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fix few bugs for imitation example

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Brian Delhaisse
2019-08-23 14:08:34 +02:00
parent 1beb9ec789
commit 8c2516d169
9 changed files with 59 additions and 29 deletions
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pyrobolearn/actions/action.py
+4 -1
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@@ -591,7 +591,10 @@ class Action(object):
"""
If all the actions are discrete, then it is discrete.
"""
return all(self.has_discrete_values())
values = self.has_discrete_values()
if len(values) == 0:
return False
return all(values)
def has_continuous_values(self):
"""
pyrobolearn/actions/robot_actions/joint_actions.py
+3 -2
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@@ -256,8 +256,9 @@ class JointPositionAction(JointAction):
def _write_continuous(self, data):
"""apply the action data on the robot."""
self.robot.set_joint_positions(data, self.joints, bounds=self.bounds, kp=self.kp, kd=self.kd,
forces=self.max_force, discrete_values=self.discrete_values)
# self.robot.set_joint_positions(data, self.joints, bounds=self.bounds, kp=self.kp, kd=self.kd,
# forces=self.max_force, discrete_values=self.discrete_values)
self.robot.set_joint_positions(data, self.joints, kp=self.kp, kd=self.kd, forces=self.max_force)
def __copy__(self):
"""Return a shallow copy of the action. This can be overridden in the child class."""
pyrobolearn/robots/__init__.py
+10 -1
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@@ -35,7 +35,7 @@ from .humanoid import Humanoid
from .aibo import Aibo
from .minitaur import Minitaur
from .littledog import LittleDog
# from .anymal import ANYmal
from .anymal import ANYmal
from .hyq import HyQ
from .hyq2max import HyQ2Max
from .opendog import OpenDog
@@ -172,3 +172,12 @@ for robot_name in implemented_robots:
implemented_robots = set(list(robot_names_to_classes.keys()))
implemented_grippers = set(implemented_grippers)
# function to disable the motors
# this can be useful when resetting the joint state
def reset_robot(robot, joint_ids=None):
"""Return a function that disables the motors."""
def reset():
robot.disable_motor(joint_ids=joint_ids)
return reset
pyrobolearn/robots/allegrohand.py
+3 -3
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@@ -24,7 +24,7 @@ class AllegroHand(Hand):
- [2] https://github.com/simlabrobotics/allegro_hand_ros
"""
def __init__(self, simulator, position=(0, 0, 0), orientation=(0, 0, 0, 1), scale=1., fixed_base=True):
def __init__(self, simulator, position=(0, 0, 0.1), orientation=(0, 0, 0, 1), scale=1., fixed_base=True):
# left=False
"""
Initialize the Allegro hand.
@@ -38,9 +38,9 @@ class AllegroHand(Hand):
"""
# check parameters
if position is None:
position = (0., 0., 0.)
position = (0., 0., 0.1)
if len(position) == 2: # assume x, y are given
position = tuple(position) + (0.,)
position = tuple(position) + (0.1,)
if orientation is None:
orientation = (0, 0, 0, 1)
if fixed_base is None:
pyrobolearn/states/state.py
+4 -1
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@@ -741,7 +741,10 @@ class State(object):
"""
If all the states are discrete, then it is discrete.
"""
return all(self.has_discrete_values())
values = self.has_discrete_values()
if len(values) == 0:
return False
return all(values)
def has_continuous_values(self):
"""
pyrobolearn/tasks/imitation.py
+4 -4
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@@ -20,7 +20,7 @@ from pyrobolearn.tools.bridges.mouse_keyboard import BridgeMouseKeyboardImitatio
__author__ = "Brian Delhaisse"
__copyright__ = "Copyright 2018, PyRoboLearn"
__credits__ = ["Brian Delhaisse"]
__license__ = "GNU GPLv3"
__license__ = "MIT"
__version__ = "1.0.0"
__maintainer__ = "Brian Delhaisse"
__email__ = "briandelhaisse@gmail.com"
@@ -188,10 +188,10 @@ class ILTask(Task):
for policy in self.policies:
# prev_obs = copy.deepcopy(policy.states.data)
if self.testing_enabled:
actions = policy.act(policy.states, deterministic=deterministic)
actions = policy.act(policy.states, deterministic=deterministic, to_numpy=True, apply_action=True)
else:
actions = None
obs, rew, done, info = self.env.step(actions)
obs, rew, done, info = self.env.step()
self._done = done
# d = {'prev_obs': prev_obs, 'actions': copy.deepcopy(actions.data),
# 'obs': copy.deepcopy(policy.states.data), 'rew': rew, 'done': done}
@@ -352,7 +352,7 @@ class ILTask(Task):
dt = 1. / 240
# run several steps in the environment
print('Test: resetting...')
# print('Test: resetting...')
self.reset()
# time.sleep(10)
for t in count():
pyrobolearn/tasks/task.py
+4 -3
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@@ -33,7 +33,7 @@ from pyrobolearn.policies import Policy
__author__ = "Brian Delhaisse"
__copyright__ = "Copyright 2018, PyRoboLearn"
__credits__ = ["Brian Delhaisse"]
__license__ = "GNU GPLv3"
__license__ = "MIT"
__version__ = "1.0.0"
__maintainer__ = "Brian Delhaisse"
__email__ = "briandelhaisse@gmail.com"
@@ -72,8 +72,9 @@ class Task(object):
policies (list of Policy, Policy): the policy(ies).
"""
# check the environment
if not isinstance(environment, (Env, gym.Env)):
raise TypeError("Expecting 'environment' to be an instance of Env or gym.Env")
if not isinstance(environment, Env):
raise TypeError("Expecting 'environment' to be an instance of `Env`, but got instead: "
"{}".format(type(environment)))
self.env = environment
# check the policies
pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_imitation_task.py
+9 -2
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@@ -23,7 +23,7 @@ from pyrobolearn.tools.bridges.mouse_keyboard.bridge_mousekeyboard_world import
__author__ = "Brian Delhaisse"
__copyright__ = "Copyright 2018, PyRoboLearn"
__credits__ = ["Brian Delhaisse"]
__license__ = "GNU GPLv3"
__license__ = "MIT"
__version__ = "1.0.0"
__maintainer__ = "Brian Delhaisse"
__email__ = "briandelhaisse@gmail.com"
@@ -86,6 +86,7 @@ class BridgeMouseKeyboardImitationTask(BridgeMouseKeyboardWorld): # Bridge):
Initialize the Bridge between a Mouse-Keyboard interface and an imitation learning task.
Args:
world (World): world instance.
interface (MouseKeyboardInterface, Env, World): mouse keyboard interface.
If the interface is an instance of Env, World, or Simulator, it will create automatically
a mouse-keyboard interface.
@@ -121,6 +122,7 @@ class BridgeMouseKeyboardImitationTask(BridgeMouseKeyboardWorld): # Bridge):
self.visual_points = [] # {}
# self.display_trajectories = True
# mapping from keys to methods
self.events_fn = {(Key.x,): self.change_camera_view_x,
(Key.y,): self.change_camera_view_y,
(Key.z,): self.change_camera_view_z,
@@ -163,6 +165,11 @@ class BridgeMouseKeyboardImitationTask(BridgeMouseKeyboardWorld): # Bridge):
(Key.left_arrow,): lambda: None,
(Key.right_arrow,): lambda: None}
# replace key tuples by frozenset
for key in list(self.events_fn.keys()):
value = self.events_fn[key]
self.events_fn[frozenset(key)] = value
# define few variables
self.enable_training = False
self.enable_recording = False
@@ -367,7 +374,7 @@ class BridgeMouseKeyboardImitationTask(BridgeMouseKeyboardWorld): # Bridge):
# self.visual_points[key] = bodyId
# self.display_trajectories = not self.display_trajectories
for i in range(len(self.visual_points[:-1])):
self.simulator.addUserDebugLine(self.visual_points[i], self.visual_points[i + 1], RGBColor.red, 1., 2.)
self.simulator.add_user_debug_line(self.visual_points[i], self.visual_points[i + 1], RGBColor.red, 1., 2.)
def reset_visual_points(self):
# for key in self.visual_points:
pyrobolearn/tools/bridges/mouse_keyboard/bridge_mousekeyboard_world.py
+18 -12
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@@ -22,7 +22,7 @@ from pyrobolearn.tools.bridges import Bridge
__author__ = "Brian Delhaisse"
__copyright__ = "Copyright 2018, PyRoboLearn"
__credits__ = ["Brian Delhaisse"]
__license__ = "GNU GPLv3"
__license__ = "MIT"
__version__ = "1.0.0"
__maintainer__ = "Brian Delhaisse"
__email__ = "briandelhaisse@gmail.com"
@@ -105,6 +105,7 @@ class BridgeMouseKeyboardWorld(Bridge):
self.pausing = False
self.debug = verbose
# mapping from keys to methods
self.events_fn = {(Key.x,): self.change_camera_view_x,
(Key.y,): self.change_camera_view_y,
(Key.z,): self.change_camera_view_z,
@@ -136,6 +137,11 @@ class BridgeMouseKeyboardWorld(Bridge):
(Key.left_arrow,): lambda: None,
(Key.right_arrow,): lambda: None}
# replace key tuples by frozenset
for key in list(self.events_fn.keys()):
value = self.events_fn[key]
self.events_fn[frozenset(key)] = value
# self.vs = self.simulator.createVisualShape(self.simulator.GEOM_SPHERE, radius=0.02, rgbaColor=(0, 0, 1, 1))
# self.vs1 = self.simulator.createVisualShape(self.simulator.GEOM_SPHERE, radius=0.2, rgbaColor=(1, 0, 0, 1))
# self.vs2 = self.simulator.createVisualShape(self.simulator.GEOM_SPHERE, radius=0.2, rgbaColor=(0, 1, 0, 1))
@@ -285,12 +291,12 @@ class BridgeMouseKeyboardWorld(Bridge):
self.print_debug('unselect robot/link')
self.robot, self.link_id = None, None
def add_world_text(self, string, position, color=(0.,0.,0.), size=1., lifetime=0.):
def add_world_text(self, string, position, color=(0., 0., 0.), size=1., lifetime=0.):
"""Add world text."""
self.print_debug('add world text')
self.simulator.add_user_debug_text(string, position, color, size, lifetime)
def add_screen_text(self, string, world_position, color=(0.,0.,0.), size=1., lifetime=0.):
def add_screen_text(self, string, world_position, color=(0., 0., 0.), size=1., lifetime=0.):
"""Add screen text."""
self.print_debug('add screen text')
V, P, Vp, V_inv, P_inv, Vp_inv = self.world_camera.get_matrices(True)
@@ -300,7 +306,7 @@ class BridgeMouseKeyboardWorld(Bridge):
def check_key_events(self):
# call function corresponding to key combination
if self.interface.key_pressed:
key = tuple(self.interface.key_pressed)
key = frozenset(self.interface.key_pressed)
if key in self.events_fn:
self.events_fn[key]()
@@ -329,11 +335,11 @@ class BridgeMouseKeyboardWorld(Bridge):
# if collision, proceed the inverse operation to get the depth on the screen
if len(collision) > 0:
object_id, link_id, hit_frac, hit_pos, hit_normal = collision[0]
# self.simulator.addUserDebugLine(list(x_world_init[:3]), list(x_world_final[:3]), (0, 0, 1))
# bodyId = self.simulator.createMultiBody(baseMass=0, baseVisualShapeIndex=self.vs1,
# basePosition=list(x_world_init[:3]))
# bodyId = self.simulator.createMultiBody(baseMass=0, baseVisualShapeIndex=self.vs2,
# basePosition=list(x_world_final[:3]))
# self.simulator.add_user_debug_line(list(x_world_init[:3]), list(x_world_final[:3]), (0, 0, 1))
# bodyId = self.simulator.create_body(mass=0, visual_shape_id=self.vs1,
# position=list(x_world_init[:3]))
# bodyId = self.simulator.create_body(mass=0, visual_shape_id=self.vs2,
# position=list(x_world_final[:3]))
if object_id != -1 and self.world.is_robot_id(object_id): # valid object
# Set robot and link_id
@@ -381,8 +387,8 @@ class BridgeMouseKeyboardWorld(Bridge):
# # draw some spheres on the plane
# if self.display_trajectories:
# bodyId = self.simulator.createMultiBody(baseMass=0, baseVisualShapeIndex=self.vs,
# basePosition=point)
# bodyId = self.simulator.create_body(mass=0, visual_shape_id=self.vs,
# position=point)
# self.visual_points[tuple(point)] = bodyId
# else:
# self.visual_points[tuple(point)] = None
@@ -391,7 +397,7 @@ class BridgeMouseKeyboardWorld(Bridge):
# if self.display_trajectories:
# self.visual_points.append(point)
# if len(self.visual_points) > 1:
# self.simulator.addUserDebugLine(self.visual_points[-2], self.visual_points[-1],
# self.simulator.add_user_debug_line(self.visual_points[-2], self.visual_points[-1],
# RGBColor.red, 1., 2.)
# # perform inverse kinematics