-
Notifications
You must be signed in to change notification settings - Fork 49
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
add pets environments and reward functions #752
Open
runjerry
wants to merge
1
commit into
pytorch
Choose a base branch
from
PR_mbrl_pets_env
base: pytorch
Could not load branches
Branch not found: {{ refName }}
Loading
Could not load tags
Nothing to show
Loading
Are you sure you want to change the base?
Some commits from the old base branch may be removed from the timeline,
and old review comments may become outdated.
Open
Changes from all commits
Commits
File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,30 @@ | ||
# Copyright (c) 2020 Horizon Robotics and ALF Contributors. All Rights Reserved. | ||
# | ||
# Licensed under the Apache License, Version 2.0 (the "License"); | ||
# you may not use this file except in compliance with the License. | ||
# You may obtain a copy of the License at | ||
# | ||
# http://www.apache.org/licenses/LICENSE-2.0 | ||
# | ||
# Unless required by applicable law or agreed to in writing, software | ||
# distributed under the License is distributed on an "AS IS" BASIS, | ||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
# See the License for the specific language governing permissions and | ||
# limitations under the License. | ||
|
||
from gym.envs.registration import register | ||
|
||
register( | ||
id='MBRLCartpole-v0', | ||
entry_point='alf.environments.gym_pets.envs:CartpoleEnv') | ||
|
||
register( | ||
id='MBRLReacher3D-v0', | ||
entry_point='alf.environments.gym_pets.envs:Reacher3DEnv') | ||
|
||
register( | ||
id='MBRLPusher-v0', entry_point='alf.environments.gym_pets.envs:PusherEnv') | ||
|
||
register( | ||
id='MBRLHalfCheetah-v0', | ||
entry_point='alf.environments.gym_pets.envs:HalfCheetahEnv') |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,18 @@ | ||
# Copyright (c) 2020 Horizon Robotics and ALF Contributors. All Rights Reserved. | ||
# | ||
# Licensed under the Apache License, Version 2.0 (the "License"); | ||
# you may not use this file except in compliance with the License. | ||
# You may obtain a copy of the License at | ||
# | ||
# http://www.apache.org/licenses/LICENSE-2.0 | ||
# | ||
# Unless required by applicable law or agreed to in writing, software | ||
# distributed under the License is distributed on an "AS IS" BASIS, | ||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
# See the License for the specific language governing permissions and | ||
# limitations under the License. | ||
|
||
from .cartpole import CartpoleEnv | ||
from .half_cheetah import HalfCheetahEnv | ||
from .pusher import PusherEnv | ||
from .reacher import Reacher3DEnv |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,35 @@ | ||
<mujoco model="cartpole"> | ||
<compiler inertiafromgeom="true"/> | ||
<default> | ||
<joint armature="0" damping="1" limited="true"/> | ||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/> | ||
<tendon/> | ||
<motor ctrlrange="-3 3" ctrllimited='true'/> | ||
</default> | ||
<asset> | ||
<texture type="skybox" builtin="checker" rgb1="1 1 1" rgb2="1 1 1" | ||
width="256" height="256"/> | ||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" /> | ||
<texture name="texplane" type="2d" builtin="checker" rgb1=".5 .5 .5" rgb2=".5 .5 .5" width="100" height="100" /> | ||
<texture name="texplane_show" type="2d" builtin="checker" rgb1="0 0 0" rgb2="0.9 0.9 0.9" width="100" height="100" /> | ||
<material name='MatPlane' texture="texplane" shininess="1" texrepeat="30 30" specular="1" reflectance="0.5" /> | ||
<material name='geom' texture="texgeom" texuniform="true" /> | ||
</asset> | ||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/> | ||
<size nstack="3000"/> | ||
<worldbody> | ||
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 3" type="capsule"/> | ||
<body name="cart" pos="0 0 0"> | ||
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-2.5 2.5" type="slide"/> | ||
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/> | ||
<body name="pole" pos="0 0 0"> | ||
<joint axis="0 1 0" limited="false" name="hinge" pos="0 0 0" range="-180 180" type="hinge"/> | ||
<geom fromto="0 0 0 0.001 0 -0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/> | ||
</body> | ||
</body> | ||
</worldbody> | ||
<actuator> | ||
<motor gear="100" joint="slider" name="slide"/> | ||
</actuator> | ||
</mujoco> | ||
|
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,95 @@ | ||
<!-- Cheetah Model | ||
|
||
The state space is populated with joints in the order that they are | ||
defined in this file. The actuators also operate on joints. | ||
|
||
State-Space (name/joint/parameter): | ||
- rootx slider position (m) | ||
- rootz slider position (m) | ||
- rooty hinge angle (rad) | ||
- bthigh hinge angle (rad) | ||
- bshin hinge angle (rad) | ||
- bfoot hinge angle (rad) | ||
- fthigh hinge angle (rad) | ||
- fshin hinge angle (rad) | ||
- ffoot hinge angle (rad) | ||
- rootx slider velocity (m/s) | ||
- rootz slider velocity (m/s) | ||
- rooty hinge angular velocity (rad/s) | ||
- bthigh hinge angular velocity (rad/s) | ||
- bshin hinge angular velocity (rad/s) | ||
- bfoot hinge angular velocity (rad/s) | ||
- fthigh hinge angular velocity (rad/s) | ||
- fshin hinge angular velocity (rad/s) | ||
- ffoot hinge angular velocity (rad/s) | ||
|
||
Actuators (name/actuator/parameter): | ||
- bthigh hinge torque (N m) | ||
- bshin hinge torque (N m) | ||
- bfoot hinge torque (N m) | ||
- fthigh hinge torque (N m) | ||
- fshin hinge torque (N m) | ||
- ffoot hinge torque (N m) | ||
|
||
--> | ||
<mujoco model="cheetah"> | ||
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/> | ||
<default> | ||
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/> | ||
<geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/> | ||
<motor ctrllimited="true" ctrlrange="-1 1"/> | ||
</default> | ||
<size nstack="300000" nuser_geom="1"/> | ||
<option gravity="0 0 -9.81" timestep="0.01"/> | ||
<asset> | ||
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/> | ||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/> | ||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> | ||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="150 150" texture="texplane"/> | ||
<material name="geom" texture="texgeom" texuniform="true"/> | ||
</asset> | ||
<worldbody> | ||
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/> | ||
<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="200 200 200" type="plane"/> | ||
<body name="torso" pos="0 0 .7"> | ||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/> | ||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" stiffness="0" type="slide"/> | ||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/> | ||
<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/> | ||
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/> | ||
<!-- <site name='tip' pos='.15 0 .11'/>--> | ||
<body name="bthigh" pos="-.5 0 0"> | ||
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/> | ||
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/> | ||
<body name="bshin" pos=".16 0 -.25"> | ||
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/> | ||
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/> | ||
<body name="bfoot" pos="-.28 0 -.14"> | ||
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/> | ||
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/> | ||
</body> | ||
</body> | ||
</body> | ||
<body name="fthigh" pos=".5 0 0"> | ||
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/> | ||
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/> | ||
<body name="fshin" pos="-.14 0 -.24"> | ||
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/> | ||
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/> | ||
<body name="ffoot" pos=".13 0 -.18"> | ||
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/> | ||
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
</worldbody> | ||
<actuator> | ||
<motor gear="120" joint="bthigh" name="bthigh"/> | ||
<motor gear="90" joint="bshin" name="bshin"/> | ||
<motor gear="60" joint="bfoot" name="bfoot"/> | ||
<motor gear="120" joint="fthigh" name="fthigh"/> | ||
<motor gear="60" joint="fshin" name="fshin"/> | ||
<motor gear="30" joint="ffoot" name="ffoot"/> | ||
</actuator> | ||
</mujoco> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,101 @@ | ||
<mujoco model="arm3d"> | ||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/> | ||
<option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" /> | ||
|
||
<default> | ||
<joint armature='0.04' damping="1" limited="true"/> | ||
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/> | ||
</default> | ||
<asset> | ||
<texture type="skybox" builtin="checker" rgb1="1 1 1" rgb2="1 1 1" | ||
width="256" height="256"/> | ||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" /> | ||
<texture name="texplane" type="2d" builtin="checker" rgb1=".5 .5 .5" rgb2=".5 .5 .5" width="100" height="100" /> | ||
<texture name="texplane_show" type="2d" builtin="checker" rgb1="0 0 0" rgb2="0.9 0.9 0.9" width="100" height="100" /> | ||
<material name='MatPlane' texture="texplane" shininess="1" texrepeat="30 30" specular="1" reflectance="0.5" /> | ||
<material name='geom' texture="texgeom" texuniform="true" /> | ||
</asset> | ||
|
||
<worldbody> | ||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/> | ||
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/> | ||
|
||
<body name="r_shoulder_pan_link" pos="0 -0.6 0"> | ||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" /> | ||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" /> | ||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" /> | ||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" /> | ||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" /> | ||
<!--<joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />--> | ||
<joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 2.0" damping="1.0" /> | ||
|
||
<body name="r_shoulder_lift_link" pos="0.1 0 0"> | ||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" /> | ||
<joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" /> | ||
|
||
<body name="r_upper_arm_roll_link" pos="0 0 0"> | ||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" /> | ||
<joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" /> | ||
|
||
<body name="r_upper_arm_link" pos="0 0 0"> | ||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" /> | ||
|
||
<body name="r_elbow_flex_link" pos="0.4 0 0"> | ||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" /> | ||
<joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" /> | ||
|
||
<body name="r_forearm_roll_link" pos="0 0 0"> | ||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" /> | ||
<joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/> | ||
|
||
<body name="r_forearm_link" pos="0 0 0"> | ||
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" /> | ||
|
||
<body name="r_wrist_flex_link" pos="0.321 0 0"> | ||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" /> | ||
<joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" /> | ||
|
||
<body name="r_wrist_roll_link" pos="0 0 0"> | ||
<joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/> | ||
<body name="tips_arm" pos="0 0 0"> | ||
<geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" /> | ||
<geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" /> | ||
</body> | ||
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" /> | ||
<geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" /> | ||
<geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" /> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
|
||
<!--<body name="object" pos="0.55 -0.3 -0.275" >--> | ||
<body name="object" pos="0.45 -0.05 -0.275" > | ||
<geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/> | ||
<geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/> | ||
<joint name="obj_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/> | ||
<joint name="obj_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> | ||
</body> | ||
|
||
<body name="goal" pos="0.45 -0.05 -0.3230"> | ||
<geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/> | ||
<joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/> | ||
<joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> | ||
</body> | ||
</worldbody> | ||
|
||
<actuator> | ||
<motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | ||
<motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | ||
<motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | ||
<motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | ||
<motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | ||
<motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | ||
<motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/> | ||
</actuator> | ||
</mujoco> |
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
For the xml files, not sure whether should check gym/mujoco license as well apart from reference to pets, if to include them.
Another possible way might be to provide pointers/scripts to download them?