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import numpy as np
import sapien
import torch
from mani_skill.agents.robots import SO100, Fetch, Panda
from mani_skill.envs.sapien_env import BaseEnv
from mani_skill.envs.tasks.tabletop.pick_cube_cfgs import PICK_CUBE_CONFIGS
from mani_skill.sensors.camera import CameraConfig
from mani_skill.utils import sapien_utils
from mani_skill.utils.building import actors
from mani_skill.utils.registration import register_env
from mani_skill.utils.scene_builder.table import TableSceneBuilder
from mani_skill.utils.structs.pose import Pose
from mani_skill.utils import common, sapien_utils
from mani_skill.utils.structs import Actor
#Robomme
import matplotlib.pyplot as plt
from mani_skill.utils.geometry.rotation_conversions import (
euler_angles_to_matrix,
matrix_to_quaternion,
)
import copy
from .utils import *
from .utils.difficulty import normalize_robomme_difficulty
from .utils.subgoal_evaluate_func import static_check
from .utils import subgoal_language
from .utils.object_generation import spawn_fixed_cube, build_board_with_hole
from .utils import reset_panda
from ..logging_utils import logger
PICK_CUBE_DOC_STRING = """**Task Description:**
A simple task where the objective is to grasp a red cube with the {robot_id} robot and move it to a target goal position. This is also the *baseline* task to test whether a robot with manipulation
capabilities can be simulated and trained properly. Hence there is extra code for some robots to set them up properly in this environment as well as the table scene builder.
**Randomizations:**
- the cube's xy position is randomized on top of a table in the region [0.1, 0.1] x [-0.1, -0.1]. It is placed flat on the table
- the cube's z-axis rotation is randomized to a random angle
- the target goal position (marked by a green sphere) of the cube has its xy position randomized in the region [0.1, 0.1] x [-0.1, -0.1] and z randomized in [0, 0.3]
**Success Conditions:**
- the cube position is within `goal_thresh` (default 0.025m) euclidean distance of the goal position
- the robot is static (q velocity < 0.2)
"""
@register_env("MoveCube")
class MoveCube(BaseEnv):
_sample_video_link = "https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/PickCube-v1_rt.mp4"
SUPPORTED_ROBOTS = [
"panda",
"fetch",
"xarm6_robotiq",
"so100",
"widowxai",
]
agent: Union[Panda]
goal_thresh = 0.025
cube_spawn_half_size = 0.05
cube_spawn_center = (0, 0)
_clearance = 0.01
def __init__(self, *args, robot_uids="panda_wristcam", robot_init_qpos_noise=0,seed=0,Robomme_video_episode=None,Robomme_video_path=None,
**kwargs):
self.reset_in_proecess=False
self.robot_init_qpos_noise = robot_init_qpos_noise
if robot_uids in PICK_CUBE_CONFIGS:
cfg = PICK_CUBE_CONFIGS[robot_uids]
else:
cfg = PICK_CUBE_CONFIGS["panda"]
self.cube_half_size = cfg["cube_half_size"]
self.goal_thresh = cfg["goal_thresh"]
self.cube_spawn_half_size = cfg["cube_spawn_half_size"]
self.cube_spawn_center = cfg["cube_spawn_center"]
self.max_goal_height = cfg["max_goal_height"]
self.sensor_cam_eye_pos = cfg["sensor_cam_eye_pos"]
self.sensor_cam_target_pos = cfg["sensor_cam_target_pos"]
self.human_cam_eye_pos = cfg["human_cam_eye_pos"]
self.human_cam_target_pos = cfg["human_cam_target_pos"]
self.seed = seed
self._hb_generator = torch.Generator()
self._hb_generator.manual_seed(int(self.seed))
self.robomme_failure_recovery = bool(
kwargs.pop("robomme_failure_recovery", False)
)
self.robomme_failure_recovery_mode = kwargs.pop(
"robomme_failure_recovery_mode", None
)
if isinstance(self.robomme_failure_recovery_mode, str):
self.robomme_failure_recovery_mode = (
self.robomme_failure_recovery_mode.lower()
)
normalized_robomme_difficulty = normalize_robomme_difficulty(
kwargs.pop("difficulty", None)
)
if normalized_robomme_difficulty is not None:
self.difficulty = normalized_robomme_difficulty
else:
seed_mod = seed % 3
if seed_mod == 0:
self.difficulty = "easy"
elif seed_mod == 1:
self.difficulty = "medium"
else:
self.difficulty = "hard"
self.restore_flag=False
self.use_demonstrationwrapper=False
self.demonstration_record_traj=False
super().__init__(*args, robot_uids=robot_uids, **kwargs)
@property
def _default_sensor_configs(self):
pose = sapien_utils.look_at(
eye=self.sensor_cam_eye_pos, target=self.sensor_cam_target_pos
)
camera_eye=[0.3,0,0.4]
camera_target =[0,0,-0.2]
pose = sapien_utils.look_at(
eye=camera_eye, target=camera_target
)
return [CameraConfig("base_camera", pose, 256, 256, np.pi / 2, 0.01, 100)]
@property
def _default_human_render_camera_configs(self):
pose = sapien_utils.look_at(
eye=self.human_cam_eye_pos, target=self.human_cam_target_pos
)
return CameraConfig("render_camera", pose, 512, 512, 1, 0.01, 100)
def _load_agent(self, options: dict):
super()._load_agent(options, sapien.Pose(p=[-0.615, 0, 0]))
def _load_scene(self, options: dict):
self.table_scene = TableSceneBuilder(
self, robot_init_qpos_noise=0
)
self.table_scene.build()
length_tensor = torch.rand(1, generator=self._hb_generator)
radius_tensor = torch.rand(1, generator=self._hb_generator)
self.length = (0.1 + (0.05 - 0.05) * length_tensor).item()
self.radius = (0.01 + (0.005 - 0.005) * radius_tensor).item()
# Create a single peg
#peg_spawn_translation = np.array([self.length / 2, 0.0, self.radius], dtype=np.float32)
base_y = -0.2 if torch.rand(1, generator=self._hb_generator).item() < 0.5 else 0.2
peg_spawn_translation = np.array([0.0, base_y, 0.0], dtype=np.float32)
# Generate [-0.05, 0.05] random offset (using torch generator)
x_jitter = (torch.rand(1, generator=self._hb_generator).item() - 0.5) * 0.1
y_jitter = (torch.rand(1, generator=self._hb_generator).item() - 0.5) * 0.1
# Apply offset
peg_spawn_translation[:2] += np.array([x_jitter, y_jitter], dtype=np.float32)
self.peg1_basex=peg_spawn_translation[0]
self.peg1_basey=peg_spawn_translation[1]
initial_yaw = torch.rand(1, generator=self._hb_generator).item() * (np.pi / 2) - (np.pi / 4)
yaw_angles = torch.tensor([[0.0, 0.0, initial_yaw]], dtype=torch.float32)
yaw_matrix = euler_angles_to_matrix(yaw_angles, convention="XYZ")
yaw_quat = matrix_to_quaternion(yaw_matrix)[0].detach().cpu().numpy().tolist()
peg_initial_pose = sapien.Pose(
p=peg_spawn_translation.tolist(),
q=yaw_quat,
)
self.peg, self.peg_head, self.peg_tail = build_peg(
self,
length=self.length,
radius=self.radius,
initial_pose=peg_initial_pose,
name='peg',
head_color= "#EC7357",
tail_color= "#EC7357",
)
# Create lists for backward compatibility
self.pegs = [self.peg]
self.peg_heads = [self.peg_head]
self.peg_tails = [self.peg_tail]
# Store initial poses for all pegs
self.peg_init_poses = [peg.pose for peg in self.pegs]
self.peg_init_pose = self.pegs[0].pose # Keep backward compatibility
#generate another set of pose for another reset
base_y = -0.2 if torch.rand(1, generator=self._hb_generator).item() < 0.5 else 0.2
peg_spawn_translation = np.array([0.0, base_y, 0.0], dtype=np.float32)
x_jitter = (torch.rand(1, generator=self._hb_generator).item() - 0.5) * 0.1
y_jitter = (torch.rand(1, generator=self._hb_generator).item() - 0.5) * 0.1
peg_spawn_translation[:2] += np.array([x_jitter, y_jitter], dtype=np.float32)
initial_yaw = torch.rand(1, generator=self._hb_generator).item() * (np.pi / 2) - (np.pi / 4)
yaw_angles = torch.tensor([[0.0, 0.0, initial_yaw]], dtype=torch.float32)
yaw_matrix = euler_angles_to_matrix(yaw_angles, convention="XYZ")
yaw_quat = matrix_to_quaternion(yaw_matrix)[0].detach().cpu().numpy().tolist()
self.peg2_basex=peg_spawn_translation[0]
self.peg2_basey=peg_spawn_translation[1]
peg_initial_pose = sapien.Pose(
p=peg_spawn_translation.tolist(),
q=yaw_quat,
)
self.peg_init_poses_2=[peg_initial_pose]
self.finish_return_flag=False
# Define task list, each task contains a dictionary with function, name, demonstration flag, and optional failure_func
obj_sample = torch.randint(0, 2, (1,), generator=self._hb_generator)
self.obj_flag = -1 if obj_sample.item() == 0 else 1
dir_sample = torch.randint(0, 2, (1,), generator=self._hb_generator)
#self.direction = -1 if dir_sample.item() == 0 else 1
self.goal_site = spawn_random_target(
self,
avoid=None, # Use current avoidance list, containing all spawned cubes
include_existing=False, # Manually maintain list
include_goal=False, # Manually maintain list
region_center=[0.0, 0.0],
region_half_size=0.15,
radius=self.cube_half_size*2, # Use radius instead of half_size
thickness=0.005, # target thickness
min_gap=self.cube_half_size*1, # Gap requirement same as cube
name_prefix=f"goal_site",
generator=self._hb_generator
)
self.goal_site_2 = spawn_random_target(
self,
avoid=None, # Use current avoidance list, containing all spawned cubes
include_existing=False, # Manually maintain list
include_goal=False, # Manually maintain list
region_center=[0.0, 0.0],
region_half_size=0.1,
radius=self.cube_half_size*2, # Use radius instead of half_size
thickness=0.005, # target thickness
min_gap=self.cube_half_size*1, # Gap requirement same as cube
name_prefix=f"goal_site_2",
generator=self._hb_generator
)
max_cube_spawn_trials = 128
goal_pos = self.goal_site.pose.p
goal_xy = np.asarray(goal_pos)
goal_xy = np.asarray(goal_xy, dtype=np.float64).reshape(-1)[:2]
def _sample_cube_center(required_distance: float):
for _ in range(max_cube_spawn_trials):
sampled_x = torch.rand(1, generator=self._hb_generator).item() * 0.2 -0.1
#direction = -1.0 if -self.peg1_basey < 0 else 1.0
#sampled_y = torch.rand(1, generator=self._hb_generator).item() * 0.2 * direction
sampled_y = torch.rand(1, generator=self._hb_generator).item() * 0.2 -0.1
candidate_xy = np.array([sampled_x, sampled_y], dtype=np.float64)
if np.linalg.norm(candidate_xy - goal_xy) > required_distance:
return candidate_xy
return None
cube_center = _sample_cube_center(self.cube_half_size*5)
cube_x, cube_y = float(cube_center[0]), float(cube_center[1])
self.cube = spawn_random_cube(
self,
region_center=[cube_x, cube_y],
color=(1, 0, 0, 1),
name_prefix="fixed_cube",
region_half_size=0.05,
generator=self._hb_generator,
half_size=self.cube_half_size,
)
self.cube_init_pose=self.cube.pose
goal_pos = self.goal_site_2.pose.p
goal_xy = np.asarray(goal_pos)
goal_xy = np.asarray(goal_xy, dtype=np.float64).reshape(-1)[:2]
def _sample_cube_center(required_distance: float):
for _ in range(max_cube_spawn_trials):
sampled_x = torch.rand(1, generator=self._hb_generator).item() * 0.2 -0.1
#direction = -1.0 if -self.peg2_basey < 0 else 1.0
#sampled_y = torch.rand(1, generator=self._hb_generator).item() * 0.2 * direction
sampled_y = torch.rand(1, generator=self._hb_generator).item() * 0.2 -0.1
candidate_xy = np.array([sampled_x, sampled_y], dtype=np.float64)
if np.linalg.norm(candidate_xy - goal_xy) > required_distance:
return candidate_xy
return None
cube_center = _sample_cube_center(self.cube_half_size*5)
cube_x, cube_y = float(cube_center[0]), float(cube_center[1])
self.cube_2 = spawn_random_cube(
self,
region_center=[cube_x, cube_y],
color=(1, 0, 0, 1),
name_prefix="fixed_cube_2",
region_half_size=0.05,
generator=self._hb_generator,
half_size=self.cube_half_size,
)
self.cube_init_pose_2=self.cube_2.pose
#only need the pose! teleport away in
goal2_p = np.array(self.goal_site_2.pose.p.detach().cpu().numpy(), dtype=np.float64, copy=True)
self.goal_site_2_pose_p = goal2_p
goal2_q = np.array(self.goal_site_2.pose.q.detach().cpu().numpy(), dtype=np.float64, copy=True)
self.goal_site_2_pose_q = goal2_q
goal1_p = np.array(self.goal_site.pose.p.detach().cpu().numpy(), dtype=np.float64, copy=True)
self.goal_site_1_pose_p = goal1_p
goal1_q = np.array(self.goal_site.pose.q.detach().cpu().numpy(), dtype=np.float64, copy=True)
self.goal_site_1_pose_q = goal1_q
def _initialize_episode(self, env_idx: torch.Tensor, options: dict):
with torch.device(self.device):
self.table_scene.initialize(env_idx)
if not hasattr(self, "pegs"):
return
# Initialize all 3 pegs
qpos = np.array(
[
0.0,
0,
0,
-np.pi * 4 / 8,
0,
np.pi * 2 / 4,
np.pi / 4,
0.04,
0.04,
],
dtype=np.float32,
)
self.ways=["peg_push","gripper_push","grasp_putdown"]
way_idx = torch.randint(len(self.ways), (1,), generator=self._hb_generator).item()
self.way = self.ways[way_idx]
#self.way="gripper_push"
self.agent.reset(qpos)
self.cube_2.set_pose(sapien.Pose(p=[10,10,1]))#only need the pose!
self.goal_site_2.set_pose(sapien.Pose(p=[10, -10, 1]))
def evaluate(self,solve_complete_eval=False):
timestep = self.elapsed_steps
# flag=is_A_pickup_notB(self,self.peg_head,self.peg_tail)
# flag2=is_A_pickup_notB(self,self.peg_tail,self.peg_head)
# flag=is_A_insert_notB(self,self.peg_head,self.peg_tail,self.box)
self.successflag=torch.tensor([False])
self.failureflag = torch.tensor([False])
self.obj_flag=-1
if self.obj_flag==-1:
self.grasp_target=self.peg_tail
self.grasp_target_false=self.peg_head
else:
self.grasp_target=self.peg_head
self.grasp_target_false=self.peg_tail
self.direction1 = 1 if self.cube_init_pose.p[0][1]-self.goal_site_1_pose_p[0][1] > 0 else -1# relative position
self.direction2 = 1 if self.cube_init_pose_2.p[0][1]-self.goal_site_2_pose_p[0][1] > 0 else -1
# direction -1 push from left
# direction 1 push from right +y side / table right side from camera view -> treated as push from right
if self.way=="peg_push":
tasks = [
{
"func": lambda: is_any_obj_pickup_flag_currentpickup(self, objects=[self.grasp_target,self.grasp_target_false]),
"name": f"Pick up the peg",
"subgoal_segment":f"Pick up the peg at <>",
"choice_label": "pick up the peg",
"demonstration": True,
"failure_func": lambda:[
is_obj_pickup(self, obj=self.cube),
is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2),],
"solve": lambda env, planner:grasp_and_lift_peg_side(env, planner, env.grasp_target),
"segment":self.grasp_target
},
{
"func": lambda: is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2,must_gripper_open=True),
"name": f"Hook the cube to the target with the peg",
"subgoal_segment":f"Hook the cube at <> to the target at <> with the peg",
"choice_label": "hook the cube to the target with the peg",
"demonstration": True,
"failure_func": lambda:None,
"solve": lambda env, planner:solve_push_to_target_with_peg(env,planner,self.cube,self.goal_site,self.direction1,self.obj_flag),
"segment":[self.cube,self.goal_site],
},
{
"func": lambda: static_check(self, timestep=int(self.elapsed_steps), static_steps=30),
"name": "static",
"subgoal_segment":f"static",
"demonstration": True,
"failure_func": None,
"solve": lambda env, planner: [solve_hold_obj(env, planner, static_steps=30)],
},
{
"func": lambda:reset_check(self),
"name": "NO RECORD",
"subgoal_segment":f"NO RECORD",
"demonstration": True,
"failure_func": None,
"specialflag":"reset pegs",
"solve": lambda env, planner: [solve_strong_reset(env,planner)],
},
{
"func": lambda: is_any_obj_pickup_flag_currentpickup(self, objects=[self.grasp_target,self.grasp_target_false]),
"name": "Pick up the peg",
"subgoal_segment":f"Pick up the peg at <>",
"choice_label": "pick up the peg",
"demonstration": False,
"failure_func": lambda:[
is_obj_pickup(self, obj=self.cube),
is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2),],
"solve": lambda env, planner:grasp_and_lift_peg_side(env, planner, env.grasp_target),
"segment":self.grasp_target
},
{
"func": lambda: is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2,must_gripper_open=True),
"name": f"Hook the cube to the target with the peg",
"subgoal_segment":f"Hook the cube at <> to the target at <> with the peg",
"choice_label": "hook the cube to the target with the peg",
"demonstration": False,
"failure_func": lambda:None,
"solve": lambda env, planner:solve_push_to_target_with_peg(env,planner,self.cube,self.goal_site,self.direction2,self.obj_flag),
"segment":[self.cube,self.goal_site],
},
]
#test using gripper/grasp =false
if self.way=="gripper_push":
tasks = [{
"func": lambda: is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2,must_gripper_open=True),
"name": "Close the gripper and push the cube to the target",
"subgoal_segment":f"Close the gripper and push the cube at <> to the target at <>",
"choice_label": "close gripper and push the cube to the target",
"demonstration": True,
"failure_func": lambda: [is_obj_pickup(self, obj=self.cube),
is_obj_pickup(self, obj=self.grasp_target),
is_obj_pickup(self, obj=self.grasp_target_false)],
"solve": lambda env, planner:solve_push_to_target(env,planner,self.cube,self.goal_site),
"segment":[self.cube,self.goal_site],
},
{
"func": lambda: static_check(self, timestep=int(self.elapsed_steps), static_steps=60),
"name": "static",
"subgoal_segment":f"static",
"demonstration": True,
"failure_func": None,
"solve": lambda env, planner: [solve_hold_obj(env, planner, static_steps=60)],
},
{
"func": lambda:reset_check(self),
"name": "NO RECORD",
"subgoal_segment":f"NO RECORD",
"demonstration": True,
"failure_func": None,
"specialflag":"reset pegs",
"solve": lambda env, planner: [solve_strong_reset(env,planner)],
},
{
"func": lambda: is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2,must_gripper_open=True),
"name": "Close the gripper and push the cube to the target",
"subgoal_segment":f"Close the gripper and push the cube at <> to the target at <>",
"choice_label": "close gripper and push the cube to the target",
"demonstration": False,
"failure_func": lambda: [is_obj_pickup(self, obj=self.cube),
is_obj_pickup(self, obj=self.grasp_target),
is_obj_pickup(self, obj=self.grasp_target_false)],
"solve": lambda env, planner:solve_push_to_target(env,planner,self.cube,self.goal_site),
"segment":[self.cube,self.goal_site],
},
]
if self.way=="grasp_putdown":
tasks = [
{
"func": lambda: is_obj_pickup(self, obj=self.cube),
"name": "Pick up the cube",
"subgoal_segment":f"Pick up the cube at <>",
"choice_label": "pick up the cube",
"demonstration": True,
"failure_func": lambda: [is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2),
is_obj_pickup(self, obj=self.grasp_target),
is_obj_pickup(self, obj=self.grasp_target_false)],
"solve": lambda env, planner:[solve_pickup(env, planner, obj=self.cube),],
"segment":[self.cube],
},
{
"func": (lambda: is_obj_dropped_onto(self,obj=self.cube,target=self.goal_site)),
"name": "place the cube onto the target",
"subgoal_segment":f"place the cube onto the target at <>",
"choice_label": "place the cube onto the target",
"demonstration": True,
"failure_func": None,
"solve": lambda env, planner: [solve_putonto_whenhold(env, planner,target=self.goal_site)],
"segment":[self.goal_site],
},
{
"func": lambda: static_check(self, timestep=int(self.elapsed_steps), static_steps=60),
"name": "static",
"subgoal_segment":f"static",
"demonstration": True,
"failure_func": None,
"solve": lambda env, planner: [solve_hold_obj(env, planner, static_steps=60)],
},
{
"func": lambda:reset_check(self),
"name": "NO RECORD",
"subgoal_segment":f"NO RECORD",
"demonstration": True,
"failure_func": None,
"specialflag":"reset pegs",
"solve": lambda env, planner: [solve_strong_reset(env,planner)],
},
{
"func": lambda: is_obj_pickup(self, obj=self.cube),
"name": "Pick up the cube",
"subgoal_segment":f"Pick up the cube at <>",
"choice_label": "pick up the cube",
"demonstration": False,
"failure_func": lambda: [is_obj_pushed_onto(self,self.cube,self.goal_site,distance_threshold=self.cube_half_size*2*1.2),
is_obj_pickup(self, obj=self.grasp_target),
is_obj_pickup(self, obj=self.grasp_target_false)],
"solve": lambda env, planner:[solve_pickup(env, planner, obj=self.cube),],
"segment":[self.cube],
},
{
"func": (lambda: is_obj_dropped_onto(self,obj=self.cube,target=self.goal_site)),
"name": "place the cube onto the target",
"subgoal_segment":f"place the cube onto the target at <>",
"choice_label": "place the cube onto the target",
"demonstration": False,
"failure_func": None,
"solve": lambda env, planner: [solve_putonto_whenhold(env, planner,target=self.goal_site)],
"segment":[self.goal_site],
},
]
# Store task list for RecordWrapper use
self.task_list = tasks
# Use encapsulated sequence task check function
if(self.use_demonstrationwrapper==False):# change subgoal after planner ends during recording
if solve_complete_eval==True:
allow_subgoal_change_this_timestep=True
else:
allow_subgoal_change_this_timestep=False
else:# during demonstration, video needs to call evaluate(solve_complete_eval), video ends and flag changes in demonstrationwrapper
if solve_complete_eval==True or self.demonstration_record_traj==False:
allow_subgoal_change_this_timestep=True
else:
allow_subgoal_change_this_timestep=False
#allow_subgoal_change_this_timestep=True
all_tasks_completed, current_task_name, task_failed,_ = sequential_task_check(self, tasks,allow_subgoal_change_this_timestep=allow_subgoal_change_this_timestep)
if task_failed:
self.failureflag = torch.tensor([True])
logger.debug(f"Task failed: {current_task_name}")
# If static_check succeeds or all tasks completed, set success flag
if all_tasks_completed and not task_failed:
self.successflag = torch.tensor([True])
return {
"success": self.successflag,
"fail": self.failureflag,
}
def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict):
tcp_to_obj_dist = torch.linalg.norm(
self.agent.tcp_pose.p - self.agent.tcp_pose.p, axis=1
)
reaching_reward = 1 - torch.tanh(5 * tcp_to_obj_dist)
reward = reaching_reward*0
return reward
def compute_normalized_dense_reward(
self, obs: Any, action: torch.Tensor, info: Dict
):
return self.compute_dense_reward(obs=obs, action=action, info=info) / 5
#Robomme
def step(self, action: Union[None, np.ndarray, torch.Tensor, Dict]):
obs, reward, terminated, truncated, info = super().step(action)
timestep = int(info["elapsed_steps"])
if self.reset_in_proecess==True:
for i, peg in enumerate(self.pegs):
peg.set_pose(self.peg_init_poses_2[i])
if peg.dof > 0:
zero = np.zeros(peg.dof)
peg.set_qpos(zero)
peg.set_qvel(zero)
self.cube.set_pose(self.cube_init_pose_2)
#self.goal_site_2.set_pose(sapien.Pose(p=self.goal_site_2_pose_p[0],q=self.goal_site_2_pose_q[0]))
goal2_p = np.array(self.goal_site_2_pose_p, copy=True)
goal2_q = np.array(self.goal_site_2_pose_q, copy=True)
self.goal_site.set_pose(sapien.Pose(p=goal2_p[0],q=goal2_q[0]))
#print("reset goal site to",goal2_p[0],goal2_q[0])
return obs, reward, terminated, truncated, info
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