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Added get_pixel support in mujoco_env and proprioception in all envs #2

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Added get_pixel support in mujoco_env and proprioception in all envs #2

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d7cdbdd
Added get_pixel support in mujoco_env and proprioception in all envs
May 17, 2019
48c2355
Merge branch 'master' of github.com:vikashplus/mj_envs into extending…
May 17, 2019
cd01107
added propioception in mujoco_env, to be overridden
May 17, 2019
0767ac6
NIT
May 17, 2019
8957c3b
remove body cam function
Jun 27, 2019
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13 changes: 13 additions & 0 deletions mj_envs/hand_manipulation_suite/door_v0.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,19 @@ def _step(self, a):

return ob, reward, False, {}

def get_proprioception(self, use_tactile):
# return self._get_obs()
robot_jnt = self.data.qpos.ravel()[:-2]
robot_vel = self.data.qvel.ravel()[:-2]
palm_pos = self.data.site_xpos[self.grasp_sid].ravel()
sensordata = []
if use_tactile:
sensordata = self.data.sensordata.ravel().copy()[:41]
sensordata = np.clip(sensordata, -5.0, 5.0)

res = np.concatenate([robot_jnt, robot_vel, palm_pos, sensordata])
return res

def _get_obs(self):
# qpos for hand
# xpos for obj
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13 changes: 13 additions & 0 deletions mj_envs/hand_manipulation_suite/hammer_v0.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,19 @@ def _get_obs(self):
nail_impact = np.clip(self.sim.data.sensordata[self.sim.model.sensor_name2id('S_nail')], -1.0, 1.0)
return np.concatenate([qp[:-6], qv[-6:], palm_pos, obj_pos, obj_rot, target_pos, np.array([nail_impact])])

def get_proprioception(self, use_tactile):
# return self._get_obs()
robot_jnt = self.data.qpos.ravel()[:-6]
robot_vel = self.data.qvel.ravel()[:-6]
palm_pos = self.data.site_xpos[self.S_grasp_sid].ravel()
sensordata = []
if use_tactile:
sensordata = self.data.sensordata.ravel().copy()[:41]
sensordata = np.clip(sensordata, -5.0, 5.0)

res = np.concatenate([robot_jnt, robot_vel, palm_pos, sensordata])
return res

def reset_model(self):
self.sim.reset()
target_bid = self.model.body_name2id('nail_board')
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12 changes: 12 additions & 0 deletions mj_envs/hand_manipulation_suite/pen_v0.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,18 @@ def _get_obs(self):
return np.concatenate([qp[:-6], obj_pos, obj_vel, obj_orien, desired_orien,
obj_pos-desired_pos, obj_orien-desired_orien])

def get_proprioception(self, use_tactile):
# return self._get_obs()
robot_jnt = self.data.qpos.ravel()[:-6]
robot_vel = self.data.qvel.ravel()[:-6]
palm_pos = self.data.site_xpos[self.S_grasp_sid].ravel()
sensordata = []
if use_tactile:
sensordata = self.data.sensordata.ravel().copy()[20:41]

res = np.concatenate([robot_jnt, robot_vel, palm_pos, sensordata])
return res

def reset_model(self):
qp = self.init_qpos.copy()
qv = self.init_qvel.copy()
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12 changes: 11 additions & 1 deletion mj_envs/hand_manipulation_suite/relocate_v0.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,17 @@ def _get_obs(self):
palm_pos = self.data.site_xpos[self.S_grasp_sid].ravel()
target_pos = self.data.site_xpos[self.target_obj_sid].ravel()
return np.concatenate([qp[:-6], palm_pos-obj_pos, palm_pos-target_pos, obj_pos-target_pos])


def get_proprioception(self, use_tactile):
# return self._get_obs()
robot_pos = self.data.qpos.ravel()[:-6]
palm_pos = self.data.site_xpos[self.S_grasp_sid].ravel()
sensordata = []
if use_tactile:
sensordata = self.data.sensordata.ravel().copy()[20:41]
res = np.concatenate([robot_pos, palm_pos, sensordata])
return res

def reset_model(self):
qp = self.init_qpos.copy()
qv = self.init_qvel.copy()
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14 changes: 14 additions & 0 deletions mj_envs/mujoco_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,15 @@ def viewer_setup(self):
"""
pass

def get_proprioception(self, use_tactile):
"""
For the VIL paper
"""
pass

# -----------------------------
def get_body_com(self, body_name):
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@vikashplus vikashplus May 18, 2019

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These are environment specific utilities that you can just add to the env definition. Im not sure if there is any benefit of adding this to the mujoco_env base class.

@aravindr93 - what do you think?

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@aravindr93 aravindr93 May 18, 2019

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I am not sure if this function is correct in the first place. This is returning the xpos of the body, which is the root position of the body in global coordinates, but need not be center of mass. @vikashplus, is this correct? Ideally, you would have to look at all the members of this body, and do a weighted average of their xpos.

If this function is critical, and we are actually using it (meaning you need the COM and not just the root position), then it makes sense to have it in mujoco_env.py, since it might be useful for many envs and future applications.

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@vikashplus vikashplus May 18, 2019

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Here is how you can get the COM
mjtNum* xipos; // Cartesian position of body com (nbody x 3)

Seems like get_body_xpos is giving you the location of the root of the body, not necessarily the body_com

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@Divye02 Divye02 Jun 27, 2019

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I think we can remove this function for now.

return self.sim.data.get_body_xpos(body_name)

def _reset(self):
self.sim.reset()
Expand Down Expand Up @@ -129,6 +137,12 @@ def state_vector(self):
state.qpos.flat, state.qvel.flat])

# -----------------------------
def get_pixels(self, frame_size=(128, 128), camera_name=None, device_id=0):
pixels = self.sim.render(width=frame_size[0], height=frame_size[1],
mode='offscreen', camera_name=camera_name, device_id=device_id)

pixels = pixels[::-1, :, :]
return pixels

def visualize_policy(self, policy, horizon=1000, num_episodes=1, mode='exploration'):
self.mujoco_render_frames = True
Expand Down