101 lines
3.3 KiB
Python
101 lines
3.3 KiB
Python
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# Copyright 2017 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Ball-in-Cup Domain."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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import collections
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from dm_control import mujoco
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from dm_control.rl import control
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from local_dm_control_suite import base
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from local_dm_control_suite import common
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from dm_control.utils import containers
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_DEFAULT_TIME_LIMIT = 20 # (seconds)
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_CONTROL_TIMESTEP = .02 # (seconds)
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SUITE = containers.TaggedTasks()
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def get_model_and_assets():
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"""Returns a tuple containing the model XML string and a dict of assets."""
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return common.read_model('ball_in_cup.xml'), common.ASSETS
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@SUITE.add('benchmarking', 'easy')
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def catch(time_limit=_DEFAULT_TIME_LIMIT, random=None, environment_kwargs=None):
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"""Returns the Ball-in-Cup task."""
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physics = Physics.from_xml_string(*get_model_and_assets())
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task = BallInCup(random=random)
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environment_kwargs = environment_kwargs or {}
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return control.Environment(
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physics, task, time_limit=time_limit, control_timestep=_CONTROL_TIMESTEP,
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**environment_kwargs)
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class Physics(mujoco.Physics):
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"""Physics with additional features for the Ball-in-Cup domain."""
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def ball_to_target(self):
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"""Returns the vector from the ball to the target."""
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target = self.named.data.site_xpos['target', ['x', 'z']]
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ball = self.named.data.xpos['ball', ['x', 'z']]
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return target - ball
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def in_target(self):
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"""Returns 1 if the ball is in the target, 0 otherwise."""
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ball_to_target = abs(self.ball_to_target())
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target_size = self.named.model.site_size['target', [0, 2]]
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ball_size = self.named.model.geom_size['ball', 0]
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return float(all(ball_to_target < target_size - ball_size))
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class BallInCup(base.Task):
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"""The Ball-in-Cup task. Put the ball in the cup."""
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def initialize_episode(self, physics):
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"""Sets the state of the environment at the start of each episode.
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Args:
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physics: An instance of `Physics`.
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"""
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# Find a collision-free random initial position of the ball.
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penetrating = True
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while penetrating:
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# Assign a random ball position.
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physics.named.data.qpos['ball_x'] = self.random.uniform(-.2, .2)
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physics.named.data.qpos['ball_z'] = self.random.uniform(.2, .5)
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# Check for collisions.
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physics.after_reset()
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penetrating = physics.data.ncon > 0
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super(BallInCup, self).initialize_episode(physics)
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def get_observation(self, physics):
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"""Returns an observation of the state."""
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obs = collections.OrderedDict()
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obs['position'] = physics.position()
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obs['velocity'] = physics.velocity()
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return obs
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def get_reward(self, physics):
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"""Returns a sparse reward."""
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return physics.in_target()
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