |
|
|
| 'maze_l': ( |
| '8 8 8 8 7 7 7 6 6 6 6 . . .', |
| '8 . . . . . . . . . 6 . . .', |
| '8 . G . . . . . . . 6 . . .', |
| '8 . . . . . . . . . 6 5 5 5', |
| '8 8 8 8 7 7 7 . . . . . . 5', |
| '. . . . . . 7 . . . . . . 5', |
| '1 1 1 1 1 . 7 . . . . . . 5', |
| '1 . . . 1 . 7 9 9 9 . . . 5', |
| '1 . . . 1 . . . . 9 . . . 5', |
| '1 . . . 1 1 1 9 9 9 . . . 5', |
| '2 . . . . . . . . . . . . 4', |
| '2 . . . . P . . . . . . . 4', |
| '2 . . . . . . . . . . . . 4', |
| '2 2 2 2 3 3 3 3 3 3 4 4 4 4', |
| ), |
|
|
| 'maze_xl': ( |
| '9 9 9 9 9 9 9 8 8 8 8 . 4 4 4 4 4', |
| '9 . . . . . . . . . 8 . 4 . . . 4', |
| '9 . . . . . . . G . 8 . 4 . . . 4', |
| '9 . . . . . . . . . 8 . 4 . . . 4', |
| '6 . . . 7 7 7 8 8 8 8 . 5 . . . 3', |
| '6 . . . 7 . . . . . . . 5 . . . 3', |
| '6 . . . 7 7 7 5 5 5 5 5 5 . . . 3', |
| '5 . . . . . . . . . . . . . . . 3', |
| '5 . . . . . . . . . . . . . . . 3', |
| '5 . . . . . . . . . . . . . . . 3', |
| '5 5 5 5 4 4 4 . . . 6 6 6 . . . 3', |
| '. . . . . . 4 . . . 6 . 6 . . . 3', |
| '1 1 1 1 4 4 4 . . . 6 . 6 . . . 3', |
| '1 . . . . . . . . . 2 . 1 . . . 1', |
| '1 . P . . . . . . . 2 . 1 . . . 1', |
| '1 . . . . . . . . . 2 . 1 . . . 1', |
| '1 1 1 1 1 1 1 2 2 2 2 . 1 1 1 1 1', |
| ), |
|
|
| 'maze_xxl': ( |
| '7 7 7 7 * * * 6 6 6 * * * 9 9 9 9', |
| '7 . . . . . . . . . . . . . . . 9', |
| '7 . . . . . . . . . . . . . G . 9', |
| '7 . . . . . . . . . . . . . . . 9', |
| '* . . . 5 5 5 * * * * * * 9 9 9 9', |
| '* . . . 5 . . . . . . . . . . . .', |
| '* . . . 5 5 5 * * * * * * 3 3 3 3', |
| '8 . . . . . . . . . . . . . . . 3', |
| '8 . . . . . . . . . . . . . . . 3', |
| '8 . . . . . . . . . . . . . . . 3', |
| '8 8 8 8 * * * * * * 4 4 4 . . . *', |
| '. . . . . . . . . . . . 4 . . . *', |
| '1 1 1 1 * * * * * * 4 4 4 . . . *', |
| '1 . . . . . . . . . . . . . . . 2', |
| '1 . P . . . . . . . . . . . . . 2', |
| '1 . . . . . . . . . . . . . . . 2', |
| '1 1 1 1 * * * 6 6 6 * * * 2 2 2 2', |
| ), |
|
|
| 'empty': ( |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| '. . . . . . . . . . . . . . . . .', |
| ), |
|
|
| } |
|
|
