# Copyright 2023, Junjia LIU, jjliu@mae.cuhk.edu.hk
#
# 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
#
# https://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.
import os
from isaacgym import gymtorch, gymapi
from isaacgym.torch_utils import *
from rofunc.learning.RofuncRL.tasks.isaacgymenv.base.curi_base_task import CURIBaseTask
from rofunc.utils.oslab.path import get_rofunc_path
[docs]class CURICabinetBimanualTask(CURIBaseTask):
def __init__(self, cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render):
super().__init__(cfg, rl_device, sim_device, graphics_device_id, headless, virtual_screen_capture, force_render)
# self.cfg["env"]["numObservations"] = 44
# self.cfg["env"]["numActions"] = 18
# get gym GPU state tensors
actor_root_state_tensor = self.gym.acquire_actor_root_state_tensor(self.sim)
dof_state_tensor = self.gym.acquire_dof_state_tensor(self.sim)
rigid_body_tensor = self.gym.acquire_rigid_body_state_tensor(self.sim)
self.gym.refresh_actor_root_state_tensor(self.sim)
self.gym.refresh_dof_state_tensor(self.sim)
self.gym.refresh_rigid_body_state_tensor(self.sim)
# create some wrapper tensors for different slices
# set default pos (seven links and left and right gripper, [:9] for the left arm, [9:] for the right arm)
self.curi_default_dof_pos = to_torch(
[0.3863, 0.5062, -0.1184, -0.6105, 0.023, 1.6737, 0.9197, 0.04, 0.04, -0.5349, 0, 0.1401, -1.7951, 0.0334,
3.2965, 0.6484, 0.04, 0.04], device=self.device)
self.dof_state = gymtorch.wrap_tensor(dof_state_tensor)
self.curi_dof_state = self.dof_state.view(self.num_envs, -1, 2)[:, :self.num_curi_dofs]
self.curi_dof_pos = self.curi_dof_state[..., 0]
self.curi_dof_vel = self.curi_dof_state[..., 1]
self.cabinet_dof_state = self.dof_state.view(self.num_envs, -1, 2)[:, self.num_curi_dofs:]
self.cabinet_dof_pos = self.cabinet_dof_state[..., 0]
self.cabinet_dof_vel = self.cabinet_dof_state[..., 1]
self.rigid_body_states = gymtorch.wrap_tensor(rigid_body_tensor).view(self.num_envs, -1, 13)
self.num_bodies = self.rigid_body_states.shape[1]
self.root_state_tensor = gymtorch.wrap_tensor(actor_root_state_tensor).view(self.num_envs, -1, 13)
if self.num_props > 0:
self.prop_states = self.root_state_tensor[:, 2:]
self.num_dofs = self.gym.get_sim_dof_count(self.sim) // self.num_envs
self.curi_dof_targets = torch.zeros((self.num_envs, self.num_dofs), dtype=torch.float, device=self.device)
self.global_indices = torch.arange(self.num_envs * (2 + self.num_props), dtype=torch.int32,
device=self.device).view(self.num_envs, -1)
self.reset_idx(torch.arange(self.num_envs, device=self.device))
def _create_envs(self, num_envs, spacing, num_per_row):
lower = gymapi.Vec3(-spacing, -spacing, 0.0)
upper = gymapi.Vec3(spacing, spacing, spacing)
# get rofunc path from rofunc package metadata
rofunc_path = get_rofunc_path()
asset_root = os.path.join(rofunc_path, "simulator/assets")
curi_asset_file = "urdf/curi/urdf/curi_isaacgym_dual_arm.urdf"
cabinet_asset_file = "urdf/sektion_cabinet_model/urdf/sektion_cabinet.urdf"
# load curi asset
asset_options = gymapi.AssetOptions()
asset_options.flip_visual_attachments = True
asset_options.fix_base_link = True
asset_options.collapse_fixed_joints = True
asset_options.disable_gravity = True
asset_options.thickness = 0.001
asset_options.default_dof_drive_mode = gymapi.DOF_MODE_POS
asset_options.use_mesh_materials = True
curi_asset = self.gym.load_asset(self.sim, asset_root, curi_asset_file, asset_options)
# load cabinet asset
asset_options.flip_visual_attachments = False
asset_options.collapse_fixed_joints = True
asset_options.disable_gravity = False
asset_options.default_dof_drive_mode = gymapi.DOF_MODE_NONE
asset_options.armature = 0.005
cabinet_asset = self.gym.load_asset(self.sim, asset_root, cabinet_asset_file, asset_options)
curi_dof_stiffness = to_torch(
[400, 400, 400, 400, 400, 400, 400, 1.0e6, 1.0e6, 400, 400, 400, 400, 400, 400, 400, 1.0e6, 1.0e6],
dtype=torch.float, device=self.device)
curi_dof_damping = to_torch(
[80, 80, 80, 80, 80, 80, 80, 1.0e2, 1.0e2, 80, 80, 80, 80, 80, 80, 80, 1.0e2, 1.0e2], dtype=torch.float,
device=self.device)
self.num_curi_bodies = self.gym.get_asset_rigid_body_count(curi_asset)
self.num_curi_dofs = self.gym.get_asset_dof_count(curi_asset)
self.num_cabinet_bodies = self.gym.get_asset_rigid_body_count(cabinet_asset)
self.num_cabinet_dofs = self.gym.get_asset_dof_count(cabinet_asset)
print("num curi bodies: ", self.num_curi_bodies)
print("num curi dofs: ", self.num_curi_dofs)
print("num cabinet bodies: ", self.num_cabinet_bodies)
print("num cabinet dofs: ", self.num_cabinet_dofs)
# set curi dof properties
curi_dof_props = self.gym.get_asset_dof_properties(curi_asset)
self.curi_dof_lower_limits = []
self.curi_dof_upper_limits = []
for i in range(self.num_curi_dofs):
curi_dof_props['driveMode'][i] = gymapi.DOF_MODE_POS
if self.physics_engine == gymapi.SIM_PHYSX:
curi_dof_props['stiffness'][i] = curi_dof_stiffness[i]
curi_dof_props['damping'][i] = curi_dof_damping[i]
else:
curi_dof_props['stiffness'][i] = 7000.0
curi_dof_props['damping'][i] = 50.0
self.curi_dof_lower_limits.append(curi_dof_props['lower'][i])
self.curi_dof_upper_limits.append(curi_dof_props['upper'][i])
self.curi_dof_lower_limits = to_torch(self.curi_dof_lower_limits, device=self.device)
self.curi_dof_upper_limits = to_torch(self.curi_dof_upper_limits, device=self.device)
self.curi_dof_speed_scales = torch.ones_like(self.curi_dof_lower_limits)
self.curi_dof_speed_scales[[7, 8]] = 0.1
self.curi_dof_speed_scales[[16, 17]] = 0.1
curi_dof_props['effort'][7] = 200
curi_dof_props['effort'][8] = 200
curi_dof_props['effort'][16] = 200
curi_dof_props['effort'][17] = 200
# set cabinet dof properties
cabinet_dof_props = self.gym.get_asset_dof_properties(cabinet_asset)
for i in range(self.num_cabinet_dofs):
cabinet_dof_props['damping'][i] = 10.0
# create prop assets
box_opts = gymapi.AssetOptions()
box_opts.density = 400
prop_asset = self.gym.create_box(self.sim, self.prop_width, self.prop_height, self.prop_width, box_opts)
curi_start_pose = gymapi.Transform()
curi_start_pose.p = gymapi.Vec3(1.5, 0.0, 0.0)
curi_start_pose.r = gymapi.Quat(0.0, 0.0, 1.0, 0.0)
cabinet_start_pose = gymapi.Transform()
cabinet_start_pose.p = gymapi.Vec3(*get_axis_params(0.4, self.up_axis_idx))
# compute aggregate size
num_curi_bodies = self.gym.get_asset_rigid_body_count(curi_asset)
num_curi_shapes = self.gym.get_asset_rigid_shape_count(curi_asset)
num_cabinet_bodies = self.gym.get_asset_rigid_body_count(cabinet_asset)
num_cabinet_shapes = self.gym.get_asset_rigid_shape_count(cabinet_asset)
num_prop_bodies = self.gym.get_asset_rigid_body_count(prop_asset)
num_prop_shapes = self.gym.get_asset_rigid_shape_count(prop_asset)
max_agg_bodies = num_curi_bodies + num_cabinet_bodies + self.num_props * num_prop_bodies
max_agg_shapes = num_curi_shapes + num_cabinet_shapes + self.num_props * num_prop_shapes
self.curis = []
self.cabinets = []
self.default_prop_states = []
self.prop_start = []
self.envs = []
for i in range(self.num_envs):
# create env instance
env_ptr = self.gym.create_env(self.sim, lower, upper, num_per_row)
if self.aggregate_mode >= 3:
self.gym.begin_aggregate(env_ptr, max_agg_bodies, max_agg_shapes, True)
curi_actor = self.gym.create_actor(env_ptr, curi_asset, curi_start_pose, "curi", i, 1, 0)
self.gym.set_actor_dof_properties(env_ptr, curi_actor, curi_dof_props)
if self.aggregate_mode == 2:
self.gym.begin_aggregate(env_ptr, max_agg_bodies, max_agg_shapes, True)
cabinet_pose = cabinet_start_pose
cabinet_pose.p.x += self.start_position_noise * (np.random.rand() - 0.5)
dz = 0.5 * np.random.rand()
dy = np.random.rand() - 0.5
cabinet_pose.p.y += self.start_position_noise * dy
cabinet_pose.p.z += self.start_position_noise * dz
cabinet_actor = self.gym.create_actor(env_ptr, cabinet_asset, cabinet_pose, "cabinet", i, 2, 0)
self.gym.set_actor_dof_properties(env_ptr, cabinet_actor, cabinet_dof_props)
if self.aggregate_mode == 1:
self.gym.begin_aggregate(env_ptr, max_agg_bodies, max_agg_shapes, True)
if self.num_props > 0:
self.prop_start.append(self.gym.get_sim_actor_count(self.sim))
drawer_handle = self.gym.find_actor_rigid_body_handle(env_ptr, cabinet_actor, "drawer_top")
drawer_pose = self.gym.get_rigid_transform(env_ptr, drawer_handle)
props_per_row = int(np.ceil(np.sqrt(self.num_props)))
xmin = -0.5 * self.prop_spacing * (props_per_row - 1)
yzmin = -0.5 * self.prop_spacing * (props_per_row - 1)
prop_count = 0
for j in range(props_per_row):
prop_up = yzmin + j * self.prop_spacing
for k in range(props_per_row):
if prop_count >= self.num_props:
break
propx = xmin + k * self.prop_spacing
prop_state_pose = gymapi.Transform()
prop_state_pose.p.x = drawer_pose.p.x + propx
propz, propy = 0, prop_up
prop_state_pose.p.y = drawer_pose.p.y + propy
prop_state_pose.p.z = drawer_pose.p.z + propz
prop_state_pose.r = gymapi.Quat(0, 0, 0, 1)
prop_handle = self.gym.create_actor(env_ptr, prop_asset, prop_state_pose,
"prop{}".format(prop_count), i, 0, 0)
prop_count += 1
prop_idx = j * props_per_row + k
self.default_prop_states.append([prop_state_pose.p.x, prop_state_pose.p.y, prop_state_pose.p.z,
prop_state_pose.r.x, prop_state_pose.r.y, prop_state_pose.r.z,
prop_state_pose.r.w,
0, 0, 0, 0, 0, 0])
if self.aggregate_mode > 0:
self.gym.end_aggregate(env_ptr)
self.envs.append(env_ptr)
self.curis.append(curi_actor)
self.cabinets.append(cabinet_actor)
# Left arm
self.hand_handle_l, self.lfinger_handle_l, self.rfinger_handle_l, self.curi_local_grasp_pos, \
self.curi_local_grasp_rot, self.curi_grasp_pos_l, self.curi_grasp_rot_l, self.curi_lfinger_pos_l, \
self.curi_rfinger_pos_l, self.curi_lfinger_rot_l, self.curi_rfinger_rot_l \
= self.init_data_curi("panda_left_link7", "panda_left_leftfinger", "panda_left_rightfinger", env_ptr,
curi_actor)
# Right arm
self.hand_handle_r, self.lfinger_handle_r, self.rfinger_handle_r, self.curi_local_grasp_pos, \
self.curi_local_grasp_rot, self.curi_grasp_pos_r, self.curi_grasp_rot_r, self.curi_lfinger_pos_r, \
self.curi_rfinger_pos_r, self.curi_lfinger_rot_r, self.curi_rfinger_rot_r \
= self.init_data_curi("panda_right_link7", "panda_right_leftfinger", "panda_right_rightfinger", env_ptr,
curi_actor)
self.init_data_cabinet(env_ptr, cabinet_actor)
self.default_prop_states = to_torch(self.default_prop_states, device=self.device, dtype=torch.float).view(
self.num_envs, self.num_props, 13)
[docs] def init_data_curi(self, hand_dof_name, lfinger_dof_name, rfinger_dof_name, env_ptr, curi_actor):
hand_handle = self.gym.find_actor_rigid_body_handle(env_ptr, curi_actor, hand_dof_name)
lfinger_handle = self.gym.find_actor_rigid_body_handle(env_ptr, curi_actor, lfinger_dof_name)
rfinger_handle = self.gym.find_actor_rigid_body_handle(env_ptr, curi_actor, rfinger_dof_name)
hand = self.gym.find_actor_rigid_body_handle(self.envs[0], self.curis[0], hand_dof_name)
lfinger = self.gym.find_actor_rigid_body_handle(self.envs[0], self.curis[0], lfinger_dof_name)
rfinger = self.gym.find_actor_rigid_body_handle(self.envs[0], self.curis[0], rfinger_dof_name)
hand_pose = self.gym.get_rigid_transform(self.envs[0], hand)
lfinger_pose = self.gym.get_rigid_transform(self.envs[0], lfinger)
rfinger_pose = self.gym.get_rigid_transform(self.envs[0], rfinger)
finger_pose = gymapi.Transform()
finger_pose.p = (lfinger_pose.p + rfinger_pose.p) * 0.5
finger_pose.r = lfinger_pose.r
hand_pose_inv = hand_pose.inverse()
grasp_pose_axis = 1
curi_local_grasp_pose = hand_pose_inv * finger_pose
curi_local_grasp_pose.p += gymapi.Vec3(*get_axis_params(0.04, grasp_pose_axis))
curi_local_grasp_pos = to_torch([curi_local_grasp_pose.p.x, curi_local_grasp_pose.p.y,
curi_local_grasp_pose.p.z], device=self.device).repeat((self.num_envs, 1))
curi_local_grasp_rot = to_torch([curi_local_grasp_pose.r.x, curi_local_grasp_pose.r.y,
curi_local_grasp_pose.r.z, curi_local_grasp_pose.r.w],
device=self.device).repeat((self.num_envs, 1))
curi_grasp_pos = torch.zeros_like(curi_local_grasp_pos)
curi_grasp_rot = torch.zeros_like(curi_local_grasp_rot)
curi_grasp_rot[..., -1] = 1 # xyzw
curi_lfinger_pos = torch.zeros_like(curi_local_grasp_pos)
curi_rfinger_pos = torch.zeros_like(curi_local_grasp_pos)
curi_lfinger_rot = torch.zeros_like(curi_local_grasp_rot)
curi_rfinger_rot = torch.zeros_like(curi_local_grasp_rot)
return hand_handle, lfinger_handle, rfinger_handle, curi_local_grasp_pos, curi_local_grasp_rot, curi_grasp_pos, \
curi_grasp_rot, curi_lfinger_pos, curi_rfinger_pos, curi_lfinger_rot, curi_rfinger_rot
[docs] def init_data_cabinet(self, env_ptr, cabinet_actor):
self.drawer_handle_top = self.gym.find_actor_rigid_body_handle(env_ptr, cabinet_actor, "drawer_top")
self.drawer_handle_bottom = self.gym.find_actor_rigid_body_handle(env_ptr, cabinet_actor, "drawer_bottom")
grasp_pose_axis = 1
drawer_local_grasp_pose = gymapi.Transform()
drawer_local_grasp_pose.p = gymapi.Vec3(*get_axis_params(0.01, grasp_pose_axis, 0.3))
drawer_local_grasp_pose.r = gymapi.Quat(0, 0, 0, 1)
self.drawer_local_grasp_pos = to_torch([drawer_local_grasp_pose.p.x, drawer_local_grasp_pose.p.y,
drawer_local_grasp_pose.p.z], device=self.device).repeat(
(self.num_envs, 1))
self.drawer_local_grasp_rot = to_torch([drawer_local_grasp_pose.r.x, drawer_local_grasp_pose.r.y,
drawer_local_grasp_pose.r.z, drawer_local_grasp_pose.r.w],
device=self.device).repeat((self.num_envs, 1))
self.gripper_forward_axis = to_torch([0, 0, 1], device=self.device).repeat((self.num_envs, 1))
self.drawer_inward_axis = to_torch([-1, 0, 0], device=self.device).repeat((self.num_envs, 1))
self.gripper_up_axis = to_torch([0, 1, 0], device=self.device).repeat((self.num_envs, 1))
self.drawer_up_axis = to_torch([0, 0, 1], device=self.device).repeat((self.num_envs, 1))
self.drawer_grasp_pos_top = torch.zeros_like(self.drawer_local_grasp_pos)
self.drawer_grasp_rot_top = torch.zeros_like(self.drawer_local_grasp_rot)
self.drawer_grasp_rot_top[..., -1] = 1 # xyzw
self.drawer_grasp_pos_bottom = torch.zeros_like(self.drawer_local_grasp_pos)
self.drawer_grasp_rot_bottom = torch.zeros_like(self.drawer_local_grasp_rot)
self.drawer_grasp_rot_bottom[..., -1] = 1 # xyzw
[docs] def compute_reward(self, actions):
rew_buf_l, reset_buf_l = compute_curi_reward(
self.reset_buf, self.progress_buf, self.actions, self.cabinet_dof_pos[:, 3], # drawer_top_joint
self.curi_grasp_pos_l, self.drawer_grasp_pos_top, self.curi_grasp_rot_l, self.drawer_grasp_rot_top,
self.curi_lfinger_pos_l, self.curi_rfinger_pos_l,
self.gripper_forward_axis, self.drawer_inward_axis, self.gripper_up_axis, self.drawer_up_axis,
self.num_envs, self.dist_reward_scale, self.rot_reward_scale, self.around_handle_reward_scale,
self.open_reward_scale,
self.finger_dist_reward_scale, self.action_penalty_scale, self.distX_offset, self.max_episode_length
)
rew_buf_r, reset_buf_r = compute_curi_reward(
self.reset_buf, self.progress_buf, self.actions, self.cabinet_dof_pos[:, 2], # drawer_bottom_joint
self.curi_grasp_pos_r, self.drawer_grasp_pos_bottom, self.curi_grasp_rot_r, self.drawer_grasp_rot_bottom,
self.curi_lfinger_pos_r, self.curi_rfinger_pos_r,
self.gripper_forward_axis, self.drawer_inward_axis, self.gripper_up_axis, self.drawer_up_axis,
self.num_envs, self.dist_reward_scale, self.rot_reward_scale, self.around_handle_reward_scale,
self.open_reward_scale,
self.finger_dist_reward_scale, self.action_penalty_scale, self.distX_offset, self.max_episode_length
)
self.rew_buf[:] = rew_buf_l * (self.cabinet_dof_pos[:, 2] / 0.39) + rew_buf_r
# self.rew_buf[:] = torch.maximum(rew_buf_l, rew_buf_r)
self.reset_buf[:] = reset_buf_l
# self.reset_buf[:] = torch.minimum(reset_buf_l, reset_buf_r)
# self.rew_buf[:] = rew_buf_l
# self.reset_buf[:] = reset_buf_l
[docs] def compute_observations(self):
self.gym.refresh_actor_root_state_tensor(self.sim)
self.gym.refresh_dof_state_tensor(self.sim)
self.gym.refresh_rigid_body_state_tensor(self.sim)
hand_pos_l = self.rigid_body_states[:, self.hand_handle_l][:, 0:3]
hand_rot_l = self.rigid_body_states[:, self.hand_handle_l][:, 3:7]
hand_pos_r = self.rigid_body_states[:, self.hand_handle_r][:, 0:3]
hand_rot_r = self.rigid_body_states[:, self.hand_handle_r][:, 3:7]
drawer_pos_top = self.rigid_body_states[:, self.drawer_handle_top][:, 0:3]
drawer_rot_top = self.rigid_body_states[:, self.drawer_handle_top][:, 3:7]
drawer_pos_bottom = self.rigid_body_states[:, self.drawer_handle_bottom][:, 0:3]
drawer_rot_bottom = self.rigid_body_states[:, self.drawer_handle_bottom][:, 3:7]
self.curi_grasp_rot_l[:], self.curi_grasp_pos_l[:], self.drawer_grasp_rot_top[:], self.drawer_grasp_pos_top[:] = \
compute_grasp_transforms(hand_rot_l, hand_pos_l, self.curi_local_grasp_rot, self.curi_local_grasp_pos,
drawer_rot_top, drawer_pos_top, self.drawer_local_grasp_rot,
self.drawer_local_grasp_pos
)
self.curi_grasp_rot_r[:], self.curi_grasp_pos_r[:], self.drawer_grasp_rot_bottom[
:], self.drawer_grasp_pos_bottom[:] = \
compute_grasp_transforms(hand_rot_r, hand_pos_r, self.curi_local_grasp_rot, self.curi_local_grasp_pos,
drawer_rot_bottom, drawer_pos_bottom, self.drawer_local_grasp_rot,
self.drawer_local_grasp_pos
)
self.curi_lfinger_pos_l = self.rigid_body_states[:, self.lfinger_handle_l][:, 0:3]
self.curi_rfinger_pos_l = self.rigid_body_states[:, self.rfinger_handle_l][:, 0:3]
self.curi_lfinger_rot_l = self.rigid_body_states[:, self.lfinger_handle_l][:, 3:7]
self.curi_rfinger_rot_l = self.rigid_body_states[:, self.rfinger_handle_l][:, 3:7]
self.curi_lfinger_pos_r = self.rigid_body_states[:, self.lfinger_handle_r][:, 0:3]
self.curi_rfinger_pos_r = self.rigid_body_states[:, self.rfinger_handle_r][:, 0:3]
self.curi_lfinger_rot_r = self.rigid_body_states[:, self.lfinger_handle_r][:, 3:7]
self.curi_rfinger_rot_r = self.rigid_body_states[:, self.rfinger_handle_r][:, 3:7]
dof_pos_scaled = (2.0 * (self.curi_dof_pos - self.curi_dof_lower_limits)
/ (self.curi_dof_upper_limits - self.curi_dof_lower_limits) - 1.0)
to_target_l = self.drawer_grasp_pos_top - self.curi_grasp_pos_l
to_target_r = self.drawer_grasp_pos_bottom - self.curi_grasp_pos_r
self.obs_buf = torch.cat((dof_pos_scaled, self.curi_dof_vel * self.dof_vel_scale, to_target_l, to_target_r,
self.cabinet_dof_pos[:, 3].unsqueeze(-1), self.cabinet_dof_pos[:, 2].unsqueeze(-1),
self.cabinet_dof_vel[:, 3].unsqueeze(-1), self.cabinet_dof_vel[:, 2].unsqueeze(-1)),
dim=-1)
return self.obs_buf
[docs] def post_physics_step(self):
self.progress_buf += 1
env_ids = self.reset_buf.nonzero(as_tuple=False).squeeze(-1)
if len(env_ids) > 0:
self.reset_idx(env_ids)
self.compute_observations()
self.compute_reward(self.actions)
# debug viz
# if self.viewer:
if self.viewer and self.debug_viz:
self.gym.clear_lines(self.viewer)
self.gym.refresh_rigid_body_state_tensor(self.sim)
for i in range(self.num_envs):
# Debug vis of the left arm
px = (self.curi_grasp_pos_l[i] + quat_apply(self.curi_grasp_rot_l[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.curi_grasp_pos_l[i] + quat_apply(self.curi_grasp_rot_l[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.curi_grasp_pos_l[i] + quat_apply(self.curi_grasp_rot_l[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.curi_grasp_pos_l[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]],
[0.85, 0.1, 0.1])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]],
[0.1, 0.85, 0.1])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]],
[0.1, 0.1, 0.85])
# Debug vis of the right arm
px = (self.curi_grasp_pos_r[i] + quat_apply(self.curi_grasp_rot_r[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.curi_grasp_pos_r[i] + quat_apply(self.curi_grasp_rot_r[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.curi_grasp_pos_r[i] + quat_apply(self.curi_grasp_rot_r[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.curi_grasp_pos_r[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]],
[0.85, 0.1, 0.1])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]],
[0.1, 0.85, 0.1])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]],
[0.1, 0.1, 0.85])
# Debug vis of the top drawer
px = (self.drawer_grasp_pos_top[i] + quat_apply(self.drawer_grasp_rot_top[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.drawer_grasp_pos_top[i] + quat_apply(self.drawer_grasp_rot_top[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.drawer_grasp_pos_top[i] + quat_apply(self.drawer_grasp_rot_top[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.drawer_grasp_pos_top[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]], [1, 0, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]], [0, 1, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]], [0, 0, 1])
# Debug vis of the down drawer
px = (self.drawer_grasp_pos_bottom[i] + quat_apply(self.drawer_grasp_rot_bottom[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.drawer_grasp_pos_bottom[i] + quat_apply(self.drawer_grasp_rot_bottom[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.drawer_grasp_pos_bottom[i] + quat_apply(self.drawer_grasp_rot_bottom[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.drawer_grasp_pos_bottom[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]], [1, 0, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]], [0, 1, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]], [0, 0, 1])
# Debug vis of the gripper of the left arm
px = (self.curi_lfinger_pos_l[i] + quat_apply(self.curi_lfinger_rot_l[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.curi_lfinger_pos_l[i] + quat_apply(self.curi_lfinger_rot_l[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.curi_lfinger_pos_l[i] + quat_apply(self.curi_lfinger_rot_l[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.curi_lfinger_pos_l[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]], [1, 0, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]], [0, 1, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]], [0, 0, 1])
px = (self.curi_rfinger_pos_l[i] + quat_apply(self.curi_rfinger_rot_l[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.curi_rfinger_pos_l[i] + quat_apply(self.curi_rfinger_rot_l[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.curi_rfinger_pos_l[i] + quat_apply(self.curi_rfinger_rot_l[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.curi_rfinger_pos_l[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]], [1, 0, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]], [0, 1, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]], [0, 0, 1])
# Debug vis of the gripper of the right arm
px = (self.curi_lfinger_pos_r[i] + quat_apply(self.curi_lfinger_rot_r[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.curi_lfinger_pos_r[i] + quat_apply(self.curi_lfinger_rot_r[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.curi_lfinger_pos_r[i] + quat_apply(self.curi_lfinger_rot_r[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.curi_lfinger_pos_r[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]], [1, 0, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]], [0, 1, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]], [0, 0, 1])
px = (self.curi_rfinger_pos_r[i] + quat_apply(self.curi_rfinger_rot_r[i], to_torch([1, 0, 0],
device=self.device) * 0.2)).cpu().numpy()
py = (self.curi_rfinger_pos_r[i] + quat_apply(self.curi_rfinger_rot_r[i], to_torch([0, 1, 0],
device=self.device) * 0.2)).cpu().numpy()
pz = (self.curi_rfinger_pos_r[i] + quat_apply(self.curi_rfinger_rot_r[i], to_torch([0, 0, 1],
device=self.device) * 0.2)).cpu().numpy()
p0 = self.curi_rfinger_pos_r[i].cpu().numpy()
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], px[0], px[1], px[2]], [1, 0, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], py[0], py[1], py[2]], [0, 1, 0])
self.gym.add_lines(self.viewer, self.envs[i], 1, [p0[0], p0[1], p0[2], pz[0], pz[1], pz[2]], [0, 0, 1])
[docs] def reset_idx(self, env_ids):
env_ids_int32 = env_ids.to(dtype=torch.int32)
# reset curi
pos = tensor_clamp(
self.curi_default_dof_pos.unsqueeze(0) + 0.25 * (
torch.rand((len(env_ids), self.num_curi_dofs), device=self.device) - 0.5),
self.curi_dof_lower_limits, self.curi_dof_upper_limits)
self.curi_dof_pos[env_ids, :] = pos
self.curi_dof_vel[env_ids, :] = torch.zeros_like(self.curi_dof_vel[env_ids])
self.curi_dof_targets[env_ids, :self.num_curi_dofs] = pos
# reset cabinet
self.cabinet_dof_state[env_ids, :] = torch.zeros_like(self.cabinet_dof_state[env_ids])
# reset props
if self.num_props > 0:
prop_indices = self.global_indices[env_ids, 2:].flatten()
self.prop_states[env_ids] = self.default_prop_states[env_ids]
self.gym.set_actor_root_state_tensor_indexed(self.sim,
gymtorch.unwrap_tensor(self.root_state_tensor),
gymtorch.unwrap_tensor(prop_indices), len(prop_indices))
multi_env_ids_int32 = self.global_indices[env_ids, :2].flatten()
self.gym.set_dof_position_target_tensor_indexed(self.sim,
gymtorch.unwrap_tensor(self.curi_dof_targets),
gymtorch.unwrap_tensor(multi_env_ids_int32),
len(multi_env_ids_int32))
self.gym.set_dof_state_tensor_indexed(self.sim,
gymtorch.unwrap_tensor(self.dof_state),
gymtorch.unwrap_tensor(multi_env_ids_int32), len(multi_env_ids_int32))
self.progress_buf[env_ids] = 0
self.reset_buf[env_ids] = 0
#####################################################################
###=========================jit functions=========================###
#####################################################################
@torch.jit.script
def compute_curi_reward(
reset_buf, progress_buf, actions, cabinet_dof_pos,
curi_grasp_pos, drawer_grasp_pos, curi_grasp_rot, drawer_grasp_rot,
curi_lfinger_pos, curi_rfinger_pos,
gripper_forward_axis, drawer_inward_axis, gripper_up_axis, drawer_up_axis,
num_envs, dist_reward_scale, rot_reward_scale, around_handle_reward_scale, open_reward_scale,
finger_dist_reward_scale, action_penalty_scale, distX_offset, max_episode_length
):
# type: (Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, int, float, float, float, float, float, float, float, float) -> Tuple[Tensor, Tensor]
# distance from hand to the drawer
d = torch.norm(curi_grasp_pos - drawer_grasp_pos, p=2, dim=-1)
dist_reward = 1.0 / (1.0 + d ** 2)
dist_reward *= dist_reward
dist_reward = torch.where(d <= 0.02, dist_reward * 2, dist_reward)
axis1 = tf_vector(curi_grasp_rot, gripper_forward_axis)
axis2 = tf_vector(drawer_grasp_rot, drawer_inward_axis)
axis3 = tf_vector(curi_grasp_rot, gripper_up_axis)
axis4 = tf_vector(drawer_grasp_rot, drawer_up_axis)
dot1 = torch.bmm(axis1.view(num_envs, 1, 3), axis2.view(num_envs, 3, 1)).squeeze(-1).squeeze(
-1) # alignment of forward axis for gripper
dot2 = torch.bmm(axis3.view(num_envs, 1, 3), axis4.view(num_envs, 3, 1)).squeeze(-1).squeeze(
-1) # alignment of up axis for gripper
# reward for matching the orientation of the hand to the drawer (fingers wrapped)
rot_reward = 0.5 * (torch.sign(dot1) * dot1 ** 2 + torch.sign(dot2) * dot2 ** 2)
# bonus if left finger is above the drawer handle and right below
around_handle_reward = torch.zeros_like(rot_reward)
around_handle_reward = torch.where(curi_lfinger_pos[:, 2] > drawer_grasp_pos[:, 2],
torch.where(curi_rfinger_pos[:, 2] < drawer_grasp_pos[:, 2],
around_handle_reward + 0.5, around_handle_reward),
around_handle_reward)
# reward for distance of each finger from the drawer
finger_dist_reward = torch.zeros_like(rot_reward)
lfinger_dist = torch.abs(curi_lfinger_pos[:, 2] - drawer_grasp_pos[:, 2])
rfinger_dist = torch.abs(curi_rfinger_pos[:, 2] - drawer_grasp_pos[:, 2])
finger_dist_reward = torch.where(curi_lfinger_pos[:, 2] > drawer_grasp_pos[:, 2],
torch.where(curi_rfinger_pos[:, 2] < drawer_grasp_pos[:, 2],
(0.04 - lfinger_dist) + (0.04 - rfinger_dist), finger_dist_reward),
finger_dist_reward)
# regularization on the actions (summed for each environment)
action_penalty = torch.sum(actions ** 2, dim=-1)
# how far the cabinet has been opened out
open_reward = cabinet_dof_pos * around_handle_reward + cabinet_dof_pos
rewards = dist_reward_scale * dist_reward + rot_reward_scale * rot_reward \
+ around_handle_reward_scale * around_handle_reward + open_reward_scale * open_reward \
+ finger_dist_reward_scale * finger_dist_reward - action_penalty_scale * action_penalty
# bonus for opening drawer properly
rewards = torch.where(cabinet_dof_pos > 0.01, rewards + 0.5, rewards)
rewards = torch.where(cabinet_dof_pos > 0.2, rewards + around_handle_reward, rewards)
rewards = torch.where(cabinet_dof_pos > 0.39, rewards + (2.0 * around_handle_reward), rewards)
# prevent bad style in opening drawer
rewards = torch.where(curi_lfinger_pos[:, 0] < drawer_grasp_pos[:, 0] - distX_offset,
torch.ones_like(rewards) * -1, rewards)
rewards = torch.where(curi_rfinger_pos[:, 0] < drawer_grasp_pos[:, 0] - distX_offset,
torch.ones_like(rewards) * -1, rewards)
# reset if drawer is open or max length reached
reset_buf = torch.where(cabinet_dof_pos > 0.39, torch.ones_like(reset_buf), reset_buf)
reset_buf = torch.where(progress_buf >= max_episode_length - 1, torch.ones_like(reset_buf), reset_buf)
return rewards, reset_buf
@torch.jit.script
def compute_grasp_transforms(hand_rot, hand_pos, curi_local_grasp_rot, curi_local_grasp_pos,
drawer_rot, drawer_pos, drawer_local_grasp_rot, drawer_local_grasp_pos
):
# type: (Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor, Tensor) -> Tuple[Tensor, Tensor, Tensor, Tensor]
global_curi_rot, global_curi_pos = tf_combine(
hand_rot, hand_pos, curi_local_grasp_rot, curi_local_grasp_pos)
global_drawer_rot, global_drawer_pos = tf_combine(
drawer_rot, drawer_pos, drawer_local_grasp_rot, drawer_local_grasp_pos)
return global_curi_rot, global_curi_pos, global_drawer_rot, global_drawer_pos
