Merge pull request #13 from alexander-soare/add_keypoints_mode

Add keypoints mode, and fix order of operations in `add_tee`

README.md

@@ -56,6 +56,11 @@ If `obs_type` is set to `state`, the observation space is a 5-dimensional vector
 environment: [agent_x, agent_y, block_x, block_y, block_angle]. The values are in the range [0, 512] for the agent
 and block positions and [0, 2*pi] for the block angle.
 
+If `obs_type` is set to `environment_state_agent_pos` the observation space is a dictionary with:
+    - `environment_state`: 16-dimensional vector representing the keypoint locations of the T (in [x0, y0, x1, y1, ...]
+        format). The values are in the range [0, 512].
+    - `agent_pos`: A 2-dimensional vector representing the position of the robot end-effector.
+
 If `obs_type` is set to `pixels`, the observation space is a 96x96 RGB image of the environment.
 
 ### Rewards
@@ -84,7 +89,7 @@ The episode terminates when the block is at least 95% in the goal zone.
 <TimeLimit<OrderEnforcing<PassiveEnvChecker<PushTEnv<gym_pusht/PushT-v0>>>>>
 ```
 
-* `obs_type`: (str) The observation type. Can be either `state`, `pixels` or `pixels_agent_pos`. Default is `state`.
+* `obs_type`: (str) The observation type. Can be either `state`, `environment_state_agent_pos`, `pixels` or `pixels_agent_pos`. Default is `state`.
 
 * `block_cog`: (tuple) The center of gravity of the block if different from the center of mass. Default is `None`.
 
@@ -105,7 +110,7 @@ The episode terminates when the block is at least 95% in the goal zone.
 Passing the option `options["reset_to_state"]` will reset the environment to a specific state.
 
 > [!WARNING]
-> For legacy compatibility, the inner fonctionning has been preserved, and the state set is not the same as the
+> For legacy compatibility, the inner functioning has been preserved, and the state set is not the same as the
 > the one passed in the argument.
 
 ```python

gym_pusht/envs/pusht.py

@@ -56,6 +56,12 @@ class PushTEnv(gym.Env):
     environment: [agent_x, agent_y, block_x, block_y, block_angle]. The values are in the range [0, 512] for the agent
     and block positions and [0, 2*pi] for the block angle.
 
+    If `obs_type` is set to `environment_state_agent_pos` the observation space is a dictionary with:
+    - `environment_state`: 16-dimensional vector representing the keypoint locations of the T (in [x0, y0, x1, y1, ...]
+        format). The values are in the range [0, 512]. See `get_keypoints` for a diagram showing the location of the
+        keypoint indices.
+    - `agent_pos`: A 2-dimensional vector representing the position of the robot end-effector.
+
     If `obs_type` is set to `pixels`, the observation space is a 96x96 RGB image of the environment.
 
     ## Rewards
@@ -84,7 +90,8 @@ class PushTEnv(gym.Env):
     <TimeLimit<OrderEnforcing<PassiveEnvChecker<PushTEnv<gym_pusht/PushT-v0>>>>>
     ```
 
-    * `obs_type`: (str) The observation type. Can be either `state`, `pixels` or `pixels_agent_pos`. Default is `state`.
+    * `obs_type`: (str) The observation type. Can be either `state`, `keypoints`, `pixels` or `pixels_agent_pos`.
+      Default is `state`.
 
     * `block_cog`: (tuple) The center of gravity of the block if different from the center of mass. Default is `None`.
 
@@ -181,6 +188,21 @@ def _initialize_observation_space(self):
                 high=np.array([512, 512, 512, 512, 2 * np.pi]),
                 dtype=np.float64,
             )
+        elif self.obs_type == "environment_state_agent_pos":
+            self.observation_space = spaces.Dict(
+                {
+                    "environment_state": spaces.Box(
+                        low=np.zeros(16),
+                        high=np.full((16,), 512),
+                        dtype=np.float64,
+                    ),
+                    "agent_pos": spaces.Box(
+                        low=np.array([0, 0]),
+                        high=np.array([512, 512]),
+                        dtype=np.float64,
+                    ),
+                },
+            )
         elif self.obs_type == "pixels":
             self.observation_space = spaces.Box(
                 low=0, high=255, shape=(self.observation_height, self.observation_width, 3), dtype=np.uint8
@@ -203,7 +225,8 @@ def _initialize_observation_space(self):
             )
         else:
             raise ValueError(
-                f"Unknown obs_type {self.obs_type}. Must be one of [pixels, state, pixels_agent_pos]"
+                f"Unknown obs_type {self.obs_type}. Must be one of [pixels, state, environment_state_agent_pos, "
+                "pixels_agent_pos]"
             )
 
     def _get_coverage(self):
@@ -364,6 +387,12 @@ def get_obs(self):
             block_angle = self.block.angle % (2 * np.pi)
             return np.concatenate([agent_position, block_position, [block_angle]], dtype=np.float64)
 
+        if self.obs_type == "environment_state_agent_pos":
+            return {
+                "environment_state": self.get_keypoints(self._block_shapes).flatten(),
+                "agent_pos": np.array(self.agent.position),
+            }
+
         pixels = self._render()
         if self.obs_type == "pixels":
             return pixels
@@ -416,7 +445,7 @@ def _setup(self):
 
         # Add agent, block, and goal zone
         self.agent = self.add_circle(self.space, (256, 400), 15)
-        self.block = self.add_tee(self.space, (256, 300), 0)
+        self.block, self._block_shapes = self.add_tee(self.space, (256, 300), 0)
         self.goal_pose = np.array([256, 256, np.pi / 4])  # x, y, theta (in radians)
         if self.block_cog is not None:
             self.block.center_of_gravity = self.block_cog
@@ -429,7 +458,7 @@ def _setup(self):
     def _set_state(self, state):
         self.agent.position = list(state[:2])
         # Setting angle rotates with respect to center of mass, therefore will modify the geometric position if not
-        # the same as CoM. Therefore should theoritically set the angle first. But for compatibility with legacy data,
+        # the same as CoM. Therefore should theoretically set the angle first. But for compatibility with legacy data,
         # we do the opposite.
         self.block.position = list(state[2:4])
         self.block.angle = state[4]
@@ -482,8 +511,31 @@ def add_tee(space, position, angle, scale=30, color="LightSlateGray", mask=None)
         shape1.filter = pymunk.ShapeFilter(mask=mask)
         shape2.filter = pymunk.ShapeFilter(mask=mask)
         body.center_of_gravity = (shape1.center_of_gravity + shape2.center_of_gravity) / 2
-        body.position = position
         body.angle = angle
+        body.position = position
         body.friction = 1
         space.add(body, shape1, shape2)
-        return body
+        return body, [shape1, shape2]
+
+    @staticmethod
+    def get_keypoints(block_shapes):
+        """Get a (8, 2) numpy array with the T keypoints.
+
+        The T is composed of two rectangles each with 4 keypoints.
+
+        0───────────1
+        │           │
+        3───4───5───2
+            │   │
+            │   │
+            │   │
+            │   │
+            7───6
+        """
+        keypoints = []
+        for shape in block_shapes:
+            for v in shape.get_vertices():
+                v = v.rotated(shape.body.angle)
+                v = v + shape.body.position
+                keypoints.append(np.array(v))
+        return np.row_stack(keypoints)

tests/test_env.py

@@ -11,6 +11,7 @@
         ("PushT-v0", "state"),
         ("PushT-v0", "pixels"),
         ("PushT-v0", "pixels_agent_pos"),
+        ("PushT-v0", "environment_state_agent_pos"),
     ],
 )
 def test_env(env_task, obs_type):