added a policy trained by DDPG
This commit is contained in:
Jie Tan
109
examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
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109
examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
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import math
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import gym
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from gym import spaces
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from gym.utils import seeding
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import numpy as np
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import time
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import pybullet as p
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import minitaur_new
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class MinitaurGymEnv(gym.Env):
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metadata = {
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'render.modes': ['human', 'rgb_array'],
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'video.frames_per_second' : 50
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}
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def __init__(self,
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urdfRoot="",
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actionRepeat=1,
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render=False):
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self._timeStep = 0.01
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self._urdfRoot = urdfRoot
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self._actionRepeat = actionRepeat
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self._observation = []
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self._envStepCounter = 0
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self._render = render
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self._lastBasePosition = [0, 0, 0]
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if self._render:
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p.connect(p.GUI)
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else:
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p.connect(p.DIRECT)
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self._seed()
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self.reset()
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observationDim = self._minitaur.getObservationDimension()
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observation_high = np.array([np.finfo(np.float32).max] * observationDim)
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actionDim = 8
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action_high = np.array([1] * actionDim)
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self.action_space = spaces.Box(-action_high, action_high)
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self.observation_space = spaces.Box(-observation_high, observation_high)
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self.viewer = None
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def _reset(self):
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p.resetSimulation()
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p.setPhysicsEngineParameter(numSolverIterations=300)
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p.setTimeStep(self._timeStep)
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p.loadURDF("%splane.urdf" % self._urdfRoot)
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p.setGravity(0,0,-10)
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self._minitaur = minitaur_new.Minitaur(self._urdfRoot)
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self._envStepCounter = 0
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self._lastBasePosition = [0, 0, 0]
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for i in range(100):
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p.stepSimulation()
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self._observation = self._minitaur.getObservation()
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return self._observation
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def __del__(self):
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p.disconnect()
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def _seed(self, seed=None):
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self.np_random, seed = seeding.np_random(seed)
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return [seed]
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def _step(self, action):
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if (self._render):
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basePos = self._minitaur.getBasePosition()
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p.resetDebugVisualizerCamera(1, 30, 40, basePos)
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if len(action) != self._minitaur.getActionDimension():
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raise ValueError("We expect {} continuous action not {}.".format(self._minitaur.getActionDimension(), len(action)))
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for i in range(len(action)):
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if not -1.01 <= action[i] <= 1.01:
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raise ValueError("{}th action should be between -1 and 1 not {}.".format(i, action[i]))
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realAction = self._minitaur.convertFromLegModel(action)
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self._minitaur.applyAction(realAction)
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for i in range(self._actionRepeat):
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p.stepSimulation()
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if self._render:
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time.sleep(self._timeStep)
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self._observation = self._minitaur.getObservation()
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if self._termination():
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break
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self._envStepCounter += 1
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reward = self._reward()
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done = self._termination()
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return np.array(self._observation), reward, done, {}
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def _render(self, mode='human', close=False):
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return
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def is_fallen(self):
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orientation = self._minitaur.getBaseOrientation()
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rotMat = p.getMatrixFromQuaternion(orientation)
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localUp = rotMat[6:]
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return np.dot(np.asarray([0, 0, 1]), np.asarray(localUp)) < 0 or self._observation[-1] < 0.1
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def _termination(self):
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return self.is_fallen()
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def _reward(self):
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currentBasePosition = self._minitaur.getBasePosition()
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forward_reward = currentBasePosition[0] - self._lastBasePosition[0]
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self._lastBasePosition = currentBasePosition
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energyWeight = 0.001
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energy = np.abs(np.dot(self._minitaur.getMotorTorques(), self._minitaur.getMotorVelocities())) * self._timeStep
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energy_reward = energyWeight * energy
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reward = forward_reward - energy_reward
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return reward
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166
examples/pybullet/gym/envs/bullet/minitaur_new.py
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166
examples/pybullet/gym/envs/bullet/minitaur_new.py
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import pybullet as p
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import numpy as np
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import copy
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import math
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class Minitaur:
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def __init__(self, urdfRootPath=''):
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self.urdfRootPath = urdfRootPath
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self.reset()
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def buildJointNameToIdDict(self):
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nJoints = p.getNumJoints(self.quadruped)
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self.jointNameToId = {}
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for i in range(nJoints):
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jointInfo = p.getJointInfo(self.quadruped, i)
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self.jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
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self.resetPose()
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def buildMotorIdList(self):
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self.motorIdList.append(self.jointNameToId['motor_front_leftL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_front_leftR_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_leftL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_leftR_joint'])
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self.motorIdList.append(self.jointNameToId['motor_front_rightL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_front_rightR_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_rightL_joint'])
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self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
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def reset(self):
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# self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2], flags=p.URDF_USE_SELF_COLLISION)
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self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2])
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self.kp = 1
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self.kd = 1
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self.maxForce = 3.5
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self.nMotors = 8
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self.motorIdList = []
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self.motorDir = [-1, -1, -1, -1, 1, 1, 1, 1]
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self.buildJointNameToIdDict()
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self.buildMotorIdList()
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def setMotorAngleById(self, motorId, desiredAngle):
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p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motorId, controlMode=p.POSITION_CONTROL, targetPosition=desiredAngle, positionGain=self.kp, velocityGain=self.kd, force=self.maxForce)
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def setMotorAngleByName(self, motorName, desiredAngle):
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self.setMotorAngleById(self.jointNameToId[motorName], desiredAngle)
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def resetPose(self):
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kneeFrictionForce = 0
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halfpi = 1.57079632679
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kneeangle = -2.1834 #halfpi - acos(upper_leg_length / lower_leg_length)
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#left front leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],self.motorDir[0]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],self.motorDir[0]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],self.motorDir[1]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.motorDir[1]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_front_leftL_joint', self.motorDir[0]*halfpi)
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self.setMotorAngleByName('motor_front_leftR_joint', self.motorDir[1]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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#left back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],self.motorDir[2]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],self.motorDir[2]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],self.motorDir[3]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.motorDir[3]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_back_leftL_joint',self.motorDir[2]*halfpi)
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self.setMotorAngleByName('motor_back_leftR_joint',self.motorDir[3]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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#right front leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],self.motorDir[4]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],self.motorDir[4]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],self.motorDir[5]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.motorDir[5]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_front_rightL_joint',self.motorDir[4]*halfpi)
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self.setMotorAngleByName('motor_front_rightR_joint',self.motorDir[5]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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#right back leg
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],self.motorDir[6]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],self.motorDir[6]*kneeangle)
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p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],self.motorDir[7]*halfpi)
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p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.motorDir[7]*kneeangle)
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p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
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self.setMotorAngleByName('motor_back_rightL_joint',self.motorDir[6]*halfpi)
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self.setMotorAngleByName('motor_back_rightR_joint',self.motorDir[7]*halfpi)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
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def getBasePosition(self):
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position, orientation = p.getBasePositionAndOrientation(self.quadruped)
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return position
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def getBaseOrientation(self):
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position, orientation = p.getBasePositionAndOrientation(self.quadruped)
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return orientation
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def getActionDimension(self):
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return self.nMotors
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def getObservationDimension(self):
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return len(self.getObservation())
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def getObservation(self):
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observation = []
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observation.extend(self.getMotorAngles().tolist())
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observation.extend(self.getMotorVelocities().tolist())
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observation.extend(self.getMotorTorques().tolist())
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observation.extend(list(self.getBaseOrientation()))
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observation.extend(list(self.getBasePosition()))
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return observation
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def applyAction(self, motorCommands):
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motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
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# print('action: {}'.format(motorCommands))
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# print('motor: {}'.format(motorCommandsWithDir))
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for i in range(self.nMotors):
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self.setMotorAngleById(self.motorIdList[i], motorCommandsWithDir[i])
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def getMotorAngles(self):
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motorAngles = []
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for i in range(self.nMotors):
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jointState = p.getJointState(self.quadruped, self.motorIdList[i])
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motorAngles.append(jointState[0])
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motorAngles = np.multiply(motorAngles, self.motorDir)
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return motorAngles
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def getMotorVelocities(self):
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motorVelocities = []
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for i in range(self.nMotors):
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jointState = p.getJointState(self.quadruped, self.motorIdList[i])
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motorVelocities.append(jointState[1])
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motorVelocities = np.multiply(motorVelocities, self.motorDir)
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return motorVelocities
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def getMotorTorques(self):
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motorTorques = []
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for i in range(self.nMotors):
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jointState = p.getJointState(self.quadruped, self.motorIdList[i])
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motorTorques.append(jointState[3])
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motorTorques = np.multiply(motorTorques, self.motorDir)
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return motorTorques
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def convertFromLegModel(self, actions):
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motorAngle = copy.deepcopy(actions)
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scaleForSingularity = 1
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offsetForSingularity = 0.5
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motorAngle[0] = math.pi + math.pi / 4 * actions[0] - scaleForSingularity * math.pi / 4 * (actions[4] + 1 + offsetForSingularity)
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motorAngle[1] = math.pi - math.pi / 4 * actions[0] - scaleForSingularity * math.pi / 4 * (actions[4] + 1 + offsetForSingularity)
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motorAngle[2] = math.pi + math.pi / 4 * actions[1] - scaleForSingularity * math.pi / 4 * (actions[5] + 1 + offsetForSingularity)
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motorAngle[3] = math.pi - math.pi / 4 * actions[1] - scaleForSingularity * math.pi / 4 * (actions[5] + 1 + offsetForSingularity)
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motorAngle[4] = math.pi - math.pi / 4 * actions[2] - scaleForSingularity * math.pi / 4 * (actions[6] + 1 + offsetForSingularity)
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motorAngle[5] = math.pi + math.pi / 4 * actions[2] - scaleForSingularity * math.pi / 4 * (actions[6] + 1 + offsetForSingularity)
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motorAngle[6] = math.pi - math.pi / 4 * actions[3] - scaleForSingularity * math.pi / 4 * (actions[7] + 1 + offsetForSingularity)
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motorAngle[7] = math.pi + math.pi / 4 * actions[3] - scaleForSingularity * math.pi / 4 * (actions[7] + 1 + offsetForSingularity)
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return motorAngle
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