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add pets environments and reward functions #752
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| @@ -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') |
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| @@ -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 |
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| 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> | ||
|
|
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| <!-- 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> | ||
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| 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> |
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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?