From 32dc22db79ed7192f35fceeb05c41c10e8dd6e31 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Tue, 10 Jan 2023 01:39:21 +0200 Subject: [PATCH 001/104] (temp) make mamujoco requirement mandatory --- .pre-commit-config.yaml | 2 +- pyproject.toml | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index f156d5a8..b03f3477 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -46,7 +46,7 @@ repos: rev: 6.1.1 hooks: - id: pydocstyle - exclude: ^(tests)|(docs)|(gymnasium_robotics/utils)|(gymnasium_robotics/envs/fetch)|(gymnasium_robotics/envs/shadow_dexterous_hand)|(gymnasium_robotics/envs/maze)|(gymnasium_robotics/envs/adroit_hand)|(gymnasium_robotics/envs/franka_kitchen) + exclude: ^(tests/envs/hand)|(tests/test_envs.py)|(tests/__init__.py)|(tests/utils.py)|(tests/envs/__init__.py)|(docs)|(gymnasium_robotics/utils)|(gymnasium_robotics/envs/fetch)|(gymnasium_robotics/envs/shadow_dexterous_hand)|(gymnasium_robotics/envs/maze)|(gymnasium_robotics/envs/adroit_hand)|(gymnasium_robotics/envs/franka_kitchen) args: - --convention=google - --add-ignore=D100 \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 66cf108b..97b87e34 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -29,6 +29,8 @@ dependencies = [ "mujoco>=2.3.1.post1", "numpy>=1.21.0,<1.24.0", "gymnasium>=0.26", + "pettingzoo>=1.22.2", + "Jinja2>=3.0.3", ] dynamic = ["version"] From 510f1c46d08b6a07877e0734e90833c6857dc586 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Tue, 10 Jan 2023 20:41:46 +0200 Subject: [PATCH 002/104] MaMuJoCo Doc update --- docs/envs/MaMuJoCo/index.md | 2 +- docs/envs/MaMuJoCo/ma_ant.md | 15 +++++----- docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md | 21 +++++++------ docs/envs/MaMuJoCo/ma_half_cheetah.md | 13 ++++---- .../MaMuJoCo/{ma_hooper.md => ma_hopper.md} | 30 +++++++++---------- docs/envs/MaMuJoCo/ma_humanoid.md | 15 +++++----- docs/envs/MaMuJoCo/ma_humanoid_standup.md | 15 +++++----- docs/envs/MaMuJoCo/ma_pusher.md | 3 +- docs/envs/MaMuJoCo/ma_reacher.md | 12 ++++---- docs/envs/MaMuJoCo/ma_single.md | 8 ++--- docs/envs/MaMuJoCo/ma_swimmer.md | 12 ++++---- docs/envs/MaMuJoCo/ma_walker2d.md | 12 ++++---- .../multiagent_mujoco/coupled_half_cheetah.py | 2 +- .../envs/multiagent_mujoco/obsk.py | 6 ++-- 14 files changed, 81 insertions(+), 85 deletions(-) rename docs/envs/MaMuJoCo/{ma_hooper.md => ma_hopper.md} (69%) diff --git a/docs/envs/MaMuJoCo/index.md b/docs/envs/MaMuJoCo/index.md index 59319a26..3fa59215 100644 --- a/docs/envs/MaMuJoCo/index.md +++ b/docs/envs/MaMuJoCo/index.md @@ -90,7 +90,7 @@ v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama ma_ant.md ma_coupled_half_cheetah.md ma_half_cheetah.md -ma_hooper.md +ma_hopper.md ma_humanoid_standup.md ma_humanoid.md ma_reacher.md diff --git a/docs/envs/MaMuJoCo/ma_ant.md b/docs/envs/MaMuJoCo/ma_ant.md index c2e784a6..3b47c794 100644 --- a/docs/envs/MaMuJoCo/ma_ant.md +++ b/docs/envs/MaMuJoCo/ma_ant.md @@ -28,7 +28,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (8,), float32)}` | | Part partition | `[(hip4, ankle4, hip1, ankle1, hip2, ankle2, hip3, ankle3)]` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Ant](https://gymnasium.farama.org/environments/mujoco/ant/) +If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Ant](https://gymnasium.farama.org/environments/mujoco/ant/). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -40,7 +40,7 @@ If partitioning, is None then the environment contains a single agent with the s | 5 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | | 6 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | -### if partitioning == "2x4": # neighbouring legs together +### if partitioning == "2x4": # neighboring legs together (front and back) ```{figure} Ant_2x4.png :name: Ant_2x4 ``` @@ -141,31 +141,32 @@ right back leg ## Observation Space - Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the ant's torso. See more at the [Gymnasium's Ant](https://gymnasium.farama.org/environments/mujoco/ant/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Ant](https://gymnasium.farama.org/environments/mujoco/ant/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Ant](https://gymnasium.farama.org/environments/mujoco/ant/#starting-state). ## Episode End +All agent terminate and truncate at the same time given the same conditions as [Gymnasium's Ant](https://gymnasium.farama.org/environments/mujoco/ant/#episode-end). -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Ant](https://gymnasium.farama.org/environments/mujoco/ant/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Fixed diagonal factorization ("2x4d") not being diagonal. + - Fixed Global observations (The Ant's Torso: `rootx`, `rooty`, `rootz`) not being observed. + - Changed action ordering to be same as [Gymnasium/MuJoCo/Ant](https://gymnasium.farama.org/environments/mujoco/ant/#action-space) diff --git a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md index e571552c..03987e9f 100644 --- a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md @@ -22,14 +22,14 @@ The action spaces is depended on the partitioning. | Action Spaces | `{'agent_0' : Box(-1, 1, (12,), float32)}` | | Part partition | `(bfoot0, bshin0, bthigh0, ffoot0, fshin0, fthigh0, bfoot1, bshin1, bthigh1, ffoot1, fshin1, fthigh1,),` | -If partitioning, is None then the environment contains a single agent with same action space. +If partitioning, is `None`, then the environment contains a single agent with the same action space. | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the back thigh rotor of the first cheetah | -1 | 1 | bthigh0 | hinge | torque (N m) | | 1 | Torque applied on the back shin rotor of the first cheetah | -1 | 1 | bshin0 | hinge | torque (N m) | | 2 | Torque applied on the back foot rotor of the first cheetah | -1 | 1 | bfoot0 | hinge | torque (N m) | -| 3 | Torque applied on the front thigh rotorof the first cheetah | -1 | 1 | fthigh0 | hinge | torque (N m) | +| 3 | Torque applied on the front thigh rotor of the first cheetah | -1 | 1 | fthigh0 | hinge | torque (N m) | | 4 | Torque applied on the front shin rotor of the first cheetah | -1 | 1 | fshin0 | hinge | torque (N m) | | 5 | Torque applied on the front foot rotor of the first cheetah | -1 | 1 | ffoot0 | hinge | torque (N m) | | 6 | Torque applied on the back thigh rotor of the second cheetah | -1 | 1 | bthigh1 | hinge | torque (N m) | @@ -58,7 +58,7 @@ first cheetah | 0 | Torque applied on the back thigh rotor of the first cheetah | -1 | 1 | bthigh0 | hinge | torque (N m) | | 1 | Torque applied on the back shin rotor of the first cheetah | -1 | 1 | bshin0 | hinge | torque (N m) | | 2 | Torque applied on the back foot rotor of the first cheetah | -1 | 1 | bfoot0 | hinge | torque (N m) | -| 3 | Torque applied on the front thigh rotorof the first cheetah | -1 | 1 | fthigh0 | hinge | torque (N m) | +| 3 | Torque applied on the front thigh rotor of the first cheetah | -1 | 1 | fthigh0 | hinge | torque (N m) | | 4 | Torque applied on the front shin rotor of the first cheetah | -1 | 1 | fshin0 | hinge | torque (N m) | | 5 | Torque applied on the front foot rotor of the first cheetah | -1 | 1 | ffoot0 | hinge | torque (N m) | #### Agent 1 action space @@ -76,30 +76,33 @@ second cheetah ## Observation Space -Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items each cheetah's top. +Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items in each cheetah's top. ## Rewards - All agents receive the same average reward of each cheetah. ## Starting state - The starting state of the environment is the as [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#starting-state) (but with 2 cheetahs). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#episode-end). +All agent terminate and truncate at the same time, given the same conditions as [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Fixed action mapping of the second cheetah (It would previously not work) + - Fixed tendon Jacobean observations + - Added/Fixed Global observations (The Cheetahes's front tips: `rootx`s, `rooty`s, `rootz`s) not being observed. + - Improved node naming + - Changed action ordering to be same as [Gymnasium/MuJoCo/HalfCheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#action-space) diff --git a/docs/envs/MaMuJoCo/ma_half_cheetah.md b/docs/envs/MaMuJoCo/ma_half_cheetah.md index 7998b434..aadbc84c 100644 --- a/docs/envs/MaMuJoCo/ma_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_half_cheetah.md @@ -28,7 +28,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (6,), float32)}` | | Part partition | `[(bthigh, bshin, bfoot, fthigh, fshin, ffoot)]` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Half_Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/) +If partitioning, is `None`, then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Half_Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -104,31 +104,30 @@ The environment is partitioned in 6 parts, each part corresponding to a single j ## Observation Space - Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the half cheetah's tip. See more at the [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#starting-state). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#episode-end). +All agent terminate and truncate at the same time, given the same conditions as [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Added/Fixed Global observations (The Cheetah's front tip: `rootx`, `rooty`, `rootz`) not being observed. + - Changed action ordering to be same as [Gymnasium/MuJoCo/HalfCheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#action-space) diff --git a/docs/envs/MaMuJoCo/ma_hooper.md b/docs/envs/MaMuJoCo/ma_hopper.md similarity index 69% rename from docs/envs/MaMuJoCo/ma_hooper.md rename to docs/envs/MaMuJoCo/ma_hopper.md index 9244ee0b..4b26c07d 100644 --- a/docs/envs/MaMuJoCo/ma_hooper.md +++ b/docs/envs/MaMuJoCo/ma_hopper.md @@ -4,15 +4,15 @@ lastpage: --- -# Hooper +# Hopper

- Hooper + Hopper

This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Hooper](https://gymnasium.farama.org/environments/mujoco/hooper/) +The task is [Gymansium's MuJoCo/Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/) @@ -21,14 +21,14 @@ The action spaces is depended on the partitioning ### if partitioning is None: -| Instantiate | `env = mamujoco_v0.parallel_env("Hooper", None)` | +| Instantiate | `env = mamujoco_v0.parallel_env("Hopper", None)` | |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0']` | | Number of Agents | 1 | | Action Spaces | `{'agent_0' : Box(-1, 1, (3,), float32)}` | | Part partition | `[(thigh_joint, leg_joint, foot_joint,)]` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Half_Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/) +If partitioning, is `None`, then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Half_Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | @@ -41,7 +41,7 @@ If partitioning, is None then the environment contains a single agent with the s ### elif partitioning == "3x1": # each joint -| Instantiate | `env = mamujoco_v0.parallel_env("Hooper", "3x1")`| +| Instantiate | `env = mamujoco_v0.parallel_env("Hopper", "3x1")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1', 'agent_2']` | | Number of Agents | 3 | @@ -64,31 +64,29 @@ The environment is partitioned in 3 parts, each part corresponding to a single j ## Observation Space - -Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the hooper's top. -See more at the [Gymnasium's Hooper](https://gymnasium.farama.org/environments/mujoco/hooper/#observation-space). +Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the hopper's top. +See more at the [Gymnasium's Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/#observation-space). ## Rewards - -All agents receive the same [Gymnasium's Hooper](https://gymnasium.farama.org/environments/mujoco/hooper/#observation-space) reward. +All agents receive the same [Gymnasium's Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/#observation-space) reward. ## Starting state - -The starting state of the environment is the as [Gymnasium's Hooper](https://gymnasium.farama.org/environments/mujoco/hooper/#starting-state). +The starting state of the environment is the as [Gymnasium's Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/#starting-state). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Hooper](https://gymnasium.farama.org/environments/mujoco/hooper/#episode-end). +All agent terminate and truncate at same time given the same conditions as [Gymnasium's Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Fixed Global observations (The Hopper's top: `rootx`, `rooty`, `rootz`) not being observed. diff --git a/docs/envs/MaMuJoCo/ma_humanoid.md b/docs/envs/MaMuJoCo/ma_humanoid.md index 74507ccb..8894a06c 100644 --- a/docs/envs/MaMuJoCo/ma_humanoid.md +++ b/docs/envs/MaMuJoCo/ma_humanoid.md @@ -28,7 +28,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (17,), float32)}` | | Part partition | `[(abdomen_x, abdomen_y, abdomen_z, right_hip_x, right_hip_y, right_hip_z, right_knee, left_hip_x, left_hip_y, left_hip_z, left_knee, right_shoulder1, right_shoulder2, right_elbow, left_shoulder1, left_shoulder2, left_elbow,),]` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#action-space) +If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#action-space) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -92,31 +92,32 @@ Lower Body ## Observation Space - Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes all the items of the humanoid's torso. See more at the [Gymnasium's Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#starting-state). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#episode-end). +All agent terminate and truncate at the same time, given the same conditions as [Gymnasium's Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Added/Fixed Global observations (The Humanoids's torso: `rootx`, `rooty`, `rootz`) not being observed. + - Fixed abdomen observations ordering. + - Added support for body observations (`cvel`, `cinert`, `cfrc_ext`) + - Changed action ordering to be same as [Gymnasium/MuJoCo/Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#action-space) diff --git a/docs/envs/MaMuJoCo/ma_humanoid_standup.md b/docs/envs/MaMuJoCo/ma_humanoid_standup.md index 341ead48..c65ca921 100644 --- a/docs/envs/MaMuJoCo/ma_humanoid_standup.md +++ b/docs/envs/MaMuJoCo/ma_humanoid_standup.md @@ -28,7 +28,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (17,), float32)}` | | Part partition | `[(abdomen_x, abdomen_y, abdomen_z, right_hip_x, right_hip_y, right_hip_z, right_knee, left_hip_x, left_hip_y, left_hip_z, left_knee, right_shoulder1, right_shoulder2, right_elbow, left_shoulder1, left_shoulder2, left_elbow,),]` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#action-space) +If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#action-space) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -92,31 +92,32 @@ Lower Body ## Observation Space - Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes all the items of the Humanoid's torso. See more at the [Gymnasium's Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#starting-state). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#episode-end). +All agent terminate and truncate at the same time, given the same conditions as [Gymnasium's Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Added/Fixed Global observations (The Humanoids's torso: `rootx`, `rooty`, `rootz`) not being observed. + - Fixed abdomen observations ordering. + - Added support for body observations (`cvel`, `cinert`, `cfrc_ext`) + - Changed action ordering to be same as [Gymnasium/MuJoCo/Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#action-space) diff --git a/docs/envs/MaMuJoCo/ma_pusher.md b/docs/envs/MaMuJoCo/ma_pusher.md index 0a39d319..449e06a6 100644 --- a/docs/envs/MaMuJoCo/ma_pusher.md +++ b/docs/envs/MaMuJoCo/ma_pusher.md @@ -98,8 +98,7 @@ All agent terminate and truncate at same time given the same conditions as [Gymn ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), first implemented here. - +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), first implemented here. ```{toctree} diff --git a/docs/envs/MaMuJoCo/ma_reacher.md b/docs/envs/MaMuJoCo/ma_reacher.md index 993a0bd5..c40551d9 100644 --- a/docs/envs/MaMuJoCo/ma_reacher.md +++ b/docs/envs/MaMuJoCo/ma_reacher.md @@ -28,7 +28,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (2,), float32)}` | | Part partition | `[(joint0,), (joint1,),]` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#action-space) +If partitioning, is `None`, then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#action-space). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|---------------------------------------------------------------------------------|-------------|-------------|--------------------------|-------|------| @@ -58,31 +58,29 @@ The environment is partitioned in 2 parts, one part corresponding to the first j ## Observation Space - Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position of the reacher's target object. See more at the [Gymnasium's Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#starting-state). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#episode-end). +All agent terminate and truncate at the same time, given the same conditions as [Gymnasium's Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Added/Fixed Global observations (The Targets's coordinates: `targetx`, `targety`) not being observed. diff --git a/docs/envs/MaMuJoCo/ma_single.md b/docs/envs/MaMuJoCo/ma_single.md index e874b81e..119f6c1c 100644 --- a/docs/envs/MaMuJoCo/ma_single.md +++ b/docs/envs/MaMuJoCo/ma_single.md @@ -11,7 +11,7 @@ And can be instantiated (without a partition) `env = mamujoco_v0.parallel_env("InvertedDoublePendulum", None)` `env = mamujoco_v0.parallel_env("InvertedPendulum", None)` -In which case the simply the same environments with a single agents using the `PettingZoo` APIs. +In which case, they simply are the same environments with a single agent using the `PettingZoo` APIs. ## Action Space @@ -33,13 +33,13 @@ The starting state of the environment is the same as single agent Gymnasium envi ## Episode End - -The agent terminates and truncates at same time given the same conditions as the single agent Gymnasium environment. +The agent terminates and truncates at the same time, given the same conditions as the single agent Gymnasium environment. ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco). +No Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)). diff --git a/docs/envs/MaMuJoCo/ma_swimmer.md b/docs/envs/MaMuJoCo/ma_swimmer.md index 438f36f3..7bd894ae 100644 --- a/docs/envs/MaMuJoCo/ma_swimmer.md +++ b/docs/envs/MaMuJoCo/ma_swimmer.md @@ -28,7 +28,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (2,), float32)}` | | Part partition | `(joint0, joint1,)` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#action-space) +If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#action-space). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| @@ -56,31 +56,29 @@ The environment is partitioned in 2 parts, one part corresponding to the first j | 0 | Torque applied on the second rotor | -1 | 1 | motor2_rot | hinge | torque (N m) | ## Observation Space - Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the swimmer's tip. See more at the [Gymnasium's Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#starting-state). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#episode-end). +All agent terminate and truncate at the same time, given the same conditions as [Gymnasium's Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Added/Fixed Global observations (The Swimmer's front tip: `free_body_rot`) not being observed. diff --git a/docs/envs/MaMuJoCo/ma_walker2d.md b/docs/envs/MaMuJoCo/ma_walker2d.md index 51c23334..4923954c 100644 --- a/docs/envs/MaMuJoCo/ma_walker2d.md +++ b/docs/envs/MaMuJoCo/ma_walker2d.md @@ -28,7 +28,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (6,), float32)}` | | Part partition | `(foot_joint, leg_joint, thigh_joint, foot_left_joint, leg_left_joint, thigh_left_joint,),` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Walker2d](https://gymnasium.farama.org/environments/mujoco/walker2d/#action-space) +If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Walker2d](https://gymnasium.farama.org/environments/mujoco/walker2d/#action-space). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|----------------------------------------|-------------|-------------|----------------------------------|-------|--------------| @@ -70,32 +70,30 @@ left leg ## Observation Space - Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the walker's top. See more at the [Gymnasium's Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/#starting-state). ## Episode End - -All agent terminate and truncate at same time given the same conditions as [Gymnasium's Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/#episode-end). +All agent terminate and truncate at the same time given the same conditions as [Gymnasium's Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/#episode-end). ## Version History -v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of [the original multiagent_mujuco](https://github.com/schroederdewitt/multiagent_mujoco) +- v0: Initial version release, uses [Gymnasium.MuJoCo-v4](https://gymnasium.farama.org/environments/mujoco/), and is a fork of the original MaMuJoCo [schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco). +Changes from the original `MaMuJoCo` ([schroederdewitt/multiagent_mujoco](https://github.com/schroederdewitt/multiagent_mujoco)): + - Added/Fixed Global observations (The Walker's top: `rootx`, `rooty`, `rootz`) not being observed. diff --git a/gymnasium_robotics/envs/multiagent_mujoco/coupled_half_cheetah.py b/gymnasium_robotics/envs/multiagent_mujoco/coupled_half_cheetah.py index a71e4002..07b27c25 100644 --- a/gymnasium_robotics/envs/multiagent_mujoco/coupled_half_cheetah.py +++ b/gymnasium_robotics/envs/multiagent_mujoco/coupled_half_cheetah.py @@ -38,7 +38,7 @@ class CoupledHalfCheetahEnv(mujoco_env.MujocoEnv, EzPickle): | 0 | Torque applied on the back thigh rotor of the first cheetah | -1 | 1 | bthigh0 | hinge | torque (N m) | | 1 | Torque applied on the back shin rotor of the first cheetah | -1 | 1 | bshin0 | hinge | torque (N m) | | 2 | Torque applied on the back foot rotor of the first cheetah | -1 | 1 | bfoot0 | hinge | torque (N m) | - | 3 | Torque applied on the front thigh rotorof the first cheetah | -1 | 1 | fthigh0 | hinge | torque (N m) | + | 3 | Torque applied on the front thigh rotor of the first cheetah | -1 | 1 | fthigh0 | hinge | torque (N m) | | 4 | Torque applied on the front shin rotor of the first cheetah | -1 | 1 | fshin0 | hinge | torque (N m) | | 5 | Torque applied on the front foot rotor of the first cheetah | -1 | 1 | ffoot0 | hinge | torque (N m) | | 6 | Torque applied on the back thigh rotor of the second cheetah | -1 | 1 | bthigh1 | hinge | torque (N m) | diff --git a/gymnasium_robotics/envs/multiagent_mujoco/obsk.py b/gymnasium_robotics/envs/multiagent_mujoco/obsk.py index e0cf4dae..35389e4c 100644 --- a/gymnasium_robotics/envs/multiagent_mujoco/obsk.py +++ b/gymnasium_robotics/envs/multiagent_mujoco/obsk.py @@ -9,13 +9,13 @@ - General code cleanup, factorization, type hinting, adding documentation and comments - `build_obs`: fixed global observations, fixed body observations (cvel, cinert, cfrc_ext), how uses mujoco.data, instead of gym.env - `HalfCheetah`: fix action ordering - - `Ant`: Fix global observation, fix "2x4d" factorization how having diogonal observations + - `Ant`: Fix global observation, fix "2x4d" factorization how having diagonal observations - `Humanoid`s: Added Body support, fixed abdomen observations, added/fixed missing global torso observations, fixed action ordering - `Reacher`: Fixxed body mapping - `Pusher`: Added support for `Pusher` - `Swimmer`: Added Front tip to global observations - `Walker2D`: Added missing Global Observations - - `CoupledHalfCheetah`: improved node naming, fixxed tendon facobian observations, fixed action mapping of the second cheetah, added missing global observations + - `CoupledHalfCheetah`: improved node naming, fixed tendon Jacobian observations, fixed action mapping of the second cheetah, added missing global observationsm, fixed action ordering - `ManySegmentAnt`: Fixed Global Observations - added new functions: `_observation_structure` @@ -381,7 +381,7 @@ def get_parts_and_edges( # noqa: C901 if partitioning is None: parts = [(hip4, ankle4, hip1, ankle1, hip2, ankle2, hip3, ankle3)] - elif partitioning == "2x4": # neighbouring legs together (front and back) + elif partitioning == "2x4": # neighboring legs together (front and back) parts = [(hip1, ankle1, hip2, ankle2), (hip3, ankle3, hip4, ankle4)] elif partitioning == "2x4d": # diagonal legs together parts = [(hip1, ankle1, hip4, ankle4), (hip2, ankle2, hip3, ankle3)] From 1a845a0ff2c8a1a35cc5202086dc6d1a194de3d4 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 11 Jan 2023 00:27:34 +0200 Subject: [PATCH 003/104] add ant2x4 image --- 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18654 bytes docs/envs/MaMuJoCo/figures/pusher_3p.png | Bin 0 -> 18761 bytes docs/envs/MaMuJoCo/figures/reacher_2x1.png | Bin 0 -> 16538 bytes docs/envs/MaMuJoCo/figures/swimmer_2x1.png | Bin 0 -> 17790 bytes docs/envs/MaMuJoCo/figures/walker2d_2x3.png | Bin 0 -> 26200 bytes docs/envs/MaMuJoCo/index.md | 9 +-------- docs/envs/MaMuJoCo/ma_ant.md | 10 ++++++++-- docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md | 4 ++++ docs/envs/MaMuJoCo/ma_half_cheetah.md | 6 ++++++ docs/envs/MaMuJoCo/ma_hopper.md | 3 +++ docs/envs/MaMuJoCo/ma_humanoid.md | 4 ++++ docs/envs/MaMuJoCo/ma_humanoid_standup.md | 4 ++++ docs/envs/MaMuJoCo/ma_pusher.md | 9 +++++---- docs/envs/MaMuJoCo/ma_reacher.md | 4 ++++ docs/envs/MaMuJoCo/ma_swimmer.md | 4 ++++ docs/envs/MaMuJoCo/ma_walker2d.md | 4 ++++ 27 files changed, 49 insertions(+), 14 deletions(-) create mode 100644 docs/envs/MaMuJoCo/figures/ant_2x4.png create mode 100644 docs/envs/MaMuJoCo/figures/ant_2x4d.png create mode 100644 docs/envs/MaMuJoCo/figures/ant_4x2.png create mode 100644 docs/envs/MaMuJoCo/figures/coupled_half_cheetah_1p1.png create mode 100644 docs/envs/MaMuJoCo/figures/credits.md create mode 100644 docs/envs/MaMuJoCo/figures/half_cheetah_2x3.png create mode 100644 docs/envs/MaMuJoCo/figures/half_cheetah_6x1.png create mode 100644 docs/envs/MaMuJoCo/figures/hopper_3x1.png create mode 100644 docs/envs/MaMuJoCo/figures/humanoid_9|8.png create mode 100644 docs/envs/MaMuJoCo/figures/mamujoco.png create mode 100644 docs/envs/MaMuJoCo/figures/many_segment_ant.png create mode 100644 docs/envs/MaMuJoCo/figures/many_segment_swimmer.png create mode 100644 docs/envs/MaMuJoCo/figures/pusher_3p.png create mode 100644 docs/envs/MaMuJoCo/figures/reacher_2x1.png create mode 100644 docs/envs/MaMuJoCo/figures/swimmer_2x1.png create mode 100644 docs/envs/MaMuJoCo/figures/walker2d_2x3.png diff --git a/docs/envs/MaMuJoCo/figures/ant_2x4.png b/docs/envs/MaMuJoCo/figures/ant_2x4.png new file mode 100644 index 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MaMuJoCo (Multi-Agent MuJoCo) -```{figure} mamujoco.png +```{figure} figures/mamujoco.png :name: mamujoco ``` @@ -16,13 +16,6 @@ There are 2 types of Environments, included (1) multi-agent factorizations of [G Gymansium-Robotics/MaMuJoCo Represents the first, easy to use Framework for research of agent factorization -The unique dependencies for this set of environments can be installed via: - -```sh -pip install gymnasium-robotics[mamujoco] -``` - - ## API MaMuJoCo mainly uses the [PettingZoo.ParallelAPI](https://pettingzoo.farama.org/api/parallel/), but also supports a few extra functions diff --git a/docs/envs/MaMuJoCo/ma_ant.md b/docs/envs/MaMuJoCo/ma_ant.md index 3b47c794..b31f2994 100644 --- a/docs/envs/MaMuJoCo/ma_ant.md +++ b/docs/envs/MaMuJoCo/ma_ant.md @@ -41,8 +41,8 @@ If partitioning, is None then the environment contains a single agent with the s | 6 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | ### if partitioning == "2x4": # neighboring legs together (front and back) -```{figure} Ant_2x4.png - :name: Ant_2x4 +```{figure} figures/ant_2x4.png + :name: ant_2x4 ``` | Instantiate | `env = mamujoco_v0.parallel_env("Ant", "2x4")` | @@ -73,6 +73,9 @@ back legs | 2 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | ### elif partitioning == "2x4d": # diagonal legs together +```{figure} figures/ant_2x4d.png + :name: ant_2x4d +``` | Instantiate | `env = mamujoco_v0.parallel_env("Ant", "2x4d")` | |-----------------------|------------------------------------------------------| @@ -97,6 +100,9 @@ The environment is partitioned in 2 parts, the front part (containing the front | 2 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | ### elif partitioning == "4x2": +```{figure} figures/ant_4x2.png + :name: ant_4x2 +``` | Instantiate | `env = mamujoco_v0.parallel_env("Ant", "4x2")` | |-----------------------|------------------------------------------------------| diff --git a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md index 03987e9f..efcb8ebb 100644 --- a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md @@ -42,6 +42,10 @@ If partitioning, is `None`, then the environment contains a single agent with th ### elif partitioning == "1p1": # isolate the cheetahs +```{figure} figures/coupled_half_cheetah_1p1.png + :name: coupled_half_cheetah_1p1 +``` + | Instantiate | `env = mamujoco_v0.parallel_env("CoupledHalfCheetah", "1p1")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1']` | diff --git a/docs/envs/MaMuJoCo/ma_half_cheetah.md b/docs/envs/MaMuJoCo/ma_half_cheetah.md index aadbc84c..1347b76c 100644 --- a/docs/envs/MaMuJoCo/ma_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_half_cheetah.md @@ -40,6 +40,9 @@ If partitioning, is `None`, then the environment contains a single agent with th | 5 | Torque applied on the front foot rotor | -1 | 1 | ffoot | hinge | torque (N m) | ### if partitioning == "2x3": # front and back +```{figure} figures/half_cheetah_2x3.png + :name: half_cheetah_2x3 +``` | Instantiate | `env = mamujoco_v0.parallel_env("HalfCheetah", "2x3")`| |-----------------------|------------------------------------------------------| @@ -68,6 +71,9 @@ back leg | 2 | Torque applied on the front foot rotor | -1 | 1 | ffoot | hinge | torque (N m) | ### elif partitioning == "6x1": # each joint +```{figure} figures/half_cheetah_6x1.png + :name: half_cheetah_6x1 +``` | Instantiate | `env = mamujoco_v0.parallel_env("HalfCheetah", "6x1")`| |-----------------------|------------------------------------------------------| diff --git a/docs/envs/MaMuJoCo/ma_hopper.md b/docs/envs/MaMuJoCo/ma_hopper.md index 4b26c07d..bd8788ba 100644 --- a/docs/envs/MaMuJoCo/ma_hopper.md +++ b/docs/envs/MaMuJoCo/ma_hopper.md @@ -40,6 +40,9 @@ If partitioning, is `None`, then the environment contains a single agent with th ### elif partitioning == "3x1": # each joint +```{figure} figures/hopper_3x1.png + :name: hopper_3x1 +``` | Instantiate | `env = mamujoco_v0.parallel_env("Hopper", "3x1")`| |-----------------------|------------------------------------------------------| diff --git a/docs/envs/MaMuJoCo/ma_humanoid.md b/docs/envs/MaMuJoCo/ma_humanoid.md index 8894a06c..dba79494 100644 --- a/docs/envs/MaMuJoCo/ma_humanoid.md +++ b/docs/envs/MaMuJoCo/ma_humanoid.md @@ -53,6 +53,10 @@ If partitioning, is `None` then the environment contains a single agent with the ### elif partitioning == "9|8": # isolate upper and lower body +```{figure} figures/humanoid_9|8.png + :name: humanoid_9|8 +``` + | Instantiate | `env = mamujoco_v0.parallel_env("Humanoid", "3x1")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1']` | diff --git a/docs/envs/MaMuJoCo/ma_humanoid_standup.md b/docs/envs/MaMuJoCo/ma_humanoid_standup.md index c65ca921..77e4805d 100644 --- a/docs/envs/MaMuJoCo/ma_humanoid_standup.md +++ b/docs/envs/MaMuJoCo/ma_humanoid_standup.md @@ -53,6 +53,10 @@ If partitioning, is `None` then the environment contains a single agent with the ### elif partitioning == "9|8": # isolate upper and lower body +```{figure} figures/humanoid_9|8.png + :name: humanoid_9|8 +``` + | Instantiate | `env = mamujoco_v0.parallel_env("HumanoidStandup", "3x1")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1']` | diff --git a/docs/envs/MaMuJoCo/ma_pusher.md b/docs/envs/MaMuJoCo/ma_pusher.md index 449e06a6..80a57109 100644 --- a/docs/envs/MaMuJoCo/ma_pusher.md +++ b/docs/envs/MaMuJoCo/ma_pusher.md @@ -43,6 +43,10 @@ If partitioning, is None then the environment contains a single agent with the s ### elif partitioning == "3p": +```{figure} figures/pusher_3p.png + :name: pusher_3p +``` + | Instantiate | `env = mamujoco_v0.parallel_env("Pusher", "3p")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1']` | @@ -73,27 +77,24 @@ Wrist | 0 | Rotation of hinge that rolls the forearm | -2 | 2 | r_forearm_roll_joint | hinge | torque (N m) | | 1 | Rotation of flexing the wrist | -2 | 2 | r_wrist_flex_joint | hinge | torque (N m) | | 2 | Rotation of rolling the wrist | -2 | 2 | r_wrist_roll_joint | hinge | torque (N m) | -## Observation Space +## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position of the pusher's object and the position of the goal. See more at the [Gymnasium's Pusher](https://gymnasium.farama.org/environments/mujoco/reacher/#observation-space). ## Rewards - All agents receive the same [Gymnasium's Pusher](https://gymnasium.farama.org/environments/mujoco/pusher/#observation-space) reward. ## Starting state - The starting state of the environment is the as [Gymnasium's Pusher](https://gymnasium.farama.org/environments/mujoco/pusher/#starting-state). ## Episode End - All agent terminate and truncate at same time given the same conditions as [Gymnasium's Pusher](https://gymnasium.farama.org/environments/mujoco/pusher/#episode-end). diff --git a/docs/envs/MaMuJoCo/ma_reacher.md b/docs/envs/MaMuJoCo/ma_reacher.md index c40551d9..2d86f508 100644 --- a/docs/envs/MaMuJoCo/ma_reacher.md +++ b/docs/envs/MaMuJoCo/ma_reacher.md @@ -38,6 +38,10 @@ If partitioning, is `None`, then the environment contains a single agent with th ### elif partitioning == "2x1": +```{figure} figures/reacher_2x1.png + :name: reacher_2x1 +``` + | Instantiate | `env = mamujoco_v0.parallel_env("Reacher", "2x1")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1']` | diff --git a/docs/envs/MaMuJoCo/ma_swimmer.md b/docs/envs/MaMuJoCo/ma_swimmer.md index 7bd894ae..780dad3d 100644 --- a/docs/envs/MaMuJoCo/ma_swimmer.md +++ b/docs/envs/MaMuJoCo/ma_swimmer.md @@ -38,6 +38,10 @@ If partitioning, is `None` then the environment contains a single agent with the ### elif partitioning == "2x1": # isolate upper and lower body +```{figure} figures/swimmer_2x1.png + :name: swimmer_2x1 +``` + | Instantiate | `env = mamujoco_v0.parallel_env("Swimmer", "2x1")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1']` | diff --git a/docs/envs/MaMuJoCo/ma_walker2d.md b/docs/envs/MaMuJoCo/ma_walker2d.md index 4923954c..c890dd53 100644 --- a/docs/envs/MaMuJoCo/ma_walker2d.md +++ b/docs/envs/MaMuJoCo/ma_walker2d.md @@ -42,6 +42,10 @@ If partitioning, is `None` then the environment contains a single agent with the ### elif partitioning == "2x3": # isolate right and left foot +```{figure} figures/walker_2x3.png + :name: walker_2x3 +``` + | Instantiate | `env = mamujoco_v0.parallel_env("Walker2d", "2x3")`| |-----------------------|------------------------------------------------------| | Agents | `agents= ['agent_0', 'agent_1']` | From e6e49f1b2c2d1bf6654fd5df9236f4a5c19c472b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 11 Jan 2023 22:25:25 +0200 Subject: [PATCH 005/104] more pics --- docs/envs/MaMuJoCo/Ant_2x4.png | Bin 31399 -> 0 bytes docs/envs/MaMuJoCo/mamujoco.png | Bin 306724 -> 0 bytes 2 files changed, 0 insertions(+), 0 deletions(-) delete mode 100644 docs/envs/MaMuJoCo/Ant_2x4.png delete mode 100644 docs/envs/MaMuJoCo/mamujoco.png diff --git a/docs/envs/MaMuJoCo/Ant_2x4.png b/docs/envs/MaMuJoCo/Ant_2x4.png deleted file mode 100644 index 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zcmca{hVjN3#tB&*JS@ygp6P2dHx?zPiWr3$7+aYdS{a#Y8yHv_7+iExTQvE3sw{@Y m0{MAzlO@s=6o5KRtbm$~O&~g^vYk7_00f?{elF{r5}E*qiyjUD delta 104 zcmca{hVjN3#tB&*+#=$v&PE~gHWnqOiWr6%8CV&bS{WH=8yHv_82GCk%bENo|tiIW+Cz|+;wWt~$(698_n9x(s_ diff --git a/docs/envs/MaMuJoCo/index.md b/docs/envs/MaMuJoCo/index.md index 5bbffd54..4df890ea 100644 --- a/docs/envs/MaMuJoCo/index.md +++ b/docs/envs/MaMuJoCo/index.md @@ -5,19 +5,18 @@ lastpage: # MaMuJoCo (Multi-Agent MuJoCo) - ```{figure} figures/mamujoco.png :name: mamujoco ``` -MaMuJoCo was introduced in ["FACMAC: Factored Multi-Agent Centralised Policy Gradients"](https://arxiv.org/abs/2003.06709) +MaMuJoCo was introduced in ["FACMAC: Factored Multi-Agent Centralised Policy Gradients"](https://arxiv.org/abs/2003.06709). -There are 2 types of Environments, included (1) multi-agent factorizations of [Gymansium/MuJoCo](https://gymnasium.farama.org/environments/mujoco/) tasks and (2) new complex MuJoCo tasks meant to me solved with multi-agent Algorithms +There are 2 types of Environments, included (1) multi-agent factorizations of [Gymansium/MuJoCo](https://gymnasium.farama.org/environments/mujoco/) tasks and (2) new complex MuJoCo tasks meant to me solved with multi-agent Algorithms. -Gymansium-Robotics/MaMuJoCo Represents the first, easy to use Framework for research of agent factorization +Gymansium-Robotics/MaMuJoCo Represents the first, easy to use Framework for research of agent factorization. -The `mamujoco` are not included in the current `1.2.0` release of `Gymnasium-Robotics` since we are performing some evaluation tests. If you want to try the current implementation of these environments please install them from source: +The `mamujoco` framework is not included in the current `1.2.0` release of `Gymnasium-Robotics` since we are performing some evaluation tests. If you want to try the current implementation of these environments please install them from source: ```sh git clone https://github.com/Farama-Foundation/Gymnasium-Robotics.git @@ -26,8 +25,7 @@ pip install -e. ``` ## API - -MaMuJoCo mainly uses the [PettingZoo.ParallelAPI](https://pettingzoo.farama.org/api/parallel/), but also supports a few extra functions +MaMuJoCo mainly uses the [PettingZoo.ParallelAPI](https://pettingzoo.farama.org/api/parallel/), but also supports a few extra functions: ```{eval-rst} .. autofunction:: gymnasium_robotics.mamujoco_v0.parallel_env.map_local_actions_to_global_action @@ -48,6 +46,8 @@ MaMuJoCo mainly uses the [PettingZoo.ParallelAPI](https://pettingzoo.farama.org/ MaMuJoCo also supports the [PettingZoo.AECAPI](https://pettingzoo.farama.org/api/aec/) but does not expose extra functions. + + ### Arguments ```{eval-rst} .. autofunction:: gymnasium_robotics.mamujoco_v0.parallel_env.__init__ @@ -57,20 +57,18 @@ MaMuJoCo also supports the [PettingZoo.AECAPI](https://pettingzoo.farama.org/api ## How to create new agent factorizations ### example 'Ant-v4', '8x1' +In this example, we will create an agent factorization not present in Gymnasium-Robotics/MaMuJoCo the "Ant"/'8x1', where each agent controls a single joint/action (first implemented by [safe-MaMuJoCo](https://github.com/chauncygu/Safe-Multi-Agent-Mujoco)). -In this example, we will create an agent factorization not present in MaMuJoCo the "Ant"/'8x1', where each agent controls a single joint/action (first implemented by [safe-MaMuJoCo](https://github.com/chauncygu/Safe-Multi-Agent-Mujoco)) - -first we will load the graph of MaMuJoCo +first we will load the graph of MaMuJoCo: ```python >>> from gymnasium_robotics.mamujoco_v0 import get_parts_and_edges >>> unpartioned_nodes, edges, global_nodes = get_parts_and_edges('Ant-v4', None) ``` -the `unpartioned_nodes` contain the nodes of the MaMuJoCo graph -the `edges` well, contain the edges of the graph -and the `global_nodes` a set of observations for all agents - -To create our '8x1' partition we will need to partition the `unpartioned_nodes` +The `unpartioned_nodes` contain the nodes of the MaMuJoCo graph. +The `edges` well, contain the edges of the graph. +And the `global_nodes` a set of observations for all agents. +To create our '8x1' partition we will need to partition the `unpartioned_nodes`: ```python >>> unpartioned_nodes [(hip1, ankle1, hip2, ankle2, hip3, ankle3, hip4, ankle4)] @@ -78,7 +76,7 @@ To create our '8x1' partition we will need to partition the `unpartioned_nodes` >>> partioned_nodes [(hip1,), (ankle1,), (hip2,), (ankle2,), (hip3,), (ankle3,), (hip4,), (ankle4,)] ``` -finally package the partitions and create our environment +Finally package the partitions and create our environment: ```python >>> my_agent_factorization = {"partition": partioned_nodes, "edges": edges, "globals": global_nodes} >>> gym_env = mamujoco_v0('Ant', '8x1', agent_factorization=my_agent_factorization) diff --git a/docs/envs/MaMuJoCo/ma_ant.md b/docs/envs/MaMuJoCo/ma_ant.md index 126cf4ab..a8184fa2 100644 --- a/docs/envs/MaMuJoCo/ma_ant.md +++ b/docs/envs/MaMuJoCo/ma_ant.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Ant](https://gymnasium.farama.org/environments/mujoco/ant/) +The task is [Gymansium's MuJoCo/Ant](https://gymnasium.farama.org/environments/mujoco/ant/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Ant](https://gymnasium.farama.org/environments/m The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/ant.png + :name: ant +``` | Instantiate | `env = mamujoco_v0.parallel_env("Ant", None)` | |-----------------------|------------------------------------------------------| @@ -52,27 +55,23 @@ If partitioning, is None then the environment contains a single agent with the s | Action Spaces | `{'agent_0' : Box(-1, 1, (4,), float32), 'agent_1' : Box(-1, 1, (4,), float32)}`| | Part partition | `[(hip1, ankle1, hip2, ankle2), (hip3, ankle3, hip4, ankle4)]` | -The environment is partitioned in 2 parts, the front part (containing the front legs) and the back part (containing the back legs) - -#### Agent 0 action space -front legs +The environment is partitioned in 2 parts, the front part (containing the front legs) and the back part (containing the back legs). +#### Agent 0 action space (front legs) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) | | 1 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) | | 2 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | -#### Agent 1 action space -back legs - +#### Agent 1 action space (back legs) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) | | 1 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) | | 2 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | -### elif partitioning == "2x4d": # diagonal legs together +### if partitioning == "2x4d": # diagonal legs together ```{figure} figures/ant_2x4d.png :name: ant_2x4d ``` @@ -84,7 +83,7 @@ back legs | Action Spaces | `{'agent_0' : Box(-1, 1, (4,), float32), 'agent_1' : Box(-1, 1, (4,), float32)}`| | Part partition | `[(hip1, ankle1, hip4, ankle4), (hip2, ankle2, hip3, ankle3)]` | -The environment is partitioned in 2 parts, the front part (containing the front legs) and the back part (containing the back legs) +The environment is partitioned in 2 parts, split diagonally. #### Agent 0 action space | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -99,7 +98,7 @@ The environment is partitioned in 2 parts, the front part (containing the front | 1 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | | 2 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | -### elif partitioning == "4x2": +### if partitioning == "4x2": ```{figure} figures/ant_4x2.png :name: ant_4x2 ``` @@ -111,34 +110,25 @@ The environment is partitioned in 2 parts, the front part (containing the front | Action Spaces | `{'agent_0' : Box(-1, 1, (2,), float32), 'agent_1' : Box(-1, 1, (2,), float32)}, 'agent_2' : Box(-1, 1, (2,), float32), 'agent_3' : Box(-1, 1, (2,), float32)},`| | Part partition | `[(hip1, ankle1), (hip2, ankle2), (hip3, ankle3), (hip4, ankle4)]` | -The environment is partitioned in 4 parts, with each part corresponding to a leg of the ant -#### Agent 0 action space -front left leg - +The environment is partitioned in 4 parts, with each part corresponding to a leg of the ant. +#### Agent 0 action space (front left leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) | | 1 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) | -#### Agent 1 action space -front right leg - +#### Agent 1 action space (front right leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) | | 1 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | - -#### Agent 2 action space -right left leg - +#### Agent 2 action space (right left leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 2 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | -#### Agent 3 action space -right back leg - +#### Agent 3 action space (right back leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) | diff --git a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md index 7719f0fe..ba6a4d44 100644 --- a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md @@ -5,7 +5,7 @@ lastpage: # Coupled Half Cheetah -This Environment is one of the new environments introduced with MaMuJoCo +This Environment is one of the new environments introduced with MaMuJoCo. The environment consists of 2 half cheetahs coupled by an elastic tendon. @@ -14,6 +14,9 @@ The environment consists of 2 half cheetahs coupled by an elastic tendon. The action spaces is depended on the partitioning. ### if partitioning is None: +```{figure} figures/coupled_half_cheetah.png + :name: coupled_half_cheetah +``` | Instantiate | `env = mamujoco_v0.parallel_env("CoupledHalfCheetah", None)` | |-----------------------|------------------------------------------------------| @@ -41,7 +44,7 @@ If partitioning, is `None`, then the environment contains a single agent with th -### elif partitioning == "1p1": # isolate the cheetahs +### if partitioning == "1p1": # isolate the cheetahs ```{figure} figures/coupled_half_cheetah_1p1.png :name: coupled_half_cheetah_1p1 ``` @@ -54,9 +57,7 @@ If partitioning, is `None`, then the environment contains a single agent with th | Part partition | `[(bfoot0, bshin0, bthigh0, ffoot0, fshin0, fthigh0), (bfoot1, bshin1, bthigh1, ffoot1, fshin1, fthigh1),]`| The environment is partitioned in 2 parts, one part corresponding to the first cheetah and second part corresponding to the second cheetah. -#### Agent 0 action space -first cheetah - +#### Agent 0 action space (first cheetah) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the back thigh rotor of the first cheetah | -1 | 1 | bthigh0 | hinge | torque (N m) | @@ -65,10 +66,8 @@ first cheetah | 3 | Torque applied on the front thigh rotor of the first cheetah | -1 | 1 | fthigh0 | hinge | torque (N m) | | 4 | Torque applied on the front shin rotor of the first cheetah | -1 | 1 | fshin0 | hinge | torque (N m) | | 5 | Torque applied on the front foot rotor of the first cheetah | -1 | 1 | ffoot0 | hinge | torque (N m) | -#### Agent 1 action space -second cheetah - +#### Agent 1 action space (second cheetah) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the back thigh rotor of the second cheetah | -1 | 1 | bthigh1 | hinge | torque (N m) | diff --git a/docs/envs/MaMuJoCo/ma_half_cheetah.md b/docs/envs/MaMuJoCo/ma_half_cheetah.md index d4cb4ea8..0facc367 100644 --- a/docs/envs/MaMuJoCo/ma_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_half_cheetah.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/) +The task is [Gymansium's MuJoCo/Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Half Cheetah](https://gymnasium.farama.org/envir The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/half_cheetah.png + :name: half_cheetah +``` | Instantiate | `env = mamujoco_v0.parallel_env("HalfCheetah", None)` | |-----------------------|------------------------------------------------------| @@ -53,24 +56,21 @@ If partitioning, is `None`, then the environment contains a single agent with th The environment is partitioned in 2 parts, the front part (containing the front leg) and the back part (containing the back leg) -#### Agent 0 action space -front leg - +#### Agent 0 action space (front leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the back thigh rotor | -1 | 1 | bthigh | hinge | torque (N m) | | 1 | Torque applied on the back shin rotor | -1 | 1 | bshin | hinge | torque (N m) | | 2 | Torque applied on the back foot rotor | -1 | 1 | bfoot | hinge | torque (N m) | -#### Agent 1 action space -back leg +#### Agent 1 action space (back leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the front thigh rotor | -1 | 1 | fthigh | hinge | torque (N m) | | 1 | Torque applied on the front shin rotor | -1 | 1 | fshin | hinge | torque (N m) | | 2 | Torque applied on the front foot rotor | -1 | 1 | ffoot | hinge | torque (N m) | -### elif partitioning == "6x1": # each joint +### if partitioning == "6x1": # each joint ```{figure} figures/half_cheetah_6x1.png :name: half_cheetah_6x1 ``` @@ -83,6 +83,7 @@ back leg | Part partition | `[(bthigh,), (bshin,), (bfoot,), (fthigh,), (fshin,), (ffoot,)]`| The environment is partitioned in 6 parts, each part corresponding to a single joint + #### Agent 0 action space | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | diff --git a/docs/envs/MaMuJoCo/ma_hopper.md b/docs/envs/MaMuJoCo/ma_hopper.md index 2fe5123f..5c4d3312 100644 --- a/docs/envs/MaMuJoCo/ma_hopper.md +++ b/docs/envs/MaMuJoCo/ma_hopper.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/) +The task is [Gymansium's MuJoCo/Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Hopper](https://gymnasium.farama.org/environment The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/hopper.png + :name: hopper +``` | Instantiate | `env = mamujoco_v0.parallel_env("Hopper", None)` | |-----------------------|------------------------------------------------------| @@ -39,7 +42,7 @@ If partitioning, is `None`, then the environment contains a single agent with th -### elif partitioning == "3x1": # each joint +### if partitioning == "3x1": # each joint ```{figure} figures/hopper_3x1.png :name: hopper_3x1 ``` @@ -51,7 +54,8 @@ If partitioning, is `None`, then the environment contains a single agent with th | Action Spaces | `{Box(-1, 1, (1,), float32)}`| | Part partition | `[(thigh_joint,), (leg_joint,), (foot_joint,)]`| -The environment is partitioned in 3 parts, each part corresponding to a single joint +The environment is partitioned in 3 parts, each part corresponding to a single joint. + #### Agent 0 action space | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| diff --git a/docs/envs/MaMuJoCo/ma_humanoid.md b/docs/envs/MaMuJoCo/ma_humanoid.md index 9be38d9f..bc872809 100644 --- a/docs/envs/MaMuJoCo/ma_humanoid.md +++ b/docs/envs/MaMuJoCo/ma_humanoid.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/) +The task is [Gymansium's MuJoCo/Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Humanoid](https://gymnasium.farama.org/environme The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/humanoid.png + :name: humanoid +``` | Instantiate | `env = mamujoco_v0.parallel_env("Humanoid", None)` | |-----------------------|------------------------------------------------------| @@ -28,7 +31,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (17,), float32)}` | | Part partition | `[(abdomen_x, abdomen_y, abdomen_z, right_hip_x, right_hip_y, right_hip_z, right_knee, left_hip_x, left_hip_y, left_hip_z, left_knee, right_shoulder1, right_shoulder2, right_elbow, left_shoulder1, left_shoulder2, left_elbow,),]` | -If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#action-space) +If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#action-space). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -52,7 +55,7 @@ If partitioning, is `None` then the environment contains a single agent with the -### elif partitioning == "9|8": # isolate upper and lower body +### if partitioning == "9|8": # isolate upper and lower body ```{figure} figures/humanoid_9|8.png :name: humanoid_9|8 ``` @@ -64,10 +67,9 @@ If partitioning, is `None` then the environment contains a single agent with the | Action Spaces | `{'agent_0': Box(-1, 1, (9,), float32), 'agent_1' : Box(-1, 1, (8,), float32)}` | | Part partition | `[(abdomen_x, abdomen_y, abdomen_z, right_shoulder1, right_shoulder2, right_elbow, left_shoulder1, left_shoulder2, left_elbow,), (right_hip_x, right_hip_y, right_hip_z, right_knee, left_hip_x, left_hip_y, left_hip_z, left_knee,)]`| -The environment is partitioned in 2 parts, one part corresponding to the upper body and one part corresponding to the lower body -#### Agent 0 action space -Upper Body +The environment is partitioned in 2 parts, one part corresponding to the upper body and one part corresponding to the lower body. +#### Agent 0 action space (Upper Body) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) | @@ -80,9 +82,7 @@ Upper Body | 7 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | | 8 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | -#### Agent 1 action space -Lower Body - +#### Agent 1 action space (Lower Body) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) | @@ -95,6 +95,7 @@ Lower Body | 7 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes all the items of the humanoid's torso. See more at the [Gymnasium's Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/#observation-space). diff --git a/docs/envs/MaMuJoCo/ma_humanoid_standup.md b/docs/envs/MaMuJoCo/ma_humanoid_standup.md index 257e6819..46061503 100644 --- a/docs/envs/MaMuJoCo/ma_humanoid_standup.md +++ b/docs/envs/MaMuJoCo/ma_humanoid_standup.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/) +The task is [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/e The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/humanoid.png + :name: humanoid +``` | Instantiate | `env = mamujoco_v0.parallel_env("HumanoidStandup", None)` | |-----------------------|------------------------------------------------------| @@ -28,7 +31,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (17,), float32)}` | | Part partition | `[(abdomen_x, abdomen_y, abdomen_z, right_hip_x, right_hip_y, right_hip_z, right_knee, left_hip_x, left_hip_y, left_hip_z, left_knee, right_shoulder1, right_shoulder2, right_elbow, left_shoulder1, left_shoulder2, left_elbow,),]` | -If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#action-space) +If partitioning, is `None` then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#action-space). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -52,7 +55,7 @@ If partitioning, is `None` then the environment contains a single agent with the -### elif partitioning == "9|8": # isolate upper and lower body +### if partitioning == "9|8": # isolate upper and lower body ```{figure} figures/humanoid_9|8.png :name: humanoid_9|8 ``` @@ -64,10 +67,9 @@ If partitioning, is `None` then the environment contains a single agent with the | Action Spaces | `{'agent_0': Box(-1, 1, (9,), float32), 'agent_1' : Box(-1, 1, (8,), float32)}` | | Part partition | `[(abdomen_x, abdomen_y, abdomen_z, right_shoulder1, right_shoulder2, right_elbow, left_shoulder1, left_shoulder2, left_elbow,), (right_hip_x, right_hip_y, right_hip_z, right_knee, left_hip_x, left_hip_y, left_hip_z, left_knee,)]`| -The environment is partitioned in 2 parts, one part corresponding to the upper body and one part corresponding to the lower body -#### Agent 0 action space -Upper Body +The environment is partitioned in 2 parts, one part corresponding to the upper body and one part corresponding to the lower body. +#### Agent 0 action space (Upper Body) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) | @@ -80,9 +82,7 @@ Upper Body | 7 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | | 8 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | -#### Agent 1 action space -Lower Body - +#### Agent 1 action space (Lower Body) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) | @@ -95,6 +95,7 @@ Lower Body | 7 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes all the items of the Humanoid's torso. See more at the [Gymnasium's Humanoid Standup](https://gymnasium.farama.org/environments/mujoco/humanoid_standup/#observation-space). diff --git a/docs/envs/MaMuJoCo/ma_pusher.md b/docs/envs/MaMuJoCo/ma_pusher.md index 161da9f6..eda2b629 100644 --- a/docs/envs/MaMuJoCo/ma_pusher.md +++ b/docs/envs/MaMuJoCo/ma_pusher.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Pusher](https://gymnasium.farama.org/environments/mujoco/pusher/) +The task is [Gymansium's MuJoCo/Pusher](https://gymnasium.farama.org/environments/mujoco/pusher/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Pusher](https://gymnasium.farama.org/environment The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/pusher.png + :name: pusher +``` | Instantiate | `env = mamujoco_v0.parallel_env("Pusher", None)` | |-----------------------|------------------------------------------------------| @@ -28,7 +31,7 @@ The action spaces is depended on the partitioning | Action Spaces | `{'agent_0' : Box(-1, 1, (7,), float32)}` | | Part partition | `[(r_shoulder_pan_joint, r_shoulder_lift_joint, r_upper_arm_roll_joint, r_elbow_flex_joint, r_forearm_roll_joint, r_wrist_flex_joint, r_wrist_roll_joint,),]` | -If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Pusher](https://gymnasium.farama.org/environments/mujoco/pusher/#action-space) +If partitioning, is None then the environment contains a single agent with the same action space as [Gymansium's MuJoCo/Pusher](https://gymnasium.farama.org/environments/mujoco/pusher/#action-space). | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------| @@ -42,7 +45,7 @@ If partitioning, is None then the environment contains a single agent with the s -### elif partitioning == "3p": +### if partitioning == "3p": ```{figure} figures/pusher_3p.png :name: pusher_3p ``` @@ -54,30 +57,28 @@ If partitioning, is None then the environment contains a single agent with the s | Action Spaces | `{'agent_0': Box(-1, 1, (3,), float32), 'agent_1' : Box(-1, 1, (1,), float32), 'agent_2': Box(-1, 1, (1,), float32)}` | | Part partition | `[(r_shoulder_pan_joint, r_shoulder_lift_joint, r_upper_arm_roll_joint,), (r_elbow_flex_joint,), (r_forearm_roll_joint, r_wrist_flex_joint, r_wrist_roll_joint),]`| -The environment is partitioned in 3 parts, one part corresponding to the shoulder one part corresponding to the elbow and one part to the wrist -#### Agent 0 action space -Shoulder - +The environment is partitioned in 3 parts, one part corresponding to the shoulder, one part corresponding to the elbow, and one part to the wrist. +#### Agent 0 action space (Shoulder) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------| | 0 | Rotation of the panning the shoulder | -2 | 2 | r_shoulder_pan_joint | hinge | torque (N m) | | 1 | Rotation of the shoulder lifting joint | -2 | 2 | r_shoulder_lift_joint | hinge | torque (N m) | | 2 | Rotation of the shoulder rolling joint | -2 | 2 | r_upper_arm_roll_joint | hinge | torque (N m) | -#### Agent 1 action space -Elbow +#### Agent 1 action space (Elbow) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------| | 0 | Rotation of hinge joint that flexed the elbow | -2 | 2 | r_elbow_flex_joint | hinge | torque (N m) | -#### Agent w action space -Wrist +#### Agent 2 action space (Wrist) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------| | 0 | Rotation of hinge that rolls the forearm | -2 | 2 | r_forearm_roll_joint | hinge | torque (N m) | | 1 | Rotation of flexing the wrist | -2 | 2 | r_wrist_flex_joint | hinge | torque (N m) | | 2 | Rotation of rolling the wrist | -2 | 2 | r_wrist_roll_joint | hinge | torque (N m) | + + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position of the pusher's object and the position of the goal. See more at the [Gymnasium's Pusher](https://gymnasium.farama.org/environments/mujoco/reacher/#observation-space). diff --git a/docs/envs/MaMuJoCo/ma_reacher.md b/docs/envs/MaMuJoCo/ma_reacher.md index 0ea29c0f..a0f1406d 100644 --- a/docs/envs/MaMuJoCo/ma_reacher.md +++ b/docs/envs/MaMuJoCo/ma_reacher.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/) +The task is [Gymansium's MuJoCo/Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Reacher](https://gymnasium.farama.org/environmen The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/reacher.png + :name: reacher +``` | Instantiate | `env = mamujoco_v0.parallel_env("Reacher", None)` | |-----------------------|------------------------------------------------------| @@ -37,7 +40,7 @@ If partitioning, is `None`, then the environment contains a single agent with th -### elif partitioning == "2x1": +### if partitioning == "2x1": ```{figure} figures/reacher_2x1.png :name: reacher_2x1 ``` @@ -49,7 +52,7 @@ If partitioning, is `None`, then the environment contains a single agent with th | Action Spaces | `{'agent_0': Box(-1, 1, (1,), float32), 'agent_1' : Box(-1, 1, (1,), float32)}` | | Part partition | `[(joint0,), (joint1,)]`| -The environment is partitioned in 2 parts, one part corresponding to the first joint and one part corresponding to the second joint +The environment is partitioned in 2 parts, one part corresponding to the first joint, and one part corresponding to the second joint. #### Agent 0 action space | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|---------------------------------------------------------------------------------|-------------|-------------|--------------------------|-------|------| diff --git a/docs/envs/MaMuJoCo/ma_single.md b/docs/envs/MaMuJoCo/ma_single.md index 712803ad..dab60914 100644 --- a/docs/envs/MaMuJoCo/ma_single.md +++ b/docs/envs/MaMuJoCo/ma_single.md @@ -5,9 +5,9 @@ lastpage: # Single Action Environments -MaMuJoCo also support single action [Gymansium/MuJoCo/](https://gymnasium.farama.org/environments/mujoco/) environment such as [Gymnasium/Mujoco/InvertedPendulum](https://gymnasium.farama.org/environments/mujoco/inverted_pendulum/) and [Gymnasium/Mujoco/InvertedDoublePendulum](https://gymnasium.farama.org/environments/mujoco/inverted_double_pendulum/) +MaMuJoCo also supports single action [Gymansium/MuJoCo/](https://gymnasium.farama.org/environments/mujoco/) environments such as [Gymnasium/Mujoco/InvertedPendulum](https://gymnasium.farama.org/environments/mujoco/inverted_pendulum/) and [Gymnasium/Mujoco/InvertedDoublePendulum](https://gymnasium.farama.org/environments/mujoco/inverted_double_pendulum/). -And can be instantiated (without a partition) +And can be instantiated (without a partition): `env = mamujoco_v0.parallel_env("InvertedDoublePendulum", None)` @@ -15,9 +15,12 @@ And can be instantiated (without a partition) In which case, they simply are the same environments with a single agent using the `PettingZoo` APIs. +The Purpose of these is to allow researchers to debug multi-agent learning algorithms. + + ## Action Space -The action spaces is depended on the partitioning +The action spaces is depended on the partitioning. ## Observation Space The agent receives the same observations as the single agent Gymnasium environment. diff --git a/docs/envs/MaMuJoCo/ma_swimmer.md b/docs/envs/MaMuJoCo/ma_swimmer.md index 7fbfb269..6c4a2bb4 100644 --- a/docs/envs/MaMuJoCo/ma_swimmer.md +++ b/docs/envs/MaMuJoCo/ma_swimmer.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/) +The task is [Gymansium's MuJoCo/Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Swimmer](https://gymnasium.farama.org/environmen The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/swimmer.png + :name: swimmer +``` | Instantiate | `env = mamujoco_v0.parallel_env("Swimmer", None)` | |-----------------------|------------------------------------------------------| @@ -37,7 +40,7 @@ If partitioning, is `None` then the environment contains a single agent with the -### elif partitioning == "2x1": # isolate upper and lower body +### if partitioning == "2x1": # isolate upper and lower body ```{figure} figures/swimmer_2x1.png :name: swimmer_2x1 ``` @@ -49,7 +52,8 @@ If partitioning, is `None` then the environment contains a single agent with the | Action Spaces | `{'agent_0': Box(-1, 1, (1,), float32), 'agent_1' : Box(-1, 1, (1,), float32)}` | | Part partition | `[(joint0,), (joint1,)]`| -The environment is partitioned in 2 parts, one part corresponding to the first joint and one part corresponding to the second joint +The environment is partitioned in 2 parts, one part corresponding to the first joint, and one part corresponding to the second joint. + #### Agent 0 action space | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| @@ -59,6 +63,8 @@ The environment is partitioned in 2 parts, one part corresponding to the first j |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| | 0 | Torque applied on the second rotor | -1 | 1 | motor2_rot | hinge | torque (N m) | + + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the swimmer's tip. See more at the [Gymnasium's Swimmer](https://gymnasium.farama.org/environments/mujoco/swimmer/#observation-space). diff --git a/docs/envs/MaMuJoCo/ma_walker2d.md b/docs/envs/MaMuJoCo/ma_walker2d.md index 5f8a386c..359af19c 100644 --- a/docs/envs/MaMuJoCo/ma_walker2d.md +++ b/docs/envs/MaMuJoCo/ma_walker2d.md @@ -12,7 +12,7 @@ lastpage: This Environment is part of [MaMuJoCo](https://robotics.farama.org/envs/MaMuJoCo/) environments. Please read that page first for general information. -The task is [Gymansium's MuJoCo/Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/) +The task is [Gymansium's MuJoCo/Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/). @@ -20,6 +20,9 @@ The task is [Gymansium's MuJoCo/Walker2D](https://gymnasium.farama.org/environme The action spaces is depended on the partitioning ### if partitioning is None: +```{figure} figures/walker2d.png + :name: walker2d +``` | Instantiate | `env = mamujoco_v0.parallel_env("Walker2D", None)` | |-----------------------|------------------------------------------------------| @@ -41,7 +44,7 @@ If partitioning, is `None` then the environment contains a single agent with the -### elif partitioning == "2x3": # isolate right and left foot +### if partitioning == "2x3": # isolate right and left foot ```{figure} figures/walker2d_2x3.png :name: walker2d_2x3 ``` @@ -53,18 +56,15 @@ If partitioning, is `None` then the environment contains a single agent with the | Action Spaces | `{'agent_0': Box(-1, 1, (3,), float32), 'agent_1' : Box(-1, 1, (3,), float32)}` | | Part partition | `[(foot_joint, leg_joint, thigh_joint), (foot_left_joint, leg_left_joint, thigh_left_joint,),]`| -The environment is partitioned in 2 parts, one part corresponding to the right leg and one part corresponding to the left leg -#### Agent 0 action space -right leg +The environment is partitioned in 2 parts, one part corresponding to the right leg, and one part corresponding to the left leg. +#### Agent 0 action space (right leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|----------------------------------------|-------------|-------------|----------------------------------|-------|--------------| | 0 | Torque applied on the thigh rotor | -1 | 1 | thigh_joint | hinge | torque (N m) | | 1 | Torque applied on the leg rotor | -1 | 1 | leg_joint | hinge | torque (N m) | | 2 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | -#### Agent 1 action space -left leg - +#### Agent 1 action space (left leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|----------------------------------------|-------------|-------------|----------------------------------|-------|--------------| | 0 | Torque applied on the left thigh rotor | -1 | 1 | thigh_left_joint | hinge | torque (N m) | From e0d7e06b557212f3f22c981b16ee9d4676025d76 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 12 Jan 2023 06:15:39 +0200 Subject: [PATCH 010/104] minor formating changes --- docs/envs/MaMuJoCo/ma_ant.md | 6 ++++++ docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md | 2 ++ docs/envs/MaMuJoCo/ma_half_cheetah.md | 1 + docs/envs/MaMuJoCo/ma_hopper.md | 1 + docs/envs/MaMuJoCo/ma_pusher.md | 1 + docs/envs/MaMuJoCo/ma_reacher.md | 2 ++ docs/envs/MaMuJoCo/ma_walker2d.md | 1 + 7 files changed, 14 insertions(+) diff --git a/docs/envs/MaMuJoCo/ma_ant.md b/docs/envs/MaMuJoCo/ma_ant.md index a8184fa2..d15b3ae7 100644 --- a/docs/envs/MaMuJoCo/ma_ant.md +++ b/docs/envs/MaMuJoCo/ma_ant.md @@ -43,6 +43,7 @@ If partitioning, is None then the environment contains a single agent with the s | 5 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | | 6 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | + ### if partitioning == "2x4": # neighboring legs together (front and back) ```{figure} figures/ant_2x4.png :name: ant_2x4 @@ -64,6 +65,7 @@ The environment is partitioned in 2 parts, the front part (containing the front | 1 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) | | 2 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | + #### Agent 1 action space (back legs) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -71,6 +73,7 @@ The environment is partitioned in 2 parts, the front part (containing the front | 1 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) | | 2 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | + ### if partitioning == "2x4d": # diagonal legs together ```{figure} figures/ant_2x4d.png :name: ant_2x4d @@ -98,6 +101,7 @@ The environment is partitioned in 2 parts, split diagonally. | 1 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | | 2 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 3 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | + ### if partitioning == "4x2": ```{figure} figures/ant_4x2.png :name: ant_4x2 @@ -111,6 +115,7 @@ The environment is partitioned in 2 parts, split diagonally. | Part partition | `[(hip1, ankle1), (hip2, ankle2), (hip3, ankle3), (hip4, ankle4)]` | The environment is partitioned in 4 parts, with each part corresponding to a leg of the ant. + #### Agent 0 action space (front left leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -122,6 +127,7 @@ The environment is partitioned in 4 parts, with each part corresponding to a leg | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | | 0 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) | | 1 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | + #### Agent 2 action space (right left leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | diff --git a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md index ba6a4d44..1daed6a4 100644 --- a/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md @@ -57,6 +57,7 @@ If partitioning, is `None`, then the environment contains a single agent with th | Part partition | `[(bfoot0, bshin0, bthigh0, ffoot0, fshin0, fthigh0), (bfoot1, bshin1, bthigh1, ffoot1, fshin1, fthigh1),]`| The environment is partitioned in 2 parts, one part corresponding to the first cheetah and second part corresponding to the second cheetah. + #### Agent 0 action space (first cheetah) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | @@ -78,6 +79,7 @@ The environment is partitioned in 2 parts, one part corresponding to the first c | 5 | Torque applied on the front foot rotor of the second cheetah | -1 | 1 | ffoot1 | hinge | torque (N m) | + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items in each cheetah's top. diff --git a/docs/envs/MaMuJoCo/ma_half_cheetah.md b/docs/envs/MaMuJoCo/ma_half_cheetah.md index 0facc367..fbcba92d 100644 --- a/docs/envs/MaMuJoCo/ma_half_cheetah.md +++ b/docs/envs/MaMuJoCo/ma_half_cheetah.md @@ -110,6 +110,7 @@ The environment is partitioned in 6 parts, each part corresponding to a single j | 0 | Torque applied on the front foot rotor | -1 | 1 | ffoot | hinge | torque (N m) | + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the half cheetah's tip. See more at the [Gymnasium's Half Cheetah](https://gymnasium.farama.org/environments/mujoco/half_cheetah/#observation-space). diff --git a/docs/envs/MaMuJoCo/ma_hopper.md b/docs/envs/MaMuJoCo/ma_hopper.md index 5c4d3312..da94f359 100644 --- a/docs/envs/MaMuJoCo/ma_hopper.md +++ b/docs/envs/MaMuJoCo/ma_hopper.md @@ -70,6 +70,7 @@ The environment is partitioned in 3 parts, each part corresponding to a single j | 0 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position and velocity items of the hopper's top. See more at the [Gymnasium's Hopper](https://gymnasium.farama.org/environments/mujoco/hopper/#observation-space). diff --git a/docs/envs/MaMuJoCo/ma_pusher.md b/docs/envs/MaMuJoCo/ma_pusher.md index eda2b629..d00e2f6c 100644 --- a/docs/envs/MaMuJoCo/ma_pusher.md +++ b/docs/envs/MaMuJoCo/ma_pusher.md @@ -58,6 +58,7 @@ If partitioning, is None then the environment contains a single agent with the s | Part partition | `[(r_shoulder_pan_joint, r_shoulder_lift_joint, r_upper_arm_roll_joint,), (r_elbow_flex_joint,), (r_forearm_roll_joint, r_wrist_flex_joint, r_wrist_roll_joint),]`| The environment is partitioned in 3 parts, one part corresponding to the shoulder, one part corresponding to the elbow, and one part to the wrist. + #### Agent 0 action space (Shoulder) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------| diff --git a/docs/envs/MaMuJoCo/ma_reacher.md b/docs/envs/MaMuJoCo/ma_reacher.md index a0f1406d..77943140 100644 --- a/docs/envs/MaMuJoCo/ma_reacher.md +++ b/docs/envs/MaMuJoCo/ma_reacher.md @@ -53,6 +53,7 @@ If partitioning, is `None`, then the environment contains a single agent with th | Part partition | `[(joint0,), (joint1,)]`| The environment is partitioned in 2 parts, one part corresponding to the first joint, and one part corresponding to the second joint. + #### Agent 0 action space | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|---------------------------------------------------------------------------------|-------------|-------------|--------------------------|-------|------| @@ -64,6 +65,7 @@ The environment is partitioned in 2 parts, one part corresponding to the first j | 0 | Torque applied at the second hinge (connecting the two links) | -1 | 1 | joint1 | hinge | torque (N m) | + ## Observation Space Besides the local observation of each agent (which depend on their parts of the agent, the observation categories and the observation depth), each agent also observes the position of the reacher's target object. See more at the [Gymnasium's Reacher](https://gymnasium.farama.org/environments/mujoco/reacher/#observation-space). diff --git a/docs/envs/MaMuJoCo/ma_walker2d.md b/docs/envs/MaMuJoCo/ma_walker2d.md index 359af19c..2c67d53b 100644 --- a/docs/envs/MaMuJoCo/ma_walker2d.md +++ b/docs/envs/MaMuJoCo/ma_walker2d.md @@ -64,6 +64,7 @@ The environment is partitioned in 2 parts, one part corresponding to the right l | 0 | Torque applied on the thigh rotor | -1 | 1 | thigh_joint | hinge | torque (N m) | | 1 | Torque applied on the leg rotor | -1 | 1 | leg_joint | hinge | torque (N m) | | 2 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | + #### Agent 1 action space (left leg) | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | |-----|----------------------------------------|-------------|-------------|----------------------------------|-------|--------------| From a631fbea8cd0d0212aab0e75bb3741230a884b3d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 12 Jan 2023 18:54:38 +0200 Subject: [PATCH 011/104] add `kwargs` --- gymnasium_robotics/envs/multiagent_mujoco/mujoco_multi.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/multiagent_mujoco/mujoco_multi.py b/gymnasium_robotics/envs/multiagent_mujoco/mujoco_multi.py index 95fd642e..a8a2fa25 100755 --- a/gymnasium_robotics/envs/multiagent_mujoco/mujoco_multi.py +++ b/gymnasium_robotics/envs/multiagent_mujoco/mujoco_multi.py @@ -79,6 +79,7 @@ def __init__( local_categories: list[list[str]] | None = None, global_categories: tuple[str, ...] | None = None, render_mode: str | None = None, + **kwargs, ): """Init. @@ -101,6 +102,8 @@ def __init__( The default is; local_categories[0] render_mode: see [Gymansium/MuJoCo](https://gymnasium.farama.org/environments/mujoco/), valid values: 'human', 'rgb_array', 'depth_array' + kwargs: Additional arguments passed to the [Gymansium/MuJoCo](https://gymnasium.farama.org/environments/mujoco/) environment, + Note: arguments that change the observation space will not work. Raises: NotImplementedError: When the scenario is not supported (not part of of the valid values) """ @@ -109,7 +112,7 @@ def __init__( # load the underlying single agent Gymansium MuJoCo Environment in `self.single_agent_env` if scenario in _MUJOCO_GYM_ENVIROMENTS: self.single_agent_env: gymnasium.envs.mujoco.mujoco_env.MujocoEnv = ( - gymnasium.make(scenario, render_mode=render_mode) + gymnasium.make(scenario, **kwargs, render_mode=render_mode) ) elif scenario in ["ManySegmentAnt-v4"]: assert isinstance(agent_conf, str) From 22d54bc962a5909e846cb6351966e4ea125f0e13 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 25 Jan 2023 01:35:41 +0200 Subject: [PATCH 012/104] add `mujuco-v5` (init) --- gymnasium_robotics/envs/mujoco/ant_v5.py | 363 +++++++++++++++++ gymnasium_robotics/envs/mujoco/humanoid_v5.py | 374 ++++++++++++++++++ .../envs/mujoco/humanoidstandup_v5.py | 276 +++++++++++++ .../mujoco/inverted_double_pendulum_v5.py | 179 +++++++++ gymnasium_robotics/envs/mujoco/reacher_v5.py | 191 +++++++++ 5 files changed, 1383 insertions(+) create mode 100644 gymnasium_robotics/envs/mujoco/ant_v5.py create mode 100644 gymnasium_robotics/envs/mujoco/humanoid_v5.py create mode 100644 gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py create mode 100644 gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py create mode 100644 gymnasium_robotics/envs/mujoco/reacher_v5.py diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py new file mode 100644 index 00000000..1e618f58 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -0,0 +1,363 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "distance": 4.0, +} + + +class AntEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment is based on the environment introduced by Schulman, + Moritz, Levine, Jordan and Abbeel in ["High-Dimensional Continuous Control + Using Generalized Advantage Estimation"](https://arxiv.org/abs/1506.02438). + The ant is a 3D robot consisting of one torso (free rotational body) with + four legs attached to it with each leg having two links. The goal is to + coordinate the four legs to move in the forward (right) direction by applying + torques on the eight hinges connecting the two links of each leg and the torso + (nine parts and eight hinges). + + ## Action Space + The action space is a `Box(-1, 1, (8,), float32)`. An action represents the torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | + | 0 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) | + | 1 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) | + | 2 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) | + | 3 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) | + | 4 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) | + | 5 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | + | 6 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | + | 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | + + ## Observation Space + + Observations consist of positional values of different body parts of the ant, + followed by the velocities of those individual parts (their derivatives) with all + the positions ordered before all the velocities. + + By default, observations do not include the x- and y-coordinates of the ant's torso. These may + be included by passing `exclude_current_positions_from_observation=False` during construction. + In that case, the observation space will have 29 dimensions where the first two dimensions + represent the x- and y- coordinates of the ant's torso. + Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates + of the torso will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. + + However, by default, an observation is a `ndarray` with shape `(27,)` + where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + |-----|--------------------------------------------------------------|--------|--------|----------------------------------------|-------|--------------------------| + | 0 | z-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | + | 1 | x-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | + | 2 | y-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | + | 3 | z-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | + | 4 | w-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | + | 5 | angle between torso and first link on front left | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) | + | 6 | angle between the two links on the front left | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) | + | 7 | angle between torso and first link on front right | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) | + | 8 | angle between the two links on the front right | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) | + | 9 | angle between torso and first link on back left | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) | + | 10 | angle between the two links on the back left | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) | + | 11 | angle between torso and first link on back right | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) | + | 12 | angle between the two links on the back right | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) | + | 13 | x-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) | + | 14 | y-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) | + | 15 | z-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) | + | 16 | x-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) | + | 17 | y-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) | + | 18 | z-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) | + | 19 | angular velocity of angle between torso and front left link | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) | + | 20 | angular velocity of the angle between front left links | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) | + | 21 | angular velocity of angle between torso and front right link | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) | + | 22 | angular velocity of the angle between front right links | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) | + | 23 | angular velocity of angle between torso and back left link | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) | + | 24 | angular velocity of the angle between back left links | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) | + | 25 | angular velocity of angle between torso and back right link | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) | + | 26 |angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) | + + + If `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces + (external forces - force x, y, z and torque x, y, z) applied to the + center of mass of each of the links. The 14 links are: the ground link, + the torso link, and 3 links for each leg (1 + 1 + 12) with the 6 external forces. + + The (x,y,z) coordinates are translational DOFs while the orientations are rotational + DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). + + + **Note:** Ant-v4 environment no longer has the following contact forces issue. + If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 results + in the contact forces always being 0. As such we recommend to use a Mujoco-Py version < 2.0 + when using the Ant environment if you would like to report results with contact forces (if + contact forces are not used in your experiments, you can use version > 2.0). + + ## Rewards + The reward consists of three parts: + - *healthy_reward*: Every timestep that the ant is healthy (see definition in section "Episode Termination"), it gets a reward of fixed value `healthy_reward` + - *forward_reward*: A reward of moving forward which is measured as + *(x-coordinate before action - x-coordinate after action)/dt*. *dt* is the time + between actions and is dependent on the `frame_skip` parameter (default is 5), + where the frametime is 0.01 - making the default *dt = 5 * 0.01 = 0.05*. + This reward would be positive if the ant moves forward (in positive x direction). + - *ctrl_cost*: A negative reward for penalising the ant if it takes actions + that are too large. It is measured as *`ctrl_cost_weight` * sum(action2)* + where *`ctr_cost_weight`* is a parameter set for the control and has a default value of 0.5. + - *contact_cost*: A negative reward for penalising the ant if the external contact + force is too large. It is calculated *`contact_cost_weight` * sum(clip(external contact + force to `contact_force_range`)2)*. + + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*. + + But if `use_contact_forces=True` + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost*. + + In either case `info` will also contain the individual reward terms. + + ## Starting State + All observations start in state + (0.0, 0.0, 0.75, 1.0, 0.0 ... 0.0) with a uniform noise in the range + of [-`reset_noise_scale`, `reset_noise_scale`] added to the positional values and standard normal noise + with mean 0 and standard deviation `reset_noise_scale` added to the velocity values for + stochasticity. Note that the initial z coordinate is intentionally selected + to be slightly high, thereby indicating a standing up ant. The initial orientation + is designed to make it face forward as well. + + ## Episode End + The ant is said to be unhealthy if any of the following happens: + + 1. Any of the state space values is no longer finite + 2. The z-coordinate of the torso is **not** in the closed interval given by `healthy_z_range` (defaults to [0.2, 1.0]) + + If `terminate_when_unhealthy=True` is passed during construction (which is the default), + the episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches a 1000 timesteps + 2. Termination: The ant is unhealthy + + If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. + + ## Arguments + + No additional arguments are currently supported in v2 and lower. + + ```python + import gymnasium as gym + env = gym.make('Ant-v2') + ``` + + v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('Ant-v4', ctrl_cost_weight=0.1, ...) + ``` + + | Parameter | Type | Default |Description | + |-------------------------|------------|--------------|-------------------------------| + | `xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model | + | `ctrl_cost_weight` | **float** | `0.5` | Weight for *ctrl_cost* term (see section on reward) | + | `use_contact_forces` | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | + | `contact_cost_weight` | **float** | `5e-4` | Weight for *contact_cost* term (see section on reward) | + | `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | + | `terminate_when_unhealthy` | **bool**| `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | + | `healthy_z_range` | **tuple** | `(0.2, 1)` | The ant is considered healthy if the z-coordinate of the torso is in this range | + | `contact_force_range` | **tuple** | `(-1, 1)` | Contact forces are clipped to this range in the computation of *contact_cost* | + | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation`| **bool** | `True`| Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + + ## Version History + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3, also removed contact forces from the default observation space (new variable `use_contact_forces=True` can restore them) + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) + * v2: All continuous control environments now use mujoco-py >= 1.50 + * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 20, + } + + def __init__( + self, + xml_file="ant.xml", + ctrl_cost_weight=0.5, + use_contact_forces=True, + contact_cost_weight=5e-4, + healthy_reward=1.0, + terminate_when_unhealthy=True, + healthy_z_range=(0.2, 1.0), + contact_force_range=(-1.0, 1.0), + reset_noise_scale=0.1, + exclude_current_positions_from_observation=True, + **kwargs + ): + utils.EzPickle.__init__( + self, + xml_file, + ctrl_cost_weight, + use_contact_forces, + contact_cost_weight, + healthy_reward, + terminate_when_unhealthy, + healthy_z_range, + contact_force_range, + reset_noise_scale, + exclude_current_positions_from_observation, + **kwargs + ) + + self._ctrl_cost_weight = ctrl_cost_weight + self._contact_cost_weight = contact_cost_weight + + self._healthy_reward = healthy_reward + self._terminate_when_unhealthy = terminate_when_unhealthy + self._healthy_z_range = healthy_z_range + + self._contact_force_range = contact_force_range + + self._reset_noise_scale = reset_noise_scale + + self._use_contact_forces = use_contact_forces + + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation + ) + + obs_shape = 27 + if not exclude_current_positions_from_observation: + obs_shape += 2 + if use_contact_forces: + obs_shape += 78 + + observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 + ) + + MujocoEnv.__init__( + self, + xml_file, + 5, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs + ) + + @property + def healthy_reward(self): + return ( + float(self.is_healthy or self._terminate_when_unhealthy) + * self._healthy_reward + ) + + def control_cost(self, action): + control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) + return control_cost + + @property + def contact_forces(self): + raw_contact_forces = self.data.cfrc_ext + min_value, max_value = self._contact_force_range + contact_forces = np.clip(raw_contact_forces, min_value, max_value) + return contact_forces + + @property + def contact_cost(self): + contact_cost = self._contact_cost_weight * np.sum( + np.square(self.contact_forces) + ) + return contact_cost + + @property + def is_healthy(self): + state = self.state_vector() + min_z, max_z = self._healthy_z_range + is_healthy = np.isfinite(state).all() and min_z <= state[2] <= max_z + return is_healthy + + @property + def terminated(self): + terminated = not self.is_healthy if self._terminate_when_unhealthy else False + return terminated + + def step(self, action): + xy_position_before = self.get_body_com("torso")[:2].copy() + self.do_simulation(action, self.frame_skip) + xy_position_after = self.get_body_com("torso")[:2].copy() + + xy_velocity = (xy_position_after - xy_position_before) / self.dt + x_velocity, y_velocity = xy_velocity + + forward_reward = x_velocity + healthy_reward = self.healthy_reward + + rewards = forward_reward + healthy_reward + + costs = ctrl_cost = self.control_cost(action) + + terminated = self.terminated + observation = self._get_obs() + info = { + "reward_forward": forward_reward, + "reward_ctrl": -ctrl_cost, + "reward_survive": healthy_reward, + "x_position": xy_position_after[0], + "y_position": xy_position_after[1], + "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), + "x_velocity": x_velocity, + "y_velocity": y_velocity, + "forward_reward": forward_reward, + } + # if self._use_contact_forces: + contact_cost = self.contact_cost + costs += contact_cost + info["reward_ctrl"] = -contact_cost + + reward = rewards - costs + + if self.render_mode == "human": + self.render() + return observation, reward, terminated, False, info + + def _get_obs(self): + position = self.data.qpos.flat.copy() + velocity = self.data.qvel.flat.copy() + + if self._exclude_current_positions_from_observation: + position = position[2:] + + if self._use_contact_forces: + contact_force = self.contact_forces[1:].flat.copy() + assert len(contact_force) == 78 + return np.concatenate((position, velocity, contact_force)) + else: + return np.concatenate((position, velocity)) + + def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + + qpos = self.init_qpos + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ) + qvel = ( + self.init_qvel + + self._reset_noise_scale * self.np_random.standard_normal(self.model.nv) + ) + self.set_state(qpos, qvel) + + observation = self._get_obs() + + return observation diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py new file mode 100644 index 00000000..d827d7b9 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -0,0 +1,374 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "trackbodyid": 1, + "distance": 4.0, + "lookat": np.array((0.0, 0.0, 2.0)), + "elevation": -20.0, +} + + +def mass_center(model, data): + mass = np.expand_dims(model.body_mass, axis=1) + xpos = data.xipos + return (np.sum(mass * xpos, axis=0) / np.sum(mass))[0:2].copy() + + +class HumanoidEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment is based on the environment introduced by Tassa, Erez and Todorov + in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). + The 3D bipedal robot is designed to simulate a human. It has a torso (abdomen) with a pair of + legs and arms. The legs each consist of two links, and so the arms (representing the knees and + elbows respectively). The goal of the environment is to walk forward as fast as possible without falling over. + + ## Action Space + The action space is a `Box(-1, 1, (17,), float32)`. An action represents the torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|----------------------|---------------|----------------|---------------------------------------|-------|------| + | 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) | + | 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | abdomen_z | hinge | torque (N m) | + | 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | abdomen_x | hinge | torque (N m) | + | 3 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) | + | 4 | Torque applied on the rotor between torso/abdomen and the right hip (z-coordinate) | -0.4 | 0.4 | right_hip_z (right_thigh) | hinge | torque (N m) | + | 5 | Torque applied on the rotor between torso/abdomen and the right hip (y-coordinate) | -0.4 | 0.4 | right_hip_y (right_thigh) | hinge | torque (N m) | + | 6 | Torque applied on the rotor between the right hip/thigh and the right shin | -0.4 | 0.4 | right_knee | hinge | torque (N m) | + | 7 | Torque applied on the rotor between torso/abdomen and the left hip (x-coordinate) | -0.4 | 0.4 | left_hip_x (left_thigh) | hinge | torque (N m) | + | 8 | Torque applied on the rotor between torso/abdomen and the left hip (z-coordinate) | -0.4 | 0.4 | left_hip_z (left_thigh) | hinge | torque (N m) | + | 9 | Torque applied on the rotor between torso/abdomen and the left hip (y-coordinate) | -0.4 | 0.4 | left_hip_y (left_thigh) | hinge | torque (N m) | + | 10 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | + | 11 | Torque applied on the rotor between the torso and right upper arm (coordinate -1) | -0.4 | 0.4 | right_shoulder1 | hinge | torque (N m) | + | 12 | Torque applied on the rotor between the torso and right upper arm (coordinate -2) | -0.4 | 0.4 | right_shoulder2 | hinge | torque (N m) | + | 13 | Torque applied on the rotor between the right upper arm and right lower arm | -0.4 | 0.4 | right_elbow | hinge | torque (N m) | + | 14 | Torque applied on the rotor between the torso and left upper arm (coordinate -1) | -0.4 | 0.4 | left_shoulder1 | hinge | torque (N m) | + | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | + | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | + + ## Observation Space + + Observations consist of positional values of different body parts of the Humanoid, + followed by the velocities of those individual parts (their derivatives) with all the + positions ordered before all the velocities. + + By default, observations do not include the x- and y-coordinates of the torso. These may + be included by passing `exclude_current_positions_from_observation=False` during construction. + In that case, the observation space will have 378 dimensions where the first two dimensions + represent the x- and y-coordinates of the torso. + Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates + will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. + + However, by default, the observation is a `ndarray` with shape `(376,)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | + | 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | + | 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) | + | 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) | + | 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) | + | 8 | x-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | angle (rad) | + | 9 | z-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | angle (rad) | + | 19 | y-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | angle (rad) | + | 11 | angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | angle (rad) | + | 12 | x-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | angle (rad) | + | 13 | z-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | angle (rad) | + | 14 | y-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | angle (rad) | + | 15 | angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | angle (rad) | + | 16 | coordinate-1 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | angle (rad) | + | 17 | coordinate-2 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | angle (rad) | + | 18 | angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | angle (rad) | + | 19 | coordinate-1 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | angle (rad) | + | 20 | coordinate-2 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | angle (rad) | + | 21 | angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | angle (rad) | + | 22 | x-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | + | 23 | y-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | + | 24 | z-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | + | 25 | x-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | + | 26 | y-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | + | 27 | z-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | + | 28 | z-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | anglular velocity (rad/s) | + | 29 | y-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | anglular velocity (rad/s) | + | 30 | x-coordinate of angular velocity of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | aanglular velocity (rad/s) | + | 31 | x-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | anglular velocity (rad/s) | + | 32 | z-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | anglular velocity (rad/s) | + | 33 | y-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | anglular velocity (rad/s) | + | 34 | angular velocity of the angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | anglular velocity (rad/s) | + | 35 | x-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | anglular velocity (rad/s) | + | 36 | z-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | anglular velocity (rad/s) | + | 37 | y-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | anglular velocity (rad/s) | + | 38 | angular velocity of the angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | anglular velocity (rad/s) | + | 39 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | anglular velocity (rad/s) | + | 40 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | anglular velocity (rad/s) | + | 41 | angular velocity of the angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | anglular velocity (rad/s) | + | 42 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | anglular velocity (rad/s) | + | 43 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | anglular velocity (rad/s) | + | 44 | angular velocitty of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | + + Additionally, after all the positional and velocity based values in the table, + the observation contains (in order): + - *cinert:* Mass and inertia of a single rigid body relative to the center of mass + (this is an intermediate result of transition). It has shape 14*10 (*nbody * 10*) + and hence adds to another 140 elements in the state space. + - *cvel:* Center of mass based velocity. It has shape 14 * 6 (*nbody * 6*) and hence + adds another 84 elements in the state space + - *qfrc_actuator:* Constraint force generated as the actuator force. This has shape + `(23,)` *(nv * 1)* and hence adds another 23 elements to the state space. + - *cfrc_ext:* This is the center of mass based external force on the body. It has shape + 14 * 6 (*nbody * 6*) and hence adds to another 84 elements in the state space. + where *nbody* stands for the number of bodies in the robot and *nv* stands for the + number of degrees of freedom (*= dim(qvel)*) + + The (x,y,z) coordinates are translational DOFs while the orientations are rotational + DOFs expressed as quaternions. One can read more about free joints on the + [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). + + **Note:** Humanoid-v4 environment no longer has the following contact forces issue. + If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 + results in the contact forces always being 0. As such we recommend to use a Mujoco-Py + version < 2.0 when using the Humanoid environment if you would like to report results + with contact forces (if contact forces are not used in your experiments, you can use + version > 2.0). + + ## Rewards + The reward consists of three parts: + - *healthy_reward*: Every timestep that the humanoid is alive (see section Episode Termination for definition), it gets a reward of fixed value `healthy_reward` + - *forward_reward*: A reward of walking forward which is measured as *`forward_reward_weight` * + (average center of mass before action - average center of mass after action)/dt*. + *dt* is the time between actions and is dependent on the frame_skip parameter + (default is 5), where the frametime is 0.003 - making the default *dt = 5 * 0.003 = 0.015*. + This reward would be positive if the humanoid walks forward (in positive x-direction). The calculation + for the center of mass is defined in the `.py` file for the Humanoid. + - *ctrl_cost*: A negative reward for penalising the humanoid if it has too + large of a control force. If there are *nu* actuators/controls, then the control has + shape `nu x 1`. It is measured as *`ctrl_cost_weight` * sum(control2)*. + - *contact_cost*: A negative reward for penalising the humanoid if the external + contact force is too large. It is calculated by clipping + *`contact_cost_weight` * sum(external contact force2)* to the interval specified by `contact_cost_range`. + + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost* and `info` will also contain the individual reward terms + + ## Starting State + All observations start in state + (0.0, 0.0, 1.4, 1.0, 0.0 ... 0.0) with a uniform noise in the range + of [-`reset_noise_scale`, `reset_noise_scale`] added to the positional and velocity values (values in the table) + for stochasticity. Note that the initial z coordinate is intentionally + selected to be high, thereby indicating a standing up humanoid. The initial + orientation is designed to make it face forward as well. + + ## Episode End + The humanoid is said to be unhealthy if the z-position of the torso is no longer contained in the + closed interval specified by the argument `healthy_z_range`. + + If `terminate_when_unhealthy=True` is passed during construction (which is the default), + the episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches a 1000 timesteps + 3. Termination: The humanoid is unhealthy + + If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. + + ## Arguments + + No additional arguments are currently supported in v2 and lower. + + ```python + import gymnasium as gym + env = gym.make('Humanoid-v4') + ``` + + v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('Humanoid-v4', ctrl_cost_weight=0.1, ....) + ``` + + | Parameter | Type | Default | Description | + | -------------------------------------------- | --------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `xml_file` | **str** | `"humanoid.xml"` | Path to a MuJoCo model | + | `forward_reward_weight` | **float** | `1.25` | Weight for _forward_reward_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ term (see section on reward) | + | `contact_cost_weight` | **float** | `5e-7` | Weight for _contact_cost_ term (see section on reward) | + | `healthy_reward` | **float** | `5.0` | Constant reward given if the humanoid is "healthy" after timestep | + | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | + | `healthy_z_range` | **tuple** | `(1.0, 2.0)` | The humanoid is considered healthy if the z-coordinate of the torso is in this range | + | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + + ## Version History + + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) + * v2: All continuous control environments now use mujoco-py >= 1.50 + * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 67, + } + + def __init__( + self, + forward_reward_weight=1.25, + ctrl_cost_weight=0.1, + healthy_reward=5.0, + terminate_when_unhealthy=True, + healthy_z_range=(1.0, 2.0), + reset_noise_scale=1e-2, + exclude_current_positions_from_observation=True, + **kwargs + ): + utils.EzPickle.__init__( + self, + forward_reward_weight, + ctrl_cost_weight, + healthy_reward, + terminate_when_unhealthy, + healthy_z_range, + reset_noise_scale, + exclude_current_positions_from_observation, + **kwargs + ) + + self._forward_reward_weight = forward_reward_weight + self._ctrl_cost_weight = ctrl_cost_weight + self._healthy_reward = healthy_reward + self._terminate_when_unhealthy = terminate_when_unhealthy + self._healthy_z_range = healthy_z_range + + self._reset_noise_scale = reset_noise_scale + + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation + ) + + if exclude_current_positions_from_observation: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(348,), dtype=np.float64 + ) + else: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(350,), dtype=np.float64 + ) + + MujocoEnv.__init__( + self, + "humanoid.xml", + 5, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs + ) + + @property + def healthy_reward(self): + return ( + float(self.is_healthy or self._terminate_when_unhealthy) + * self._healthy_reward + ) + + def control_cost(self, action): + control_cost = self._ctrl_cost_weight * np.sum(np.square(self.data.ctrl)) + return control_cost + + @property + def is_healthy(self): + min_z, max_z = self._healthy_z_range + is_healthy = min_z < self.data.qpos[2] < max_z + + return is_healthy + + @property + def terminated(self): + terminated = (not self.is_healthy) if self._terminate_when_unhealthy else False + return terminated + + def _get_obs(self): + position = self.data.qpos.flat.copy() + velocity = self.data.qvel.flat.copy() + + com_inertia = self.data.cinert[1:].flat.copy() + com_velocity = self.data.cvel[1:].flat.copy() + + actuator_forces = self.data.qfrc_actuator[6:].flat.copy() + external_contact_forces = self.data.cfrc_ext[1:].flat.copy() + + if self._exclude_current_positions_from_observation: + position = position[2:] + + return np.concatenate( + ( + position, + velocity, + com_inertia, + com_velocity, + actuator_forces, + external_contact_forces, + ) + ) + + def step(self, action): + xy_position_before = mass_center(self.model, self.data) + self.do_simulation(action, self.frame_skip) + xy_position_after = mass_center(self.model, self.data) + + xy_velocity = (xy_position_after - xy_position_before) / self.dt + x_velocity, y_velocity = xy_velocity + + ctrl_cost = self.control_cost(action) + + forward_reward = self._forward_reward_weight * x_velocity + healthy_reward = self.healthy_reward + + rewards = forward_reward + healthy_reward + + observation = self._get_obs() + reward = rewards - ctrl_cost + terminated = self.terminated + info = { + "reward_linvel": forward_reward, + "reward_quadctrl": -ctrl_cost, + "reward_alive": healthy_reward, + "x_position": xy_position_after[0], + "y_position": xy_position_after[1], + "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), + "x_velocity": x_velocity, + "y_velocity": y_velocity, + "forward_reward": forward_reward, + } + + if self.render_mode == "human": + self.render() + return observation, reward, terminated, False, info + + def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + + qpos = self.init_qpos + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ) + qvel = self.init_qvel + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nv + ) + self.set_state(qpos, qvel) + + observation = self._get_obs() + return observation diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py new file mode 100644 index 00000000..9f215056 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -0,0 +1,276 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "trackbodyid": 1, + "distance": 4.0, + "lookat": np.array((0.0, 0.0, 0.8925)), + "elevation": -20.0, +} + + +class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment is based on the environment introduced by Tassa, Erez and Todorov + in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). + The 3D bipedal robot is designed to simulate a human. It has a torso (abdomen) with a + pair of legs and arms. The legs each consist of two links, and so the arms (representing the + knees and elbows respectively). The environment starts with the humanoid laying on the ground, + and then the goal of the environment is to make the humanoid standup and then keep it standing + by applying torques on the various hinges. + + ## Action Space + The agent take a 17-element vector for actions. + + The action space is a continuous `(action, ...)` all in `[-1, 1]`, where `action` + represents the numerical torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | + | 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) | + | 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | abdomen_z | hinge | torque (N m) | + | 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | abdomen_x | hinge | torque (N m) | + | 3 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) | + | 4 | Torque applied on the rotor between torso/abdomen and the right hip (z-coordinate) | -0.4 | 0.4 | right_hip_z (right_thigh) | hinge | torque (N m) | + | 5 | Torque applied on the rotor between torso/abdomen and the right hip (y-coordinate) | -0.4 | 0.4 | right_hip_y (right_thigh) | hinge | torque (N m) | + | 6 | Torque applied on the rotor between the right hip/thigh and the right shin | -0.4 | 0.4 | right_knee | hinge | torque (N m) | + | 7 | Torque applied on the rotor between torso/abdomen and the left hip (x-coordinate) | -0.4 | 0.4 | left_hip_x (left_thigh) | hinge | torque (N m) | + | 8 | Torque applied on the rotor between torso/abdomen and the left hip (z-coordinate) | -0.4 | 0.4 | left_hip_z (left_thigh) | hinge | torque (N m) | + | 9 | Torque applied on the rotor between torso/abdomen and the left hip (y-coordinate) | -0.4 | 0.4 | left_hip_y (left_thigh) | hinge | torque (N m) | + | 10 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | + | 11 | Torque applied on the rotor between the torso and right upper arm (coordinate -1) | -0.4 | 0.4 | right_shoulder1 | hinge | torque (N m) | + | 12 | Torque applied on the rotor between the torso and right upper arm (coordinate -2) | -0.4 | 0.4 | right_shoulder2 | hinge | torque (N m) | + | 13 | Torque applied on the rotor between the right upper arm and right lower arm | -0.4 | 0.4 | right_elbow | hinge | torque (N m) | + | 14 | Torque applied on the rotor between the torso and left upper arm (coordinate -1) | -0.4 | 0.4 | left_shoulder1 | hinge | torque (N m) | + | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | + | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | + + ## Observation Space + + The state space consists of positional values of different body parts of the Humanoid, + followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. + + **Note:** The x- and y-coordinates of the torso are being omitted to produce position-agnostic behavior in policies + + The observation is a `ndarray` with shape `(376,)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | + | 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | + | 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | + | 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) | + | 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) | + | 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) | + | 8 | x-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | angle (rad) | + | 9 | z-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | angle (rad) | + | 10 | y-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | angle (rad) | + | 11 | angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | angle (rad) | + | 12 | x-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | angle (rad) | + | 13 | z-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | angle (rad) | + | 14 | y-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | angle (rad) | + | 15 | angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | angle (rad) | + | 16 | coordinate-1 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | angle (rad) | + | 17 | coordinate-2 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | angle (rad) | + | 18 | angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | angle (rad) | + | 19 | coordinate-1 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | angle (rad) | + | 20 | coordinate-2 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | angle (rad) | + | 21 | angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | angle (rad) | + | 22 | x-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | + | 23 | y-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | + | 24 | z-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | + | 25 | x-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | + | 26 | y-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | + | 27 | z-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | + | 28 | z-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | anglular velocity (rad/s) | + | 29 | y-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | anglular velocity (rad/s) | + | 30 | x-coordinate of angular velocity of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | aanglular velocity (rad/s) | + | 31 | x-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | anglular velocity (rad/s) | + | 32 | z-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | anglular velocity (rad/s) | + | 33 | y-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | anglular velocity (rad/s) | + | 35 | angular velocity of the angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | anglular velocity (rad/s) | + | 36 | x-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | anglular velocity (rad/s) | + | 37 | z-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | anglular velocity (rad/s) | + | 38 | y-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | anglular velocity (rad/s) | + | 39 | angular velocity of the angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | anglular velocity (rad/s) | + | 40 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | anglular velocity (rad/s) | + | 41 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | anglular velocity (rad/s) | + | 42 | angular velocity of the angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | anglular velocity (rad/s) | + | 43 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | anglular velocity (rad/s) | + | 44 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | anglular velocity (rad/s) | + | 45 | angular velocity of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | + + + Additionally, after all the positional and velocity based values in the table, + the state_space consists of (in order): + - *cinert:* Mass and inertia of a single rigid body relative to the center of mass + (this is an intermediate result of transition). It has shape 14*10 (*nbody * 10*) + and hence adds to another 140 elements in the state space. + - *cvel:* Center of mass based velocity. It has shape 14 * 6 (*nbody * 6*) and hence + adds another 84 elements in the state space + - *qfrc_actuator:* Constraint force generated as the actuator force. This has shape + `(23,)` *(nv * 1)* and hence adds another 23 elements to the state space. + - *cfrc_ext:* This is the center of mass based external force on the body. It has shape + 14 * 6 (*nbody * 6*) and hence adds to another 84 elements in the state space. + where *nbody* stands for the number of bodies in the robot and *nv* stands for the number + of degrees of freedom (*= dim(qvel)*) + + The (x,y,z) coordinates are translational DOFs while the orientations are rotational + DOFs expressed as quaternions. One can read more about free joints on the + [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). + + **Note:** HumanoidStandup-v4 environment no longer has the following contact forces issue. + If using previous HumanoidStandup versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 results + in the contact forces always being 0. As such we recommend to use a Mujoco-Py version < 2.0 + when using the Humanoid environment if you would like to report results with contact forces + (if contact forces are not used in your experiments, you can use version > 2.0). + + ## Rewards + The reward consists of three parts: + - *uph_cost*: A reward for moving upward (in an attempt to stand up). This is not a relative + reward which measures how much upward it has moved from the last timestep, but it is an + absolute reward which measures how much upward the Humanoid has moved overall. It is + measured as *(z coordinate after action - 0)/(atomic timestep)*, where *z coordinate after + action* is index 0 in the state/index 2 in the table, and *atomic timestep* is the time for + one frame of movement even though the simulation has a framerate of 5 (done in order to inflate + rewards a little for faster learning). + - *quad_ctrl_cost*: A negative reward for penalising the humanoid if it has too large of + a control force. If there are *nu* actuators/controls, then the control has shape `nu x 1`. + It is measured as *0.1 **x** sum(control2)*. + - *quad_impact_cost*: A negative reward for penalising the humanoid if the external + contact force is too large. It is calculated as *min(0.5 * 0.000001 * sum(external + contact force2), 10)*. + + The total reward returned is ***reward*** *=* *uph_cost + 1 - quad_ctrl_cost - quad_impact_cost* + + ## Starting State + All observations start in state + (0.0, 0.0, 0.105, 1.0, 0.0 ... 0.0) with a uniform noise in the range of + [-0.01, 0.01] added to the positional and velocity values (values in the table) + for stochasticity. Note that the initial z coordinate is intentionally selected + to be low, thereby indicating a laying down humanoid. The initial orientation is + designed to make it face forward as well. + + ## Episode End + The episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches a 1000 timesteps + 2. Termination: Any of the state space values is no longer finite + + ## Arguments + + No additional arguments are currently supported. + + ```python + import gymnasium as gym + env = gym.make('HumanoidStandup-v4') + ``` + + There is no v3 for HumanoidStandup, unlike the robot environments where a v3 and + beyond take gymnasium.make kwargs such as xml_file, ctrl_cost_weight, reset_noise_scale etc. + + ```python + import gymnasium as gym + env = gym.make('HumanoidStandup-v2') + ``` + + ## Version History + + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) + * v2: All continuous control environments now use mujoco-py >= 1.50 + * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 67, + } + + def __init__(self, **kwargs): + observation_space = Box( + low=-np.inf, high=np.inf, shape=(348,), dtype=np.float64 + ) + MujocoEnv.__init__( + self, + "humanoidstandup.xml", + 5, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs + ) + utils.EzPickle.__init__(self, **kwargs) + + def _get_obs(self): + position = self.data.qpos.flat.copy() + position = position[2:] + velocity = self.data.qvel.flat.copy() + + com_inertia = self.data.cinert[1:].flat.copy() + com_velocity = self.data.cvel[1:].flat.copy() + + actuator_forces = self.data.qfrc_actuator[6:].flat.copy() + external_contact_forces = self.data.cfrc_ext[1:].flat.copy() + + + return np.concatenate( + ( + position, + velocity, + com_inertia, + com_velocity, + actuator_forces, + external_contact_forces, + ) + ) + + def step(self, a): + self.do_simulation(a, self.frame_skip) + pos_after = self.data.qpos[2] + data = self.data + uph_cost = (pos_after - 0) / self.model.opt.timestep + + quad_ctrl_cost = 0.1 * np.square(data.ctrl).sum() + quad_impact_cost = 0.5e-6 * np.square(data.cfrc_ext).sum() + quad_impact_cost = min(quad_impact_cost, 10) + reward = uph_cost - quad_ctrl_cost - quad_impact_cost + 1 + + if self.render_mode == "human": + self.render() + return ( + self._get_obs(), + reward, + False, + False, + dict( + reward_linup=uph_cost, + reward_quadctrl=-quad_ctrl_cost, + reward_impact=-quad_impact_cost, + ), + ) + + def reset_model(self): + c = 0.01 + self.set_state( + self.init_qpos + self.np_random.uniform(low=-c, high=c, size=self.model.nq), + self.init_qvel + + self.np_random.uniform( + low=-c, + high=c, + size=self.model.nv, + ), + ) + return self._get_obs() diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py new file mode 100644 index 00000000..7e823d2c --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -0,0 +1,179 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "trackbodyid": 0, + "distance": 4.1225, + "lookat": np.array((0.0, 0.0, 0.12250000000000005)), +} + + +class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment originates from control theory and builds on the cartpole + environment based on the work done by Barto, Sutton, and Anderson in + ["Neuronlike adaptive elements that can solve difficult learning control problems"](https://ieeexplore.ieee.org/document/6313077), + powered by the Mujoco physics simulator - allowing for more complex experiments + (such as varying the effects of gravity or constraints). This environment involves a cart that can + moved linearly, with a pole fixed on it and a second pole fixed on the other end of the first one + (leaving the second pole as the only one with one free end). The cart can be pushed left or right, + and the goal is to balance the second pole on top of the first pole, which is in turn on top of the + cart, by applying continuous forces on the cart. + + ## Action Space + The agent take a 1-element vector for actions. + The action space is a continuous `(action)` in `[-1, 1]`, where `action` represents the + numerical force applied to the cart (with magnitude representing the amount of force and + sign representing the direction) + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|---------------------------|-------------|-------------|----------------------------------|-------|-----------| + | 0 | Force applied on the cart | -1 | 1 | slider | slide | Force (N) | + + ## Observation Space + + The state space consists of positional values of different body parts of the pendulum system, + followed by the velocities of those individual parts (their derivatives) with all the + positions ordered before all the velocities. + + The observation is a `ndarray` with shape `(11,)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | ----------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | + | 0 | position of the cart along the linear surface | -Inf | Inf | slider | slide | position (m) | + | 1 | sine of the angle between the cart and the first pole | -Inf | Inf | sin(hinge) | hinge | unitless | + | 2 | sine of the angle between the two poles | -Inf | Inf | sin(hinge2) | hinge | unitless | + | 3 | cosine of the angle between the cart and the first pole | -Inf | Inf | cos(hinge) | hinge | unitless | + | 4 | cosine of the angle between the two poles | -Inf | Inf | cos(hinge2) | hinge | unitless | + | 5 | velocity of the cart | -Inf | Inf | slider | slide | velocity (m/s) | + | 6 | angular velocity of the angle between the cart and the first pole | -Inf | Inf | hinge | hinge | angular velocity (rad/s) | + | 7 | angular velocity of the angle between the two poles | -Inf | Inf | hinge2 | hinge | angular velocity (rad/s) | + | 8 | constraint force - 1 | -Inf | Inf | | | Force (N) | + | 9 | constraint force - 2 | -Inf | Inf | | | Force (N) | + | 10 | constraint force - 3 | -Inf | Inf | | | Force (N) | + + + There is physical contact between the robots and their environment - and Mujoco + attempts at getting realistic physics simulations for the possible physical contact + dynamics by aiming for physical accuracy and computational efficiency. + + There is one constraint force for contacts for each degree of freedom (3). + The approach and handling of constraints by Mujoco is unique to the simulator + and is based on their research. Once can find more information in their + [*documentation*](https://mujoco.readthedocs.io/en/latest/computation.html) + or in their paper + ["Analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo"](https://homes.cs.washington.edu/~todorov/papers/TodorovICRA14.pdf). + + + ## Rewards + + The reward consists of two parts: + - *alive_bonus*: The goal is to make the second inverted pendulum stand upright + (within a certain angle limit) as long as possible - as such a reward of +10 is awarded + for each timestep that the second pole is upright. + - *distance_penalty*: This reward is a measure of how far the *tip* of the second pendulum + (the only free end) moves, and it is calculated as + *0.01 * x2 + (y - 2)2*, where *x* is the x-coordinate of the tip + and *y* is the y-coordinate of the tip of the second pole. + - *velocity_penalty*: A negative reward for penalising the agent if it moves too + fast *0.001 * v12 + 0.005 * v2 2* + + The total reward returned is ***reward*** *=* *alive_bonus - distance_penalty - velocity_penalty* + + ## Starting State + All observations start in state + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise in the range + of [-0.1, 0.1] added to the positional values (cart position and pole angles) and standard + normal force with a standard deviation of 0.1 added to the velocity values for stochasticity. + + ## Episode End + The episode ends when any of the following happens: + + 1.Truncation: The episode duration reaches 1000 timesteps. + 2.Termination: Any of the state space values is no longer finite. + 3.Termination: The y_coordinate of the tip of the second pole *is less than or equal* to 1. The maximum standing height of the system is 1.196 m when all the parts are perpendicularly vertical on top of each other). + + ## Arguments + + No additional arguments are currently supported. + + ```python + import gymnasium as gym + env = gym.make('InvertedDoublePendulum-v4') + ``` + There is no v3 for InvertedPendulum, unlike the robot environments where a v3 and + beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('InvertedDoublePendulum-v2') + ``` + + ## Version History + + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) + * v2: All continuous control environments now use mujoco-py >= 1.50 + * v1: max_time_steps raised to 1000 for robot based tasks (including inverted pendulum) + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 20, + } + + def __init__(self, **kwargs): + observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) + MujocoEnv.__init__( + self, + "inverted_double_pendulum.xml", + 5, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs + ) + utils.EzPickle.__init__(self, **kwargs) + + def step(self, action): + self.do_simulation(action, self.frame_skip) + ob = self._get_obs() + x, _, y = self.data.site_xpos[0] + dist_penalty = 0.01 * x**2 + (y - 2) ** 2 + v1, v2 = self.data.qvel[1:3] + vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2 + alive_bonus = 10 + r = alive_bonus - dist_penalty - vel_penalty + terminated = bool(y <= 1) + if self.render_mode == "human": + self.render() + return ob, r, terminated, False, {} + + def _get_obs(self): + return np.concatenate( + [ + self.data.qpos[:1], # cart x pos + np.sin(self.data.qpos[1:]), # link angles + np.cos(self.data.qpos[1:]), + np.clip(self.data.qvel, -10, 10), + np.clip(self.data.qfrc_constraint, -10, 10)[:1], + ] + ).ravel() + + def reset_model(self): + self.set_state( + self.init_qpos + + self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq), + self.init_qvel + self.np_random.standard_normal(self.model.nv) * 0.1, + ) + return self._get_obs() diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py new file mode 100644 index 00000000..ff5c9771 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -0,0 +1,191 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = {"trackbodyid": 0} + + +class ReacherEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + "Reacher" is a two-jointed robot arm. The goal is to move the robot's end effector (called *fingertip*) close to a + target that is spawned at a random position. + + ## Action Space + The action space is a `Box(-1, 1, (2,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|---------------------------------------------------------------------------------|-------------|-------------|--------------------------|-------|------| + | 0 | Torque applied at the first hinge (connecting the link to the point of fixture) | -1 | 1 | joint0 | hinge | torque (N m) | + | 1 | Torque applied at the second hinge (connecting the two links) | -1 | 1 | joint1 | hinge | torque (N m) | + + ## Observation Space + + Observations consist of + + - The cosine of the angles of the two arms + - The sine of the angles of the two arms + - The coordinates of the target + - The angular velocities of the arms + - The vector between the target and the reacher's fingertip (3 dimensional with the last element being 0) + + The observation is a `ndarray` with shape `(11,)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | ---------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | + | 0 | cosine of the angle of the first arm | -Inf | Inf | cos(joint0) | hinge | unitless | + | 1 | cosine of the angle of the second arm | -Inf | Inf | cos(joint1) | hinge | unitless | + | 2 | sine of the angle of the first arm | -Inf | Inf | sin(joint0) | hinge | unitless | + | 3 | sine of the angle of the second arm | -Inf | Inf | sin(joint1) | hinge | unitless | + | 4 | x-coordinate of the target | -Inf | Inf | target_x | slide | position (m) | + | 5 | y-coordinate of the target | -Inf | Inf | target_y | slide | position (m) | + | 6 | angular velocity of the first arm | -Inf | Inf | joint0 | hinge | angular velocity (rad/s) | + | 7 | angular velocity of the second arm | -Inf | Inf | joint1 | hinge | angular velocity (rad/s) | + | 8 | x-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | + | 9 | y-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | + | 10 | z-value of position_fingertip - position_target (constantly 0 since reacher is 2d and z is same for both) | -Inf | Inf | NA | slide | position (m) | + + + Most Gym environments just return the positions and velocity of the + joints in the `.xml` file as the state of the environment. However, in + reacher the state is created by combining only certain elements of the + position and velocity, and performing some function transformations on them. + If one is to read the `.xml` for reacher then they will find 4 joints: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + |-----|-----------------------------|----------|----------|----------------------------------|-------|--------------------| + | 0 | angle of the first arm | -Inf | Inf | joint0 | hinge | angle (rad) | + | 1 | angle of the second arm | -Inf | Inf | joint1 | hinge | angle (rad) | + | 2 | x-coordinate of the target | -Inf | Inf | target_x | slide | position (m) | + | 3 | y-coordinate of the target | -Inf | Inf | target_y | slide | position (m) | + + + ## Rewards + The reward consists of two parts: + - *reward_distance*: This reward is a measure of how far the *fingertip* + of the reacher (the unattached end) is from the target, with a more negative + value assigned for when the reacher's *fingertip* is further away from the + target. It is calculated as the negative vector norm of (position of + the fingertip - position of target), or *-norm("fingertip" - "target")*. + - *reward_control*: A negative reward for penalising the walker if + it takes actions that are too large. It is measured as the negative squared + Euclidean norm of the action, i.e. as *- sum(action2)*. + + The total reward returned is ***reward*** *=* *reward_distance + reward_control* + + Unlike other environments, Reacher does not allow you to specify weights for the individual reward terms. + However, `info` does contain the keys *reward_dist* and *reward_ctrl*. Thus, if you'd like to weight the terms, + you should create a wrapper that computes the weighted reward from `info`. + + + ## Starting State + All observations start in state + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + with a noise added for stochasticity. A uniform noise in the range + [-0.1, 0.1] is added to the positional attributes, while the target position + is selected uniformly at random in a disk of radius 0.2 around the origin. + Independent, uniform noise in the + range of [-0.005, 0.005] is added to the velocities, and the last + element ("fingertip" - "target") is calculated at the end once everything + is set. The default setting has a framerate of 2 and a *dt = 2 * 0.01 = 0.02* + + ## Episode End + + The episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches a 50 timesteps (with a new random target popping up if the reacher's fingertip reaches it before 50 timesteps) + 2. Termination: Any of the state space values is no longer finite. + + ## Arguments + + No additional arguments are currently supported (in v2 and lower), + but modifications can be made to the XML file in the assets folder + (or by changing the path to a modified XML file in another folder).. + + ```python + import gymnasium as gym + env = gym.make('Reacher-v4') + ``` + + There is no v3 for Reacher, unlike the robot environments where a v3 and + beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ## Version History + + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 + * v2: All continuous control environments now use mujoco-py >= 1.50 + * v1: max_time_steps raised to 1000 for robot based tasks (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments. + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 50, + } + + def __init__(self, **kwargs): + utils.EzPickle.__init__(self, **kwargs) + observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) + MujocoEnv.__init__( + self, + "reacher.xml", + 2, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs + ) + + def step(self, a): + vec = self.get_body_com("fingertip") - self.get_body_com("target") + reward_dist = -np.linalg.norm(vec) + reward_ctrl = -np.square(a).sum() + reward = reward_dist + reward_ctrl + + self.do_simulation(a, self.frame_skip) + if self.render_mode == "human": + self.render() + + ob = self._get_obs() + return ( + ob, + reward, + False, + False, + dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl), + ) + + def reset_model(self): + qpos = ( + self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq) + + self.init_qpos + ) + while True: + self.goal = self.np_random.uniform(low=-0.2, high=0.2, size=2) + if np.linalg.norm(self.goal) < 0.2: + break + qpos[-2:] = self.goal + qvel = self.init_qvel + self.np_random.uniform( + low=-0.005, high=0.005, size=self.model.nv + ) + qvel[-2:] = 0 + self.set_state(qpos, qvel) + return self._get_obs() + + def _get_obs(self): + theta = self.data.qpos.flat[:2] + return np.concatenate( + [ + np.cos(theta), + np.sin(theta), + self.data.qpos.flat[2:], + self.data.qvel.flat[:2], + (self.get_body_com("fingertip") - self.get_body_com("target"))[:2], + ] + ) From 81d98e2c4711698a6e55a4e02f89f456fb8e43f0 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 25 Jan 2023 01:38:24 +0200 Subject: [PATCH 013/104] `pre-commit` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 -- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 -- gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 3 --- gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py | 2 -- gymnasium_robotics/envs/mujoco/reacher_v5.py | 2 -- 5 files changed, 11 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 1e618f58..28f718cd 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "distance": 4.0, } diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index d827d7b9..06c2d40d 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "trackbodyid": 1, "distance": 4.0, diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 9f215056..1745681f 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "trackbodyid": 1, "distance": 4.0, @@ -225,7 +223,6 @@ def _get_obs(self): actuator_forces = self.data.qfrc_actuator[6:].flat.copy() external_contact_forces = self.data.cfrc_ext[1:].flat.copy() - return np.concatenate( ( position, diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 7e823d2c..efd4a191 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "trackbodyid": 0, "distance": 4.1225, diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index ff5c9771..0a735dd8 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = {"trackbodyid": 0} From e9a1643e227e4ce3c77850a1dc858cce78f7a752 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 10 May 2023 12:04:24 +0300 Subject: [PATCH 014/104] add hopper_v5 --- .../envs/mujoco/assets/hopper_v5.xml | 53 +++ gymnasium_robotics/envs/mujoco/hopper_v5.py | 311 ++++++++++++++++++ 2 files changed, 364 insertions(+) create mode 100644 gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml create mode 100644 gymnasium_robotics/envs/mujoco/hopper_v5.py diff --git a/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml b/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml new file mode 100644 index 00000000..a0b7273e --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml @@ -0,0 +1,53 @@ + + + + + + + + + diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py new file mode 100644 index 00000000..b2722c6c --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -0,0 +1,311 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "trackbodyid": 2, + "distance": 3.0, + "lookat": np.array((0.0, 0.0, 1.15)), + "elevation": -20.0, +} + + +class HopperEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment is based on the work done by Erez, Tassa, and Todorov in + ["Infinite Horizon Model Predictive Control for Nonlinear Periodic Tasks"](http://www.roboticsproceedings.org/rss07/p10.pdf). The environment aims to + increase the number of independent state and control variables as compared to + the classic control environments. The hopper is a two-dimensional + one-legged figure that consist of four main body parts - the torso at the + top, the thigh in the middle, the leg in the bottom, and a single foot on + which the entire body rests. The goal is to make hops that move in the + forward (right) direction by applying torques on the three hinges + connecting the four body parts. + + ## Action Space + The action space is a `Box(-1, 1, (3,), float32)`. An action represents the torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| + | 0 | Torque applied on the thigh rotor | -1 | 1 | thigh_joint | hinge | torque (N m) | + | 1 | Torque applied on the leg rotor | -1 | 1 | leg_joint | hinge | torque (N m) | + | 2 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | + + ## Observation Space + Observations consist of positional values of different body parts of the + hopper, followed by the velocities of those individual parts + (their derivatives) with all the positions ordered before all the velocities. + + By default, observations do not include the x-coordinate of the hopper. It may + be included by passing `exclude_current_positions_from_observation=False` during construction. + In that case, the observation space will be `Box(-Inf, Inf, (12,), float64)` where the first observation + represents the x-coordinate of the hopper. + Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x-coordinate + will be returned in `info` with key `"x_position"`. + + However, by default, the observation is a `Box(-Inf, Inf, (11,), float64)` where the elements + correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | -------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | + | 0 | z-coordinate of the torso (height of hopper) | -Inf | Inf | rootz | slide | position (m) | + | 1 | angle of the torso | -Inf | Inf | rooty | hinge | angle (rad) | + | 2 | angle of the thigh joint | -Inf | Inf | thigh_joint | hinge | angle (rad) | + | 3 | angle of the leg joint | -Inf | Inf | leg_joint | hinge | angle (rad) | + | 4 | angle of the foot joint | -Inf | Inf | foot_joint | hinge | angle (rad) | + | 5 | velocity of the x-coordinate of the torso | -Inf | Inf | rootx | slide | velocity (m/s) | + | 6 | velocity of the z-coordinate (height) of the torso | -Inf | Inf | rootz | slide | velocity (m/s) | + | 7 | angular velocity of the angle of the torso | -Inf | Inf | rooty | hinge | angular velocity (rad/s) | + | 8 | angular velocity of the thigh hinge | -Inf | Inf | thigh_joint | hinge | angular velocity (rad/s) | + | 9 | angular velocity of the leg hinge | -Inf | Inf | leg_joint | hinge | angular velocity (rad/s) | + | 10 | angular velocity of the foot hinge | -Inf | Inf | foot_joint | hinge | angular velocity (rad/s) | + | excluded | x-coordinate of the torso | -Inf | Inf | rootx | slide | position (m) | + + + ## Rewards + The reward consists of three parts: + - *healthy_reward*: Every timestep that the hopper is healthy (see definition in section "Episode Termination"), it gets a reward of fixed value `healthy_reward`. + - *forward_reward*: A reward of hopping forward which is measured + as *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. *dt* is + the time between actions and is dependent on the frame_skip parameter + (fixed to 4), where the frametime is 0.002 - making the + default *dt = 4 * 0.002 = 0.008*. This reward would be positive if the hopper + hops forward (positive x direction). + - *ctrl_cost*: A cost for penalising the hopper if it takes + actions that are too large. It is measured as *`ctrl_cost_weight` * + sum(action2)* where *`ctrl_cost_weight`* is a parameter set for the + control and has a default value of 0.001 + + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost* and `info` will also contain the individual reward terms. + + ## Starting State + All observations start in state + (0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise + in the range of [-`reset_noise_scale`, `reset_noise_scale`] added to the values for stochasticity. + + ## Episode End + The hopper is said to be unhealthy if any of the following happens: + + 1. An element of `observation[1:]` (if `exclude_current_positions_from_observation=True`, else `observation[2:]`) is no longer contained in the closed interval specified by the argument `healthy_state_range` + 2. The height of the hopper (`observation[0]` if `exclude_current_positions_from_observation=True`, else `observation[1]`) is no longer contained in the closed interval specified by the argument `healthy_z_range` (usually meaning that it has fallen) + 3. The angle (`observation[1]` if `exclude_current_positions_from_observation=True`, else `observation[2]`) is no longer contained in the closed interval specified by the argument `healthy_angle_range` + + If `terminate_when_unhealthy=True` is passed during construction (which is the default), + the episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches a 1000 timesteps + 2. Termination: The hopper is unhealthy + + If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. + + ## Arguments + + No additional arguments are currently supported in v2 and lower. + + ```python + import gymnasium as gym + env = gym.make('Hopper-v2') + ``` + + v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('Hopper-v4', ctrl_cost_weight=0.1, ....) + ``` + + | Parameter | Type | Default | Description | + | -------------------------------------------- | --------- | --------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `xml_file` | **str** | `"hopper.xml"` | Path to a MuJoCo model | + | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `0.001` | Weight for _ctrl_cost_ reward (see section on reward) | + | `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | + | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the hopper is no longer healthy | + | `healthy_state_range` | **tuple** | `(-100, 100)` | The elements of `observation[1:]` (if `exclude_current_positions_from_observation=True`, else `observation[2:]`) must be in this range for the hopper to be considered healthy | + | `healthy_z_range` | **tuple** | `(0.7, float("inf"))` | The z-coordinate must be in this range for the hopper to be considered healthy | + | `healthy_angle_range` | **tuple** | `(-0.2, 0.2)` | The angle given by `observation[1]` (if `exclude_current_positions_from_observation=True`, else `observation[2]`) must be in this range for the hopper to be considered healthy | + | `reset_noise_scale` | **float** | `5e-3` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + + ## Version History + + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Hopper gets a new model, the `xml_file` is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) + * v2: All continuous control environments now use mujoco-py >= 1.50. + * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. + * v0: Initial versions release (1.0.0). + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 125, + } + + def __init__( + self, + xml_file="hopper-v5.xml", + forward_reward_weight=1.0, + ctrl_cost_weight=1e-3, + healthy_reward=1.0, + terminate_when_unhealthy=True, + healthy_state_range=(-100.0, 100.0), + healthy_z_range=(0.7, float("inf")), + healthy_angle_range=(-0.2, 0.2), + reset_noise_scale=5e-3, + exclude_current_positions_from_observation=True, + **kwargs, + ): + utils.EzPickle.__init__( + self, + forward_reward_weight, + ctrl_cost_weight, + healthy_reward, + terminate_when_unhealthy, + healthy_state_range, + healthy_z_range, + healthy_angle_range, + reset_noise_scale, + exclude_current_positions_from_observation, + **kwargs, + ) + + self._forward_reward_weight = forward_reward_weight + + self._ctrl_cost_weight = ctrl_cost_weight + + self._healthy_reward = healthy_reward + self._terminate_when_unhealthy = terminate_when_unhealthy + + self._healthy_state_range = healthy_state_range + self._healthy_z_range = healthy_z_range + self._healthy_angle_range = healthy_angle_range + + self._reset_noise_scale = reset_noise_scale + + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation + ) + + if exclude_current_positions_from_observation: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(11,), dtype=np.float64 + ) + else: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(12,), dtype=np.float64 + ) + + MujocoEnv.__init__( + self, + xml_file, + 4, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs, + ) + + @property + def healthy_reward(self): + return ( + float(self.is_healthy or self._terminate_when_unhealthy) + * self._healthy_reward + ) + + def control_cost(self, action): + control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) + return control_cost + + @property + def is_healthy(self): + z, angle = self.data.qpos[1:3] + state = self.state_vector()[2:] + + min_state, max_state = self._healthy_state_range + min_z, max_z = self._healthy_z_range + min_angle, max_angle = self._healthy_angle_range + + healthy_state = np.all(np.logical_and(min_state < state, state < max_state)) + healthy_z = min_z < z < max_z + healthy_angle = min_angle < angle < max_angle + + is_healthy = all((healthy_state, healthy_z, healthy_angle)) + + return is_healthy + + @property + def terminated(self): + terminated = not self.is_healthy if self._terminate_when_unhealthy else False + return terminated + + def _get_obs(self): + position = self.data.qpos.flat.copy() + velocity = np.clip(self.data.qvel.flat.copy(), -10, 10) + + if self._exclude_current_positions_from_observation: + position = position[1:] + + observation = np.concatenate((position, velocity)).ravel() + return observation + + def step(self, action): + x_position_before = self.data.qpos[0] + self.do_simulation(action, self.frame_skip) + x_position_after = self.data.qpos[0] + x_velocity = (x_position_after - x_position_before) / self.dt + + ctrl_cost = self.control_cost(action) + + forward_reward = self._forward_reward_weight * x_velocity + healthy_reward = self.healthy_reward + + rewards = forward_reward + healthy_reward + costs = ctrl_cost + + observation = self._get_obs() + reward = rewards - costs + terminated = self.terminated + info = { + "reward_forward": forward_reward, + "reward_ctrl": -ctrl_cost, + "reward_survive": healthy_reward, + "x_position": x_position_after, + "x_velocity": x_velocity, + } + + if self.render_mode == "human": + self.render() + return observation, reward, terminated, False, info + + def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + + qpos = self.init_qpos + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ) + qvel = self.init_qvel + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nv + ) + + self.set_state(qpos, qvel) + + observation = self._get_obs() + return observation + + def viewer_setup(self): + assert self.viewer is not None + for key, value in DEFAULT_CAMERA_CONFIG.items(): + if isinstance(value, np.ndarray): + getattr(self.viewer.cam, key)[:] = value + else: + setattr(self.viewer.cam, key, value) From ba585c890e6fc81fbeba8cfee1917f2041930a85 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 10 May 2023 17:38:36 +0300 Subject: [PATCH 015/104] add walker2d --- .../envs/mujoco/assets/walker2d_v5.xml | 68 ++++ .../envs/mujoco/assets/walker2d_v5_old.xml | 68 ++++ gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 +- gymnasium_robotics/envs/mujoco/walker2d.py | 301 ++++++++++++++++++ 4 files changed, 438 insertions(+), 1 deletion(-) create mode 100644 gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml create mode 100644 gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml create mode 100644 gymnasium_robotics/envs/mujoco/walker2d.py diff --git a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml new file mode 100644 index 00000000..06b83107 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml @@ -0,0 +1,68 @@ + + + + + + + + diff --git a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml new file mode 100644 index 00000000..d89a00f0 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml @@ -0,0 +1,68 @@ + + + + + + + + diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index b2722c6c..6c4a592b 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -134,7 +134,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Hopper gets a new model, the `xml_file` is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Hopper gets a new model, the `xml_file` argument is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) * v2: All continuous control environments now use mujoco-py >= 1.50. diff --git a/gymnasium_robotics/envs/mujoco/walker2d.py b/gymnasium_robotics/envs/mujoco/walker2d.py new file mode 100644 index 00000000..f8a3c962 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/walker2d.py @@ -0,0 +1,301 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "trackbodyid": 2, + "distance": 4.0, + "lookat": np.array((0.0, 0.0, 1.15)), + "elevation": -20.0, +} + + +class Walker2dEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment builds on the [hopper](https://gymnasium.farama.org/environments/mujoco/hopper/) environment + by adding another set of legs making it possible for the robot to walk forward instead of + hop. Like other Mujoco environments, this environment aims to increase the number of independent state + and control variables as compared to the classic control environments. The walker is a + two-dimensional two-legged figure that consist of seven main body parts - a single torso at the top + (with the two legs splitting after the torso), two thighs in the middle below the torso, two legs + in the bottom below the thighs, and two feet attached to the legs on which the entire body rests. + The goal is to walk in the in the forward (right) + direction by applying torques on the six hinges connecting the seven body parts. + + ## Action Space + The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|----------------------------------------|-------------|-------------|----------------------------------|-------|--------------| + | 0 | Torque applied on the thigh rotor | -1 | 1 | thigh_joint | hinge | torque (N m) | + | 1 | Torque applied on the leg rotor | -1 | 1 | leg_joint | hinge | torque (N m) | + | 2 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | + | 3 | Torque applied on the left thigh rotor | -1 | 1 | thigh_left_joint | hinge | torque (N m) | + | 4 | Torque applied on the left leg rotor | -1 | 1 | leg_left_joint | hinge | torque (N m) | + | 5 | Torque applied on the left foot rotor | -1 | 1 | foot_left_joint | hinge | torque (N m) | + + ## Observation Space + Observations consist of positional values of different body parts of the walker, + followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. + + By default, observations do not include the x-coordinate of the torso. It may + be included by passing `exclude_current_positions_from_observation=False` during construction. + In that case, the observation space will be `Box(-Inf, Inf, (18,), float64)` where the first observation + represent the x-coordinates of the torso of the walker. + Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x-coordinate + of the torso will be returned in `info` with key `"x_position"`. + + By default, observation is a `Box(-Inf, Inf, (17,), float64)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | -------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | + | excluded | x-coordinate of the torso | -Inf | Inf | rootx | slide | position (m) | + | 0 | z-coordinate of the torso (height of Walker2d) | -Inf | Inf | rootz | slide | position (m) | + | 1 | angle of the torso | -Inf | Inf | rooty | hinge | angle (rad) | + | 2 | angle of the thigh joint | -Inf | Inf | thigh_joint | hinge | angle (rad) | + | 3 | angle of the leg joint | -Inf | Inf | leg_joint | hinge | angle (rad) | + | 4 | angle of the foot joint | -Inf | Inf | foot_joint | hinge | angle (rad) | + | 5 | angle of the left thigh joint | -Inf | Inf | thigh_left_joint | hinge | angle (rad) | + | 6 | angle of the left leg joint | -Inf | Inf | leg_left_joint | hinge | angle (rad) | + | 7 | angle of the left foot joint | -Inf | Inf | foot_left_joint | hinge | angle (rad) | + | 8 | velocity of the x-coordinate of the torso | -Inf | Inf | rootx | slide | velocity (m/s) | + | 9 | velocity of the z-coordinate (height) of the torso | -Inf | Inf | rootz | slide | velocity (m/s) | + | 10 | angular velocity of the angle of the torso | -Inf | Inf | rooty | hinge | angular velocity (rad/s) | + | 11 | angular velocity of the thigh hinge | -Inf | Inf | thigh_joint | hinge | angular velocity (rad/s) | + | 12 | angular velocity of the leg hinge | -Inf | Inf | leg_joint | hinge | angular velocity (rad/s) | + | 13 | angular velocity of the foot hinge | -Inf | Inf | foot_joint | hinge | angular velocity (rad/s) | + | 14 | angular velocity of the thigh hinge | -Inf | Inf | thigh_left_joint | hinge | angular velocity (rad/s) | + | 15 | angular velocity of the leg hinge | -Inf | Inf | leg_left_joint | hinge | angular velocity (rad/s) | + | 16 | angular velocity of the foot hinge | -Inf | Inf | foot_left_joint | hinge | angular velocity (rad/s) | + + ## Rewards + The reward consists of three parts: + - *healthy_reward*: Every timestep that the walker is alive, it receives a fixed reward of value `healthy_reward`, + - *forward_reward*: A reward of walking forward which is measured as + *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. + *dt* is the time between actions and is dependeent on the frame_skip parameter + (default is 4), where the frametime is 0.002 - making the default + *dt = 4 * 0.002 = 0.008*. This reward would be positive if the walker walks forward (positive x direction). + - *ctrl_cost*: A cost for penalising the walker if it + takes actions that are too large. It is measured as + *`ctrl_cost_weight` * sum(action2)* where *`ctrl_cost_weight`* is + a parameter set for the control and has a default value of 0.001 + + The total reward returned is ***reward*** *=* *healthy_reward bonus + forward_reward - ctrl_cost* and `info` will also contain the individual reward terms. + + ## Starting State + All observations start in state + (0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + with a uniform noise in the range of [-`reset_noise_scale`, `reset_noise_scale`] added to the values for stochasticity. + + ## Episode End + The walker is said to be unhealthy if any of the following happens: + + 1. Any of the state space values is no longer finite + 2. The height of the walker is ***not*** in the closed interval specified by `healthy_z_range` + 3. The absolute value of the angle (`observation[1]` if `exclude_current_positions_from_observation=False`, else `observation[2]`) is ***not*** in the closed interval specified by `healthy_angle_range` + + If `terminate_when_unhealthy=True` is passed during construction (which is the default), + the episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches a 1000 timesteps + 2. Termination: The walker is unhealthy + + If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. + + ## Arguments + + No additional arguments are currently supported in v2 and lower. + + ```python + import gymnasium as gym + env = gym.make('Walker2d-v4') + ``` + + v3 and beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('Walker2d-v4', ctrl_cost_weight=0.1, ....) + ``` + + | Parameter | Type | Default | Description | + | -------------------------------------------- | --------- | ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `xml_file` | **str** | `"walker2d.xml"` | Path to a MuJoCo model | + | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctr_cost_ term (see section on reward) | + | `healthy_reward` | **float** | `1.0` | Constant reward given if the ant is "healthy" after timestep | + | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the walker is no longer healthy | + | `healthy_z_range` | **tuple** | `(0.8, 2)` | The z-coordinate of the torso of the walker must be in this range to be considered healthy | + | `healthy_angle_range` | **tuple** | `(-1, 1)` | The angle must be in this range to be considered healthy | + | `reset_noise_scale` | **float** | `5e-3` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + + + ## Version History + + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Walker2d gets a new model (feet friction set to 1.9), the `xml_file` argument is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) + * v2: All continuous control environments now use mujoco-py >= 1.50 + * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 125, + } + + def __init__( + self, + xml_file="walker2d_v5.xml", + forward_reward_weight=1.0, + ctrl_cost_weight=1e-3, + healthy_reward=1.0, + terminate_when_unhealthy=True, + healthy_z_range=(0.8, 2.0), + healthy_angle_range=(-1.0, 1.0), + reset_noise_scale=5e-3, + exclude_current_positions_from_observation=True, + **kwargs, + ): + utils.EzPickle.__init__( + self, + forward_reward_weight, + ctrl_cost_weight, + healthy_reward, + terminate_when_unhealthy, + healthy_z_range, + healthy_angle_range, + reset_noise_scale, + exclude_current_positions_from_observation, + **kwargs, + ) + + self._forward_reward_weight = forward_reward_weight + self._ctrl_cost_weight = ctrl_cost_weight + + self._healthy_reward = healthy_reward + self._terminate_when_unhealthy = terminate_when_unhealthy + + self._healthy_z_range = healthy_z_range + self._healthy_angle_range = healthy_angle_range + + self._reset_noise_scale = reset_noise_scale + + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation + ) + + if exclude_current_positions_from_observation: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(17,), dtype=np.float64 + ) + else: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(18,), dtype=np.float64 + ) + + MujocoEnv.__init__( + self, + xml_file, + 4, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs, + ) + + @property + def healthy_reward(self): + return ( + float(self.is_healthy or self._terminate_when_unhealthy) + * self._healthy_reward + ) + + def control_cost(self, action): + control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) + return control_cost + + @property + def is_healthy(self): + z, angle = self.data.qpos[1:3] + + min_z, max_z = self._healthy_z_range + min_angle, max_angle = self._healthy_angle_range + + healthy_z = min_z < z < max_z + healthy_angle = min_angle < angle < max_angle + is_healthy = healthy_z and healthy_angle + + return is_healthy + + @property + def terminated(self): + terminated = not self.is_healthy if self._terminate_when_unhealthy else False + return terminated + + def _get_obs(self): + position = self.data.qpos.flat.copy() + velocity = np.clip(self.data.qvel.flat.copy(), -10, 10) + + if self._exclude_current_positions_from_observation: + position = position[1:] + + observation = np.concatenate((position, velocity)).ravel() + return observation + + def step(self, action): + x_position_before = self.data.qpos[0] + self.do_simulation(action, self.frame_skip) + x_position_after = self.data.qpos[0] + x_velocity = (x_position_after - x_position_before) / self.dt + + ctrl_cost = self.control_cost(action) + + forward_reward = self._forward_reward_weight * x_velocity + healthy_reward = self.healthy_reward + + rewards = forward_reward + healthy_reward + costs = ctrl_cost + + observation = self._get_obs() + reward = rewards - costs + terminated = self.terminated + info = { + "reward_forward": forward_reward, + "reward_ctrl": -ctrl_cost, + "reward_survive": healthy_reward, + "x_position": x_position_after, + "x_velocity": x_velocity, + } + + if self.render_mode == "human": + self.render() + + return observation, reward, terminated, False, info + + def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + + qpos = self.init_qpos + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ) + qvel = self.init_qvel + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nv + ) + + self.set_state(qpos, qvel) + + observation = self._get_obs() + return observation From 1b4a0a3288562e5d673a54e1008c518f254109dc Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 10 May 2023 18:25:44 +0300 Subject: [PATCH 016/104] add Half Cheetah --- .../envs/mujoco/half_cheetah_v5.py | 246 ++++++++++++++++++ 1 file changed, 246 insertions(+) create mode 100644 gymnasium_robotics/envs/mujoco/half_cheetah_v5.py diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py new file mode 100644 index 00000000..7bd88238 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -0,0 +1,246 @@ +__credits__ = ["Rushiv Arora"] + +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "distance": 4.0, +} + + +class HalfCheetahEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment is based on the work by P. Wawrzyński in + ["A Cat-Like Robot Real-Time Learning to Run"](http://staff.elka.pw.edu.pl/~pwawrzyn/pub-s/0812_LSCLRR.pdf). + The HalfCheetah is a 2-dimensional robot consisting of 9 body parts and 8 + joints connecting them (including two paws). The goal is to apply a torque + on the joints to make the cheetah run forward (right) as fast as possible, + with a positive reward allocated based on the distance moved forward and a + negative reward allocated for moving backward. The torso and head of the + cheetah are fixed, and the torque can only be applied on the other 6 joints + over the front and back thighs (connecting to the torso), shins + (connecting to the thighs) and feet (connecting to the shins). + + ## Action Space + The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | + | 0 | Torque applied on the back thigh rotor | -1 | 1 | bthigh | hinge | torque (N m) | + | 1 | Torque applied on the back shin rotor | -1 | 1 | bshin | hinge | torque (N m) | + | 2 | Torque applied on the back foot rotor | -1 | 1 | bfoot | hinge | torque (N m) | + | 3 | Torque applied on the front thigh rotor | -1 | 1 | fthigh | hinge | torque (N m) | + | 4 | Torque applied on the front shin rotor | -1 | 1 | fshin | hinge | torque (N m) | + | 5 | Torque applied on the front foot rotor | -1 | 1 | ffoot | hinge | torque (N m) | + + + ## Observation Space + Observations consist of positional values of different body parts of the + cheetah, followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. + + By default, observations do not include the cheetah's `rootx`. It may + be included by passing `exclude_current_positions_from_observation=False` during construction. + In that case, the observation space will be a `Box(-Inf, Inf, (18,), float64)` where the first element + represents the `rootx`. + Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the + will be returned in `info` with key `"x_position"`. + + However, by default, the observation is a `Box(-Inf, Inf, (17,), float64)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | ------------------------------------ | ---- | --- | -------------------------------- | ----- | ------------------------ | + | 0 | z-coordinate of the front tip | -Inf | Inf | rootz | slide | position (m) | + | 1 | angle of the front tip | -Inf | Inf | rooty | hinge | angle (rad) | + | 2 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angle (rad) | + | 3 | angle of the second rotor | -Inf | Inf | bshin | hinge | angle (rad) | + | 4 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angle (rad) | + | 5 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angle (rad) | + | 6 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angle (rad) | + | 7 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angle (rad) | + | 8 | x-coordinate of the front tip | -Inf | Inf | rootx | slide | velocity (m/s) | + | 9 | y-coordinate of the front tip | -Inf | Inf | rootz | slide | velocity (m/s) | + | 10 | angle of the front tip | -Inf | Inf | rooty | hinge | angular velocity (rad/s) | + | 11 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angular velocity (rad/s) | + | 12 | angle of the second rotor | -Inf | Inf | bshin | hinge | angular velocity (rad/s) | + | 13 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angular velocity (rad/s) | + | 14 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angular velocity (rad/s) | + | 15 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angular velocity (rad/s) | + | 16 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angular velocity (rad/s) | + | excluded | x-coordinate of the front tip | -Inf | Inf | rootx | slide | position (m) | + + ## Rewards + The reward consists of two parts: + - *forward_reward*: A reward of moving forward which is measured + as *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. *dt* is + the time between actions and is dependent on the frame_skip parameter + (fixed to 5), where the frametime is 0.01 - making the + default *dt = 5 * 0.01 = 0.05*. This reward would be positive if the cheetah + runs forward (right). + - *ctrl_cost*: A cost for penalising the cheetah if it takes + actions that are too large. It is measured as *`ctrl_cost_weight` * + sum(action2)* where *`ctrl_cost_weight`* is a parameter set for the + control and has a default value of 0.1 + + The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost* and `info` will also contain the individual reward terms + + ## Starting State + All observations start in state (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,) with a noise added to the + initial state for stochasticity. As seen before, the first 8 values in the + state are positional and the last 9 values are velocity. A uniform noise in + the range of [-`reset_noise_scale`, `reset_noise_scale`] is added to the positional values while a standard + normal noise with a mean of 0 and standard deviation of `reset_noise_scale` is added to the + initial velocity values of all zeros. + + ## Episode End + The episode truncates when the episode length is greater than 1000. + + ## Arguments + + No additional arguments are currently supported in v2 and lower. + + ```python + import gymnasium as gym + env = gym.make('HalfCheetah-v2') + ``` + + v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('HalfCheetah-v4', ctrl_cost_weight=0.1, ....) + ``` + + | Parameter | Type | Default | Description | + | -------------------------------------------- | --------- | -------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `xml_file` | **str** | `"half_cheetah.xml"` | Path to a MuJoCo model | + | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ weight (see section on reward) | + | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + + ## Version History + + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. The `xml_file` argument is re-added, renamed `info`'s `reward_run` to `reward_forward`. + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen). + * v2: All continuous control environments now use mujoco-py >= 1.50. + * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 20, + } + + def __init__( + self, + xml_file="half_cheetah.xml", + forward_reward_weight=1.0, + ctrl_cost_weight=0.1, + reset_noise_scale=0.1, + exclude_current_positions_from_observation=True, + **kwargs, + ): + utils.EzPickle.__init__( + self, + forward_reward_weight, + ctrl_cost_weight, + reset_noise_scale, + exclude_current_positions_from_observation, + **kwargs, + ) + + self._forward_reward_weight = forward_reward_weight + + self._ctrl_cost_weight = ctrl_cost_weight + + self._reset_noise_scale = reset_noise_scale + + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation + ) + + if exclude_current_positions_from_observation: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(17,), dtype=np.float64 + ) + else: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(18,), dtype=np.float64 + ) + + MujocoEnv.__init__( + self, + xml_file, + 5, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs, + ) + + def control_cost(self, action): + control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) + return control_cost + + def step(self, action): + x_position_before = self.data.qpos[0] + self.do_simulation(action, self.frame_skip) + x_position_after = self.data.qpos[0] + x_velocity = (x_position_after - x_position_before) / self.dt + + ctrl_cost = self.control_cost(action) + + forward_reward = self._forward_reward_weight * x_velocity + + observation = self._get_obs() + reward = forward_reward - ctrl_cost + terminated = False + info = { + "x_position": x_position_after, + "x_velocity": x_velocity, + "reward_forward": forward_reward, + "reward_ctrl": -ctrl_cost, + } + + if self.render_mode == "human": + self.render() + return observation, reward, terminated, False, info + + def _get_obs(self): + position = self.data.qpos.flat.copy() + velocity = self.data.qvel.flat.copy() + + if self._exclude_current_positions_from_observation: + position = position[1:] + + observation = np.concatenate((position, velocity)).ravel() + return observation + + def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + + qpos = self.init_qpos + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ) + qvel = ( + self.init_qvel + + self._reset_noise_scale * self.np_random.standard_normal(self.model.nv) + ) + + self.set_state(qpos, qvel) + + observation = self._get_obs() + return observation \ No newline at end of file From 479c3e1e88e4e714df8cb08d65677da4e532debd Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 10 May 2023 18:32:20 +0300 Subject: [PATCH 017/104] typo fix --- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 7bd88238..eaf69bbd 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -243,4 +243,4 @@ def reset_model(self): self.set_state(qpos, qvel) observation = self._get_obs() - return observation \ No newline at end of file + return observation From bc2de82ce93ab31f54dfc3b89701d293a19ed513 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 10 May 2023 19:30:07 +0300 Subject: [PATCH 018/104] add pusher --- gymnasium_robotics/envs/mujoco/pusher_v5.py | 222 ++++++++++++++++++++ 1 file changed, 222 insertions(+) create mode 100644 gymnasium_robotics/envs/mujoco/pusher_v5.py diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py new file mode 100644 index 00000000..7aebbd5b --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -0,0 +1,222 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "trackbodyid": -1, + "distance": 4.0, +} + + +class PusherEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + "Pusher" is a multi-jointed robot arm which is very similar to that of a human. + The goal is to move a target cylinder (called *object*) to a goal position using the robot's end effector (called *fingertip*). + The robot consists of shoulder, elbow, forearm, and wrist joints. + + ## Action Space + The action space is a `Box(-2, 2, (7,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints. + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------| + | 0 | Rotation of the panning the shoulder | -2 | 2 | r_shoulder_pan_joint | hinge | torque (N m) | + | 1 | Rotation of the shoulder lifting joint | -2 | 2 | r_shoulder_lift_joint | hinge | torque (N m) | + | 2 | Rotation of the shoulder rolling joint | -2 | 2 | r_upper_arm_roll_joint | hinge | torque (N m) | + | 3 | Rotation of hinge joint that flexed the elbow | -2 | 2 | r_elbow_flex_joint | hinge | torque (N m) | + | 4 | Rotation of hinge that rolls the forearm | -2 | 2 | r_forearm_roll_joint | hinge | torque (N m) | + | 5 | Rotation of flexing the wrist | -2 | 2 | r_wrist_flex_joint | hinge | torque (N m) | + | 6 | Rotation of rolling the wrist | -2 | 2 | r_wrist_roll_joint | hinge | torque (N m) | + + ## Observation Space + + Observations consist of + + - Angle of rotational joints on the pusher + - Angular velocities of rotational joints on the pusher + - The coordinates of the fingertip of the pusher + - The coordinates of the object to be moved + - The coordinates of the goal position + + The observation is a `Box(-Inf, Inf, (23,), float64)` where the elements correspond to the table below. + An analogy can be drawn to a human arm in order to help understand the state space, with the words flex and roll meaning the + same as human joints. + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | -------------------------------------------------------- | ---- | --- | -------------------------------- | -------- | ------------------------ | + | 0 | Rotation of the panning the shoulder | -Inf | Inf | r_shoulder_pan_joint | hinge | angle (rad) | + | 1 | Rotation of the shoulder lifting joint | -Inf | Inf | r_shoulder_lift_joint | hinge | angle (rad) | + | 2 | Rotation of the shoulder rolling joint | -Inf | Inf | r_upper_arm_roll_joint | hinge | angle (rad) | + | 3 | Rotation of hinge joint that flexed the elbow | -Inf | Inf | r_elbow_flex_joint | hinge | angle (rad) | + | 4 | Rotation of hinge that rolls the forearm | -Inf | Inf | r_forearm_roll_joint | hinge | angle (rad) | + | 5 | Rotation of flexing the wrist | -Inf | Inf | r_wrist_flex_joint | hinge | angle (rad) | + | 6 | Rotation of rolling the wrist | -Inf | Inf | r_wrist_roll_joint | hinge | angle (rad) | + | 7 | Rotational velocity of the panning the shoulder | -Inf | Inf | r_shoulder_pan_joint | hinge | angular velocity (rad/s) | + | 8 | Rotational velocity of the shoulder lifting joint | -Inf | Inf | r_shoulder_lift_joint | hinge | angular velocity (rad/s) | + | 9 | Rotational velocity of the shoulder rolling joint | -Inf | Inf | r_upper_arm_roll_joint | hinge | angular velocity (rad/s) | + | 10 | Rotational velocity of hinge joint that flexed the elbow | -Inf | Inf | r_elbow_flex_joint | hinge | angular velocity (rad/s) | + | 11 | Rotational velocity of hinge that rolls the forearm | -Inf | Inf | r_forearm_roll_joint | hinge | angular velocity (rad/s) | + | 12 | Rotational velocity of flexing the wrist | -Inf | Inf | r_wrist_flex_joint | hinge | angular velocity (rad/s) | + | 13 | Rotational velocity of rolling the wrist | -Inf | Inf | r_wrist_roll_joint | hinge | angular velocity (rad/s) | + | 14 | x-coordinate of the fingertip of the pusher | -Inf | Inf | tips_arm | slide | position (m) | + | 15 | y-coordinate of the fingertip of the pusher | -Inf | Inf | tips_arm | slide | position (m) | + | 16 | z-coordinate of the fingertip of the pusher | -Inf | Inf | tips_arm | slide | position (m) | + | 17 | x-coordinate of the object to be moved | -Inf | Inf | object (obj_slidex) | slide | position (m) | + | 18 | y-coordinate of the object to be moved | -Inf | Inf | object (obj_slidey) | slide | position (m) | + | 19 | z-coordinate of the object to be moved | -Inf | Inf | object | cylinder | position (m) | + | 20 | x-coordinate of the goal position of the object | -Inf | Inf | goal (goal_slidex) | slide | position (m) | + | 21 | y-coordinate of the goal position of the object | -Inf | Inf | goal (goal_slidey) | slide | position (m) | + | 22 | z-coordinate of the goal position of the object | -Inf | Inf | goal | sphere | position (m) | + + + ## Rewards + The reward consists of two parts: + - *reward_near *: This reward is a measure of how far the *fingertip* + of the pusher (the unattached end) is from the object, with a more negative + value assigned for when the pusher's *fingertip* is further away from the + target. It is calculated as the negative vector norm of (position of + the fingertip - position of target), or *-norm("fingertip" - "target")*. + - *reward_dist *: This reward is a measure of how far the object is from + the target goal position, with a more negative value assigned for object is + further away from the target. It is calculated as the negative vector norm of + (position of the object - position of goal), or *-norm("object" - "target")*. + - *reward_control*: A negative reward for penalising the pusher if + it takes actions that are too large. It is measured as the negative squared + Euclidean norm of the action, i.e. as *- sum(action2)*. + + The total reward returned is ***reward*** *=* *reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near* + + Unlike other environments, Pusher does not allow you to specify weights for the individual reward terms. + However, `info` does contain the keys *reward_dist* and *reward_ctrl*. Thus, if you'd like to weight the terms, + you should create a wrapper that computes the weighted reward from `info`. + + + ## Starting State + All pusher (not including object and goal) states start in + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0). A uniform noise in the range + [-0.005, 0.005] is added to the velocity attributes only. The velocities of + the object and goal are permanently set to 0. The object's x-position is selected uniformly + between [-0.3, 0] while the y-position is selected uniformly between [-0.2, 0.2], and this + process is repeated until the vector norm between the object's (x,y) position and origin is not greater + than 0.17. The goal always have the same position of (0.45, -0.05, -0.323). + + The default framerate is 5 with each frame lasting for 0.01, giving rise to a *dt = 5 * 0.01 = 0.05* + + ## Episode End + + The episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches a 100 timesteps. + 2. Termination: Any of the state space values is no longer finite. + + ## Arguments + + No additional arguments are currently supported (in v2 and lower), + but modifications can be made to the XML file in the assets folder + (or by changing the path to a modified XML file in another folder).. + + ```python + import gymnasium as gym + env = gym.make('Pusher-v4') + ``` + + There is no v3 for Pusher, unlike the robot environments where a v3 and + beyond take `gymnasmium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('Pusher-v2') + ``` + + ## Version History + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. "reward_near" is added to the `info`. + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. + * v2: All continuous control environments now use mujoco-py >= 1.50. + * v1: max_time_steps raised to 1000 for robot based tasks (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments. + * v0: Initial versions release (1.0.0). + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 20, + } + + def __init__(self, **kwargs): + utils.EzPickle.__init__(self, **kwargs) + observation_space = Box(low=-np.inf, high=np.inf, shape=(23,), dtype=np.float64) + MujocoEnv.__init__( + self, + "pusher.xml", + 5, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs, + ) + + def step(self, a): + vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm") + vec_2 = self.get_body_com("object") - self.get_body_com("goal") + + reward_near = -np.linalg.norm(vec_1) + reward_dist = -np.linalg.norm(vec_2) + reward_ctrl = -np.square(a).sum() + reward = reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near + + self.do_simulation(a, self.frame_skip) + if self.render_mode == "human": + self.render() + + ob = self._get_obs() + info = { + "reward_dist": reward_dist, + "reward_ctrl": reward_ctrl, + "reward_near": reward_near, + } + return ( + ob, + reward, + False, + False, + info + ) + + def reset_model(self): + qpos = self.init_qpos + + self.goal_pos = np.asarray([0, 0]) + while True: + self.cylinder_pos = np.concatenate( + [ + self.np_random.uniform(low=-0.3, high=0, size=1), + self.np_random.uniform(low=-0.2, high=0.2, size=1), + ] + ) + if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17: + break + + qpos[-4:-2] = self.cylinder_pos + qpos[-2:] = self.goal_pos + qvel = self.init_qvel + self.np_random.uniform( + low=-0.005, high=0.005, size=self.model.nv + ) + qvel[-4:] = 0 + self.set_state(qpos, qvel) + return self._get_obs() + + def _get_obs(self): + return np.concatenate( + [ + self.data.qpos.flat[:7], + self.data.qvel.flat[:7], + self.get_body_com("tips_arm"), + self.get_body_com("object"), + self.get_body_com("goal"), + ] + ) From 2ec47a52e88a0cff365c0383f118101671ac9132 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 10 May 2023 19:40:35 +0300 Subject: [PATCH 019/104] add swimmer --- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 232 +++++++++++++++++++ 1 file changed, 232 insertions(+) create mode 100644 gymnasium_robotics/envs/mujoco/swimmer_v5.py diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py new file mode 100644 index 00000000..d3c7ed7f --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -0,0 +1,232 @@ +__credits__ = ["Rushiv Arora"] + +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +class SwimmerEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment corresponds to the Swimmer environment described in Rémi Coulom's PhD thesis + ["Reinforcement Learning Using Neural Networks, with Applications to Motor Control"](https://tel.archives-ouvertes.fr/tel-00003985/document). + The environment aims to increase the number of independent state and control + variables as compared to the classic control environments. The swimmers + consist of three or more segments ('***links***') and one less articulation + joints ('***rotors***') - one rotor joint connecting exactly two links to + form a linear chain. The swimmer is suspended in a two dimensional pool and + always starts in the same position (subject to some deviation drawn from an + uniform distribution), and the goal is to move as fast as possible towards + the right by applying torque on the rotors and using the fluids friction. + + ## Notes + + The problem parameters are: + Problem parameters: + * *n*: number of body parts + * *mi*: mass of part *i* (*i* ∈ {1...n}) + * *li*: length of part *i* (*i* ∈ {1...n}) + * *k*: viscous-friction coefficient + + While the default environment has *n* = 3, *li* = 0.1, + and *k* = 0.1. It is possible to pass a custom MuJoCo XML file during construction to increase the + number of links, or to tweak any of the parameters. + + ## Action Space + The action space is a `Box(-1, 1, (2,), float32)`. An action represents the torques applied between *links* + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| + | 0 | Torque applied on the first rotor | -1 | 1 | motor1_rot | hinge | torque (N m) | + | 1 | Torque applied on the second rotor | -1 | 1 | motor2_rot | hinge | torque (N m) | + + ## Observation Space + By default, observations consists of: + * θi: angle of part *i* with respect to the *x* axis + * θi': its derivative with respect to time (angular velocity) + + In the default case, observations do not include the x- and y-coordinates of the front tip. These may + be included by passing `exclude_current_positions_from_observation=False` during construction. + Then, the observation space will be `Box(-Inf, Inf, (10,), float64)` where the first two observations + represent the x- and y-coordinates of the front tip. + Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates + will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. + + By default, the observation is a `Box(-Inf, Inf, (8,), float64)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | ------------------------------------ | ---- | --- | -------------------------------- | ----- | ------------------------ | + | 0 | angle of the front tip | -Inf | Inf | free_body_rot | hinge | angle (rad) | + | 1 | angle of the first rotor | -Inf | Inf | motor1_rot | hinge | angle (rad) | + | 2 | angle of the second rotor | -Inf | Inf | motor2_rot | hinge | angle (rad) | + | 3 | velocity of the tip along the x-axis | -Inf | Inf | slider1 | slide | velocity (m/s) | + | 4 | velocity of the tip along the y-axis | -Inf | Inf | slider2 | slide | velocity (m/s) | + | 5 | angular velocity of front tip | -Inf | Inf | free_body_rot | hinge | angular velocity (rad/s) | + | 6 | angular velocity of first rotor | -Inf | Inf | motor1_rot | hinge | angular velocity (rad/s) | + | 7 | angular velocity of second rotor | -Inf | Inf | motor2_rot | hinge | angular velocity (rad/s) | + | excluded | position of the tip along the x-axis | -Inf | Inf | slider1 | slide | position (m) | + | excluded | position of the tip along the y-axis | -Inf | Inf | slider2 | slide | position (m) | + + ## Rewards + The reward consists of two parts: + - *forward_reward*: A reward of moving forward which is measured + as *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. *dt* is + the time between actions and is dependent on the frame_skip parameter + (default is 4), where the frametime is 0.01 - making the + default *dt = 4 * 0.01 = 0.04*. This reward would be positive if the swimmer + swims right as desired. + - *ctrl_cost*: A cost for penalising the swimmer if it takes + actions that are too large. It is measured as *`ctrl_cost_weight` * + sum(action2)* where *`ctrl_cost_weight`* is a parameter set for the + control and has a default value of 1e-4 + + The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost* and `info` will also contain the individual reward terms + + ## Starting State + All observations start in state (0,0,0,0,0,0,0,0) with a Uniform noise in the range of [-`reset_noise_scale`, `reset_noise_scale`] is added to the initial state for stochasticity. + + ## Episode End + The episode truncates when the episode length is greater than 1000. + + ## Arguments + + No additional arguments are currently supported in v2 and lower. + + ```python + import gymnasium as gym + gym.make('Swimmer-v4') + ``` + + v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + + ```python + import gymnasium as gym + env = gym.make('Swimmer-v4', ctrl_cost_weight=0.1, ....) + ``` + + | Parameter | Type | Default | Description | + | -------------------------------------------- | --------- | --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `xml_file` | **str** | `"swimmer.xml"` | Path to a MuJoCo model | + | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `1e-4` | Weight for _ctrl_cost_ term (see section on reward) | + | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + + + ## Version History + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. The `xml_file` argument is re-added, replaced "reward_fwd"/ "forward_reward" with "reward_forward" in `info`. + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen). + * v2: All continuous control environments now use mujoco-py >= 1.50. + * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 25, + } + + def __init__( + self, + xml_file="swimmer.xml", + forward_reward_weight=1.0, + ctrl_cost_weight=1e-4, + reset_noise_scale=0.1, + exclude_current_positions_from_observation=True, + **kwargs, + ): + utils.EzPickle.__init__( + self, + forward_reward_weight, + ctrl_cost_weight, + reset_noise_scale, + exclude_current_positions_from_observation, + **kwargs, + ) + + self._forward_reward_weight = forward_reward_weight + self._ctrl_cost_weight = ctrl_cost_weight + + self._reset_noise_scale = reset_noise_scale + + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation + ) + if exclude_current_positions_from_observation: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(8,), dtype=np.float64 + ) + else: + observation_space = Box( + low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64 + ) + MujocoEnv.__init__( + self, xml_file, 4, observation_space=observation_space, **kwargs + ) + + def control_cost(self, action): + control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) + return control_cost + + def step(self, action): + xy_position_before = self.data.qpos[0:2].copy() + self.do_simulation(action, self.frame_skip) + xy_position_after = self.data.qpos[0:2].copy() + + xy_velocity = (xy_position_after - xy_position_before) / self.dt + x_velocity, y_velocity = xy_velocity + + forward_reward = self._forward_reward_weight * x_velocity + + ctrl_cost = self.control_cost(action) + + observation = self._get_obs() + reward = forward_reward - ctrl_cost + info = { + "reward_forward": forward_reward, + "reward_ctrl": -ctrl_cost, + "x_position": xy_position_after[0], + "y_position": xy_position_after[1], + "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), + "x_velocity": x_velocity, + "y_velocity": y_velocity, + } + + if self.render_mode == "human": + self.render() + + return observation, reward, False, False, info + + def _get_obs(self): + position = self.data.qpos.flat.copy() + velocity = self.data.qvel.flat.copy() + + if self._exclude_current_positions_from_observation: + position = position[2:] + + observation = np.concatenate([position, velocity]).ravel() + return observation + + def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + + qpos = self.init_qpos + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ) + qvel = self.init_qvel + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nv + ) + + self.set_state(qpos, qvel) + + observation = self._get_obs() + return observation From a3e89066e171df37837358f7b232de6113532d63 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 11 May 2023 11:22:34 +0300 Subject: [PATCH 020/104] pre-commit --- gymnasium_robotics/envs/mujoco/ant_v5.py | 45 +++++++++++++------ .../envs/mujoco/half_cheetah_v5.py | 2 - gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 - gymnasium_robotics/envs/mujoco/pusher_v5.py | 10 +---- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 1 - gymnasium_robotics/envs/mujoco/walker2d.py | 2 - 6 files changed, 33 insertions(+), 29 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 28f718cd..cbe85871 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -16,10 +16,10 @@ class AntEnv(MujocoEnv, utils.EzPickle): Moritz, Levine, Jordan and Abbeel in ["High-Dimensional Continuous Control Using Generalized Advantage Estimation"](https://arxiv.org/abs/1506.02438). The ant is a 3D robot consisting of one torso (free rotational body) with - four legs attached to it with each leg having two links. The goal is to + four legs attached to it with each leg having two body parts. The goal is to coordinate the four legs to move in the forward (right) direction by applying - torques on the eight hinges connecting the two links of each leg and the torso - (nine parts and eight hinges). + torques on the eight hinges connecting the two body parts of each leg and the torso + (nine body parts and eight hinges). ## Action Space The action space is a `Box(-1, 1, (8,), float32)`. An action represents the torques applied at the hinge joints. @@ -36,20 +36,18 @@ class AntEnv(MujocoEnv, utils.EzPickle): | 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | ## Observation Space - Observations consist of positional values of different body parts of the ant, followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. By default, observations do not include the x- and y-coordinates of the ant's torso. These may be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will have 29 dimensions where the first two dimensions + In that case, the observation space will be a `Box(-Inf, Inf, (29,), float64)` where the first two observations represent the x- and y- coordinates of the ant's torso. Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates of the torso will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - However, by default, an observation is a `ndarray` with shape `(27,)` - where the elements correspond to the following: + However, by default, observation Space is a `Box(-Inf, Inf, (27,), float64)` where the elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | |-----|--------------------------------------------------------------|--------|--------|----------------------------------------|-------|--------------------------| @@ -79,13 +77,32 @@ class AntEnv(MujocoEnv, utils.EzPickle): | 23 | angular velocity of angle between torso and back left link | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) | | 24 | angular velocity of the angle between back left links | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) | | 25 | angular velocity of angle between torso and back right link | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) | - | 26 |angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) | + | 26 | angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) | + | excluded | x-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | + | excluded | y-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | - If `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces + If version < `v4` or `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces (external forces - force x, y, z and torque x, y, z) applied to the - center of mass of each of the links. The 14 links are: the ground link, - the torso link, and 3 links for each leg (1 + 1 + 12) with the 6 external forces. + center of mass of each of the body parts. The 14 body parts are: + + | id (for `v2`, `v3`, `v4)` | body parts | + | --- | ------------ | + | 0 | worldbody (note: forces are always full of zeros) | + | 1 | torso | + | 2 | front_left_leg | + | 3 | aux_1 (front left leg) | + | 4 | ankle_1 (front left leg) | + | 5 | front_right_leg | + | 6 | aux_2 (front right leg) | + | 7 | ankle_2 (front right leg) | + | 8 | back_leg (back left leg) | + | 9 | aux_3 (back left leg) | + | 10 | ankle_3 (back left leg) | + | 11 | right_back_leg | + | 12 | aux_4 (back right leg) | + | 13 | ankle_4 (back right leg) | + The (x,y,z) coordinates are translational DOFs while the orientations are rotational DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). @@ -114,7 +131,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*. - But if `use_contact_forces=True` + But if `use_contact_forces=True` or version < `v4` The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost*. In either case `info` will also contain the individual reward terms. @@ -316,7 +333,6 @@ def step(self, action): "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, - "forward_reward": forward_reward, } # if self._use_contact_forces: contact_cost = self.contact_cost @@ -337,6 +353,9 @@ def _get_obs(self): position = position[2:] if self._use_contact_forces: + assert ( + self.contact_forces[0].flat.copy() == 0 + ).all() # TODO remove after validation contact_force = self.contact_forces[1:].flat.copy() assert len(contact_force) == 78 return np.concatenate((position, velocity, contact_force)) diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index eaf69bbd..1bd3e654 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -1,12 +1,10 @@ __credits__ = ["Rushiv Arora"] import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "distance": 4.0, } diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 6c4a592b..b03bec4d 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "trackbodyid": 2, "distance": 3.0, diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index 7aebbd5b..9591279e 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "trackbodyid": -1, "distance": 4.0, @@ -179,13 +177,7 @@ def step(self, a): "reward_ctrl": reward_ctrl, "reward_near": reward_near, } - return ( - ob, - reward, - False, - False, - info - ) + return (ob, reward, False, False, info) def reset_model(self): qpos = self.init_qpos diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index d3c7ed7f..7c12eabf 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -1,7 +1,6 @@ __credits__ = ["Rushiv Arora"] import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box diff --git a/gymnasium_robotics/envs/mujoco/walker2d.py b/gymnasium_robotics/envs/mujoco/walker2d.py index f8a3c962..fd9d8100 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d.py +++ b/gymnasium_robotics/envs/mujoco/walker2d.py @@ -1,10 +1,8 @@ import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "trackbodyid": 2, "distance": 4.0, From a3454bf70a12db91d2d1688c8c962fc14c9514a0 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 11 May 2023 15:26:08 +0300 Subject: [PATCH 021/104] typo fix --- gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml index d89a00f0..e7337607 100644 --- a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml +++ b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml @@ -2,7 +2,7 @@ Walker2D model for `Walker2d-v5`, based on openai/gym/Walker2d modified by @kallinteris-Andreas - To not require `coordinate="global"` - - kep feet friction to 0.9/1.9 + - keep feet friction to 0.9/1.9 --> From ef626cff6f04e194f4f0f35cf78222509607ad2d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 11 May 2023 16:40:12 +0300 Subject: [PATCH 022/104] `xml_file` arg fixes --- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 1 + gymnasium_robotics/envs/mujoco/hopper_v5.py | 1 + gymnasium_robotics/envs/mujoco/humanoid_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 8 ++++++-- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 1 + gymnasium_robotics/envs/mujoco/walker2d.py | 1 + 6 files changed, 13 insertions(+), 3 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 1bd3e654..ec5720e5 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -153,6 +153,7 @@ def __init__( ): utils.EzPickle.__init__( self, + xml_file, forward_reward_weight, ctrl_cost_weight, reset_noise_scale, diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index b03bec4d..6a350984 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -165,6 +165,7 @@ def __init__( ): utils.EzPickle.__init__( self, + xml_file, forward_reward_weight, ctrl_cost_weight, healthy_reward, diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 06c2d40d..5db32622 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -224,6 +224,7 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): def __init__( self, + xml_file="humanoid.xml", forward_reward_weight=1.25, ctrl_cost_weight=0.1, healthy_reward=5.0, @@ -235,6 +236,7 @@ def __init__( ): utils.EzPickle.__init__( self, + xml_file, forward_reward_weight, ctrl_cost_weight, healthy_reward, @@ -268,7 +270,7 @@ def __init__( MujocoEnv.__init__( self, - "humanoid.xml", + xml_file, 5, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 1745681f..aed217cc 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -198,13 +198,17 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): "render_fps": 67, } - def __init__(self, **kwargs): + def __init__( + self, + xml_file="humanoidstandup.xml", + **kwargs, + ): observation_space = Box( low=-np.inf, high=np.inf, shape=(348,), dtype=np.float64 ) MujocoEnv.__init__( self, - "humanoidstandup.xml", + xml_file, 5, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 7c12eabf..5cf3c289 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -144,6 +144,7 @@ def __init__( ): utils.EzPickle.__init__( self, + xml_file, forward_reward_weight, ctrl_cost_weight, reset_noise_scale, diff --git a/gymnasium_robotics/envs/mujoco/walker2d.py b/gymnasium_robotics/envs/mujoco/walker2d.py index fd9d8100..b96db7cb 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d.py +++ b/gymnasium_robotics/envs/mujoco/walker2d.py @@ -169,6 +169,7 @@ def __init__( ): utils.EzPickle.__init__( self, + xml_file, forward_reward_weight, ctrl_cost_weight, healthy_reward, From 3de59d9aee10824be90151e163e54ad0806b3c80 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 13 May 2023 10:01:02 +0300 Subject: [PATCH 023/104] added `InvertedPendulum-v5` --- .../envs/mujoco/inverted_pendulum_v5.py | 141 ++++++++++++++++++ 1 file changed, 141 insertions(+) create mode 100644 gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py new file mode 100644 index 00000000..e86d5277 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -0,0 +1,141 @@ +import numpy as np + +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.spaces import Box + + +DEFAULT_CAMERA_CONFIG = { + "trackbodyid": 0, + "distance": 2.04, +} + + +class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): + """ + ## Description + + This environment is the cartpole environment based on the work done by + Barto, Sutton, and Anderson in ["Neuronlike adaptive elements that can + solve difficult learning control problems"](https://ieeexplore.ieee.org/document/6313077), + just like in the classic environments but now powered by the Mujoco physics simulator - + allowing for more complex experiments (such as varying the effects of gravity). + This environment involves a cart that can moved linearly, with a pole fixed on it + at one end and having another end free. The cart can be pushed left or right, and the + goal is to balance the pole on the top of the cart by applying forces on the cart. + + ## Action Space + The agent take a 1-element vector for actions. + + The action space is a continuous `(action)` in `[-3, 3]`, where `action` represents + the numerical force applied to the cart (with magnitude representing the amount of + force and sign representing the direction) + + | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | + |-----|---------------------------|-------------|-------------|----------------------------------|-------|-----------| + | 0 | Force applied on the cart | -3 | 3 | slider | slide | Force (N) | + + ## Observation Space + + The state space consists of positional values of different body parts of + the pendulum system, followed by the velocities of those individual parts (their derivatives) + with all the positions ordered before all the velocities. + + The observation is a `ndarray` with shape `(4,)` where the elements correspond to the following: + + | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | + | --- | --------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------- | + | 0 | position of the cart along the linear surface | -Inf | Inf | slider | slide | position (m) | + | 1 | vertical angle of the pole on the cart | -Inf | Inf | hinge | hinge | angle (rad) | + | 2 | linear velocity of the cart | -Inf | Inf | slider | slide | velocity (m/s) | + | 3 | angular velocity of the pole on the cart | -Inf | Inf | hinge | hinge | anglular velocity (rad/s) | + + + ## Rewards + The goal is to make the inverted pendulum stand upright (within a certain angle limit) + as long as possible - as such a reward of +1 is awarded for each timestep that + the pole is upright. + + ## Starting State + All observations start in state + (0.0, 0.0, 0.0, 0.0) with a uniform noise in the range + of [-0.01, 0.01] added to the values for stochasticity. + + ## Episode End + The episode ends when any of the following happens: + + 1. Truncation: The episode duration reaches 1000 timesteps. + 2. Termination: Any of the state space values is no longer finite. + 3. Termination: The absolute value of the vertical angle between the pole and the cart is greater than 0.2 radian. + + ## Arguments + No additional arguments are currently supported. + + ```python + import gymnasium as gym + env = gym.make('InvertedPendulum-v4') + ``` + There is no v3 for InvertedPendulum, unlike the robot environments where a + v3 and beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + ```python + import gymnasium as gym + env = gym.make('InvertedPendulum-v2') + ``` + + ## Version History + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward survive" being 1 on every step (even on terminal steps) and added "reward_survive" to `info`. + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.. + * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen. + * v2: All continuous control environments now use mujoco-py >= 1.5. + * v1: max_time_steps raised to 1000 for robot based tasks (including inverted pendulum). + * v0: Initial versions release (1.0.0) + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 25, + } + + def __init__(self, **kwargs): + utils.EzPickle.__init__(self, **kwargs) + observation_space = Box(low=-np.inf, high=np.inf, shape=(4,), dtype=np.float64) + MujocoEnv.__init__( + self, + "inverted_pendulum.xml", + 2, + observation_space=observation_space, + default_camera_config=DEFAULT_CAMERA_CONFIG, + **kwargs, + ) + + def step(self, a): + self.do_simulation(a, self.frame_skip) + + ob = self._get_obs() + + terminated = bool(not np.isfinite(ob).all() or (np.abs(ob[1]) > 0.2)) + + reward = int(not terminated) + + info = {"reward_survive": reward} + + if self.render_mode == "human": + self.render() + return ob, reward, terminated, False, info + + def reset_model(self): + qpos = self.init_qpos + self.np_random.uniform( + size=self.model.nq, low=-0.01, high=0.01 + ) + qvel = self.init_qvel + self.np_random.uniform( + size=self.model.nv, low=-0.01, high=0.01 + ) + self.set_state(qpos, qvel) + return self._get_obs() + + def _get_obs(self): + return np.concatenate([self.data.qpos, self.data.qvel]).ravel() From a94519647a0d39ee3d37fe34f622c659a86245e5 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 13 May 2023 10:03:45 +0300 Subject: [PATCH 024/104] cleanup --- gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 6a350984..0016f198 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -102,7 +102,6 @@ class HopperEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. ```python @@ -131,7 +130,6 @@ class HopperEnv(MujocoEnv, utils.EzPickle): | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Hopper gets a new model, the `xml_file` argument is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) From a1b589964ccf1ddf9f7f8bdcd98eb2e39f1dc353 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 13 May 2023 15:36:17 +0300 Subject: [PATCH 025/104] rename --- gymnasium_robotics/envs/mujoco/{walker2d.py => walker2d_v5.py} | 2 -- 1 file changed, 2 deletions(-) rename gymnasium_robotics/envs/mujoco/{walker2d.py => walker2d_v5.py} (99%) diff --git a/gymnasium_robotics/envs/mujoco/walker2d.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py similarity index 99% rename from gymnasium_robotics/envs/mujoco/walker2d.py rename to gymnasium_robotics/envs/mujoco/walker2d_v5.py index b96db7cb..f7de2369 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -107,7 +107,6 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. ```python @@ -136,7 +135,6 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Walker2d gets a new model (feet friction set to 1.9), the `xml_file` argument is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) From e3c89391979cb1895808ae8432f351632bb5b7a9 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 13 May 2023 16:17:40 +0300 Subject: [PATCH 026/104] fix camera on new models --- gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml | 2 +- gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml | 2 +- gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml b/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml index a0b7273e..cc3fbc84 100644 --- a/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml +++ b/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml @@ -18,7 +18,7 @@ modified by @saran_t - + diff --git a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml index 06b83107..12baef14 100644 --- a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml +++ b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml @@ -15,7 +15,7 @@ modified by @kallinteris-Andreas - + diff --git a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml index e7337607..180bfaec 100644 --- a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml +++ b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml @@ -15,7 +15,7 @@ modified by @kallinteris-Andreas - + From b0f5edffbf3ff96079c98a6dffc26bb9c49e856c Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sun, 14 May 2023 15:08:23 +0300 Subject: [PATCH 027/104] add inv_double_pend --- .../mujoco/inverted_double_pendulum_v5.py | 35 +++++++++++-------- 1 file changed, 21 insertions(+), 14 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index efd4a191..22cae563 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -13,7 +13,6 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment originates from control theory and builds on the cartpole environment based on the work done by Barto, Sutton, and Anderson in ["Neuronlike adaptive elements that can solve difficult learning control problems"](https://ieeexplore.ieee.org/document/6313077), @@ -35,12 +34,11 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): | 0 | Force applied on the cart | -1 | 1 | slider | slide | Force (N) | ## Observation Space - The state space consists of positional values of different body parts of the pendulum system, followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. - The observation is a `ndarray` with shape `(11,)` where the elements correspond to the following: + The observation is a `ndarray` with shape `(10,)` where the elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | @@ -52,9 +50,9 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): | 5 | velocity of the cart | -Inf | Inf | slider | slide | velocity (m/s) | | 6 | angular velocity of the angle between the cart and the first pole | -Inf | Inf | hinge | hinge | angular velocity (rad/s) | | 7 | angular velocity of the angle between the two poles | -Inf | Inf | hinge2 | hinge | angular velocity (rad/s) | - | 8 | constraint force - 1 | -Inf | Inf | | | Force (N) | - | 9 | constraint force - 2 | -Inf | Inf | | | Force (N) | - | 10 | constraint force - 3 | -Inf | Inf | | | Force (N) | + | 8 | constraint force - x | -Inf | Inf | slider | slide | Force (N) | + | 9 | constraint force - y | -Inf | Inf | slider | slide | Force (N) | + | excluded | constraint force - z | -Inf | Inf | slider | slide | Force (N) | There is physical contact between the robots and their environment - and Mujoco @@ -70,7 +68,6 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): ## Rewards - The reward consists of two parts: - *alive_bonus*: The goal is to make the second inverted pendulum stand upright (within a certain angle limit) as long as possible - as such a reward of +10 is awarded @@ -98,7 +95,6 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): 3.Termination: The y_coordinate of the tip of the second pole *is less than or equal* to 1. The maximum standing height of the system is 1.196 m when all the parts are perpendicularly vertical on top of each other). ## Arguments - No additional arguments are currently supported. ```python @@ -114,7 +110,6 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): ``` ## Version History - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) * v2: All continuous control environments now use mujoco-py >= 1.50 @@ -132,7 +127,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): } def __init__(self, **kwargs): - observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) + observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) MujocoEnv.__init__( self, "inverted_double_pendulum.xml", @@ -145,19 +140,31 @@ def __init__(self, **kwargs): def step(self, action): self.do_simulation(action, self.frame_skip) + ob = self._get_obs() + x, _, y = self.data.site_xpos[0] - dist_penalty = 0.01 * x**2 + (y - 2) ** 2 v1, v2 = self.data.qvel[1:3] + + terminated = bool(y <= 1) + + dist_penalty = 0.01 * x**2 + (y - 2) ** 2 vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2 - alive_bonus = 10 + alive_bonus = 10 * int(not terminated) r = alive_bonus - dist_penalty - vel_penalty - terminated = bool(y <= 1) + + info = { + "reward_survive": alive_bonus, + "distance_penalty": -dist_penalty, + "velocity_penalty": -vel_penalty, + } + if self.render_mode == "human": self.render() - return ob, r, terminated, False, {} + return ob, r, terminated, False, info def _get_obs(self): + assert self.data.qfrc_constraint[2] == 0 # TODO remove after validation return np.concatenate( [ self.data.qpos[:1], # cart x pos From 2567cd471006961dc5447009f70e372b6e42d61e Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sun, 14 May 2023 17:23:32 +0300 Subject: [PATCH 028/104] fix `humanoid` `info` --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 5db32622..d1613406 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -343,15 +343,14 @@ def step(self, action): reward = rewards - ctrl_cost terminated = self.terminated info = { - "reward_linvel": forward_reward, - "reward_quadctrl": -ctrl_cost, - "reward_alive": healthy_reward, + "reward_survive": healthy_reward, + "reward_forward": forward_reward, + "reward_ctrl": -ctrl_cost, "x_position": xy_position_after[0], "y_position": xy_position_after[1], "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, - "forward_reward": forward_reward, } if self.render_mode == "human": From 7debcd5b26dc4e964e860894ce0bd192578aff35 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sun, 14 May 2023 17:23:53 +0300 Subject: [PATCH 029/104] `humanoid` add include obs arguments --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 41 ++++++++++++++++--- 1 file changed, 36 insertions(+), 5 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index d1613406..13c4c1ba 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -232,7 +232,11 @@ def __init__( healthy_z_range=(1.0, 2.0), reset_noise_scale=1e-2, exclude_current_positions_from_observation=True, - **kwargs + include_cinert_from_observation=True, + include_cvel_from_observation=True, + include_qfrc_actuator_from_observation=True, + include_cfrc_ext_from_observation=True, + **kwargs, ): utils.EzPickle.__init__( self, @@ -244,6 +248,10 @@ def __init__( healthy_z_range, reset_noise_scale, exclude_current_positions_from_observation, + include_cinert_from_observation, + include_cvel_from_observation, + include_qfrc_actuator_from_observation, + include_cfrc_ext_from_observation, **kwargs ) @@ -259,6 +267,11 @@ def __init__( exclude_current_positions_from_observation ) + self._include_cinert_from_observation = include_cinert_from_observation + self._include_cvel_from_observation = include_cvel_from_observation + self._include_qfrc_actuator_from_observation = include_qfrc_actuator_from_observation + self._include_cfrc_ext_from_observation = include_cfrc_ext_from_observation + if exclude_current_positions_from_observation: observation_space = Box( low=-np.inf, high=np.inf, shape=(348,), dtype=np.float64 @@ -304,11 +317,29 @@ def _get_obs(self): position = self.data.qpos.flat.copy() velocity = self.data.qvel.flat.copy() - com_inertia = self.data.cinert[1:].flat.copy() - com_velocity = self.data.cvel[1:].flat.copy() + if self._include_cinert_from_observation is True: + com_inertia = self.data.cinert[1:].flat.copy() + else: + com_inertia = np.array([]) + if self._include_cvel_from_observation is True: + com_velocity = self.data.cvel[1:].flat.copy() + else: + com_velocity = np.array([]) + + if self._include_qfrc_actuator_from_observation is True: + actuator_forces = self.data.qfrc_actuator[6:].flat.copy() + else: + actuator_forces = np.array([]) + if self._include_cfrc_ext_from_observation is True: + external_contact_forces = self.data.cfrc_ext[1:].flat.copy() + else: + external_contact_forces = np.array([]) - actuator_forces = self.data.qfrc_actuator[6:].flat.copy() - external_contact_forces = self.data.cfrc_ext[1:].flat.copy() + # TODO remove after validation + assert (self.data.cinert[0].flat.copy == 0).all() + assert (self.data.cvel[0].flat.copy == 0).all() + assert (self.data.qfrc_actuator[:6].flat.copy == 0).all() + assert (self.data.cfrc_ext[0].flat.copy == 0).all() if self._exclude_current_positions_from_observation: position = position[2:] From 29ce9a89a767da61c0d1ae42e8651eec7934ac75 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sun, 14 May 2023 17:25:31 +0300 Subject: [PATCH 030/104] update reacher DOC --- gymnasium_robotics/envs/mujoco/reacher_v5.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 0a735dd8..86787cac 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -21,7 +21,6 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): | 1 | Torque applied at the second hinge (connecting the two links) | -1 | 1 | joint1 | hinge | torque (N m) | ## Observation Space - Observations consist of - The cosine of the angles of the two arms @@ -30,7 +29,7 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): - The angular velocities of the arms - The vector between the target and the reacher's fingertip (3 dimensional with the last element being 0) - The observation is a `ndarray` with shape `(11,)` where the elements correspond to the following: + The observation is a `Box(-Inf, Inf, (10,), float64)` where the elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | | --- | ---------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | @@ -38,13 +37,13 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): | 1 | cosine of the angle of the second arm | -Inf | Inf | cos(joint1) | hinge | unitless | | 2 | sine of the angle of the first arm | -Inf | Inf | sin(joint0) | hinge | unitless | | 3 | sine of the angle of the second arm | -Inf | Inf | sin(joint1) | hinge | unitless | - | 4 | x-coordinate of the target | -Inf | Inf | target_x | slide | position (m) | - | 5 | y-coordinate of the target | -Inf | Inf | target_y | slide | position (m) | + | 4 | x-coordinate of the target | -Inf | Inf | target_x | slide | position (m) | + | 5 | y-coordinate of the target | -Inf | Inf | target_y | slide | position (m) | | 6 | angular velocity of the first arm | -Inf | Inf | joint0 | hinge | angular velocity (rad/s) | | 7 | angular velocity of the second arm | -Inf | Inf | joint1 | hinge | angular velocity (rad/s) | | 8 | x-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | | 9 | y-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | - | 10 | z-value of position_fingertip - position_target (constantly 0 since reacher is 2d and z is same for both) | -Inf | Inf | NA | slide | position (m) | + | excluded | z-value of position_fingertip - position_target (constantly 0 since reacher is 2d and z is same for both) | -Inf | Inf | NA | slide | position (m) | Most Gym environments just return the positions and velocity of the @@ -178,6 +177,7 @@ def reset_model(self): def _get_obs(self): theta = self.data.qpos.flat[:2] + assert (self.get_body_com("fingertip") - self.get_body_com("target"))[2] == 0 # TODO remove after validation return np.concatenate( [ np.cos(theta), From 8978413013b7cc537960ad313cf09fe27a12124d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sun, 14 May 2023 17:29:41 +0300 Subject: [PATCH 031/104] update obs shape (humanoid) --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 13c4c1ba..97403932 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -272,14 +272,12 @@ def __init__( self._include_qfrc_actuator_from_observation = include_qfrc_actuator_from_observation self._include_cfrc_ext_from_observation = include_cfrc_ext_from_observation - if exclude_current_positions_from_observation: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(348,), dtype=np.float64 - ) - else: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(350,), dtype=np.float64 - ) + obs_shape = 348 + if not exclude_current_positions_from_observation: + obs_shape += 2 + observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 + ) MujocoEnv.__init__( self, From a857d9c4bc83361a6047e5636655b722085bc3d4 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sun, 14 May 2023 18:04:51 +0300 Subject: [PATCH 032/104] `Ant` cleanup and fix `info` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index cbe85871..86762547 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -82,6 +82,9 @@ class AntEnv(MujocoEnv, utils.EzPickle): | excluded | y-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | + Additionally, after all the positional and velocity based values in the table, + the observation contains: + - *cfrc_ext:* If version < `v4` or `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces (external forces - force x, y, z and torque x, y, z) applied to the center of mass of each of the body parts. The 14 body parts are: @@ -321,12 +324,15 @@ def step(self, action): rewards = forward_reward + healthy_reward costs = ctrl_cost = self.control_cost(action) + contact_cost = self.contact_cost + costs += contact_cost terminated = self.terminated observation = self._get_obs() info = { "reward_forward": forward_reward, "reward_ctrl": -ctrl_cost, + "reward_contact": -contact_cost, "reward_survive": healthy_reward, "x_position": xy_position_after[0], "y_position": xy_position_after[1], @@ -335,9 +341,6 @@ def step(self, action): "y_velocity": y_velocity, } # if self._use_contact_forces: - contact_cost = self.contact_cost - costs += contact_cost - info["reward_ctrl"] = -contact_cost reward = rewards - costs From 8ac23b09cc3c2d6773f8f396ccaa562b7a28e77d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sun, 14 May 2023 20:45:23 +0300 Subject: [PATCH 033/104] update `Ant` doc --- gymnasium_robotics/envs/mujoco/ant_v5.py | 32 ++++++++++++------------ 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 86762547..d132ce74 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -89,22 +89,22 @@ class AntEnv(MujocoEnv, utils.EzPickle): (external forces - force x, y, z and torque x, y, z) applied to the center of mass of each of the body parts. The 14 body parts are: - | id (for `v2`, `v3`, `v4)` | body parts | - | --- | ------------ | - | 0 | worldbody (note: forces are always full of zeros) | - | 1 | torso | - | 2 | front_left_leg | - | 3 | aux_1 (front left leg) | - | 4 | ankle_1 (front left leg) | - | 5 | front_right_leg | - | 6 | aux_2 (front right leg) | - | 7 | ankle_2 (front right leg) | - | 8 | back_leg (back left leg) | - | 9 | aux_3 (back left leg) | - | 10 | ankle_3 (back left leg) | - | 11 | right_back_leg | - | 12 | aux_4 (back right leg) | - | 13 | ankle_4 (back right leg) | + | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body parts | + | --- | --- | ------------ | + | 0 | excluded | worldbody (note: forces are always full of zeros) | + | 1 | 0 | torso | + | 2 | 1 | front_left_leg | + | 3 | 2 | aux_1 (front left leg) | + | 4 | 3 | ankle_1 (front left leg) | + | 5 | 4 | front_right_leg | + | 6 | 5 | aux_2 (front right leg) | + | 7 | 6 | ankle_2 (front right leg) | + | 8 | 7 | back_leg (back left leg) | + | 9 | 8 | aux_3 (back left leg) | + | 10 | 9 | ankle_3 (back left leg) | + | 11 | 10 | right_back_leg | + | 12 | 11 | aux_4 (back right leg) | + | 13 | 12 | ankle_4 (back right leg) | The (x,y,z) coordinates are translational DOFs while the orientations are rotational From 567d0fe710cae772e0fa1bac008f6cc1ade44aa7 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 15 May 2023 09:54:45 +0300 Subject: [PATCH 034/104] re-add to humanoid `contact_cost` --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 97403932..71b194e1 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -227,6 +227,8 @@ def __init__( xml_file="humanoid.xml", forward_reward_weight=1.25, ctrl_cost_weight=0.1, + contact_cost_weight=5e-7, + contact_cost_range=(-np.inf, 10.0), healthy_reward=5.0, terminate_when_unhealthy=True, healthy_z_range=(1.0, 2.0), @@ -257,6 +259,8 @@ def __init__( self._forward_reward_weight = forward_reward_weight self._ctrl_cost_weight = ctrl_cost_weight + self._contact_cost_weight = contact_cost_weight + self._contact_cost_range = contact_cost_range self._healthy_reward = healthy_reward self._terminate_when_unhealthy = terminate_when_unhealthy self._healthy_z_range = healthy_z_range @@ -273,6 +277,7 @@ def __init__( self._include_cfrc_ext_from_observation = include_cfrc_ext_from_observation obs_shape = 348 + # TODO update for v5 shape if not exclude_current_positions_from_observation: obs_shape += 2 observation_space = Box( @@ -299,6 +304,14 @@ def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(self.data.ctrl)) return control_cost + @property + def contact_cost(self): + contact_forces = self.sim.data.cfrc_ext + contact_cost = self._contact_cost_weight * np.sum(np.square(contact_forces)) + min_cost, max_cost = self._contact_cost_range + contact_cost = np.clip(contact_cost, min_cost, max_cost) + return contact_cost + @property def is_healthy(self): min_z, max_z = self._healthy_z_range @@ -362,6 +375,8 @@ def step(self, action): x_velocity, y_velocity = xy_velocity ctrl_cost = self.control_cost(action) + contact_cost = self.contact_cost + costs = ctrl_cost + contact_cost forward_reward = self._forward_reward_weight * x_velocity healthy_reward = self.healthy_reward @@ -369,12 +384,13 @@ def step(self, action): rewards = forward_reward + healthy_reward observation = self._get_obs() - reward = rewards - ctrl_cost + reward = rewards - costs terminated = self.terminated info = { "reward_survive": healthy_reward, "reward_forward": forward_reward, "reward_ctrl": -ctrl_cost, + "reward_contact": -contact_cost, "x_position": xy_position_after[0], "y_position": xy_position_after[1], "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), From cb1c32dbbe58f60bf419623b80d66e76a6663ed1 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 15 May 2023 10:05:44 +0300 Subject: [PATCH 035/104] fix obs shape --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 71b194e1..a067a0f5 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -276,10 +276,13 @@ def __init__( self._include_qfrc_actuator_from_observation = include_qfrc_actuator_from_observation self._include_cfrc_ext_from_observation = include_cfrc_ext_from_observation - obs_shape = 348 - # TODO update for v5 shape - if not exclude_current_positions_from_observation: - obs_shape += 2 + obs_shape = 45 + obs_shape += 130 * self._include_cinert_from_observation + obs_shape += 78 * self._include_cvel_from_observation + obs_shape += 17 * self._include_qfrc_actuator_from_observation + obs_shape += 78 * self._include_cfrc_ext_from_observation_from_observation + obs_shape += 2 * (not self._exclude_current_positions_from_observation) + observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 ) From 081236bfe64224d214aee1dfe1f986e828c3b92e Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 15 May 2023 10:47:42 +0300 Subject: [PATCH 036/104] inv_double_pend update doc --- .../envs/mujoco/inverted_double_pendulum_v5.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 22cae563..9aee9272 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -38,7 +38,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. - The observation is a `ndarray` with shape `(10,)` where the elements correspond to the following: + The observation is a `ndarray` with shape `(9,)` where the elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | | --- | ----------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | @@ -50,9 +50,9 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): | 5 | velocity of the cart | -Inf | Inf | slider | slide | velocity (m/s) | | 6 | angular velocity of the angle between the cart and the first pole | -Inf | Inf | hinge | hinge | angular velocity (rad/s) | | 7 | angular velocity of the angle between the two poles | -Inf | Inf | hinge2 | hinge | angular velocity (rad/s) | - | 8 | constraint force - x | -Inf | Inf | slider | slide | Force (N) | - | 9 | constraint force - y | -Inf | Inf | slider | slide | Force (N) | - | excluded | constraint force - z | -Inf | Inf | slider | slide | Force (N) | + | 8 | constraint force | -Inf | Inf | slider | slide | Force (N) | + | excluded | constraint force | -Inf | Inf | hinge | slide | Force (N) | + | excluded | constraint force | -Inf | Inf | hinge2 | slide | Force (N) | There is physical contact between the robots and their environment - and Mujoco @@ -110,6 +110,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): ``` ## Version History + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward_survive" being 10 on every step (even on terminal steps). Removed "constraint force" of the hinges from the observation space. Added `info` "reward_survive", "distance_penalty", "velocity_penalty". * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) * v2: All continuous control environments now use mujoco-py >= 1.50 @@ -127,7 +128,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): } def __init__(self, **kwargs): - observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) + observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) MujocoEnv.__init__( self, "inverted_double_pendulum.xml", @@ -165,6 +166,7 @@ def step(self, action): def _get_obs(self): assert self.data.qfrc_constraint[2] == 0 # TODO remove after validation + assert self.data.qfrc_constraint[1] == 0 # TODO remove after validation return np.concatenate( [ self.data.qpos[:1], # cart x pos From 22a35ce76570afddf54766309b3b255f0c264914 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 15:43:33 +0300 Subject: [PATCH 037/104] Ant doc update --- gymnasium_robotics/envs/mujoco/ant_v5.py | 42 ++++++++++++------------ 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index d132ce74..e5f96e11 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -82,30 +82,30 @@ class AntEnv(MujocoEnv, utils.EzPickle): | excluded | y-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | - Additionally, after all the positional and velocity based values in the table, - the observation contains: - - *cfrc_ext:* - If version < `v4` or `use_contact_forces` is `True` then the observation space is extended by 14*6 = 84 elements, which are contact forces + Additionally, after all the positional and velocity based values in the table, the observation contains: + - *cfrc_ext:* 13*6 = 78 elements, which are contact forces (external forces - force x, y, z and torque x, y, z) applied to the - center of mass of each of the body parts. The 14 body parts are: + center of mass of each of the body parts. + The 13 body parts are: | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body parts | - | --- | --- | ------------ | - | 0 | excluded | worldbody (note: forces are always full of zeros) | - | 1 | 0 | torso | - | 2 | 1 | front_left_leg | - | 3 | 2 | aux_1 (front left leg) | - | 4 | 3 | ankle_1 (front left leg) | - | 5 | 4 | front_right_leg | - | 6 | 5 | aux_2 (front right leg) | - | 7 | 6 | ankle_2 (front right leg) | - | 8 | 7 | back_leg (back left leg) | - | 9 | 8 | aux_3 (back left leg) | - | 10 | 9 | ankle_3 (back left leg) | - | 11 | 10 | right_back_leg | - | 12 | 11 | aux_4 (back right leg) | - | 13 | 12 | ankle_4 (back right leg) | - + | ---| --- | ------------ | + | 0 |excluded| worldbody (note: forces are always full of zeros) | + | 1 |0 | torso | + | 2 |1 | front_left_leg | + | 3 |2 | aux_1 (front left leg) | + | 4 |3 | ankle_1 (front left leg) | + | 5 |4 | front_right_leg | + | 6 |5 | aux_2 (front right leg) | + | 7 |6 | ankle_2 (front right leg) | + | 8 |7 | back_leg (back left leg) | + | 9 |8 | aux_3 (back left leg) | + | 10 |9 | ankle_3 (back left leg) | + | 11 |10 | right_back_leg | + | 12 |11 | aux_4 (back right leg) | + | 13 |12 | ankle_4 (back right leg) | + + ###If version < `v4` or `use_contact_forces` is `True` then the observation space is extended by The (x,y,z) coordinates are translational DOFs while the orientations are rotational DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). From 361cb0fb111ab49da170bfba9d4c65364b38b19b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 15:45:14 +0300 Subject: [PATCH 038/104] reacher add changelogg --- gymnasium_robotics/envs/mujoco/reacher_v5.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 86787cac..bc6b3172 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -90,14 +90,12 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): is set. The default setting has a framerate of 2 and a *dt = 2 * 0.01 = 0.02* ## Episode End - The episode ends when any of the following happens: 1. Truncation: The episode duration reaches a 50 timesteps (with a new random target popping up if the reacher's fingertip reaches it before 50 timesteps) 2. Termination: Any of the state space values is no longer finite. ## Arguments - No additional arguments are currently supported (in v2 and lower), but modifications can be made to the XML file in the assets folder (or by changing the path to a modified XML file in another folder).. @@ -111,7 +109,7 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ## Version History - + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Remove "z - position_fingertip" from the observation space. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 * v2: All continuous control environments now use mujoco-py >= 1.50 * v1: max_time_steps raised to 1000 for robot based tasks (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments. From ac7a0a2e224b4131928af58b1d4b260a1e584dd6 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 16:06:05 +0300 Subject: [PATCH 039/104] `xml_file` doc fix for hopper and walker --- gymnasium_robotics/envs/mujoco/hopper_v5.py | 4 ++-- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 0016f198..a6941a62 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -118,7 +118,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default | Description | | -------------------------------------------- | --------- | --------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"hopper.xml"` | Path to a MuJoCo model | + | `xml_file` | **str** | `"hopper_v5.xml"` | Path to a MuJoCo model | | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `0.001` | Weight for _ctrl_cost_ reward (see section on reward) | | `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | @@ -149,7 +149,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): def __init__( self, - xml_file="hopper-v5.xml", + xml_file="hopper_v5.xml", forward_reward_weight=1.0, ctrl_cost_weight=1e-3, healthy_reward=1.0, diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index f7de2369..415d6e91 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -123,7 +123,7 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default | Description | | -------------------------------------------- | --------- | ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"walker2d.xml"` | Path to a MuJoCo model | + | `xml_file` | **str** |`"walker2d_v5.xml"`| Path to a MuJoCo model | | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctr_cost_ term (see section on reward) | | `healthy_reward` | **float** | `1.0` | Constant reward given if the ant is "healthy" after timestep | From 0bb5798f87e6ac3d83f59266d4d5679ff24fd0b2 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 16:06:37 +0300 Subject: [PATCH 040/104] update humanoid doc --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 84 +++++++++++++++---- 1 file changed, 68 insertions(+), 16 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index a067a0f5..e020f654 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -24,7 +24,7 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): This environment is based on the environment introduced by Tassa, Erez and Todorov in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). The 3D bipedal robot is designed to simulate a human. It has a torso (abdomen) with a pair of - legs and arms. The legs each consist of two links, and so the arms (representing the knees and + legs and arms. The legs each consist of three body parts, and the arms 2 body parts (representing the knees and elbows respectively). The goal of the environment is to walk forward as fast as possible without falling over. ## Action Space @@ -42,28 +42,27 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | 7 | Torque applied on the rotor between torso/abdomen and the left hip (x-coordinate) | -0.4 | 0.4 | left_hip_x (left_thigh) | hinge | torque (N m) | | 8 | Torque applied on the rotor between torso/abdomen and the left hip (z-coordinate) | -0.4 | 0.4 | left_hip_z (left_thigh) | hinge | torque (N m) | | 9 | Torque applied on the rotor between torso/abdomen and the left hip (y-coordinate) | -0.4 | 0.4 | left_hip_y (left_thigh) | hinge | torque (N m) | - | 10 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | - | 11 | Torque applied on the rotor between the torso and right upper arm (coordinate -1) | -0.4 | 0.4 | right_shoulder1 | hinge | torque (N m) | - | 12 | Torque applied on the rotor between the torso and right upper arm (coordinate -2) | -0.4 | 0.4 | right_shoulder2 | hinge | torque (N m) | - | 13 | Torque applied on the rotor between the right upper arm and right lower arm | -0.4 | 0.4 | right_elbow | hinge | torque (N m) | - | 14 | Torque applied on the rotor between the torso and left upper arm (coordinate -1) | -0.4 | 0.4 | left_shoulder1 | hinge | torque (N m) | - | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | - | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | + | 10 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | + | 11 | Torque applied on the rotor between the torso and right upper arm (coordinate -1) | -0.4 | 0.4 | right_shoulder1 | hinge | torque (N m) | + | 12 | Torque applied on the rotor between the torso and right upper arm (coordinate -2) | -0.4 | 0.4 | right_shoulder2 | hinge | torque (N m) | + | 13 | Torque applied on the rotor between the right upper arm and right lower arm | -0.4 | 0.4 | right_elbow | hinge | torque (N m) | + | 14 | Torque applied on the rotor between the torso and left upper arm (coordinate -1) | -0.4 | 0.4 | left_shoulder1 | hinge | torque (N m) | + | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | + | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | ## Observation Space - Observations consist of positional values of different body parts of the Humanoid, - followed by the velocities of those individual parts (their derivatives) with all the - positions ordered before all the velocities. + followed by the velocities of those individual parts (their derivatives) with all the + positions ordered before all the velocities. By default, observations do not include the x- and y-coordinates of the torso. These may be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will have 378 dimensions where the first two dimensions + In that case, the observation space will be a `Box(-Inf, Inf, (378,), float64)` where the first two observations represent the x- and y-coordinates of the torso. Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - However, by default, the observation is a `ndarray` with shape `(376,)` where the elements correspond to the following: + However, by default, the observation is a `Box(-Inf, Inf, (376,), float64)`. The elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | @@ -77,7 +76,7 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) | | 8 | x-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | angle (rad) | | 9 | z-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | angle (rad) | - | 19 | y-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | angle (rad) | + | 10 | y-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | angle (rad) | | 11 | angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | angle (rad) | | 12 | x-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | angle (rad) | | 13 | z-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | angle (rad) | @@ -111,7 +110,9 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | 41 | angular velocity of the angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | anglular velocity (rad/s) | | 42 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | anglular velocity (rad/s) | | 43 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | anglular velocity (rad/s) | - | 44 | angular velocitty of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | + | 44 | angular velocity of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | + | excluded | x-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | + | excluded | y-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | Additionally, after all the positional and velocity based values in the table, the observation contains (in order): @@ -127,6 +128,53 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): where *nbody* stands for the number of bodies in the robot and *nv* stands for the number of degrees of freedom (*= dim(qvel)*) + The body parts are: + + | id (for `v2`,`v3`,`v4`) | body part | + | --- | ------------ | + | 0 | worldBody (note: all values are constant 0) | + | 1 | torso | + | 2 | lwaist | + | 3 | pelvis | + | 4 | right_thigh | + | 5 | right_sin | + | 6 | right_foot | + | 7 | left_thigh | + | 8 | left_sin | + | 9 | left_foot | + | 10 | right_upper_arm | + | 11 | right_lower_arm | + | 12 | left_upper_arm | + | 13 | left_lower_arm | + + The joints are: + + | id (for `v2`,`v3`,`v4`) | joint | + | --- | ------------ | + | 0 | root | + | 1 | root | + | 2 | root | + | 3 | root | + | 4 | root | + | 5 | root | + | 6 | abdomen_z | + | 7 | abdomen_y | + | 8 | abdomen_x | + | 9 | right_hip_x | + | 10 | right_hip_z | + | 11 | right_hip_y | + | 12 | right_knee | + | 13 | left_hip_x | + | 14 | left_hiz_z | + | 15 | left_hip_y | + | 16 | left_knee | + | 17 | right_shoulder1 | + | 18 | right_shoulder2 | + | 19 | right_elbow| + | 20 | left_shoulder1 | + | 21 | left_shoulder2 | + | 22 | left_elfbow | + The (x,y,z) coordinates are translational DOFs while the orientations are rotational DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). @@ -177,7 +225,6 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. ```python @@ -198,11 +245,16 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | `forward_reward_weight` | **float** | `1.25` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ term (see section on reward) | | `contact_cost_weight` | **float** | `5e-7` | Weight for _contact_cost_ term (see section on reward) | + | `contact_cost_range` | **float** | `(-np.inf, 10.0) | | | `healthy_reward` | **float** | `5.0` | Constant reward given if the humanoid is "healthy" after timestep | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | | `healthy_z_range` | **tuple** | `(1.0, 2.0)` | The humanoid is considered healthy if the z-coordinate of the torso is in this range | | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + | `include_cinert_from_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations.| + | `include_cvel_from_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | + | `include_qfrc_actuator_from_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | + | `include_cfrc_ext_from_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | ## Version History From eade7e2860f600a498be548ed21590a12f84b993 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 16:12:05 +0300 Subject: [PATCH 041/104] Ant obs doc fix --- gymnasium_robotics/envs/mujoco/ant_v5.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index e5f96e11..0e06ae69 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -42,12 +42,12 @@ class AntEnv(MujocoEnv, utils.EzPickle): By default, observations do not include the x- and y-coordinates of the ant's torso. These may be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be a `Box(-Inf, Inf, (29,), float64)` where the first two observations + In that case, the observation space will be a `Box(-Inf, Inf, (107,), float64)` where the first two observations represent the x- and y- coordinates of the ant's torso. Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates of the torso will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - However, by default, observation Space is a `Box(-Inf, Inf, (27,), float64)` where the elements correspond to the following: + However, by default, observation Space is a `Box(-Inf, Inf, (105,), float64)` where the elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | |-----|--------------------------------------------------------------|--------|--------|----------------------------------------|-------|--------------------------| From ed32b61db70920b3a0abfcceff1b25d0436ea09b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 16:16:23 +0300 Subject: [PATCH 042/104] add `__credits__` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 2 +- gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/pusher_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/reacher_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/swimmer_v5.py | 2 +- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 2 ++ 10 files changed, 18 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 0e06ae69..681ede21 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index ec5720e5..eac891d8 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -1,4 +1,4 @@ -__credits__ = ["Rushiv Arora"] +__credits__ = ["Kallinteris-Andreas", "Rushiv Arora"] import numpy as np from gymnasium import utils diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index a6941a62..02e30669 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index e020f654..c0e7fc35 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 9aee9272..3e699c55 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index e86d5277..35574a4a 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index 9591279e..c4d2a7c5 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index bc6b3172..4652b8b0 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 5cf3c289..49abd58c 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -1,4 +1,4 @@ -__credits__ = ["Rushiv Arora"] +__credits__ = ["Kallinteris-Andreas", "Rushiv Arora"] import numpy as np from gymnasium import utils diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 415d6e91..fc32f707 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv From 177e321a8dfd668da71c642b62bbaacd887333be Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 16:30:46 +0300 Subject: [PATCH 043/104] `pre-commit` --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 8 +++++--- gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py | 2 -- gymnasium_robotics/envs/mujoco/reacher_v5.py | 4 +++- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index c0e7fc35..a42c710f 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -308,7 +308,7 @@ def __init__( include_cvel_from_observation, include_qfrc_actuator_from_observation, include_cfrc_ext_from_observation, - **kwargs + **kwargs, ) self._forward_reward_weight = forward_reward_weight @@ -327,7 +327,9 @@ def __init__( self._include_cinert_from_observation = include_cinert_from_observation self._include_cvel_from_observation = include_cvel_from_observation - self._include_qfrc_actuator_from_observation = include_qfrc_actuator_from_observation + self._include_qfrc_actuator_from_observation = ( + include_qfrc_actuator_from_observation + ) self._include_cfrc_ext_from_observation = include_cfrc_ext_from_observation obs_shape = 45 @@ -347,7 +349,7 @@ def __init__( 5, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, - **kwargs + **kwargs, ) @property diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index 35574a4a..a66f6297 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -1,12 +1,10 @@ __credits__ = ["Kallinteris-Andreas"] import numpy as np - from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv from gymnasium.spaces import Box - DEFAULT_CAMERA_CONFIG = { "trackbodyid": 0, "distance": 2.04, diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 4652b8b0..081a0977 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -177,7 +177,9 @@ def reset_model(self): def _get_obs(self): theta = self.data.qpos.flat[:2] - assert (self.get_body_com("fingertip") - self.get_body_com("target"))[2] == 0 # TODO remove after validation + assert (self.get_body_com("fingertip") - self.get_body_com("target"))[ + 2 + ] == 0 # TODO remove after validation return np.concatenate( [ np.cos(theta), From c57b0dc6005db03e191e94beac61f23cb0314a76 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 17 May 2023 19:56:22 +0300 Subject: [PATCH 044/104] doc update --- gymnasium_robotics/envs/mujoco/ant_v5.py | 1 - gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 2 +- gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py | 1 + gymnasium_robotics/envs/mujoco/pusher_v5.py | 3 --- 4 files changed, 2 insertions(+), 5 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 681ede21..30de978b 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -165,7 +165,6 @@ class AntEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. ```python diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index eac891d8..2b21a78a 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -85,7 +85,7 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): sum(action2)* where *`ctrl_cost_weight`* is a parameter set for the control and has a default value of 0.1 - The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost* and `info` will also contain the individual reward terms + The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost* and `info` will also contain the individual reward terms. ## Starting State All observations start in state (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 3e699c55..844d2e74 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -82,6 +82,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): fast *0.001 * v12 + 0.005 * v2 2* The total reward returned is ***reward*** *=* *alive_bonus - distance_penalty - velocity_penalty* + and `info` will also contain the individual reward terms. ## Starting State All observations start in state diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index c4d2a7c5..225ea27c 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -32,7 +32,6 @@ class PusherEnv(MujocoEnv, utils.EzPickle): | 6 | Rotation of rolling the wrist | -2 | 2 | r_wrist_roll_joint | hinge | torque (N m) | ## Observation Space - Observations consist of - Angle of rotational joints on the pusher @@ -106,14 +105,12 @@ class PusherEnv(MujocoEnv, utils.EzPickle): The default framerate is 5 with each frame lasting for 0.01, giving rise to a *dt = 5 * 0.01 = 0.05* ## Episode End - The episode ends when any of the following happens: 1. Truncation: The episode duration reaches a 100 timesteps. 2. Termination: Any of the state space values is no longer finite. ## Arguments - No additional arguments are currently supported (in v2 and lower), but modifications can be made to the XML file in the assets folder (or by changing the path to a modified XML file in another folder).. From 404481253fea69f1e67a14d39301a8365cc270b5 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 18 May 2023 11:34:51 +0300 Subject: [PATCH 045/104] doc args cleanup --- gymnasium_robotics/envs/mujoco/ant_v5.py | 11 ++--------- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 12 ++---------- gymnasium_robotics/envs/mujoco/hopper_v5.py | 11 ++--------- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 11 ++--------- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 12 ++---------- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 11 ++--------- 6 files changed, 12 insertions(+), 56 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 30de978b..05bdfb48 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -165,18 +165,11 @@ class AntEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. + `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('Ant-v2') - ``` - - v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Ant-v4', ctrl_cost_weight=0.1, ...) + env = gym.make('Ant-v5', ctrl_cost_weight=0.1, ...) ``` | Parameter | Type | Default |Description | diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 2b21a78a..f8f2e431 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -100,19 +100,11 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): The episode truncates when the episode length is greater than 1000. ## Arguments - - No additional arguments are currently supported in v2 and lower. - - ```python - import gymnasium as gym - env = gym.make('HalfCheetah-v2') - ``` - - v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('HalfCheetah-v4', ctrl_cost_weight=0.1, ....) + env = gym.make('HalfCheetah-v5', ctrl_cost_weight=0.1, ....) ``` | Parameter | Type | Default | Description | diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 02e30669..6e92c61e 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -104,18 +104,11 @@ class HopperEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. + `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('Hopper-v2') - ``` - - v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Hopper-v4', ctrl_cost_weight=0.1, ....) + env = gym.make('Hopper-v5', ctrl_cost_weight=0.1, ....) ``` | Parameter | Type | Default | Description | diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index a42c710f..373ccb17 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -227,18 +227,11 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. + `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('Humanoid-v4') - ``` - - v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Humanoid-v4', ctrl_cost_weight=0.1, ....) + env = gym.make('Humanoid-v5', ctrl_cost_weight=0.1, ....) ``` | Parameter | Type | Default | Description | diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 49abd58c..d4bd1f0a 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -91,19 +91,11 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): The episode truncates when the episode length is greater than 1000. ## Arguments - - No additional arguments are currently supported in v2 and lower. - - ```python - import gymnasium as gym - gym.make('Swimmer-v4') - ``` - - v3 and v4 take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('Swimmer-v4', ctrl_cost_weight=0.1, ....) + env = gym.make('Swimmer-v5', ctrl_cost_weight=0.1, ....) ``` | Parameter | Type | Default | Description | diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index fc32f707..5b9ac187 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -109,18 +109,11 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments - No additional arguments are currently supported in v2 and lower. + `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('Walker2d-v4') - ``` - - v3 and beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Walker2d-v4', ctrl_cost_weight=0.1, ....) + env = gym.make('Walker2d-v5', ctrl_cost_weight=0.1, ....) ``` | Parameter | Type | Default | Description | From 5ccaca81e31109608279cf7cd75c113ae5f9590f Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 18 May 2023 14:01:36 +0300 Subject: [PATCH 046/104] fix pusher changelogs --- gymnasium_robotics/envs/mujoco/pusher_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index 225ea27c..f9bc9883 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -132,7 +132,7 @@ class PusherEnv(MujocoEnv, utils.EzPickle): * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. "reward_near" is added to the `info`. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. * v2: All continuous control environments now use mujoco-py >= 1.50. - * v1: max_time_steps raised to 1000 for robot based tasks (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments. + * v1: max_time_steps raised to 1000 for robot based tasks (not including pusher, which has a max_time_steps of 100). Added reward_threshold to environments. * v0: Initial versions release (1.0.0). """ From 18bada33331e496c1649a4db677423d5e1c3019b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 18 May 2023 14:01:58 +0300 Subject: [PATCH 047/104] `reacher` & `pusher` add xml_file argument --- gymnasium_robotics/envs/mujoco/pusher_v5.py | 10 +++++++--- gymnasium_robotics/envs/mujoco/reacher_v5.py | 10 +++++++--- 2 files changed, 14 insertions(+), 6 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index f9bc9883..e0fe7177 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -129,7 +129,7 @@ class PusherEnv(MujocoEnv, utils.EzPickle): ``` ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. "reward_near" is added to the `info`. + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. "reward_near" is added to the `info`. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. * v2: All continuous control environments now use mujoco-py >= 1.50. * v1: max_time_steps raised to 1000 for robot based tasks (not including pusher, which has a max_time_steps of 100). Added reward_threshold to environments. @@ -145,12 +145,16 @@ class PusherEnv(MujocoEnv, utils.EzPickle): "render_fps": 20, } - def __init__(self, **kwargs): + def __init__( + self, + xml_file="pusher.xml", + **kwargs, + ): utils.EzPickle.__init__(self, **kwargs) observation_space = Box(low=-np.inf, high=np.inf, shape=(23,), dtype=np.float64) MujocoEnv.__init__( self, - "pusher.xml", + xml_file, 5, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 081a0977..5a2afdc5 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -111,7 +111,7 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Remove "z - position_fingertip" from the observation space. + * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. Remove "z - position_fingertip" from the observation space. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 * v2: All continuous control environments now use mujoco-py >= 1.50 * v1: max_time_steps raised to 1000 for robot based tasks (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments. @@ -127,12 +127,16 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): "render_fps": 50, } - def __init__(self, **kwargs): + def __init__( + self, + xml_file="reacher.xml", + **kwargs, + ): utils.EzPickle.__init__(self, **kwargs) observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) MujocoEnv.__init__( self, - "reacher.xml", + xml_file, 2, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, From 711a9ca92d02d8603973321277a873abf2dec801 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 18 May 2023 18:20:38 +0300 Subject: [PATCH 048/104] fix typos in `humanoid` --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 373ccb17..fae59d60 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -329,7 +329,7 @@ def __init__( obs_shape += 130 * self._include_cinert_from_observation obs_shape += 78 * self._include_cvel_from_observation obs_shape += 17 * self._include_qfrc_actuator_from_observation - obs_shape += 78 * self._include_cfrc_ext_from_observation_from_observation + obs_shape += 78 * self._include_cfrc_ext_from_observation obs_shape += 2 * (not self._exclude_current_positions_from_observation) observation_space = Box( @@ -358,7 +358,7 @@ def control_cost(self, action): @property def contact_cost(self): - contact_forces = self.sim.data.cfrc_ext + contact_forces = self.data.cfrc_ext contact_cost = self._contact_cost_weight * np.sum(np.square(contact_forces)) min_cost, max_cost = self._contact_cost_range contact_cost = np.clip(contact_cost, min_cost, max_cost) From 6e99ff3eedd4a66a839bb7a711cb0c3737084b22 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 19 May 2023 14:38:23 +0300 Subject: [PATCH 049/104] rename obs args --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 70 +++++++++---------- 1 file changed, 35 insertions(+), 35 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index fae59d60..edde993a 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -246,10 +246,10 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | `healthy_z_range` | **tuple** | `(1.0, 2.0)` | The humanoid is considered healthy if the z-coordinate of the torso is in this range | | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - | `include_cinert_from_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations.| - | `include_cvel_from_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | - | `include_qfrc_actuator_from_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | - | `include_cfrc_ext_from_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | + | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations.| + | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | + | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | + | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | ## Version History @@ -280,11 +280,11 @@ def __init__( terminate_when_unhealthy=True, healthy_z_range=(1.0, 2.0), reset_noise_scale=1e-2, - exclude_current_positions_from_observation=True, - include_cinert_from_observation=True, - include_cvel_from_observation=True, - include_qfrc_actuator_from_observation=True, - include_cfrc_ext_from_observation=True, + exclude_current_positions_in_observation=True, + include_cinert_in_observation=True, + include_cvel_in_observation=True, + include_qfrc_actuator_in_observation=True, + include_cfrc_ext_in_observation=True, **kwargs, ): utils.EzPickle.__init__( @@ -296,11 +296,11 @@ def __init__( terminate_when_unhealthy, healthy_z_range, reset_noise_scale, - exclude_current_positions_from_observation, - include_cinert_from_observation, - include_cvel_from_observation, - include_qfrc_actuator_from_observation, - include_cfrc_ext_from_observation, + exclude_current_positions_in_observation, + include_cinert_in_observation, + include_cvel_in_observation, + include_qfrc_actuator_in_observation, + include_cfrc_ext_in_observation, **kwargs, ) @@ -314,23 +314,23 @@ def __init__( self._reset_noise_scale = reset_noise_scale - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation + self._exclude_current_positions_in_observation = ( + exclude_current_positions_in_observation ) - self._include_cinert_from_observation = include_cinert_from_observation - self._include_cvel_from_observation = include_cvel_from_observation - self._include_qfrc_actuator_from_observation = ( - include_qfrc_actuator_from_observation + self._include_cinert_in_observation = include_cinert_in_observation + self._include_cvel_in_observation = include_cvel_in_observation + self._include_qfrc_actuator_in_observation = ( + include_qfrc_actuator_in_observation ) - self._include_cfrc_ext_from_observation = include_cfrc_ext_from_observation + self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation obs_shape = 45 - obs_shape += 130 * self._include_cinert_from_observation - obs_shape += 78 * self._include_cvel_from_observation - obs_shape += 17 * self._include_qfrc_actuator_from_observation - obs_shape += 78 * self._include_cfrc_ext_from_observation - obs_shape += 2 * (not self._exclude_current_positions_from_observation) + obs_shape += 130 * self._include_cinert_in_observation + obs_shape += 78 * self._include_cvel_in_observation + obs_shape += 17 * self._include_qfrc_actuator_in_observation + obs_shape += 78 * self._include_cfrc_ext_in_observation + obs_shape += 2 * (not self._exclude_current_positions_in_observation) observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 @@ -380,31 +380,31 @@ def _get_obs(self): position = self.data.qpos.flat.copy() velocity = self.data.qvel.flat.copy() - if self._include_cinert_from_observation is True: + if self._include_cinert_in_observation is True: com_inertia = self.data.cinert[1:].flat.copy() else: com_inertia = np.array([]) - if self._include_cvel_from_observation is True: + if self._include_cvel_in_observation is True: com_velocity = self.data.cvel[1:].flat.copy() else: com_velocity = np.array([]) - if self._include_qfrc_actuator_from_observation is True: + if self._include_qfrc_actuator_in_observation is True: actuator_forces = self.data.qfrc_actuator[6:].flat.copy() else: actuator_forces = np.array([]) - if self._include_cfrc_ext_from_observation is True: + if self._include_cfrc_ext_in_observation is True: external_contact_forces = self.data.cfrc_ext[1:].flat.copy() else: external_contact_forces = np.array([]) # TODO remove after validation - assert (self.data.cinert[0].flat.copy == 0).all() - assert (self.data.cvel[0].flat.copy == 0).all() - assert (self.data.qfrc_actuator[:6].flat.copy == 0).all() - assert (self.data.cfrc_ext[0].flat.copy == 0).all() + assert (self.data.cinert[0].flat.copy() == 0).all() + assert (self.data.cvel[0].flat.copy() == 0).all() + assert (self.data.qfrc_actuator[:6].flat.copy() == 0).all() + assert (self.data.cfrc_ext[0].flat.copy() == 0).all() - if self._exclude_current_positions_from_observation: + if self._exclude_current_positions_in_observation: position = position[2:] return np.concatenate( From caa8fe966724d1b731e1a1619bba1d0c6673adc2 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 19 May 2023 15:36:12 +0300 Subject: [PATCH 050/104] ant add `include_cfrc_ext_in_observation` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 26 +++++++++--------------- 1 file changed, 10 insertions(+), 16 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 05bdfb48..88752087 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -107,8 +107,6 @@ class AntEnv(MujocoEnv, utils.EzPickle): | 12 |11 | aux_4 (back right leg) | | 13 |12 | ankle_4 (back right leg) | - ###If version < `v4` or `use_contact_forces` is `True` then the observation space is extended by - The (x,y,z) coordinates are translational DOFs while the orientations are rotational DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). @@ -134,11 +132,11 @@ class AntEnv(MujocoEnv, utils.EzPickle): force is too large. It is calculated *`contact_cost_weight` * sum(clip(external contact force to `contact_force_range`)2)*. - The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*. - - But if `use_contact_forces=True` or version < `v4` The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost*. + But if `use_contact_forces=false` on `v4` + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*. + In either case `info` will also contain the individual reward terms. ## Starting State @@ -176,7 +174,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): |-------------------------|------------|--------------|-------------------------------| | `xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model | | `ctrl_cost_weight` | **float** | `0.5` | Weight for *ctrl_cost* term (see section on reward) | - | `use_contact_forces` | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | + | `use_contact_forces` (`v4` only) | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | | `contact_cost_weight` | **float** | `5e-4` | Weight for *contact_cost* term (see section on reward) | | `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | | `terminate_when_unhealthy` | **bool**| `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | @@ -206,7 +204,6 @@ def __init__( self, xml_file="ant.xml", ctrl_cost_weight=0.5, - use_contact_forces=True, contact_cost_weight=5e-4, healthy_reward=1.0, terminate_when_unhealthy=True, @@ -214,13 +211,13 @@ def __init__( contact_force_range=(-1.0, 1.0), reset_noise_scale=0.1, exclude_current_positions_from_observation=True, + include_cfrc_ext_in_observation=True, **kwargs ): utils.EzPickle.__init__( self, xml_file, ctrl_cost_weight, - use_contact_forces, contact_cost_weight, healthy_reward, terminate_when_unhealthy, @@ -228,6 +225,7 @@ def __init__( contact_force_range, reset_noise_scale, exclude_current_positions_from_observation, + include_cfrc_ext_in_observation, **kwargs ) @@ -242,17 +240,14 @@ def __init__( self._reset_noise_scale = reset_noise_scale - self._use_contact_forces = use_contact_forces - self._exclude_current_positions_from_observation = ( exclude_current_positions_from_observation ) + self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation obs_shape = 27 - if not exclude_current_positions_from_observation: - obs_shape += 2 - if use_contact_forces: - obs_shape += 78 + obs_shape += 78 * self._include_cfrc_ext_in_observation + obs_shape += 2 * (not self._exclude_current_positions_in_observation) observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 @@ -334,7 +329,6 @@ def step(self, action): "x_velocity": x_velocity, "y_velocity": y_velocity, } - # if self._use_contact_forces: reward = rewards - costs @@ -349,7 +343,7 @@ def _get_obs(self): if self._exclude_current_positions_from_observation: position = position[2:] - if self._use_contact_forces: + if self._include_cfrc_ext_in_observation: assert ( self.contact_forces[0].flat.copy() == 0 ).all() # TODO remove after validation From e9d8ba6e3542188e6e26a63ccfa5482a1f9d7218 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 19 May 2023 18:18:20 +0300 Subject: [PATCH 051/104] register new envs --- gymnasium_robotics/__init__.py | 294 +++++++++++++++++++++++++++++++++ 1 file changed, 294 insertions(+) diff --git a/gymnasium_robotics/__init__.py b/gymnasium_robotics/__init__.py index 679ca59c..10f06ae1 100644 --- a/gymnasium_robotics/__init__.py +++ b/gymnasium_robotics/__init__.py @@ -1103,6 +1103,300 @@ def _merge(a, b): max_episode_steps=280, ) + # Mujoco + # ---------------------------------------- + + # Manipulation + + """ + register( + id="Reacher-v2", + entry_point="gymnasium_robotics.envs.mujoco:ReacherEnv", + max_episode_steps=50, + reward_threshold=-3.75, + ) + + register( + id="Reacher-v4", + entry_point="gymnasium_robotics.envs.mujoco.reacher_v4:ReacherEnv", + max_episode_steps=50, + reward_threshold=-3.75, + ) + """ + + register( + id="Reacher-v5", + entry_point="gymnasium_robotics.envs.mujoco.reacher_v5:ReacherEnv", + max_episode_steps=50, + reward_threshold=-3.75, + ) + + """ + register( + id="Pusher-v2", + entry_point="gymnasium_robotics.envs.mujoco:PusherEnv", + max_episode_steps=100, + reward_threshold=0.0, + ) + + register( + id="Pusher-v4", + entry_point="gymnasium_robotics.envs.mujoco.pusher_v4:PusherEnv", + max_episode_steps=100, + reward_threshold=0.0, + ) + """ + + register( + id="Pusher-v5", + entry_point="gymnasium_robotics.robotics.envs.mujoco.pusher_v5:PusherEnv", + max_episode_steps=100, + reward_threshold=0.0, + ) + + # Balance + + """ + register( + id="InvertedPendulum-v2", + entry_point="gymnasium_robotics.envs.mujoco:InvertedPendulumEnv", + max_episode_steps=1000, + reward_threshold=950.0, + ) + + register( + id="InvertedPendulum-v4", + entry_point="gymnasium_robotics.envs.mujoco.inverted_pendulum_v4:InvertedPendulumEnv", + max_episode_steps=1000, + reward_threshold=950.0, + ) + """ + + register( + id="InvertedPendulum-v5", + entry_point="gymnasium_robotics.envs.mujoco.inverted_pendulum_v5:InvertedPendulumEnv", + max_episode_steps=1000, + reward_threshold=950.0, + ) + + """ + register( + id="InvertedDoublePendulum-v2", + entry_point="gymnasium_robotics.envs.mujoco:InvertedDoublePendulumEnv", + max_episode_steps=1000, + reward_threshold=9100.0, + ) + + register( + id="InvertedDoublePendulum-v4", + entry_point="gymnasium_robotics.envs.mujoco.inverted_double_pendulum_v4:InvertedDoublePendulumEnv", + max_episode_steps=1000, + reward_threshold=9100.0, + ) + """ + + register( + id="InvertedDoublePendulum-v5", + entry_point="gymnasium_robotics.envs.mujoco.inverted_double_pendulum_v5:InvertedDoublePendulumEnv", + max_episode_steps=1000, + reward_threshold=9100.0, + ) + + # Running + + """ + register( + id="HalfCheetah-v2", + entry_point="gymnasium_robotics.envs.mujoco:HalfCheetahEnv", + max_episode_steps=1000, + reward_threshold=4800.0, + ) + + register( + id="HalfCheetah-v3", + entry_point="gymnasium_robotics.envs.mujoco.half_cheetah_v3:HalfCheetahEnv", + max_episode_steps=1000, + reward_threshold=4800.0, + ) + + register( + id="HalfCheetah-v4", + entry_point="gymnasium_robotics.envs.mujoco.half_cheetah_v4:HalfCheetahEnv", + max_episode_steps=1000, + reward_threshold=4800.0, + ) + """ + + register( + id="HalfCheetah-v5", + entry_point="gymnasium_robotics.envs.mujoco.half_cheetah_v5:HalfCheetahEnv", + max_episode_steps=1000, + reward_threshold=4800.0, + ) + + """ + register( + id="Hopper-v2", + entry_point="gymnasium_robotics.envs.mujoco:HopperEnv", + max_episode_steps=1000, + reward_threshold=3800.0, + ) + + register( + id="Hopper-v3", + entry_point="gymnasium_robotics.envs.mujoco.hopper_v3:HopperEnv", + max_episode_steps=1000, + reward_threshold=3800.0, + ) + + register( + id="Hopper-v4", + entry_point="gymnasium_robotics.envs.mujoco.hopper_v4:HopperEnv", + max_episode_steps=1000, + reward_threshold=3800.0, + ) + """ + + register( + id="Hopper-v5", + entry_point="gymnasium_robotics.envs.mujoco.hopper_v5:HopperEnv", + max_episode_steps=1000, + reward_threshold=3800.0, + ) + + """ + register( + id="Swimmer-v2", + entry_point="gymnasium_robotics.envs.mujoco:SwimmerEnv", + max_episode_steps=1000, + reward_threshold=360.0, + ) + + register( + id="Swimmer-v3", + entry_point="gymnasium_robotics.envs.mujoco.swimmer_v3:SwimmerEnv", + max_episode_steps=1000, + reward_threshold=360.0, + ) + + register( + id="Swimmer-v4", + entry_point="gymnasium_robotics.envs.mujoco.swimmer_v4:SwimmerEnv", + max_episode_steps=1000, + reward_threshold=360.0, + ) + """ + + register( + id="Swimmer-v5", + entry_point="gymnasium_robotics.envs.mujoco.swimmer_v5:SwimmerEnv", + max_episode_steps=1000, + reward_threshold=360.0, + ) + + """ + register( + id="Walker2d-v2", + max_episode_steps=1000, + entry_point="gymnasium_robotics.envs.mujoco:Walker2dEnv", + ) + + register( + id="Walker2d-v3", + max_episode_steps=1000, + entry_point="gymnasium_robotics.envs.mujoco.walker2d_v3:Walker2dEnv", + ) + + register( + id="Walker2d-v4", + max_episode_steps=1000, + entry_point="gymnasium_robotics.envs.mujoco.walker2d_v4:Walker2dEnv", + ) + """ + + register( + id="Walker2d-v5", + max_episode_steps=1000, + entry_point="gymnasium_robotics.envs.mujoco.walker2d_v5:Walker2dEnv", + ) + + """ + register( + id="Ant-v2", + entry_point="gymnasium_robotics.envs.mujoco:AntEnv", + max_episode_steps=1000, + reward_threshold=6000.0, + ) + + register( + id="Ant-v3", + entry_point="gymnasium_robotics.envs.mujoco.ant_v3:AntEnv", + max_episode_steps=1000, + reward_threshold=6000.0, + ) + + register( + id="Ant-v4", + entry_point="gymnasium_robotics.envs.mujoco.ant_v4:AntEnv", + max_episode_steps=1000, + reward_threshold=6000.0, + ) + """ + + register( + id="Ant-v5", + entry_point="gymnasium_robotics.envs.mujoco.ant_v4:AntEnv", + max_episode_steps=1000, + reward_threshold=6000.0, + ) + + """ + register( + id="Humanoid-v2", + entry_point="gymnasium_robotics.envs.mujoco:HumanoidEnv", + max_episode_steps=1000, + ) + + register( + id="Humanoid-v3", + entry_point="gymnasium_robotics.envs.mujoco.humanoid_v3:HumanoidEnv", + max_episode_steps=1000, + ) + + register( + id="Humanoid-v4", + entry_point="gymnasium_robotics.envs.mujoco.humanoid_v4:HumanoidEnv", + max_episode_steps=1000, + ) + """ + + register( + id="Humanoid-v5", + entry_point="gymnasium_robotics.envs.mujoco.humanoid_v5:HumanoidEnv", + max_episode_steps=1000, + ) + + """ + register( + id="HumanoidStandup-v2", + entry_point="gymnasium_robotics.envs.mujoco:HumanoidStandupEnv", + max_episode_steps=1000, + ) + + register( + id="HumanoidStandup-v4", + entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v4:HumanoidStandupEnv", + max_episode_steps=1000, + ) + """ + + register( + id="HumanoidStandup-v5", + entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v5:HumanoidStandupEnv", + max_episode_steps=1000, + ) + + __version__ = "1.2.1" From eb838b550486e074fe1fcca58be071e88e356920 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 19 May 2023 19:13:47 +0300 Subject: [PATCH 052/104] fix register --- gymnasium_robotics/__init__.py | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/gymnasium_robotics/__init__.py b/gymnasium_robotics/__init__.py index 10f06ae1..82bd2ad5 100644 --- a/gymnasium_robotics/__init__.py +++ b/gymnasium_robotics/__init__.py @@ -1345,7 +1345,7 @@ def _merge(a, b): register( id="Ant-v5", - entry_point="gymnasium_robotics.envs.mujoco.ant_v4:AntEnv", + entry_point="gymnasium_robotics.envs.mujoco.ant_v5:AntEnv", max_episode_steps=1000, reward_threshold=6000.0, ) @@ -1390,12 +1390,11 @@ def _merge(a, b): ) """ - register( - id="HumanoidStandup-v5", - entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v5:HumanoidStandupEnv", - max_episode_steps=1000, - ) - + #register( + #id="HumanoidStandup-v5", + #entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v5:HumanoidStandupEnv", + #max_episode_steps=1000, + #) __version__ = "1.2.1" From 571d057f0b61a6d9546ff3432fa7c8886e4de9fc Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 19 May 2023 19:29:14 +0300 Subject: [PATCH 053/104] typo fix --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 88752087..65cde7eb 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -247,7 +247,7 @@ def __init__( obs_shape = 27 obs_shape += 78 * self._include_cfrc_ext_in_observation - obs_shape += 2 * (not self._exclude_current_positions_in_observation) + obs_shape += 2 * (not self._exclude_current_positions_from_observation) observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 From 8ef1c90b3db77c5cba7ad0da61b4f18b3a1159ec Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 19 May 2023 19:39:00 +0300 Subject: [PATCH 054/104] fix humanoid pickle --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 1 + 1 file changed, 1 insertion(+) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index edde993a..00880485 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -292,6 +292,7 @@ def __init__( xml_file, forward_reward_weight, ctrl_cost_weight, + contact_cost_range, healthy_reward, terminate_when_unhealthy, healthy_z_range, From 670e4853c69832cf442e2f5e71e05fba2eb37581 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 19 May 2023 19:59:24 +0300 Subject: [PATCH 055/104] fix humanoid pickle (for real this time) --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 1 + 1 file changed, 1 insertion(+) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 00880485..bccbd060 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -292,6 +292,7 @@ def __init__( xml_file, forward_reward_weight, ctrl_cost_weight, + contact_cost_weight, contact_cost_range, healthy_reward, terminate_when_unhealthy, From f02f7b402d7381147833428c10148bcd6d5d12d0 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 24 May 2023 15:53:48 +0300 Subject: [PATCH 056/104] add `reset_noise_scale` to double_pend --- .../mujoco/inverted_double_pendulum_v5.py | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 844d2e74..5650b3d2 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -130,8 +130,15 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): "render_fps": 20, } - def __init__(self, **kwargs): + def __init__( + self, + reset_noise_scale=0.1, + **kwargs, + ): + self._reset_noise_scale = reset_noise_scale + observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) + MujocoEnv.__init__( self, "inverted_double_pendulum.xml", @@ -140,7 +147,8 @@ def __init__(self, **kwargs): default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs ) - utils.EzPickle.__init__(self, **kwargs) + + utils.EzPickle.__init__(self, reset_noise_scale, **kwargs) def step(self, action): self.do_simulation(action, self.frame_skip) @@ -181,9 +189,12 @@ def _get_obs(self): ).ravel() def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + self.set_state( self.init_qpos - + self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq), - self.init_qvel + self.np_random.standard_normal(self.model.nv) * 0.1, + + self.np_random.uniform(low=noise_low, high=noise_high, size=self.model.nq), + self.init_qvel + self.np_random.standard_normal(self.model.nv) * self._reset_noise_scale, ) return self._get_obs() From 8f75f2454ccabd14980dd0e7489a125fa9114f95 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 24 May 2023 17:32:57 +0300 Subject: [PATCH 057/104] add new inv_double_pend args --- .../envs/mujoco/inverted_double_pendulum_v5.py | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 5650b3d2..734af487 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -72,7 +72,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): ## Rewards The reward consists of two parts: - *alive_bonus*: The goal is to make the second inverted pendulum stand upright - (within a certain angle limit) as long as possible - as such a reward of +10 is awarded + (within a certain angle limit) as long as possible - as such a reward of `` is awarded for each timestep that the second pole is upright. - *distance_penalty*: This reward is a measure of how far the *tip* of the second pendulum (the only free end) moves, and it is calculated as @@ -112,6 +112,12 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): env = gym.make('InvertedDoublePendulum-v2') ``` + | Parameter | Type | Default |Description | + |-------------------------|------------|--------------|-------------------------------| + | `xml_file` | **str** | `"inverted_double_pendulum.xml"` | Path to a MuJoCo model | + | `healthy_reward` | **float** | `10 | Constant reward given if the pendulum is "healthy" (upright) | + | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward_survive" being 10 on every step (even on terminal steps). Removed "constraint force" of the hinges from the observation space. Added `info` "reward_survive", "distance_penalty", "velocity_penalty". * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 @@ -132,23 +138,26 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): def __init__( self, + xml_file="inverted_double_pendulum.xml", + healthy_reward=10.0, reset_noise_scale=0.1, **kwargs, ): + self._healthy_reward = healthy_reward self._reset_noise_scale = reset_noise_scale observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) MujocoEnv.__init__( self, - "inverted_double_pendulum.xml", + xml_file, 5, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs ) - utils.EzPickle.__init__(self, reset_noise_scale, **kwargs) + utils.EzPickle.__init__(self, xml_file, reset_noise_scale, **kwargs) def step(self, action): self.do_simulation(action, self.frame_skip) @@ -162,7 +171,7 @@ def step(self, action): dist_penalty = 0.01 * x**2 + (y - 2) ** 2 vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2 - alive_bonus = 10 * int(not terminated) + alive_bonus = self._healthy_reward * int(not terminated) r = alive_bonus - dist_penalty - vel_penalty info = { From a0506365eb3f14b5579ca05be53a47909c3d9c9d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 24 May 2023 22:04:09 +0300 Subject: [PATCH 058/104] inv_double_pend re_order ez pickle init to the start --- gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 734af487..dc1ae6f6 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -143,6 +143,8 @@ def __init__( reset_noise_scale=0.1, **kwargs, ): + utils.EzPickle.__init__(self, xml_file, reset_noise_scale, **kwargs) + self._healthy_reward = healthy_reward self._reset_noise_scale = reset_noise_scale @@ -157,8 +159,6 @@ def __init__( **kwargs ) - utils.EzPickle.__init__(self, xml_file, reset_noise_scale, **kwargs) - def step(self, action): self.do_simulation(action, self.frame_skip) From 4d5b052e4729bc251951b3b727f5a1ab3a7cd1e5 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 24 May 2023 23:38:55 +0300 Subject: [PATCH 059/104] add humanoidstandup --- gymnasium_robotics/__init__.py | 10 +- .../envs/mujoco/humanoidstandup_v5.py | 237 ++++++++++++++---- 2 files changed, 195 insertions(+), 52 deletions(-) diff --git a/gymnasium_robotics/__init__.py b/gymnasium_robotics/__init__.py index 82bd2ad5..dd94bdc4 100644 --- a/gymnasium_robotics/__init__.py +++ b/gymnasium_robotics/__init__.py @@ -1390,11 +1390,11 @@ def _merge(a, b): ) """ - #register( - #id="HumanoidStandup-v5", - #entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v5:HumanoidStandupEnv", - #max_episode_steps=1000, - #) + register( + id="HumanoidStandup-v5", + entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v5:HumanoidStandupEnv", + max_episode_steps=1000, + ) __version__ = "1.2.1" diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index aed217cc..243f23a3 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -1,3 +1,5 @@ +__credits__ = ["Kallinteris-Andreas"] + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv @@ -11,6 +13,12 @@ } +def mass_center(model, data): + mass = np.expand_dims(model.body_mass, axis=1) + xpos = data.xipos + return (np.sum(mass * xpos, axis=0) / np.sum(mass))[0:2].copy() + + class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): """ ## Description @@ -50,13 +58,18 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | ## Observation Space + Observations consist of positional values of different body parts of the Humanoid, + followed by the velocities of those individual parts (their derivatives) with all the + positions ordered before all the velocities. - The state space consists of positional values of different body parts of the Humanoid, - followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. + By default, observations do not include the x- and y-coordinates of the torso. These may + be included by passing `exclude_current_positions_from_observation=False` during construction. + In that case, the observation space will be a `Box(-Inf, Inf, (378,), float64)` where the first two observations + represent the x- and y-coordinates of the torso. + Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates + will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - **Note:** The x- and y-coordinates of the torso are being omitted to produce position-agnostic behavior in policies - - The observation is a `ndarray` with shape `(376,)` where the elements correspond to the following: + However, by default, the observation is a `Box(-Inf, Inf, (376,), float64)`. The elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | @@ -94,21 +107,22 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): | 31 | x-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | anglular velocity (rad/s) | | 32 | z-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | anglular velocity (rad/s) | | 33 | y-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | anglular velocity (rad/s) | - | 35 | angular velocity of the angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | anglular velocity (rad/s) | - | 36 | x-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | anglular velocity (rad/s) | - | 37 | z-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | anglular velocity (rad/s) | - | 38 | y-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | anglular velocity (rad/s) | - | 39 | angular velocity of the angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | anglular velocity (rad/s) | - | 40 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | anglular velocity (rad/s) | - | 41 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | anglular velocity (rad/s) | - | 42 | angular velocity of the angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | anglular velocity (rad/s) | - | 43 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | anglular velocity (rad/s) | - | 44 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | anglular velocity (rad/s) | - | 45 | angular velocity of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | - + | 34 | angular velocity of the angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | anglular velocity (rad/s) | + | 35 | x-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | anglular velocity (rad/s) | + | 36 | z-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | anglular velocity (rad/s) | + | 37 | y-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | anglular velocity (rad/s) | + | 38 | angular velocity of the angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | anglular velocity (rad/s) | + | 39 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | anglular velocity (rad/s) | + | 40 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | anglular velocity (rad/s) | + | 41 | angular velocity of the angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | anglular velocity (rad/s) | + | 42 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | anglular velocity (rad/s) | + | 43 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | anglular velocity (rad/s) | + | 44 | angular velocity of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | + | excluded | x-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | + | excluded | y-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | Additionally, after all the positional and velocity based values in the table, - the state_space consists of (in order): + the observation contains (in order): - *cinert:* Mass and inertia of a single rigid body relative to the center of mass (this is an intermediate result of transition). It has shape 14*10 (*nbody * 10*) and hence adds to another 140 elements in the state space. @@ -118,8 +132,55 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): `(23,)` *(nv * 1)* and hence adds another 23 elements to the state space. - *cfrc_ext:* This is the center of mass based external force on the body. It has shape 14 * 6 (*nbody * 6*) and hence adds to another 84 elements in the state space. - where *nbody* stands for the number of bodies in the robot and *nv* stands for the number - of degrees of freedom (*= dim(qvel)*) + where *nbody* stands for the number of bodies in the robot and *nv* stands for the + number of degrees of freedom (*= dim(qvel)*) + + The body parts are: + + | id (for `v2`,`v3`,`v4`) | body part | + | --- | ------------ | + | 0 | worldBody (note: all values are constant 0) | + | 1 | torso | + | 2 | lwaist | + | 3 | pelvis | + | 4 | right_thigh | + | 5 | right_sin | + | 6 | right_foot | + | 7 | left_thigh | + | 8 | left_sin | + | 9 | left_foot | + | 10 | right_upper_arm | + | 11 | right_lower_arm | + | 12 | left_upper_arm | + | 13 | left_lower_arm | + + The joints are: + + | id (for `v2`,`v3`,`v4`) | joint | + | --- | ------------ | + | 0 | root | + | 1 | root | + | 2 | root | + | 3 | root | + | 4 | root | + | 5 | root | + | 6 | abdomen_z | + | 7 | abdomen_y | + | 8 | abdomen_x | + | 9 | right_hip_x | + | 10 | right_hip_z | + | 11 | right_hip_y | + | 12 | right_knee | + | 13 | left_hip_x | + | 14 | left_hiz_z | + | 15 | left_hip_y | + | 16 | left_knee | + | 17 | right_shoulder1 | + | 18 | right_shoulder2 | + | 19 | right_elbow| + | 20 | left_shoulder1 | + | 21 | left_shoulder2 | + | 22 | left_elfbow | The (x,y,z) coordinates are translational DOFs while the orientations are rotational DOFs expressed as quaternions. One can read more about free joints on the @@ -182,11 +243,11 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): ## Version History - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) - * v2: All continuous control environments now use mujoco-py >= 1.50 + * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. + * v3: This environment does not have a v3 release. + * v2: All continuous control environments now use mujoco-py >= 1.50. * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0) + * v0: Initial versions release (1.0.0). """ metadata = { @@ -201,31 +262,100 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): def __init__( self, xml_file="humanoidstandup.xml", + uph_cost_weight=1, + ctrl_cost_weight=0.1, + impact_cost_weight=0.5e-6, + impact_cost_range=(-np.inf, 10.0), + reset_noise_scale=1e-2, + exclude_current_positions_from_observation=True, + include_cinert_in_observation=True, + include_cvel_in_observation=True, + include_qfrc_actuator_in_observation=True, + include_cfrc_ext_in_observation=True, **kwargs, ): + utils.EzPickle.__init__( + self, + xml_file, + uph_cost_weight, + ctrl_cost_weight, + impact_cost_weight, + impact_cost_range, + reset_noise_scale, + exclude_current_positions_from_observation, + include_cinert_in_observation, + include_cvel_in_observation, + include_qfrc_actuator_in_observation, + include_cfrc_ext_in_observation, + **kwargs, + ) + + self._uph_cost_weight = uph_cost_weight + self._ctrl_cost_weight = ctrl_cost_weight + self._impact_cost_weight = impact_cost_weight + self._impact_cost_range = impact_cost_range + self._reset_noise_scale = reset_noise_scale + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation + ) + + self._include_cinert_in_observation = include_cinert_in_observation + self._include_cvel_in_observation = include_cvel_in_observation + self._include_qfrc_actuator_in_observation = ( + include_qfrc_actuator_in_observation + ) + self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation + + obs_shape = 45 + obs_shape += 130 * self._include_cinert_in_observation + obs_shape += 78 * self._include_cvel_in_observation + obs_shape += 17 * self._include_qfrc_actuator_in_observation + obs_shape += 78 * self._include_cfrc_ext_in_observation + obs_shape += 2 * (not self._exclude_current_positions_from_observation) + observation_space = Box( - low=-np.inf, high=np.inf, shape=(348,), dtype=np.float64 + low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 ) + MujocoEnv.__init__( self, xml_file, 5, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, - **kwargs + **kwargs, ) - utils.EzPickle.__init__(self, **kwargs) def _get_obs(self): position = self.data.qpos.flat.copy() - position = position[2:] velocity = self.data.qvel.flat.copy() - com_inertia = self.data.cinert[1:].flat.copy() - com_velocity = self.data.cvel[1:].flat.copy() - - actuator_forces = self.data.qfrc_actuator[6:].flat.copy() - external_contact_forces = self.data.cfrc_ext[1:].flat.copy() + if self._include_cinert_in_observation is True: + com_inertia = self.data.cinert[1:].flat.copy() + else: + com_inertia = np.array([]) + if self._include_cvel_in_observation is True: + com_velocity = self.data.cvel[1:].flat.copy() + else: + com_velocity = np.array([]) + + if self._include_qfrc_actuator_in_observation is True: + actuator_forces = self.data.qfrc_actuator[6:].flat.copy() + else: + actuator_forces = np.array([]) + if self._include_cfrc_ext_in_observation is True: + external_contact_forces = self.data.cfrc_ext[1:].flat.copy() + else: + external_contact_forces = np.array([]) + + # TODO remove after validation + assert (self.data.cinert[0].flat.copy() == 0).all() + assert (self.data.cvel[0].flat.copy() == 0).all() + assert (self.data.qfrc_actuator[:6].flat.copy() == 0).all() + assert (self.data.cfrc_ext[0].flat.copy() == 0).all() + + if self._exclude_current_positions_from_observation: + position = position[2:] return np.concatenate( ( @@ -241,14 +371,25 @@ def _get_obs(self): def step(self, a): self.do_simulation(a, self.frame_skip) pos_after = self.data.qpos[2] - data = self.data + uph_cost = (pos_after - 0) / self.model.opt.timestep - quad_ctrl_cost = 0.1 * np.square(data.ctrl).sum() - quad_impact_cost = 0.5e-6 * np.square(data.cfrc_ext).sum() - quad_impact_cost = min(quad_impact_cost, 10) + quad_ctrl_cost = self._ctrl_cost_weight * np.square(self.data.ctrl).sum() + + quad_impact_cost = self._impact_cost_weight * np.square(self.data.cfrc_ext).sum() + min_impact_cost, max_impact_cost = self._impact_cost_range + quad_impact_cost = np.clip(quad_impact_cost, min_impact_cost, max_impact_cost) + reward = uph_cost - quad_ctrl_cost - quad_impact_cost + 1 + info = { + "reward_linup": uph_cost, + "reward_quadctrl": -quad_ctrl_cost, + "reward_impact": -quad_impact_cost, + "x_position": self.data.qpos[0], + "y_position": self.data.qpos[1], + } + if self.render_mode == "human": self.render() return ( @@ -264,14 +405,16 @@ def step(self, a): ) def reset_model(self): - c = 0.01 - self.set_state( - self.init_qpos + self.np_random.uniform(low=-c, high=c, size=self.model.nq), - self.init_qvel - + self.np_random.uniform( - low=-c, - high=c, - size=self.model.nv, - ), + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + + qpos = self.init_qpos + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ) + qvel = self.init_qvel + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nv ) - return self._get_obs() + self.set_state(qpos, qvel) + + observation = self._get_obs() + return observation From 867cfc961d2e58ca476e5decdc4732ca2d5905e7 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 25 May 2023 10:32:57 +0300 Subject: [PATCH 060/104] update humanoid standup `info` --- .../envs/mujoco/humanoidstandup_v5.py | 18 +----------------- 1 file changed, 1 insertion(+), 17 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 243f23a3..1b6f041c 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -13,12 +13,6 @@ } -def mass_center(model, data): - mass = np.expand_dims(model.body_mass, axis=1) - xpos = data.xipos - return (np.sum(mass * xpos, axis=0) / np.sum(mass))[0:2].copy() - - class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): """ ## Description @@ -392,17 +386,7 @@ def step(self, a): if self.render_mode == "human": self.render() - return ( - self._get_obs(), - reward, - False, - False, - dict( - reward_linup=uph_cost, - reward_quadctrl=-quad_ctrl_cost, - reward_impact=-quad_impact_cost, - ), - ) + return self._get_obs(), reward, False, False, info def reset_model(self): noise_low = -self._reset_noise_scale From b6e199622363d7224af404e695677ac439198026 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 25 May 2023 11:18:59 +0300 Subject: [PATCH 061/104] `pre-commit` --- gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 4 +++- .../envs/mujoco/inverted_double_pendulum_v5.py | 9 ++++++--- gymnasium_robotics/envs/mujoco/reacher_v5.py | 2 +- 3 files changed, 10 insertions(+), 5 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 1b6f041c..9b8fd55e 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -370,7 +370,9 @@ def step(self, a): quad_ctrl_cost = self._ctrl_cost_weight * np.square(self.data.ctrl).sum() - quad_impact_cost = self._impact_cost_weight * np.square(self.data.cfrc_ext).sum() + quad_impact_cost = ( + self._impact_cost_weight * np.square(self.data.cfrc_ext).sum() + ) min_impact_cost, max_impact_cost = self._impact_cost_range quad_impact_cost = np.clip(quad_impact_cost, min_impact_cost, max_impact_cost) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index dc1ae6f6..f16c8a21 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -156,7 +156,7 @@ def __init__( 5, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, - **kwargs + **kwargs, ) def step(self, action): @@ -203,7 +203,10 @@ def reset_model(self): self.set_state( self.init_qpos - + self.np_random.uniform(low=noise_low, high=noise_high, size=self.model.nq), - self.init_qvel + self.np_random.standard_normal(self.model.nv) * self._reset_noise_scale, + + self.np_random.uniform( + low=noise_low, high=noise_high, size=self.model.nq + ), + self.init_qvel + + self.np_random.standard_normal(self.model.nv) * self._reset_noise_scale, ) return self._get_obs() diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 5a2afdc5..c1951267 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -140,7 +140,7 @@ def __init__( 2, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, - **kwargs + **kwargs, ) def step(self, a): From b89e50ad17c1e9c0b7e0a1911bafcc69a4deda7d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 14:28:06 +0300 Subject: [PATCH 062/104] cleanup --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 65cde7eb..8d0f9163 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -246,8 +246,8 @@ def __init__( self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation obs_shape = 27 + obs_shape -= 2 * self._exclude_current_positions_from_observation obs_shape += 78 * self._include_cfrc_ext_in_observation - obs_shape += 2 * (not self._exclude_current_positions_from_observation) observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 From ce82a8e20d55f64d0aefb4adbe19fecf755a9965 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 14:36:12 +0300 Subject: [PATCH 063/104] hopper add `info` "z_distance_from_origin" --- gymnasium_robotics/envs/mujoco/hopper_v5.py | 1 + 1 file changed, 1 insertion(+) diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 6e92c61e..f9973d05 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -271,6 +271,7 @@ def step(self, action): "reward_ctrl": -ctrl_cost, "reward_survive": healthy_reward, "x_position": x_position_after, + "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], "x_velocity": x_velocity, } From b879488466e1b1d214620d20ea3de4b9e91ff892 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 15:19:10 +0300 Subject: [PATCH 064/104] fix --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 8d0f9163..450417d9 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -245,7 +245,7 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_shape = 27 + obs_shape = 29 obs_shape -= 2 * self._exclude_current_positions_from_observation obs_shape += 78 * self._include_cfrc_ext_in_observation From ff585f797a6df6f65aecc7530e93b11689e15d54 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 15:31:09 +0300 Subject: [PATCH 065/104] add `frame_skip` argument --- gymnasium_robotics/envs/mujoco/ant_v5.py | 22 ++++++++-------- .../envs/mujoco/half_cheetah_v5.py | 22 ++++++++-------- gymnasium_robotics/envs/mujoco/hopper_v5.py | 22 ++++++++-------- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 22 ++++++++-------- .../envs/mujoco/humanoidstandup_v5.py | 22 ++++++++-------- .../mujoco/inverted_double_pendulum_v5.py | 23 +++++++++-------- .../envs/mujoco/inverted_pendulum_v5.py | 25 ++++++++++--------- gymnasium_robotics/envs/mujoco/pusher_v5.py | 15 +++++++++-- gymnasium_robotics/envs/mujoco/reacher_v5.py | 24 ++++++++++-------- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 23 +++++++++-------- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 22 ++++++++-------- 11 files changed, 136 insertions(+), 106 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 450417d9..f35f38ae 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -191,18 +191,10 @@ class AntEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 20, - } - def __init__( self, xml_file="ant.xml", + frame_skip=5, ctrl_cost_weight=0.5, contact_cost_weight=5e-4, healthy_reward=1.0, @@ -217,6 +209,7 @@ def __init__( utils.EzPickle.__init__( self, xml_file, + frame_skip, ctrl_cost_weight, contact_cost_weight, healthy_reward, @@ -253,10 +246,19 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 100 / frame_skip, # TODO compute `render_fps` in MujocoEnv + } + MujocoEnv.__init__( self, xml_file, - 5, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index f8f2e431..2d070fd7 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -125,18 +125,10 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 20, - } - def __init__( self, xml_file="half_cheetah.xml", + frame_skip=5, forward_reward_weight=1.0, ctrl_cost_weight=0.1, reset_noise_scale=0.1, @@ -146,6 +138,7 @@ def __init__( utils.EzPickle.__init__( self, xml_file, + frame_skip, forward_reward_weight, ctrl_cost_weight, reset_noise_scale, @@ -172,10 +165,19 @@ def __init__( low=-np.inf, high=np.inf, shape=(18,), dtype=np.float64 ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 100 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 5, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index f9973d05..a6389b2b 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -133,18 +133,10 @@ class HopperEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0). """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 125, - } - def __init__( self, xml_file="hopper_v5.xml", + frame_skip=4, forward_reward_weight=1.0, ctrl_cost_weight=1e-3, healthy_reward=1.0, @@ -159,6 +151,7 @@ def __init__( utils.EzPickle.__init__( self, xml_file, + frame_skip, forward_reward_weight, ctrl_cost_weight, healthy_reward, @@ -197,10 +190,19 @@ def __init__( low=-np.inf, high=np.inf, shape=(12,), dtype=np.float64 ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 500 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 4, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index bccbd060..b16ebb56 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -260,18 +260,10 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 67, - } - def __init__( self, xml_file="humanoid.xml", + frame_skip=5, forward_reward_weight=1.25, ctrl_cost_weight=0.1, contact_cost_weight=5e-7, @@ -290,6 +282,7 @@ def __init__( utils.EzPickle.__init__( self, xml_file, + frame_skip, forward_reward_weight, ctrl_cost_weight, contact_cost_weight, @@ -338,10 +331,19 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 335 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 5, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 9b8fd55e..a590945e 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -244,18 +244,10 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0). """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 67, - } - def __init__( self, xml_file="humanoidstandup.xml", + frame_skip=5, uph_cost_weight=1, ctrl_cost_weight=0.1, impact_cost_weight=0.5e-6, @@ -271,6 +263,7 @@ def __init__( utils.EzPickle.__init__( self, xml_file, + frame_skip, uph_cost_weight, ctrl_cost_weight, impact_cost_weight, @@ -311,10 +304,19 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 335 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 5, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index f16c8a21..d57ba790 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -127,33 +127,34 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 20, - } - def __init__( self, xml_file="inverted_double_pendulum.xml", + frame_skip=5, healthy_reward=10.0, reset_noise_scale=0.1, **kwargs, ): - utils.EzPickle.__init__(self, xml_file, reset_noise_scale, **kwargs) + utils.EzPickle.__init__(self, xml_file, frame_skip, reset_noise_scale, **kwargs) self._healthy_reward = healthy_reward self._reset_noise_scale = reset_noise_scale observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 100 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 5, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index a66f6297..9ef327e1 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -91,22 +91,23 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 25, - } - - def __init__(self, **kwargs): - utils.EzPickle.__init__(self, **kwargs) + def __init__(self, frame_skip=2, **kwargs): + utils.EzPickle.__init__(self, frame_skip, **kwargs) observation_space = Box(low=-np.inf, high=np.inf, shape=(4,), dtype=np.float64) + + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 50 / frame_skip, + } + MujocoEnv.__init__( self, "inverted_pendulum.xml", - 2, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index e0fe7177..ad229d40 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -148,14 +148,25 @@ class PusherEnv(MujocoEnv, utils.EzPickle): def __init__( self, xml_file="pusher.xml", + frame_skip=5, **kwargs, ): - utils.EzPickle.__init__(self, **kwargs) + utils.EzPickle.__init__(self, xml_file, frame_skip, **kwargs) observation_space = Box(low=-np.inf, high=np.inf, shape=(23,), dtype=np.float64) + + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 100 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 5, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index c1951267..081b6667 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -118,26 +118,28 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 50, - } - def __init__( self, xml_file="reacher.xml", + frame_skip=2, **kwargs, ): - utils.EzPickle.__init__(self, **kwargs) + utils.EzPickle.__init__(self, xml_file, frame_skip, **kwargs) observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) + + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 100 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 2, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index d4bd1f0a..2e7f7760 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -116,18 +116,10 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 25, - } - def __init__( self, xml_file="swimmer.xml", + frame_skip=4, forward_reward_weight=1.0, ctrl_cost_weight=1e-4, reset_noise_scale=0.1, @@ -137,6 +129,7 @@ def __init__( utils.EzPickle.__init__( self, xml_file, + frame_skip, forward_reward_weight, ctrl_cost_weight, reset_noise_scale, @@ -160,8 +153,18 @@ def __init__( observation_space = Box( low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64 ) + + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 100 / frame_skip, + } + MujocoEnv.__init__( - self, xml_file, 4, observation_space=observation_space, **kwargs + self, xml_file, frame_skip, observation_space=observation_space, **kwargs ) def control_cost(self, action): diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 5b9ac187..6f2a4924 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -138,18 +138,10 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": 125, - } - def __init__( self, xml_file="walker2d_v5.xml", + frame_skip=4, forward_reward_weight=1.0, ctrl_cost_weight=1e-3, healthy_reward=1.0, @@ -163,6 +155,7 @@ def __init__( utils.EzPickle.__init__( self, xml_file, + frame_skip, forward_reward_weight, ctrl_cost_weight, healthy_reward, @@ -198,10 +191,19 @@ def __init__( low=-np.inf, high=np.inf, shape=(18,), dtype=np.float64 ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": 500 / frame_skip, + } + MujocoEnv.__init__( self, xml_file, - 4, + frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, From 9bdc5df5c3c5da4e28ab82f381b0f72223d40d5f Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 18:23:29 +0300 Subject: [PATCH 066/104] add tendon `info` --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 2 ++ 2 files changed, 4 insertions(+) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index b16ebb56..36068f00 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -449,6 +449,8 @@ def step(self, action): "reward_contact": -contact_cost, "x_position": xy_position_after[0], "y_position": xy_position_after[1], + "tendon_lenght": self.data.ten_length, + "tendon_velocity": self.data.ten_velocity, "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index a590945e..b3719899 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -386,6 +386,8 @@ def step(self, a): "reward_impact": -quad_impact_cost, "x_position": self.data.qpos[0], "y_position": self.data.qpos[1], + "tendon_lenght": self.data.ten_length, + "tendon_velocity": self.data.ten_velocity, } if self.render_mode == "human": From d4271aa6b0be9ffa125544e3746b1b39cacd447b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 18:29:31 +0300 Subject: [PATCH 067/104] fix exclude refactor --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 36068f00..0ecc325e 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -272,7 +272,7 @@ def __init__( terminate_when_unhealthy=True, healthy_z_range=(1.0, 2.0), reset_noise_scale=1e-2, - exclude_current_positions_in_observation=True, + exclude_current_positions_from_observation=True, include_cinert_in_observation=True, include_cvel_in_observation=True, include_qfrc_actuator_in_observation=True, @@ -291,7 +291,7 @@ def __init__( terminate_when_unhealthy, healthy_z_range, reset_noise_scale, - exclude_current_positions_in_observation, + exclude_current_positions_from_observation, include_cinert_in_observation, include_cvel_in_observation, include_qfrc_actuator_in_observation, @@ -309,8 +309,8 @@ def __init__( self._reset_noise_scale = reset_noise_scale - self._exclude_current_positions_in_observation = ( - exclude_current_positions_in_observation + self._exclude_current_positions_from_observation = ( + exclude_current_positions_from_observation ) self._include_cinert_in_observation = include_cinert_in_observation @@ -325,7 +325,7 @@ def __init__( obs_shape += 78 * self._include_cvel_in_observation obs_shape += 17 * self._include_qfrc_actuator_in_observation obs_shape += 78 * self._include_cfrc_ext_in_observation - obs_shape += 2 * (not self._exclude_current_positions_in_observation) + obs_shape += 2 * (not self._exclude_current_positions_from_observation) observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 @@ -408,7 +408,7 @@ def _get_obs(self): assert (self.data.qfrc_actuator[:6].flat.copy() == 0).all() assert (self.data.cfrc_ext[0].flat.copy() == 0).all() - if self._exclude_current_positions_in_observation: + if self._exclude_current_positions_from_observation: position = position[2:] return np.concatenate( @@ -450,7 +450,7 @@ def step(self, action): "x_position": xy_position_after[0], "y_position": xy_position_after[1], "tendon_lenght": self.data.ten_length, - "tendon_velocity": self.data.ten_velocity, + "tendon_velocity": self.data.ten_l, "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, From 42f5439ba75a2509c7db4da02d7ba41d17835fe6 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 19:55:05 +0300 Subject: [PATCH 068/104] update doc --- gymnasium_robotics/envs/mujoco/ant_v5.py | 35 ++--- gymnasium_robotics/envs/mujoco/hopper_v5.py | 4 +- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 107 ++++++------- .../envs/mujoco/humanoidstandup_v5.py | 140 +++++++++--------- .../mujoco/inverted_double_pendulum_v5.py | 11 +- .../envs/mujoco/inverted_pendulum_v5.py | 12 +- gymnasium_robotics/envs/mujoco/pusher_v5.py | 16 +- gymnasium_robotics/envs/mujoco/reacher_v5.py | 11 +- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 14 +- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 22 +-- 10 files changed, 178 insertions(+), 194 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index f35f38ae..9a8b8b44 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -13,7 +13,6 @@ class AntEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment is based on the environment introduced by Schulman, Moritz, Levine, Jordan and Abbeel in ["High-Dimensional Continuous Control Using Generalized Advantage Estimation"](https://arxiv.org/abs/1506.02438). @@ -88,11 +87,12 @@ class AntEnv(MujocoEnv, utils.EzPickle): - *cfrc_ext:* 13*6 = 78 elements, which are contact forces (external forces - force x, y, z and torque x, y, z) applied to the center of mass of each of the body parts. - The 13 body parts are: - | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body parts | + The body parts are: + + | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body part | | ---| --- | ------------ | - | 0 |excluded| worldbody (note: forces are always full of zeros) | + | 0 |excluded| worldbody (note: all values are constant 0) | | 1 |0 | torso | | 2 |1 | front_left_leg | | 3 |2 | aux_1 (front left leg) | @@ -167,21 +167,22 @@ class AntEnv(MujocoEnv, utils.EzPickle): ```python import gymnasium as gym - env = gym.make('Ant-v5', ctrl_cost_weight=0.1, ...) + env = gym.make('Ant-v5', ctrl_cost_weight=0.5, ...) ``` - | Parameter | Type | Default |Description | - |-------------------------|------------|--------------|-------------------------------| - | `xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model | - | `ctrl_cost_weight` | **float** | `0.5` | Weight for *ctrl_cost* term (see section on reward) | - | `use_contact_forces` (`v4` only) | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | - | `contact_cost_weight` | **float** | `5e-4` | Weight for *contact_cost* term (see section on reward) | - | `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | - | `terminate_when_unhealthy` | **bool**| `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | - | `healthy_z_range` | **tuple** | `(0.2, 1)` | The ant is considered healthy if the z-coordinate of the torso is in this range | - | `contact_force_range` | **tuple** | `(-1, 1)` | Contact forces are clipped to this range in the computation of *contact_cost* | - | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation`| **bool** | `True`| Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + | Parameter | Type | Default |Description | + |--------------------------------------------|------------|--------------|-------------------------------| + |`xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model | + |`ctrl_cost_weight` | **float** | `0.5` | Weight for *ctrl_cost* term (see section on reward) | + |`use_contact_forces` (`v4` only) | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | + |`contact_cost_weight` | **float** | `5e-4` | Weight for *contact_cost* term (see section on reward) | + |`healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | + |`terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | + |`healthy_z_range` | **tuple** | `(0.2, 1)` | The ant is considered healthy if the z-coordinate of the torso is in this range | + |`contact_force_range` | **tuple** | `(-1, 1)` | Contact forces are clipped to this range in the computation of *contact_cost* | + |`reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + |`exclude_current_positions_from_observation`| **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + |`include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | ## Version History * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3, also removed contact forces from the default observation space (new variable `use_contact_forces=True` can restore them) diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index a6389b2b..d8b2dfd1 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -108,14 +108,14 @@ class HopperEnv(MujocoEnv, utils.EzPickle): ```python import gymnasium as gym - env = gym.make('Hopper-v5', ctrl_cost_weight=0.1, ....) + env = gym.make('Hopper-v5', ctrl_cost_weight=1e-3, ....) ``` | Parameter | Type | Default | Description | | -------------------------------------------- | --------- | --------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `xml_file` | **str** | `"hopper_v5.xml"` | Path to a MuJoCo model | | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `0.001` | Weight for _ctrl_cost_ reward (see section on reward) | + | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctrl_cost_ reward (see section on reward) | | `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the hopper is no longer healthy | | `healthy_state_range` | **tuple** | `(-100, 100)` | The elements of `observation[1:]` (if `exclude_current_positions_from_observation=True`, else `observation[2:]`) must be in this range for the hopper to be considered healthy | diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 0ecc325e..209f2e9a 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -59,12 +59,12 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): By default, observations do not include the x- and y-coordinates of the torso. These may be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be a `Box(-Inf, Inf, (378,), float64)` where the first two observations + In that case, the observation space will be a `Box(-Inf, Inf, (350,), float64)` where the first two observations represent the x- and y-coordinates of the torso. Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - However, by default, the observation is a `Box(-Inf, Inf, (376,), float64)`. The elements correspond to the following: + However, by default, the observation is a `Box(-Inf, Inf, (348,), float64)`. The elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | @@ -119,63 +119,63 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): Additionally, after all the positional and velocity based values in the table, the observation contains (in order): - *cinert:* Mass and inertia of a single rigid body relative to the center of mass - (this is an intermediate result of transition). It has shape 14*10 (*nbody * 10*) - and hence adds to another 140 elements in the state space. - - *cvel:* Center of mass based velocity. It has shape 14 * 6 (*nbody * 6*) and hence - adds another 84 elements in the state space + (this is an intermediate result of transition). It has shape 13*10 (*nbody * 10*) + and hence adds to another 130 elements in the state space. + - *cvel:* Center of mass based velocity. It has shape 13 * 6 (*nbody * 6*) and hence + adds another 78 elements in the state space - *qfrc_actuator:* Constraint force generated as the actuator force. This has shape - `(23,)` *(nv * 1)* and hence adds another 23 elements to the state space. + `(17,)` *(nv * 1)* and hence adds another 17 elements to the state space. - *cfrc_ext:* This is the center of mass based external force on the body. It has shape - 14 * 6 (*nbody * 6*) and hence adds to another 84 elements in the state space. + 13 * 6 (*nbody * 6*) and hence adds to another 78 elements in the state space. where *nbody* stands for the number of bodies in the robot and *nv* stands for the number of degrees of freedom (*= dim(qvel)*) The body parts are: - | id (for `v2`,`v3`,`v4`) | body part | - | --- | ------------ | - | 0 | worldBody (note: all values are constant 0) | - | 1 | torso | - | 2 | lwaist | - | 3 | pelvis | - | 4 | right_thigh | - | 5 | right_sin | - | 6 | right_foot | - | 7 | left_thigh | - | 8 | left_sin | - | 9 | left_foot | - | 10 | right_upper_arm | - | 11 | right_lower_arm | - | 12 | left_upper_arm | - | 13 | left_lower_arm | + | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body part | + | ---| --- | ------------ | + | 0 |excluded| worldbody (note: all values are constant 0) | + | 1 | 0 | torso | + | 2 | 1 | lwaist | + | 3 | 2 | pelvis | + | 4 | 3 | right_thigh | + | 5 | 4 | right_sin | + | 6 | 5 | right_foot | + | 7 | 6 | left_thigh | + | 8 | 7 | left_sin | + | 9 | 8 | left_foot | + | 10 | 9 | right_upper_arm | + | 11 | 10 | right_lower_arm | + | 12 | 11 | left_upper_arm | + | 13 | 12 | left_lower_arm | The joints are: - | id (for `v2`,`v3`,`v4`) | joint | - | --- | ------------ | - | 0 | root | - | 1 | root | - | 2 | root | - | 3 | root | - | 4 | root | - | 5 | root | - | 6 | abdomen_z | - | 7 | abdomen_y | - | 8 | abdomen_x | - | 9 | right_hip_x | - | 10 | right_hip_z | - | 11 | right_hip_y | - | 12 | right_knee | - | 13 | left_hip_x | - | 14 | left_hiz_z | - | 15 | left_hip_y | - | 16 | left_knee | - | 17 | right_shoulder1 | - | 18 | right_shoulder2 | - | 19 | right_elbow| - | 20 | left_shoulder1 | - | 21 | left_shoulder2 | - | 22 | left_elfbow | + | id (for `v2`, `v3`, `v4)` | id (for `v5`) | joint | + | ---| --- | ------------ | + | 0 |excluded| root (note: all values are constant 0) | + | 1 |excluded| root (note: all values are constant 0) | + | 2 |excluded| root (note: all values are constant 0) | + | 3 |excluded| root (note: all values are constant 0) | + | 4 |excluded| root (note: all values are constant 0) | + | 5 |excluded| root (note: all values are constant 0) | + | 6 | 0 | abdomen_z | + | 7 | 1 | abdomen_y | + | 8 | 2 | abdomen_x | + | 9 | 3 | right_hip_x | + | 10 | 4 | right_hip_z | + | 11 | 5 | right_hip_y | + | 12 | 6 | right_knee | + | 13 | 7 | left_hip_x | + | 14 | 8 | left_hiz_z | + | 15 | 9 | left_hip_y | + | 16 | 10 | left_knee | + | 17 | 11 | right_shoulder1 | + | 18 | 12 | right_shoulder2 | + | 19 | 13 | right_elbow| + | 20 | 14 | left_shoulder1 | + | 21 | 15 | left_shoulder2 | + | 22 | 16 | left_elfbow | The (x,y,z) coordinates are translational DOFs while the orientations are rotational DOFs expressed as quaternions. One can read more about free joints on the @@ -204,7 +204,10 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): contact force is too large. It is calculated by clipping *`contact_cost_weight` * sum(external contact force2)* to the interval specified by `contact_cost_range`. - The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost* and `info` will also contain the individual reward terms + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost* + and `info` will also contain the individual reward terms + + Note: in `v4` the total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost* ## Starting State All observations start in state @@ -320,12 +323,12 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_shape = 45 + obs_shape = 47 + obs_shape -= 2 * self._exclude_current_positions_from_observation obs_shape += 130 * self._include_cinert_in_observation obs_shape += 78 * self._include_cvel_in_observation obs_shape += 17 * self._include_qfrc_actuator_in_observation obs_shape += 78 * self._include_cfrc_ext_in_observation - obs_shape += 2 * (not self._exclude_current_positions_from_observation) observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index b3719899..9656acc2 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -16,7 +16,6 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment is based on the environment introduced by Tassa, Erez and Todorov in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). The 3D bipedal robot is designed to simulate a human. It has a torso (abdomen) with a @@ -58,12 +57,12 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): By default, observations do not include the x- and y-coordinates of the torso. These may be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be a `Box(-Inf, Inf, (378,), float64)` where the first two observations + In that case, the observation space will be a `Box(-Inf, Inf, (350,), float64)` where the first two observations represent the x- and y-coordinates of the torso. Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - However, by default, the observation is a `Box(-Inf, Inf, (376,), float64)`. The elements correspond to the following: + However, by default, the observation is a `Box(-Inf, Inf, (348,), float64)`. The elements correspond to the following: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | @@ -118,73 +117,74 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): Additionally, after all the positional and velocity based values in the table, the observation contains (in order): - *cinert:* Mass and inertia of a single rigid body relative to the center of mass - (this is an intermediate result of transition). It has shape 14*10 (*nbody * 10*) - and hence adds to another 140 elements in the state space. - - *cvel:* Center of mass based velocity. It has shape 14 * 6 (*nbody * 6*) and hence - adds another 84 elements in the state space + (this is an intermediate result of transition). It has shape 13*10 (*nbody * 10*) + and hence adds to another 130 elements in the state space. + - *cvel:* Center of mass based velocity. It has shape 13 * 6 (*nbody * 6*) and hence + adds another 78 elements in the state space - *qfrc_actuator:* Constraint force generated as the actuator force. This has shape - `(23,)` *(nv * 1)* and hence adds another 23 elements to the state space. + `(17,)` *(nv * 1)* and hence adds another 17 elements to the state space. - *cfrc_ext:* This is the center of mass based external force on the body. It has shape - 14 * 6 (*nbody * 6*) and hence adds to another 84 elements in the state space. + 13 * 6 (*nbody * 6*) and hence adds to another 78 elements in the state space. where *nbody* stands for the number of bodies in the robot and *nv* stands for the number of degrees of freedom (*= dim(qvel)*) The body parts are: - | id (for `v2`,`v3`,`v4`) | body part | - | --- | ------------ | - | 0 | worldBody (note: all values are constant 0) | - | 1 | torso | - | 2 | lwaist | - | 3 | pelvis | - | 4 | right_thigh | - | 5 | right_sin | - | 6 | right_foot | - | 7 | left_thigh | - | 8 | left_sin | - | 9 | left_foot | - | 10 | right_upper_arm | - | 11 | right_lower_arm | - | 12 | left_upper_arm | - | 13 | left_lower_arm | + | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body part | + | ---| --- | ------------ | + | 0 |excluded| worldbody (note: all values are constant 0) | + | 1 | 0 | torso | + | 2 | 1 | lwaist | + | 3 | 2 | pelvis | + | 4 | 3 | right_thigh | + | 5 | 4 | right_sin | + | 6 | 5 | right_foot | + | 7 | 6 | left_thigh | + | 8 | 7 | left_sin | + | 9 | 8 | left_foot | + | 10 | 9 | right_upper_arm | + | 11 | 10 | right_lower_arm | + | 12 | 11 | left_upper_arm | + | 13 | 12 | left_lower_arm | The joints are: - | id (for `v2`,`v3`,`v4`) | joint | - | --- | ------------ | - | 0 | root | - | 1 | root | - | 2 | root | - | 3 | root | - | 4 | root | - | 5 | root | - | 6 | abdomen_z | - | 7 | abdomen_y | - | 8 | abdomen_x | - | 9 | right_hip_x | - | 10 | right_hip_z | - | 11 | right_hip_y | - | 12 | right_knee | - | 13 | left_hip_x | - | 14 | left_hiz_z | - | 15 | left_hip_y | - | 16 | left_knee | - | 17 | right_shoulder1 | - | 18 | right_shoulder2 | - | 19 | right_elbow| - | 20 | left_shoulder1 | - | 21 | left_shoulder2 | - | 22 | left_elfbow | + | id (for `v2`, `v3`, `v4)` | id (for `v5`) | joint | + | ---| --- | ------------ | + | 0 |excluded| root (note: all values are constant 0) | + | 1 |excluded| root (note: all values are constant 0) | + | 2 |excluded| root (note: all values are constant 0) | + | 3 |excluded| root (note: all values are constant 0) | + | 4 |excluded| root (note: all values are constant 0) | + | 5 |excluded| root (note: all values are constant 0) | + | 6 | 0 | abdomen_z | + | 7 | 1 | abdomen_y | + | 8 | 2 | abdomen_x | + | 9 | 3 | right_hip_x | + | 10 | 4 | right_hip_z | + | 11 | 5 | right_hip_y | + | 12 | 6 | right_knee | + | 13 | 7 | left_hip_x | + | 14 | 8 | left_hiz_z | + | 15 | 9 | left_hip_y | + | 16 | 10 | left_knee | + | 17 | 11 | right_shoulder1 | + | 18 | 12 | right_shoulder2 | + | 19 | 13 | right_elbow| + | 20 | 14 | left_shoulder1 | + | 21 | 15 | left_shoulder2 | + | 22 | 16 | left_elfbow | The (x,y,z) coordinates are translational DOFs while the orientations are rotational DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). - **Note:** HumanoidStandup-v4 environment no longer has the following contact forces issue. - If using previous HumanoidStandup versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 results - in the contact forces always being 0. As such we recommend to use a Mujoco-Py version < 2.0 - when using the Humanoid environment if you would like to report results with contact forces - (if contact forces are not used in your experiments, you can use version > 2.0). + **Note:** Humanoid-v4 environment no longer has the following contact forces issue. + If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 + results in the contact forces always being 0. As such we recommend to use a Mujoco-Py + version < 2.0 when using the Humanoid environment if you would like to report results + with contact forces (if contact forces are not used in your experiments, you can use + version > 2.0). ## Rewards The reward consists of three parts: @@ -219,24 +219,28 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): 2. Termination: Any of the state space values is no longer finite ## Arguments - - No additional arguments are currently supported. + `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('HumanoidStandup-v4') + env = gym.make('HumanoidStandup-v5', impact_cost_weight=0.5e-6, ....) ``` - There is no v3 for HumanoidStandup, unlike the robot environments where a v3 and - beyond take gymnasium.make kwargs such as xml_file, ctrl_cost_weight, reset_noise_scale etc. - - ```python - import gymnasium as gym - env = gym.make('HumanoidStandup-v2') - ``` + | Parameter | Type | Default | Description | + | -------------------------------------------- | --------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | `xml_file` | **str** | `"humanoidstandup.xml"` | Path to a MuJoCo model | + | `uph_cost_weight` | **float** | `1` | Weight for _uph_cost_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `0.1` | Weight for _quad_ctrl_cost_ term (see section on reward) | + | `impact_cost_weight` | **float** | `0.5e-6` | Weight for _contact_cost_ term (see section on reward) | + | `impact_cost_range` | **float** | `(-np.inf, 10.0) | | + | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations.| + | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | + | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | + | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | ## Version History - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. * v3: This environment does not have a v3 release. * v2: All continuous control environments now use mujoco-py >= 1.50. @@ -293,12 +297,12 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_shape = 45 + obs_shape = 47 + obs_shape -= 2 * self._exclude_current_positions_from_observation obs_shape += 130 * self._include_cinert_in_observation obs_shape += 78 * self._include_cvel_in_observation obs_shape += 17 * self._include_qfrc_actuator_in_observation obs_shape += 78 * self._include_cfrc_ext_in_observation - obs_shape += 2 * (not self._exclude_current_positions_from_observation) observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index d57ba790..9baf520d 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -98,18 +98,11 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): 3.Termination: The y_coordinate of the tip of the second pole *is less than or equal* to 1. The maximum standing height of the system is 1.196 m when all the parts are perpendicularly vertical on top of each other). ## Arguments - No additional arguments are currently supported. + `gymnasium.make` takes additional arguments such as `xml_file`, `healthy_reward`, `reset_noise_scale`, etc. ```python import gymnasium as gym - env = gym.make('InvertedDoublePendulum-v4') - ``` - There is no v3 for InvertedPendulum, unlike the robot environments where a v3 and - beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('InvertedDoublePendulum-v2') + env = gym.make('InvertedDoublePendulum-v5', healthy_reward=10, ...) ``` | Parameter | Type | Default |Description | diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index 9ef327e1..1614067c 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -14,7 +14,6 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment is the cartpole environment based on the work done by Barto, Sutton, and Anderson in ["Neuronlike adaptive elements that can solve difficult learning control problems"](https://ieeexplore.ieee.org/document/6313077), @@ -36,7 +35,6 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): | 0 | Force applied on the cart | -3 | 3 | slider | slide | Force (N) | ## Observation Space - The state space consists of positional values of different body parts of the pendulum system, followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. @@ -56,6 +54,8 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): as long as possible - as such a reward of +1 is awarded for each timestep that the pole is upright. + and `info` will also contain the reward. + ## Starting State All observations start in state (0.0, 0.0, 0.0, 0.0) with a uniform noise in the range @@ -73,13 +73,7 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): ```python import gymnasium as gym - env = gym.make('InvertedPendulum-v4') - ``` - There is no v3 for InvertedPendulum, unlike the robot environments where a - v3 and beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - ```python - import gymnasium as gym - env = gym.make('InvertedPendulum-v2') + env = gym.make('InvertedPendulum-v5') ``` ## Version History diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index ad229d40..ae6a3f6a 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -111,22 +111,16 @@ class PusherEnv(MujocoEnv, utils.EzPickle): 2. Termination: Any of the state space values is no longer finite. ## Arguments - No additional arguments are currently supported (in v2 and lower), - but modifications can be made to the XML file in the assets folder - (or by changing the path to a modified XML file in another folder).. + `gymnasium.make` takes additional arguments such as `xml_file`. ```python import gymnasium as gym - env = gym.make('Pusher-v4') + env = gym.make('Pusher-v5', xml_file=...) ``` - There is no v3 for Pusher, unlike the robot environments where a v3 and - beyond take `gymnasmium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Pusher-v2') - ``` + | Parameter | Type | Default |Description | + |-------------------------|------------|--------------|-------------------------------| + | `xml_file` | **str** |`"pusher.xml"`| Path to a MuJoCo model | ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. "reward_near" is added to the `info`. diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 081b6667..4e2f4f3c 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -98,17 +98,16 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): 2. Termination: Any of the state space values is no longer finite. ## Arguments - No additional arguments are currently supported (in v2 and lower), - but modifications can be made to the XML file in the assets folder - (or by changing the path to a modified XML file in another folder).. + `gymnasium.make` takes additional arguments such as `xml_file`. ```python import gymnasium as gym - env = gym.make('Reacher-v4') + env = gym.make('Reacher-v5', xml_file=...) ``` - There is no v3 for Reacher, unlike the robot environments where a v3 and - beyond take `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + | Parameter | Type | Default |Description | + |-------------------------|------------|-------------- |-------------------------------| + | `xml_file` | **str** |`"reacher.xml"`| Path to a MuJoCo model | ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. Remove "z - position_fingertip" from the observation space. diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 2e7f7760..8e862112 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -91,20 +91,16 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): The episode truncates when the episode length is greater than 1000. ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. + `gymnasium.make` takes additional arguments such as `xml_file`. ```python import gymnasium as gym - env = gym.make('Swimmer-v5', ctrl_cost_weight=0.1, ....) + env = gym.make('Swimmer-v5', xml_file=...) ``` - | Parameter | Type | Default | Description | - | -------------------------------------------- | --------- | --------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"swimmer.xml"` | Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `1e-4` | Weight for _ctrl_cost_ term (see section on reward) | - | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + | Parameter | Type | Default |Description | + |-------------------------|------------|-------------- |-------------------------------| + | `xml_file` | **str** |`"swimmer.xml"`| Path to a MuJoCo model | ## Version History diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 6f2a4924..3ceff733 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -113,20 +113,20 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): ```python import gymnasium as gym - env = gym.make('Walker2d-v5', ctrl_cost_weight=0.1, ....) + env = gym.make('Walker2d-v5', ctrl_cost_weight=1e-3, ...) ``` - | Parameter | Type | Default | Description | - | -------------------------------------------- | --------- | ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | + | Parameter | Type | Default | Description | + | -------------------------------------------- | --------- | ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `xml_file` | **str** |`"walker2d_v5.xml"`| Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctr_cost_ term (see section on reward) | - | `healthy_reward` | **float** | `1.0` | Constant reward given if the ant is "healthy" after timestep | - | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the walker is no longer healthy | - | `healthy_z_range` | **tuple** | `(0.8, 2)` | The z-coordinate of the torso of the walker must be in this range to be considered healthy | - | `healthy_angle_range` | **tuple** | `(-1, 1)` | The angle must be in this range to be considered healthy | - | `reset_noise_scale` | **float** | `5e-3` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | + | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctr_cost_ term (see section on reward) | + | `healthy_reward` | **float** | `1.0` | Constant reward given if the ant is "healthy" after timestep | + | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the walker is no longer healthy | + | `healthy_z_range` | **tuple** | `(0.8, 2)` | The z-coordinate of the torso of the walker must be in this range to be considered healthy | + | `healthy_angle_range` | **tuple** | `(-1, 1)` | The angle must be in this range to be considered healthy | + | `reset_noise_scale` | **float** | `5e-3` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | ## Version History From 15259d5faee4b3a68a908cddb6fa396b3a0f5bc3 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 20:09:20 +0300 Subject: [PATCH 069/104] update obs creation --- gymnasium_robotics/envs/mujoco/ant_v5.py | 8 ++++---- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 12 ++++-------- gymnasium_robotics/envs/mujoco/hopper_v5.py | 12 ++++-------- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 14 +++++++------- .../envs/mujoco/humanoidstandup_v5.py | 14 +++++++------- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 13 +++++-------- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 12 ++++-------- 7 files changed, 35 insertions(+), 50 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 9a8b8b44..dd0102fa 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -239,12 +239,12 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_shape = 29 - obs_shape -= 2 * self._exclude_current_positions_from_observation - obs_shape += 78 * self._include_cfrc_ext_in_observation + obs_size = 29 + obs_size -= 2 * self._exclude_current_positions_from_observation + obs_size += 78 * self._include_cfrc_ext_in_observation observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) self.metadata = { diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 2d070fd7..a9ec4158 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -156,14 +156,10 @@ def __init__( exclude_current_positions_from_observation ) - if exclude_current_positions_from_observation: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(17,), dtype=np.float64 - ) - else: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(18,), dtype=np.float64 - ) + obs_size = 18 - exclude_current_positions_from_observation + observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) self.metadata = { "render_modes": [ diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index d8b2dfd1..ced41fc7 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -181,14 +181,10 @@ def __init__( exclude_current_positions_from_observation ) - if exclude_current_positions_from_observation: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(11,), dtype=np.float64 - ) - else: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(12,), dtype=np.float64 - ) + obs_size = 12 - exclude_current_positions_from_observation + observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) self.metadata = { "render_modes": [ diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 209f2e9a..385a8dfa 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -323,15 +323,15 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_shape = 47 - obs_shape -= 2 * self._exclude_current_positions_from_observation - obs_shape += 130 * self._include_cinert_in_observation - obs_shape += 78 * self._include_cvel_in_observation - obs_shape += 17 * self._include_qfrc_actuator_in_observation - obs_shape += 78 * self._include_cfrc_ext_in_observation + obs_size = 47 + obs_size -= 2 * exclude_current_positions_from_observation + obs_size += 130 * include_cinert_in_observation + obs_size += 78 * include_cvel_in_observation + obs_size += 17 * include_qfrc_actuator_in_observation + obs_size += 78 * include_cfrc_ext_in_observation observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) self.metadata = { diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 9656acc2..15eea550 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -297,15 +297,15 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_shape = 47 - obs_shape -= 2 * self._exclude_current_positions_from_observation - obs_shape += 130 * self._include_cinert_in_observation - obs_shape += 78 * self._include_cvel_in_observation - obs_shape += 17 * self._include_qfrc_actuator_in_observation - obs_shape += 78 * self._include_cfrc_ext_in_observation + obs_size = 47 + obs_size -= 2 * exclude_current_positions_from_observation + obs_size += 130 * include_cinert_in_observation + obs_size += 78 * include_cvel_in_observation + obs_size += 17 * include_qfrc_actuator_in_observation + obs_size += 78 * include_cfrc_ext_in_observation observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_shape,), dtype=np.float64 + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) self.metadata = { diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 8e862112..2bf18838 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -141,14 +141,11 @@ def __init__( self._exclude_current_positions_from_observation = ( exclude_current_positions_from_observation ) - if exclude_current_positions_from_observation: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(8,), dtype=np.float64 - ) - else: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64 - ) + + obs_size = 10 - 2 * exclude_current_positions_from_observation + observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) self.metadata = { "render_modes": [ diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 3ceff733..82ffb942 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -182,14 +182,10 @@ def __init__( exclude_current_positions_from_observation ) - if exclude_current_positions_from_observation: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(17,), dtype=np.float64 - ) - else: - observation_space = Box( - low=-np.inf, high=np.inf, shape=(18,), dtype=np.float64 - ) + obs_size = 18 - exclude_current_positions_from_observation + observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) self.metadata = { "render_modes": [ From fb96314442ac2c35eeca9435c58017f9edf14c0b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 20:13:03 +0300 Subject: [PATCH 070/104] typo fix --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 385a8dfa..89372e38 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -453,7 +453,7 @@ def step(self, action): "x_position": xy_position_after[0], "y_position": xy_position_after[1], "tendon_lenght": self.data.ten_length, - "tendon_velocity": self.data.ten_l, + "tendon_velocity": self.data.ten_velocity, "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, From b8aaf6d32e8b4ae86ad6889fa0a8401e2f93f68f Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 20:31:45 +0300 Subject: [PATCH 071/104] cleanup --- gymnasium_robotics/envs/mujoco/ant_v5.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index dd0102fa..6d62e064 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -240,8 +240,8 @@ def __init__( self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation obs_size = 29 - obs_size -= 2 * self._exclude_current_positions_from_observation - obs_size += 78 * self._include_cfrc_ext_in_observation + obs_size -= 2 * exclude_current_positions_from_observation + obs_size += 78 * include_cfrc_ext_in_observation observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 From e2ce2606c8fbec27e98de4ca2503653e82b60827 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 22:57:57 +0300 Subject: [PATCH 072/104] fixed humanoid arguments docs --- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 10 +++++----- .../envs/mujoco/humanoidstandup_v5.py | 18 +++++++++--------- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 89372e38..4e944904 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -243,16 +243,16 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | `forward_reward_weight` | **float** | `1.25` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ term (see section on reward) | | `contact_cost_weight` | **float** | `5e-7` | Weight for _contact_cost_ term (see section on reward) | - | `contact_cost_range` | **float** | `(-np.inf, 10.0) | | + | `contact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _contact_cost_ | | `healthy_reward` | **float** | `5.0` | Constant reward given if the humanoid is "healthy" after timestep | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | | `healthy_z_range` | **tuple** | `(1.0, 2.0)` | The humanoid is considered healthy if the z-coordinate of the torso is in this range | | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations.| - | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | - | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | - | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | + | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations. | + | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | + | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | + | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | ## Version History diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 15eea550..12237744 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -228,17 +228,17 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default | Description | | -------------------------------------------- | --------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"humanoidstandup.xml"` | Path to a MuJoCo model | - | `uph_cost_weight` | **float** | `1` | Weight for _uph_cost_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `0.1` | Weight for _quad_ctrl_cost_ term (see section on reward) | - | `impact_cost_weight` | **float** | `0.5e-6` | Weight for _contact_cost_ term (see section on reward) | - | `impact_cost_range` | **float** | `(-np.inf, 10.0) | | + | `xml_file` | **str** | `"humanoidstandup.xml"` | Path to a MuJoCo model | + | `uph_cost_weight` | **float** | `1` | Weight for _uph_cost_ term (see section on reward) | + | `ctrl_cost_weight` | **float** | `0.1` | Weight for _quad_ctrl_cost_ term (see section on reward) | + | `impact_cost_weight` | **float** | `0.5e-6` | Weight for _impact_cost_ term (see section on reward) | + | `impact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _impact_cost_ | | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations.| - | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | - | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | - | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | + | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations. | + | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | + | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | + | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | ## Version History * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. From 2674f97c86b7d78517795fb13fc09fcdab38cadd Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 26 May 2023 23:14:09 +0300 Subject: [PATCH 073/104] add dynamic obs_size calculation --- gymnasium_robotics/envs/mujoco/ant_v5.py | 18 ++++++------- .../envs/mujoco/half_cheetah_v5.py | 12 ++++----- gymnasium_robotics/envs/mujoco/hopper_v5.py | 12 ++++----- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 26 +++++++++---------- .../envs/mujoco/humanoidstandup_v5.py | 17 ++++++++---- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 12 ++++----- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 12 ++++----- 7 files changed, 58 insertions(+), 51 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 6d62e064..fbb6e062 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -239,14 +239,6 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_size = 29 - obs_size -= 2 * exclude_current_positions_from_observation - obs_size += 78 * include_cfrc_ext_in_observation - - observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - self.metadata = { "render_modes": [ "human", @@ -260,11 +252,19 @@ def __init__( self, xml_file, frame_skip, - observation_space=observation_space, + observation_space=None, # needs to be defined after default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs ) + obs_size = self.data.qpos.size + self.data.qvel.size + obs_size -= 2 * exclude_current_positions_from_observation + obs_size += self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation + + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) + @property def healthy_reward(self): return ( diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index a9ec4158..d1ca1e41 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -156,11 +156,6 @@ def __init__( exclude_current_positions_from_observation ) - obs_size = 18 - exclude_current_positions_from_observation - observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - self.metadata = { "render_modes": [ "human", @@ -174,11 +169,16 @@ def __init__( self, xml_file, frame_skip, - observation_space=observation_space, + observation_space=None, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, ) + obs_size = self.data.qpos.size + self.data.qvel.size - exclude_current_positions_from_observation + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) + def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) return control_cost diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index ced41fc7..1c78de05 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -181,11 +181,6 @@ def __init__( exclude_current_positions_from_observation ) - obs_size = 12 - exclude_current_positions_from_observation - observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - self.metadata = { "render_modes": [ "human", @@ -199,11 +194,16 @@ def __init__( self, xml_file, frame_skip, - observation_space=observation_space, + observation_space=None, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, ) + obs_size = self.data.qpos.size + self.data.qvel.size - exclude_current_positions_from_observation + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) + @property def healthy_reward(self): return ( diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 4e944904..df0e3c41 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -323,35 +323,35 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - obs_size = 47 - obs_size -= 2 * exclude_current_positions_from_observation - obs_size += 130 * include_cinert_in_observation - obs_size += 78 * include_cvel_in_observation - obs_size += 17 * include_qfrc_actuator_in_observation - obs_size += 78 * include_cfrc_ext_in_observation - - observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - self.metadata = { "render_modes": [ "human", "rgb_array", "depth_array", ], - "render_fps": 335 / frame_skip, + # "render_fps": 335 / frame_skip, } MujocoEnv.__init__( self, xml_file, frame_skip, - observation_space=observation_space, + observation_space=None, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, ) + obs_size = self.data.qpos.size + self.data.qvel.size + obs_size -= 2 * exclude_current_positions_from_observation + obs_size += self.data.cinert[1:].size * include_cinert_in_observation + obs_size += self.data.cvel[1:].size * include_cvel_in_observation + obs_size += (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation + obs_size += self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation + + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) + @property def healthy_reward(self): return ( diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 12237744..9236bcc3 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -304,10 +304,6 @@ def __init__( obs_size += 17 * include_qfrc_actuator_in_observation obs_size += 78 * include_cfrc_ext_in_observation - observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - self.metadata = { "render_modes": [ "human", @@ -321,11 +317,22 @@ def __init__( self, xml_file, frame_skip, - observation_space=observation_space, + observation_space=None, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, ) + obs_size = self.data.qpos.size + self.data.qvel.size + obs_size -= 2 * exclude_current_positions_from_observation + obs_size += self.data.cinert[1:].size * include_cinert_in_observation + obs_size += self.data.cvel[1:].size * include_cvel_in_observation + obs_size += (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation + obs_size += self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation + + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) + def _get_obs(self): position = self.data.qpos.flat.copy() velocity = self.data.qvel.flat.copy() diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 2bf18838..70be08ba 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -142,11 +142,6 @@ def __init__( exclude_current_positions_from_observation ) - obs_size = 10 - 2 * exclude_current_positions_from_observation - observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - self.metadata = { "render_modes": [ "human", @@ -157,7 +152,12 @@ def __init__( } MujocoEnv.__init__( - self, xml_file, frame_skip, observation_space=observation_space, **kwargs + self, xml_file, frame_skip, observation_space=None, **kwargs + ) + + obs_size = self.data.qpos.size + self.data.qvel.size - 2 * exclude_current_positions_from_observation + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) def control_cost(self, action): diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 82ffb942..10878ba9 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -182,11 +182,6 @@ def __init__( exclude_current_positions_from_observation ) - obs_size = 18 - exclude_current_positions_from_observation - observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - self.metadata = { "render_modes": [ "human", @@ -200,11 +195,16 @@ def __init__( self, xml_file, frame_skip, - observation_space=observation_space, + observation_space=None, default_camera_config=DEFAULT_CAMERA_CONFIG, **kwargs, ) + obs_size = self.data.qpos.size + self.data.qvel.size - exclude_current_positions_from_observation + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) + @property def healthy_reward(self): return ( From 5a025b603194b5f60faac90dc6f0645d80b7d883 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 27 May 2023 15:42:16 +0300 Subject: [PATCH 074/104] add `metadata["observation_structure"]` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 10 ++++++++++ gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 10 ++++++++++ gymnasium_robotics/envs/mujoco/hopper_v5.py | 10 ++++++++++ gymnasium_robotics/envs/mujoco/humanoid_v5.py | 10 ++++++++++ gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 10 ++++++++++ gymnasium_robotics/envs/mujoco/swimmer_v5.py | 10 ++++++++++ gymnasium_robotics/envs/mujoco/walker2d_v5.py | 10 ++++++++++ 7 files changed, 70 insertions(+) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index fbb6e062..e0456c7d 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -265,6 +265,16 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) + self.metadata["observation_structure"] = { + "skipped_qpos": 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qvel": self.data.qvel.size, + "cinert": 0, + "cvel": 0, + "qfrc_actuator": 0, + "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, + } + @property def healthy_reward(self): return ( diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index d1ca1e41..6e8d173b 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -179,6 +179,16 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) + self.metadata["observation_structure"] = { + "skipped_qpos": 1 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, + "qvel": self.data.qvel.size, + "cinert": 0, + "cvel": 0, + "qfrc_actuator": 0, + "cfrc_ext": 0, + } + def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) return control_cost diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 1c78de05..5d6654a3 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -204,6 +204,16 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) + self.metadata["observation_structure"] = { + "skipped_qpos": 1 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, + "qvel": self.data.qvel.size, + "cinert": 0, + "cvel": 0, + "qfrc_actuator": 0, + "cfrc_ext": 0, + } + @property def healthy_reward(self): return ( diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index df0e3c41..196b3411 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -352,6 +352,16 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) + self.metadata["observation_structure"] = { + "skipped_qpos": 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qvel": self.data.qvel.size, + "cinert": self.data.cinert[1:].size * include_cinert_in_observation, + "cvel": self.data.cvel[1:].size * include_cvel_in_observation, + "qfrc_actuator": (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation, + "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, + } + @property def healthy_reward(self): return ( diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 9236bcc3..95741ed2 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -333,6 +333,16 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) + self.metadata["observation_structure"] = { + "skipped_qpos": 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qvel": self.data.qvel.size, + "cinert": self.data.cinert[1:].size * include_cinert_in_observation, + "cvel": self.data.cvel[1:].size * include_cvel_in_observation, + "qfrc_actuator": (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation, + "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, + } + def _get_obs(self): position = self.data.qpos.flat.copy() velocity = self.data.qvel.flat.copy() diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 70be08ba..5d67aba4 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -160,6 +160,16 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) + self.metadata["observation_structure"] = { + "skipped_qpos": 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qvel": self.data.qvel.size, + "cinert": 0, + "cvel": 0, + "qfrc_actuator": 0, + "cfrc_ext": 0, + } + def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) return control_cost diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 10878ba9..1d588fae 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -205,6 +205,16 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) + self.metadata["observation_structure"] = { + "skipped_qpos": 1 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, + "qvel": self.data.qvel.size, + "cinert": 0, + "cvel": 0, + "qfrc_actuator": 0, + "cfrc_ext": 0, + } + @property def healthy_reward(self): return ( From 191e7abfd2e11bdef6b18e3d19f3f725ba7f36f8 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 27 May 2023 18:03:35 +0300 Subject: [PATCH 075/104] cartpole add args --- .../envs/mujoco/inverted_pendulum_v5.py | 32 ++++++++++++++----- 1 file changed, 24 insertions(+), 8 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index 1614067c..8bc88b6a 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -69,26 +69,39 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): 3. Termination: The absolute value of the vertical angle between the pole and the cart is greater than 0.2 radian. ## Arguments - No additional arguments are currently supported. + `gymnasium.make` takes additional arguments such as `reset_noise_scale`. ```python import gymnasium as gym - env = gym.make('InvertedPendulum-v5') + env = gym.make('InvertedPendulum-v5', reset_noise_scale=0.1) ``` + | Parameter | Type | Default |Description | + |-------------------------|------------|--------------|-------------------------------| + | `xml_file` | **str** | `"inverted_double_pendulum.xml"` | Path to a MuJoCo model | + | `reset_noise_scale` | **float** | `0.01` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward survive" being 1 on every step (even on terminal steps) and added "reward_survive" to `info`. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.. - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen. + * v3: This environment does not have a v3 release. * v2: All continuous control environments now use mujoco-py >= 1.5. * v1: max_time_steps raised to 1000 for robot based tasks (including inverted pendulum). * v0: Initial versions release (1.0.0) """ - def __init__(self, frame_skip=2, **kwargs): - utils.EzPickle.__init__(self, frame_skip, **kwargs) + def __init__( + self, + xml_file="inverted_pendulum.xml", + frame_skip=2, + reset_noise_scale=0.01, + **kwargs, + ): + utils.EzPickle.__init__(self, xml_file, frame_skip, reset_noise_scale, **kwargs) observation_space = Box(low=-np.inf, high=np.inf, shape=(4,), dtype=np.float64) + self._reset_noise_scale = reset_noise_scale + self.metadata = { "render_modes": [ "human", @@ -100,7 +113,7 @@ def __init__(self, frame_skip=2, **kwargs): MujocoEnv.__init__( self, - "inverted_pendulum.xml", + xml_file, frame_skip, observation_space=observation_space, default_camera_config=DEFAULT_CAMERA_CONFIG, @@ -123,11 +136,14 @@ def step(self, a): return ob, reward, terminated, False, info def reset_model(self): + noise_low = -self._reset_noise_scale + noise_high = self._reset_noise_scale + qpos = self.init_qpos + self.np_random.uniform( - size=self.model.nq, low=-0.01, high=0.01 + size=self.model.nq, low=noise_low, high=noise_high ) qvel = self.init_qvel + self.np_random.uniform( - size=self.model.nv, low=-0.01, high=0.01 + size=self.model.nv, low=noise_low, high=noise_high ) self.set_state(qpos, qvel) return self._get_obs() From 344550a3dd7c951ef7ac93dd2bfdea60ffce5dfe Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 27 May 2023 20:07:03 +0300 Subject: [PATCH 076/104] typo fix --- gymnasium_robotics/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/__init__.py b/gymnasium_robotics/__init__.py index aec91f40..d9240154 100644 --- a/gymnasium_robotics/__init__.py +++ b/gymnasium_robotics/__init__.py @@ -1149,7 +1149,7 @@ def _merge(a, b): register( id="Pusher-v5", - entry_point="gymnasium_robotics.robotics.envs.mujoco.pusher_v5:PusherEnv", + entry_point="gymnasium_robotics.envs.mujoco.pusher_v5:PusherEnv", max_episode_steps=100, reward_threshold=0.0, ) From a265c477da9399fcead86747133a147ae9f362e6 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 27 May 2023 20:55:36 +0300 Subject: [PATCH 077/104] added `reacher`&`pusher` reward weights --- gymnasium_robotics/envs/mujoco/pusher_v5.py | 28 +++++++++++++------- gymnasium_robotics/envs/mujoco/reacher_v5.py | 22 ++++++++++----- 2 files changed, 34 insertions(+), 16 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index ae6a3f6a..ad14cd8a 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -118,9 +118,12 @@ class PusherEnv(MujocoEnv, utils.EzPickle): env = gym.make('Pusher-v5', xml_file=...) ``` - | Parameter | Type | Default |Description | - |-------------------------|------------|--------------|-------------------------------| - | `xml_file` | **str** |`"pusher.xml"`| Path to a MuJoCo model | + | Parameter | Type | Default |Description | + |-------------------------|------------|--------------|----------------------------------------------------------| + | `xml_file` | **str** |`"pusher.xml"`| Path to a MuJoCo model | + | `reward_near_weight` | **float** | `0.5` | Weight for *reward_near* term (see section on reward) | + | `reward_dist_weight` | **float** | `1` | Weight for *reward_dist* term (see section on reward) | + | `reward_control_weight` | **float** | `0.1` | Weight for *reward_control* term (see section on reward) | ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. "reward_near" is added to the `info`. @@ -143,9 +146,16 @@ def __init__( self, xml_file="pusher.xml", frame_skip=5, + reward_near_weight=0.5, + reward_dist_weight=1, + reward_control_weight=0.1, **kwargs, ): - utils.EzPickle.__init__(self, xml_file, frame_skip, **kwargs) + utils.EzPickle.__init__(self, xml_file, frame_skip, reward_near_weight, reward_dist_weight, reward_control_weight, **kwargs) + self._reward_near_weight = reward_near_weight + self._reward_dist_weight = reward_dist_weight + self._reward_control_weight = reward_control_weight + observation_space = Box(low=-np.inf, high=np.inf, shape=(23,), dtype=np.float64) self.metadata = { @@ -154,7 +164,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 100 / frame_skip, + #"render_fps": 100 / frame_skip, } MujocoEnv.__init__( @@ -170,10 +180,10 @@ def step(self, a): vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm") vec_2 = self.get_body_com("object") - self.get_body_com("goal") - reward_near = -np.linalg.norm(vec_1) - reward_dist = -np.linalg.norm(vec_2) - reward_ctrl = -np.square(a).sum() - reward = reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near + reward_near = -np.linalg.norm(vec_1) * self._reward_near_weight + reward_dist = -np.linalg.norm(vec_2) * self._reward_dist_weight + reward_ctrl = -np.square(a).sum() * self._reward_control_weight + reward = reward_dist + reward_ctrl + reward_near self.do_simulation(a, self.frame_skip) if self.render_mode == "human": diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 4e2f4f3c..3c657a0b 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -105,9 +105,11 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): env = gym.make('Reacher-v5', xml_file=...) ``` - | Parameter | Type | Default |Description | - |-------------------------|------------|-------------- |-------------------------------| - | `xml_file` | **str** |`"reacher.xml"`| Path to a MuJoCo model | + | Parameter | Type | Default |Description | + |-------------------------|------------|--------------|----------------------------------------------------------| + | `xml_file` | **str** |`"reacher.xml"`| Path to a MuJoCo model | + | `reward_dist_weight` | **float** | `1` | Weight for *reward_dist* term (see section on reward) | + | `reward_control_weight` | **float** | `0.1` | Weight for *reward_control* term (see section on reward) | ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. Remove "z - position_fingertip" from the observation space. @@ -121,9 +123,15 @@ def __init__( self, xml_file="reacher.xml", frame_skip=2, + reward_dist_weight=1, + reward_control_weight=1, **kwargs, ): - utils.EzPickle.__init__(self, xml_file, frame_skip, **kwargs) + utils.EzPickle.__init__(self, xml_file, frame_skip, reward_dist_weight, reward_control_weight, **kwargs) + + self._reward_dist_weight = reward_dist_weight + self._reward_control_weight = reward_control_weight + observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) self.metadata = { @@ -132,7 +140,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 100 / frame_skip, + #"render_fps": 100 / frame_skip, } MujocoEnv.__init__( @@ -146,8 +154,8 @@ def __init__( def step(self, a): vec = self.get_body_com("fingertip") - self.get_body_com("target") - reward_dist = -np.linalg.norm(vec) - reward_ctrl = -np.square(a).sum() + reward_dist = -np.linalg.norm(vec) * self._reward_dist_weight + reward_ctrl = -np.square(a).sum() * self._reward_control_weight reward = reward_dist + reward_ctrl self.do_simulation(a, self.frame_skip) From 802e22d4cd7de0e2a8bfef20e22721c9bcd4e05d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 27 May 2023 20:57:34 +0300 Subject: [PATCH 078/104] cleanup --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 5 ++--- gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 +- gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 6 +++--- .../envs/mujoco/inverted_double_pendulum_v5.py | 2 +- gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py | 6 +++--- gymnasium_robotics/envs/mujoco/reacher_v5.py | 6 +++--- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 2 +- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 2 +- 9 files changed, 16 insertions(+), 17 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index e0456c7d..35ecca8e 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -245,7 +245,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 100 / frame_skip, # TODO compute `render_fps` in MujocoEnv + #"render_fps": 100 / frame_skip, # TODO compute `render_fps` in MujocoEnv } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 6e8d173b..fa1d8ecd 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -162,7 +162,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 100 / frame_skip, + #"render_fps": 100 / frame_skip, } MujocoEnv.__init__( @@ -205,7 +205,6 @@ def step(self, action): observation = self._get_obs() reward = forward_reward - ctrl_cost - terminated = False info = { "x_position": x_position_after, "x_velocity": x_velocity, @@ -215,7 +214,7 @@ def step(self, action): if self.render_mode == "human": self.render() - return observation, reward, terminated, False, info + return observation, reward, False, False, info def _get_obs(self): position = self.data.qpos.flat.copy() diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 5d6654a3..956384b7 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -187,7 +187,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 500 / frame_skip, + #"render_fps": 500 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 95741ed2..8327e7f0 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -310,7 +310,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 335 / frame_skip, + #"render_fps": 335 / frame_skip, } MujocoEnv.__init__( @@ -385,8 +385,8 @@ def _get_obs(self): ) ) - def step(self, a): - self.do_simulation(a, self.frame_skip) + def step(self, action): + self.do_simulation(action, self.frame_skip) pos_after = self.data.qpos[2] uph_cost = (pos_after - 0) / self.model.opt.timestep diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 9baf520d..7d32a151 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -141,7 +141,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 100 / frame_skip, + #"render_fps": 100 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index 8bc88b6a..dc6d5a8d 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -108,7 +108,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 50 / frame_skip, + #"render_fps": 50 / frame_skip, } MujocoEnv.__init__( @@ -120,8 +120,8 @@ def __init__( **kwargs, ) - def step(self, a): - self.do_simulation(a, self.frame_skip) + def step(self, action): + self.do_simulation(action, self.frame_skip) ob = self._get_obs() diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 3c657a0b..83a1edea 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -152,13 +152,13 @@ def __init__( **kwargs, ) - def step(self, a): + def step(self, action): vec = self.get_body_com("fingertip") - self.get_body_com("target") reward_dist = -np.linalg.norm(vec) * self._reward_dist_weight - reward_ctrl = -np.square(a).sum() * self._reward_control_weight + reward_ctrl = -np.square(action).sum() * self._reward_control_weight reward = reward_dist + reward_ctrl - self.do_simulation(a, self.frame_skip) + self.do_simulation(action, self.frame_skip) if self.render_mode == "human": self.render() diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 5d67aba4..3ffe4a5e 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -148,7 +148,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 100 / frame_skip, + #"render_fps": 100 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 1d588fae..3d81d588 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -188,7 +188,7 @@ def __init__( "rgb_array", "depth_array", ], - "render_fps": 500 / frame_skip, + #"render_fps": 500 / frame_skip, } MujocoEnv.__init__( From f60b453f71e984666fc126121bd6839f2451f71e Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 29 May 2023 11:17:55 +0300 Subject: [PATCH 079/104] cleanup --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 2 +- gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 2 +- .../envs/mujoco/inverted_double_pendulum_v5.py | 4 ++-- gymnasium_robotics/envs/mujoco/pusher_v5.py | 9 +++++---- gymnasium_robotics/envs/mujoco/reacher_v5.py | 3 ++- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 2 +- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 2 +- 8 files changed, 14 insertions(+), 12 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 35ecca8e..a89657f2 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -245,7 +245,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 100 / frame_skip, # TODO compute `render_fps` in MujocoEnv + # "render_fps": 100 / frame_skip, # TODO compute `render_fps` in MujocoEnv } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index fa1d8ecd..018c2bfd 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -162,7 +162,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 100 / frame_skip, + # "render_fps": 100 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 8327e7f0..227bb052 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -310,7 +310,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 335 / frame_skip, + # "render_fps": 335 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 7d32a151..2729141c 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -114,7 +114,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward_survive" being 10 on every step (even on terminal steps). Removed "constraint force" of the hinges from the observation space. Added `info` "reward_survive", "distance_penalty", "velocity_penalty". * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) + * v3: This environment does not have a v3 release. * v2: All continuous control environments now use mujoco-py >= 1.50 * v1: max_time_steps raised to 1000 for robot based tasks (including inverted pendulum) * v0: Initial versions release (1.0.0) @@ -141,7 +141,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 100 / frame_skip, + # "render_fps": 100 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index ad14cd8a..3556ae2a 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -128,6 +128,7 @@ class PusherEnv(MujocoEnv, utils.EzPickle): ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. "reward_near" is added to the `info`. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. + * v3: This environment does not have a v3 release. * v2: All continuous control environments now use mujoco-py >= 1.50. * v1: max_time_steps raised to 1000 for robot based tasks (not including pusher, which has a max_time_steps of 100). Added reward_threshold to environments. * v0: Initial versions release (1.0.0). @@ -164,7 +165,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 100 / frame_skip, + # "render_fps": 100 / frame_skip, } MujocoEnv.__init__( @@ -176,16 +177,16 @@ def __init__( **kwargs, ) - def step(self, a): + def step(self, action): vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm") vec_2 = self.get_body_com("object") - self.get_body_com("goal") reward_near = -np.linalg.norm(vec_1) * self._reward_near_weight reward_dist = -np.linalg.norm(vec_2) * self._reward_dist_weight - reward_ctrl = -np.square(a).sum() * self._reward_control_weight + reward_ctrl = -np.square(action).sum() * self._reward_control_weight reward = reward_dist + reward_ctrl + reward_near - self.do_simulation(a, self.frame_skip) + self.do_simulation(action, self.frame_skip) if self.render_mode == "human": self.render() diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 83a1edea..c8e09345 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -114,6 +114,7 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. Remove "z - position_fingertip" from the observation space. * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 + * v3: This environment does not have a v3 release. * v2: All continuous control environments now use mujoco-py >= 1.50 * v1: max_time_steps raised to 1000 for robot based tasks (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments. * v0: Initial versions release (1.0.0) @@ -140,7 +141,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 100 / frame_skip, + # "render_fps": 100 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 3ffe4a5e..d1b36aa8 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -148,7 +148,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 100 / frame_skip, + # "render_fps": 100 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 3d81d588..205cc681 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -188,7 +188,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 500 / frame_skip, + # "render_fps": 500 / frame_skip, } MujocoEnv.__init__( From e8b045f93910e221da1293f95b12bbdee55712d3 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 29 May 2023 11:18:01 +0300 Subject: [PATCH 080/104] cleanup --- gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 956384b7..38a365e5 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -187,7 +187,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 500 / frame_skip, + # "render_fps": 500 / frame_skip, } MujocoEnv.__init__( From a7c883d687f18d89d4a2b0464ab4e30437fa64ff Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 29 May 2023 18:08:43 +0300 Subject: [PATCH 081/104] `pre-commit` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 3 ++- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 9 +++++++-- gymnasium_robotics/envs/mujoco/hopper_v5.py | 9 +++++++-- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 6 ++++-- .../envs/mujoco/humanoidstandup_v5.py | 6 ++++-- .../envs/mujoco/inverted_pendulum_v5.py | 2 +- gymnasium_robotics/envs/mujoco/pusher_v5.py | 10 +++++++++- gymnasium_robotics/envs/mujoco/reacher_v5.py | 9 ++++++++- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 13 ++++++++----- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 9 +++++++-- 10 files changed, 57 insertions(+), 19 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index a89657f2..42b06fbb 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -267,7 +267,8 @@ def __init__( self.metadata["observation_structure"] = { "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size + - 2 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, "cinert": 0, "cvel": 0, diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 018c2bfd..120862e5 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -174,14 +174,19 @@ def __init__( **kwargs, ) - obs_size = self.data.qpos.size + self.data.qvel.size - exclude_current_positions_from_observation + obs_size = ( + self.data.qpos.size + + self.data.qvel.size + - exclude_current_positions_from_observation + ) self.observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) self.metadata["observation_structure"] = { "skipped_qpos": 1 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size + - 1 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, "cinert": 0, "cvel": 0, diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 38a365e5..29715a6b 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -199,14 +199,19 @@ def __init__( **kwargs, ) - obs_size = self.data.qpos.size + self.data.qvel.size - exclude_current_positions_from_observation + obs_size = ( + self.data.qpos.size + + self.data.qvel.size + - exclude_current_positions_from_observation + ) self.observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) self.metadata["observation_structure"] = { "skipped_qpos": 1 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size + - 1 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, "cinert": 0, "cvel": 0, diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 196b3411..67061ff6 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -354,11 +354,13 @@ def __init__( self.metadata["observation_structure"] = { "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size + - 2 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, "cinert": self.data.cinert[1:].size * include_cinert_in_observation, "cvel": self.data.cvel[1:].size * include_cvel_in_observation, - "qfrc_actuator": (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation, + "qfrc_actuator": (self.data.qvel.size - 6) + * include_qfrc_actuator_in_observation, "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, } diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 227bb052..45e4ba08 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -335,11 +335,13 @@ def __init__( self.metadata["observation_structure"] = { "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size + - 2 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, "cinert": self.data.cinert[1:].size * include_cinert_in_observation, "cvel": self.data.cvel[1:].size * include_cvel_in_observation, - "qfrc_actuator": (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation, + "qfrc_actuator": (self.data.qvel.size - 6) + * include_qfrc_actuator_in_observation, "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, } diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index dc6d5a8d..8e64ae9d 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -108,7 +108,7 @@ def __init__( "rgb_array", "depth_array", ], - #"render_fps": 50 / frame_skip, + # "render_fps": 50 / frame_skip, } MujocoEnv.__init__( diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index 3556ae2a..9111602b 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -152,7 +152,15 @@ def __init__( reward_control_weight=0.1, **kwargs, ): - utils.EzPickle.__init__(self, xml_file, frame_skip, reward_near_weight, reward_dist_weight, reward_control_weight, **kwargs) + utils.EzPickle.__init__( + self, + xml_file, + frame_skip, + reward_near_weight, + reward_dist_weight, + reward_control_weight, + **kwargs, + ) self._reward_near_weight = reward_near_weight self._reward_dist_weight = reward_dist_weight self._reward_control_weight = reward_control_weight diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index c8e09345..fcc4d7f8 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -128,7 +128,14 @@ def __init__( reward_control_weight=1, **kwargs, ): - utils.EzPickle.__init__(self, xml_file, frame_skip, reward_dist_weight, reward_control_weight, **kwargs) + utils.EzPickle.__init__( + self, + xml_file, + frame_skip, + reward_dist_weight, + reward_control_weight, + **kwargs, + ) self._reward_dist_weight = reward_dist_weight self._reward_control_weight = reward_control_weight diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index d1b36aa8..2bc92220 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -151,18 +151,21 @@ def __init__( # "render_fps": 100 / frame_skip, } - MujocoEnv.__init__( - self, xml_file, frame_skip, observation_space=None, **kwargs - ) + MujocoEnv.__init__(self, xml_file, frame_skip, observation_space=None, **kwargs) - obs_size = self.data.qpos.size + self.data.qvel.size - 2 * exclude_current_positions_from_observation + obs_size = ( + self.data.qpos.size + + self.data.qvel.size + - 2 * exclude_current_positions_from_observation + ) self.observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) self.metadata["observation_structure"] = { "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size + - 2 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, "cinert": 0, "cvel": 0, diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 205cc681..cab70e8f 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -200,14 +200,19 @@ def __init__( **kwargs, ) - obs_size = self.data.qpos.size + self.data.qvel.size - exclude_current_positions_from_observation + obs_size = ( + self.data.qpos.size + + self.data.qvel.size + - exclude_current_positions_from_observation + ) self.observation_space = Box( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) self.metadata["observation_structure"] = { "skipped_qpos": 1 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, + "qpos": self.data.qpos.size + - 1 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, "cinert": 0, "cvel": 0, From 9c3c9e0246657fd87a32790027b94aa8da785ad3 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 29 May 2023 20:31:16 +0300 Subject: [PATCH 082/104] add `default_camera_config` argunment --- gymnasium_robotics/envs/mujoco/ant_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/hopper_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 3 ++- gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/pusher_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/reacher_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 4 +++- 8 files changed, 22 insertions(+), 7 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 42b06fbb..21b50658 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -196,6 +196,7 @@ def __init__( self, xml_file="ant.xml", frame_skip=5, + default_camera_config=DEFAULT_CAMERA_CONFIG, ctrl_cost_weight=0.5, contact_cost_weight=5e-4, healthy_reward=1.0, @@ -211,6 +212,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, ctrl_cost_weight, contact_cost_weight, healthy_reward, @@ -253,7 +255,7 @@ def __init__( xml_file, frame_skip, observation_space=None, # needs to be defined after - default_camera_config=DEFAULT_CAMERA_CONFIG, + default_camera_config=default_camera_config, **kwargs ) diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 120862e5..ed618fb6 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -129,6 +129,7 @@ def __init__( self, xml_file="half_cheetah.xml", frame_skip=5, + default_camera_config=DEFAULT_CAMERA_CONFIG, forward_reward_weight=1.0, ctrl_cost_weight=0.1, reset_noise_scale=0.1, @@ -139,6 +140,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, forward_reward_weight, ctrl_cost_weight, reset_noise_scale, diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 29715a6b..3d7b7a76 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -137,6 +137,7 @@ def __init__( self, xml_file="hopper_v5.xml", frame_skip=4, + default_camera_config=DEFAULT_CAMERA_CONFIG, forward_reward_weight=1.0, ctrl_cost_weight=1e-3, healthy_reward=1.0, @@ -152,6 +153,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, forward_reward_weight, ctrl_cost_weight, healthy_reward, @@ -195,7 +197,7 @@ def __init__( xml_file, frame_skip, observation_space=None, - default_camera_config=DEFAULT_CAMERA_CONFIG, + default_camera_config=default_camera_config, **kwargs, ) diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 67061ff6..277e6012 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -267,6 +267,7 @@ def __init__( self, xml_file="humanoid.xml", frame_skip=5, + default_camera_config=DEFAULT_CAMERA_CONFIG, forward_reward_weight=1.25, ctrl_cost_weight=0.1, contact_cost_weight=5e-7, @@ -337,7 +338,7 @@ def __init__( xml_file, frame_skip, observation_space=None, - default_camera_config=DEFAULT_CAMERA_CONFIG, + default_camera_config=default_camera_config, **kwargs, ) diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 45e4ba08..cc72c9e6 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -252,6 +252,7 @@ def __init__( self, xml_file="humanoidstandup.xml", frame_skip=5, + default_camera_config=DEFAULT_CAMERA_CONFIG, uph_cost_weight=1, ctrl_cost_weight=0.1, impact_cost_weight=0.5e-6, @@ -268,6 +269,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, uph_cost_weight, ctrl_cost_weight, impact_cost_weight, @@ -318,7 +320,7 @@ def __init__( xml_file, frame_skip, observation_space=None, - default_camera_config=DEFAULT_CAMERA_CONFIG, + default_camera_config=default_camera_config, **kwargs, ) diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index 9111602b..15231db0 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -147,6 +147,7 @@ def __init__( self, xml_file="pusher.xml", frame_skip=5, + default_camera_config=DEFAULT_CAMERA_CONFIG, reward_near_weight=0.5, reward_dist_weight=1, reward_control_weight=0.1, @@ -156,6 +157,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, reward_near_weight, reward_dist_weight, reward_control_weight, @@ -181,7 +183,7 @@ def __init__( xml_file, frame_skip, observation_space=observation_space, - default_camera_config=DEFAULT_CAMERA_CONFIG, + default_camera_config=default_camera_config, **kwargs, ) diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index fcc4d7f8..122a5f23 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -124,6 +124,7 @@ def __init__( self, xml_file="reacher.xml", frame_skip=2, + default_camera_config=DEFAULT_CAMERA_CONFIG, reward_dist_weight=1, reward_control_weight=1, **kwargs, @@ -132,6 +133,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, reward_dist_weight, reward_control_weight, **kwargs, @@ -156,7 +158,7 @@ def __init__( xml_file, frame_skip, observation_space=observation_space, - default_camera_config=DEFAULT_CAMERA_CONFIG, + default_camera_config=default_camera_config, **kwargs, ) diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index cab70e8f..d64b0f3a 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -142,6 +142,7 @@ def __init__( self, xml_file="walker2d_v5.xml", frame_skip=4, + default_camera_config=DEFAULT_CAMERA_CONFIG, forward_reward_weight=1.0, ctrl_cost_weight=1e-3, healthy_reward=1.0, @@ -156,6 +157,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, forward_reward_weight, ctrl_cost_weight, healthy_reward, @@ -196,7 +198,7 @@ def __init__( xml_file, frame_skip, observation_space=None, - default_camera_config=DEFAULT_CAMERA_CONFIG, + default_camera_config=default_camera_config, **kwargs, ) From 938b4e95dc9ff2d75573f03d98640dc2c35e06bb Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 1 Jun 2023 12:02:16 +0300 Subject: [PATCH 083/104] fix `ant/humanoid` `info["x/y_position"]` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 4 ++-- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 21b50658..2b07490c 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -339,8 +339,8 @@ def step(self, action): "reward_ctrl": -ctrl_cost, "reward_contact": -contact_cost, "reward_survive": healthy_reward, - "x_position": xy_position_after[0], - "y_position": xy_position_after[1], + "x_position": self.data.qpos[0], + "y_position": self.data.qpos[1], "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 277e6012..513caaad 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -463,8 +463,8 @@ def step(self, action): "reward_forward": forward_reward, "reward_ctrl": -ctrl_cost, "reward_contact": -contact_cost, - "x_position": xy_position_after[0], - "y_position": xy_position_after[1], + "x_position": self.data.qpos[0], + "y_position": self.data.qpos[1], "tendon_lenght": self.data.ten_length, "tendon_velocity": self.data.ten_velocity, "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), From 8800d5f05e0219cbafdebf76a069268867b57e93 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 1 Jun 2023 16:24:09 +0300 Subject: [PATCH 084/104] `ant` add `forward_reward_weight` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 2b07490c..943b4100 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -197,6 +197,7 @@ def __init__( xml_file="ant.xml", frame_skip=5, default_camera_config=DEFAULT_CAMERA_CONFIG, + forward_reward_weight=1, ctrl_cost_weight=0.5, contact_cost_weight=5e-4, healthy_reward=1.0, @@ -213,6 +214,7 @@ def __init__( xml_file, frame_skip, default_camera_config, + forward_reward_weight, ctrl_cost_weight, contact_cost_weight, healthy_reward, @@ -225,6 +227,7 @@ def __init__( **kwargs ) + self._forward_reward_weight = forward_reward_weight self._ctrl_cost_weight = ctrl_cost_weight self._contact_cost_weight = contact_cost_weight @@ -323,7 +326,7 @@ def step(self, action): xy_velocity = (xy_position_after - xy_position_before) / self.dt x_velocity, y_velocity = xy_velocity - forward_reward = x_velocity + forward_reward = x_velocity * self._forward_reward_weight healthy_reward = self.healthy_reward rewards = forward_reward + healthy_reward From 3c568662aa0330041ec806aa08fd598a80a02a22 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 1 Jun 2023 16:25:09 +0300 Subject: [PATCH 085/104] ant doc --- gymnasium_robotics/envs/mujoco/ant_v5.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 943b4100..c2acf160 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -173,8 +173,8 @@ class AntEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default |Description | |--------------------------------------------|------------|--------------|-------------------------------| |`xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model | + |`forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | |`ctrl_cost_weight` | **float** | `0.5` | Weight for *ctrl_cost* term (see section on reward) | - |`use_contact_forces` (`v4` only) | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | |`contact_cost_weight` | **float** | `5e-4` | Weight for *contact_cost* term (see section on reward) | |`healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | |`terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | @@ -183,6 +183,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): |`reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | |`exclude_current_positions_from_observation`| **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | |`include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | + |`use_contact_forces` (`v4` only) | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | ## Version History * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3, also removed contact forces from the default observation space (new variable `use_contact_forces=True` can restore them) From f67639e2c899b9156851e28dba6b71911c6bfb8c Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 1 Jun 2023 16:35:46 +0300 Subject: [PATCH 086/104] `ant` cleaned up xy pos aquasition --- gymnasium_robotics/envs/mujoco/ant_v5.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index c2acf160..0a840719 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -320,9 +320,13 @@ def terminated(self): return terminated def step(self, action): - xy_position_before = self.get_body_com("torso")[:2].copy() + xy_position_before = self.data.body("torso").xpos[:2] + # TODO remove after validation + assert (xy_position_before == self.get_body_com("torso")[:2].copy()).all() self.do_simulation(action, self.frame_skip) - xy_position_after = self.get_body_com("torso")[:2].copy() + xy_position_after = self.data.body("torso").xpos[:2] + # TODO remove after validation + assert (xy_position_after == self.get_body_com("torso")[:2].copy()).all() xy_velocity = (xy_position_after - xy_position_before) / self.dt x_velocity, y_velocity = xy_velocity From ebc96c08bc893684518d0b43ee0461f364b8644b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 1 Jun 2023 17:27:48 +0300 Subject: [PATCH 087/104] added `main_body` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 0a840719..f088debb 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -121,8 +121,9 @@ class AntEnv(MujocoEnv, utils.EzPickle): The reward consists of three parts: - *healthy_reward*: Every timestep that the ant is healthy (see definition in section "Episode Termination"), it gets a reward of fixed value `healthy_reward` - *forward_reward*: A reward of moving forward which is measured as - *(x-coordinate before action - x-coordinate after action)/dt*. *dt* is the time - between actions and is dependent on the `frame_skip` parameter (default is 5), + $\frac{dx}{dt} \times$ `forward_reward_weight`. + $dx$ is the displacement of the `main_body` (x-coordinate before action - x-coordinate after action)*. + $dt$ is the time between actions and is dependent on the `frame_skip` parameter (default is 5), where the frametime is 0.01 - making the default *dt = 5 * 0.01 = 0.05*. This reward would be positive if the ant moves forward (in positive x direction). - *ctrl_cost*: A negative reward for penalising the ant if it takes actions @@ -173,10 +174,11 @@ class AntEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default |Description | |--------------------------------------------|------------|--------------|-------------------------------| |`xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model | - |`forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | - |`ctrl_cost_weight` | **float** | `0.5` | Weight for *ctrl_cost* term (see section on reward) | - |`contact_cost_weight` | **float** | `5e-4` | Weight for *contact_cost* term (see section on reward) | + |`forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward)| + |`ctrl_cost_weight` | **float** | `0.5` | Weight for _ctrl_cost_ term (see section on reward) | + |`contact_cost_weight` | **float** | `5e-4` | Weight for _contact_cost_ term (see section on reward) | |`healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | + |`main_body` |**str|int** | `1`("torso") | Name or ID of the body, whose diplacement is used to calculate the *dx*/_forward_reward_ (usefull for custom MuJoCo models)| |`terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | |`healthy_z_range` | **tuple** | `(0.2, 1)` | The ant is considered healthy if the z-coordinate of the torso is in this range | |`contact_force_range` | **tuple** | `(-1, 1)` | Contact forces are clipped to this range in the computation of *contact_cost* | @@ -202,6 +204,7 @@ def __init__( ctrl_cost_weight=0.5, contact_cost_weight=5e-4, healthy_reward=1.0, + main_body="torso", terminate_when_unhealthy=True, healthy_z_range=(0.2, 1.0), contact_force_range=(-1.0, 1.0), @@ -219,6 +222,7 @@ def __init__( ctrl_cost_weight, contact_cost_weight, healthy_reward, + main_body, terminate_when_unhealthy, healthy_z_range, contact_force_range, @@ -238,6 +242,8 @@ def __init__( self._contact_force_range = contact_force_range + self._main_body = main_body + self._reset_noise_scale = reset_noise_scale self._exclude_current_positions_from_observation = ( @@ -320,11 +326,11 @@ def terminated(self): return terminated def step(self, action): - xy_position_before = self.data.body("torso").xpos[:2] + xy_position_before = self.data.body(self._main_body).xpos[:2] # TODO remove after validation assert (xy_position_before == self.get_body_com("torso")[:2].copy()).all() self.do_simulation(action, self.frame_skip) - xy_position_after = self.data.body("torso").xpos[:2] + xy_position_after = self.data.body(self._main_body).xpos[:2] # TODO remove after validation assert (xy_position_after == self.get_body_com("torso")[:2].copy()).all() From 5263fe6f8cad652c0d189cab024b89f8bf147e60 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 2 Jun 2023 12:03:10 +0300 Subject: [PATCH 088/104] fix `healthy_reward` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 9 ++++----- gymnasium_robotics/envs/mujoco/hopper_v5.py | 9 ++++----- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 10 +++++----- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 9 ++++----- 4 files changed, 17 insertions(+), 20 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index f088debb..4e56c826 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -290,10 +290,7 @@ def __init__( @property def healthy_reward(self): - return ( - float(self.is_healthy or self._terminate_when_unhealthy) - * self._healthy_reward - ) + return self.is_healthy * self._healthy_reward def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) @@ -322,7 +319,9 @@ def is_healthy(self): @property def terminated(self): - terminated = not self.is_healthy if self._terminate_when_unhealthy else False + terminated = (not self.is_healthy) and self._terminate_when_unhealthy + # TODO remove after validation + assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) return terminated def step(self, action): diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 3d7b7a76..e326c213 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -223,10 +223,7 @@ def __init__( @property def healthy_reward(self): - return ( - float(self.is_healthy or self._terminate_when_unhealthy) - * self._healthy_reward - ) + return self.is_healthy * self._healthy_reward def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) @@ -251,7 +248,9 @@ def is_healthy(self): @property def terminated(self): - terminated = not self.is_healthy if self._terminate_when_unhealthy else False + terminated = (not self.is_healthy) and self._terminate_when_unhealthy + # TODO remove after validation + assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) return terminated def _get_obs(self): diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 513caaad..d653c3b2 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -287,6 +287,7 @@ def __init__( self, xml_file, frame_skip, + default_camera_config, forward_reward_weight, ctrl_cost_weight, contact_cost_weight, @@ -367,10 +368,7 @@ def __init__( @property def healthy_reward(self): - return ( - float(self.is_healthy or self._terminate_when_unhealthy) - * self._healthy_reward - ) + return self.is_healthy * self._healthy_reward def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(self.data.ctrl)) @@ -393,7 +391,9 @@ def is_healthy(self): @property def terminated(self): - terminated = (not self.is_healthy) if self._terminate_when_unhealthy else False + terminated = (not self.is_healthy) and self._terminate_when_unhealthy + # TODO remove after validation + assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) return terminated def _get_obs(self): diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index d64b0f3a..df50b751 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -224,10 +224,7 @@ def __init__( @property def healthy_reward(self): - return ( - float(self.is_healthy or self._terminate_when_unhealthy) - * self._healthy_reward - ) + return self.is_healthy * self._healthy_reward def control_cost(self, action): control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) @@ -248,7 +245,9 @@ def is_healthy(self): @property def terminated(self): - terminated = not self.is_healthy if self._terminate_when_unhealthy else False + terminated = (not self.is_healthy) and self._terminate_when_unhealthy + # TODO remove after validation + assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) return terminated def _get_obs(self): From 89efd657a345753cac02df3daf49a91f95801b00 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 2 Jun 2023 12:48:24 +0300 Subject: [PATCH 089/104] pre-commit --- gymnasium_robotics/envs/mujoco/ant_v5.py | 6 ++++-- gymnasium_robotics/envs/mujoco/hopper_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 4 +++- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 4 +++- 4 files changed, 13 insertions(+), 5 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 4e56c826..560de7ab 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -178,7 +178,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): |`ctrl_cost_weight` | **float** | `0.5` | Weight for _ctrl_cost_ term (see section on reward) | |`contact_cost_weight` | **float** | `5e-4` | Weight for _contact_cost_ term (see section on reward) | |`healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | - |`main_body` |**str|int** | `1`("torso") | Name or ID of the body, whose diplacement is used to calculate the *dx*/_forward_reward_ (usefull for custom MuJoCo models)| + |`main_body` |**str|int** | `1`("torso") | Name or ID of the body, whose diplacement is used to calculate the *dx*/_forward_reward_ (useful for custom MuJoCo models)| |`terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | |`healthy_z_range` | **tuple** | `(0.2, 1)` | The ant is considered healthy if the z-coordinate of the torso is in this range | |`contact_force_range` | **tuple** | `(-1, 1)` | Contact forces are clipped to this range in the computation of *contact_cost* | @@ -321,7 +321,9 @@ def is_healthy(self): def terminated(self): terminated = (not self.is_healthy) and self._terminate_when_unhealthy # TODO remove after validation - assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) + assert terminated == ( + not self.is_healthy if self._terminate_when_unhealthy else False + ) return terminated def step(self, action): diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index e326c213..2caa1ecc 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -250,7 +250,9 @@ def is_healthy(self): def terminated(self): terminated = (not self.is_healthy) and self._terminate_when_unhealthy # TODO remove after validation - assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) + assert terminated == ( + not self.is_healthy if self._terminate_when_unhealthy else False + ) return terminated def _get_obs(self): diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index d653c3b2..a530a099 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -393,7 +393,9 @@ def is_healthy(self): def terminated(self): terminated = (not self.is_healthy) and self._terminate_when_unhealthy # TODO remove after validation - assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) + assert terminated == ( + not self.is_healthy if self._terminate_when_unhealthy else False + ) return terminated def _get_obs(self): diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index df50b751..a49bf4f5 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -247,7 +247,9 @@ def is_healthy(self): def terminated(self): terminated = (not self.is_healthy) and self._terminate_when_unhealthy # TODO remove after validation - assert terminated == (not self.is_healthy if self._terminate_when_unhealthy else False) + assert terminated == ( + not self.is_healthy if self._terminate_when_unhealthy else False + ) return terminated def _get_obs(self): From ca360f9a71c4db99614825a961ec780bb629fbaa Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 2 Jun 2023 13:13:28 +0300 Subject: [PATCH 090/104] fix ant velocity --- gymnasium_robotics/envs/mujoco/ant_v5.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 560de7ab..ebc728c1 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -327,11 +327,11 @@ def terminated(self): return terminated def step(self, action): - xy_position_before = self.data.body(self._main_body).xpos[:2] + xy_position_before = self.data.body(self._main_body).xpos[:2].copy() # TODO remove after validation assert (xy_position_before == self.get_body_com("torso")[:2].copy()).all() self.do_simulation(action, self.frame_skip) - xy_position_after = self.data.body(self._main_body).xpos[:2] + xy_position_after = self.data.body(self._main_body).xpos[:2].copy() # TODO remove after validation assert (xy_position_after == self.get_body_com("torso")[:2].copy()).all() From 3e6fc80970bb90d7ee43e28715bcb921f966ccc4 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 2 Jun 2023 14:57:15 +0300 Subject: [PATCH 091/104] dict --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 +- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 5 ++--- .../envs/mujoco/inverted_double_pendulum_v5.py | 10 +++++----- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 2 +- 5 files changed, 10 insertions(+), 11 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index ebc728c1..87b3d49b 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -177,7 +177,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): |`forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward)| |`ctrl_cost_weight` | **float** | `0.5` | Weight for _ctrl_cost_ term (see section on reward) | |`contact_cost_weight` | **float** | `5e-4` | Weight for _contact_cost_ term (see section on reward) | - |`healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | + |`healthy_reward` | **float** | `1` | Weight for _healthy_reward_ term (see section on reward) | |`main_body` |**str|int** | `1`("torso") | Name or ID of the body, whose diplacement is used to calculate the *dx*/_forward_reward_ (useful for custom MuJoCo models)| |`terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | |`healthy_z_range` | **tuple** | `(0.2, 1)` | The ant is considered healthy if the z-coordinate of the torso is in this range | diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 2caa1ecc..86050993 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -116,7 +116,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): | `xml_file` | **str** | `"hopper_v5.xml"` | Path to a MuJoCo model | | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctrl_cost_ reward (see section on reward) | - | `healthy_reward` | **float** | `1` | Constant reward given if the ant is "healthy" after timestep | + | `healthy_reward` | **float** | `1` | Weight for _healthy_reward_ reward (see section on reward) | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the hopper is no longer healthy | | `healthy_state_range` | **tuple** | `(-100, 100)` | The elements of `observation[1:]` (if `exclude_current_positions_from_observation=True`, else `observation[2:]`) must be in this range for the hopper to be considered healthy | | `healthy_z_range` | **tuple** | `(0.7, float("inf"))` | The z-coordinate must be in this range for the hopper to be considered healthy | diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index a530a099..401e2e00 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -243,8 +243,8 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | `forward_reward_weight` | **float** | `1.25` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ term (see section on reward) | | `contact_cost_weight` | **float** | `5e-7` | Weight for _contact_cost_ term (see section on reward) | - | `contact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _contact_cost_ | - | `healthy_reward` | **float** | `5.0` | Constant reward given if the humanoid is "healthy" after timestep | + | `contact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _contact_cost_ term (see section on reward) | + | `healthy_reward` | **float** | `5.0` | Weight for _healthy_reward_ term (see section on reward) | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | | `healthy_z_range` | **tuple** | `(1.0, 2.0)` | The humanoid is considered healthy if the z-coordinate of the torso is in this range | | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | @@ -255,7 +255,6 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | ## Version History - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) * v2: All continuous control environments now use mujoco-py >= 1.50 diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 2729141c..946184c5 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -105,11 +105,11 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): env = gym.make('InvertedDoublePendulum-v5', healthy_reward=10, ...) ``` - | Parameter | Type | Default |Description | - |-------------------------|------------|--------------|-------------------------------| - | `xml_file` | **str** | `"inverted_double_pendulum.xml"` | Path to a MuJoCo model | - | `healthy_reward` | **float** | `10 | Constant reward given if the pendulum is "healthy" (upright) | - | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + | Parameter | Type | Default | Description | + |-------------------------|------------|-------------- |-------------------------------| + | `xml_file` | **str** |`"inverted_double_pendulum.xml"`| Path to a MuJoCo model | + | `healthy_reward` | **float** | `10 | Constant reward given if the pendulum is "healthy" (upright) | + | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | ## Version History * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward_survive" being 10 on every step (even on terminal steps). Removed "constraint force" of the hinges from the observation space. Added `info` "reward_survive", "distance_penalty", "velocity_penalty". diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index a49bf4f5..23ef6225 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -121,7 +121,7 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): | `xml_file` | **str** |`"walker2d_v5.xml"`| Path to a MuJoCo model | | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctr_cost_ term (see section on reward) | - | `healthy_reward` | **float** | `1.0` | Constant reward given if the ant is "healthy" after timestep | + | `healthy_reward` | **float** | `1` | Weight for _healthy_reward_ reward (see section on reward) | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the walker is no longer healthy | | `healthy_z_range` | **tuple** | `(0.8, 2)` | The z-coordinate of the torso of the walker must be in this range to be considered healthy | | `healthy_angle_range` | **tuple** | `(-1, 1)` | The angle must be in this range to be considered healthy | From 8921dcd1194feb53ad5ed6b3d2a01b2e1891edc6 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 3 Jun 2023 17:56:03 +0300 Subject: [PATCH 092/104] update renderer --- gymnasium_robotics/envs/mujoco/ant_v5.py | 56 +++++++++++-------- .../envs/mujoco/half_cheetah_v5.py | 27 +++++---- gymnasium_robotics/envs/mujoco/hopper_v5.py | 26 ++++++--- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 26 ++++++--- .../envs/mujoco/humanoidstandup_v5.py | 26 ++++++--- .../mujoco/inverted_double_pendulum_v5.py | 26 ++++++--- .../envs/mujoco/inverted_pendulum_v5.py | 26 ++++++--- gymnasium_robotics/envs/mujoco/pusher_v5.py | 19 +++---- gymnasium_robotics/envs/mujoco/reacher_v5.py | 26 ++++++--- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 14 ++++- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 26 ++++++--- 11 files changed, 189 insertions(+), 109 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 87b3d49b..a35be93b 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -1,5 +1,7 @@ __credits__ = ["Kallinteris-Andreas"] +from typing import Dict, Tuple + import numpy as np from gymnasium import utils from gymnasium.envs.mujoco import MujocoEnv @@ -195,22 +197,30 @@ class AntEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, - xml_file="ant.xml", - frame_skip=5, - default_camera_config=DEFAULT_CAMERA_CONFIG, - forward_reward_weight=1, - ctrl_cost_weight=0.5, - contact_cost_weight=5e-4, - healthy_reward=1.0, - main_body="torso", - terminate_when_unhealthy=True, - healthy_z_range=(0.2, 1.0), - contact_force_range=(-1.0, 1.0), - reset_noise_scale=0.1, - exclude_current_positions_from_observation=True, - include_cfrc_ext_in_observation=True, + xml_file: str = "ant.xml", + frame_skip: int = 5, + default_camera_config: Dict = DEFAULT_CAMERA_CONFIG, + forward_reward_weight: float = 1, + ctrl_cost_weight: float = 0.5, + contact_cost_weight: float = 5e-4, + healthy_reward: float = 1.0, + main_body: str = "torso", + terminate_when_unhealthy: bool = True, + healthy_z_range: Tuple[float, float] = (0.2, 1.0), + contact_force_range: Tuple[float, float] = (-1.0, 1.0), + reset_noise_scale: float = 0.1, + exclude_current_positions_from_observation: bool = True, + include_cfrc_ext_in_observation: bool = True, **kwargs ): utils.EzPickle.__init__( @@ -251,15 +261,6 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 100 / frame_skip, # TODO compute `render_fps` in MujocoEnv - } - MujocoEnv.__init__( self, xml_file, @@ -269,6 +270,15 @@ def __init__( **kwargs ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + obs_size = self.data.qpos.size + self.data.qvel.size obs_size -= 2 * exclude_current_positions_from_observation obs_size += self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index ed618fb6..da6a6b61 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -125,6 +125,14 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="half_cheetah.xml", @@ -149,7 +157,6 @@ def __init__( ) self._forward_reward_weight = forward_reward_weight - self._ctrl_cost_weight = ctrl_cost_weight self._reset_noise_scale = reset_noise_scale @@ -158,15 +165,6 @@ def __init__( exclude_current_positions_from_observation ) - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 100 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -176,6 +174,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + obs_size = ( self.data.qpos.size + self.data.qvel.size diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 86050993..2328411d 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -133,6 +133,14 @@ class HopperEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0). """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="hopper_v5.xml", @@ -183,15 +191,6 @@ def __init__( exclude_current_positions_from_observation ) - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 500 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -201,6 +200,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + obs_size = ( self.data.qpos.size + self.data.qvel.size diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 401e2e00..d413b0d2 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -262,6 +262,14 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="humanoid.xml", @@ -324,15 +332,6 @@ def __init__( ) self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 335 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -342,6 +341,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + obs_size = self.data.qpos.size + self.data.qvel.size obs_size -= 2 * exclude_current_positions_from_observation obs_size += self.data.cinert[1:].size * include_cinert_in_observation diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index cc72c9e6..e465bd44 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -248,6 +248,14 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0). """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="humanoidstandup.xml", @@ -306,15 +314,6 @@ def __init__( obs_size += 17 * include_qfrc_actuator_in_observation obs_size += 78 * include_cfrc_ext_in_observation - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 335 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -324,6 +323,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + obs_size = self.data.qpos.size + self.data.qvel.size obs_size -= 2 * exclude_current_positions_from_observation obs_size += self.data.cinert[1:].size * include_cinert_in_observation diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 946184c5..04d00f3d 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -120,6 +120,14 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="inverted_double_pendulum.xml", @@ -135,15 +143,6 @@ def __init__( observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 100 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -153,6 +152,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + def step(self, action): self.do_simulation(action, self.frame_skip) diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index 8e64ae9d..1cadc6ef 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -90,6 +90,14 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="inverted_pendulum.xml", @@ -102,15 +110,6 @@ def __init__( self._reset_noise_scale = reset_noise_scale - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 50 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -120,6 +119,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + def step(self, action): self.do_simulation(action, self.frame_skip) diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index 15231db0..a79f585a 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -140,7 +140,6 @@ class PusherEnv(MujocoEnv, utils.EzPickle): "rgb_array", "depth_array", ], - "render_fps": 20, } def __init__( @@ -169,15 +168,6 @@ def __init__( observation_space = Box(low=-np.inf, high=np.inf, shape=(23,), dtype=np.float64) - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 100 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -187,6 +177,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + def step(self, action): vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm") vec_2 = self.get_body_com("object") - self.get_body_com("goal") diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 122a5f23..869b5ec8 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -120,6 +120,14 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="reacher.xml", @@ -144,15 +152,6 @@ def __init__( observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 100 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -162,6 +161,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + def step(self, action): vec = self.get_body_com("fingertip") - self.get_body_com("target") reward_dist = -np.linalg.norm(vec) * self._reward_dist_weight diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 2bc92220..bf61a5bb 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -112,6 +112,14 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="swimmer.xml", @@ -142,17 +150,17 @@ def __init__( exclude_current_positions_from_observation ) + MujocoEnv.__init__(self, xml_file, frame_skip, observation_space=None, **kwargs) + self.metadata = { "render_modes": [ "human", "rgb_array", "depth_array", ], - # "render_fps": 100 / frame_skip, + "render_fps": int(np.round(1.0 / self.dt)), } - MujocoEnv.__init__(self, xml_file, frame_skip, observation_space=None, **kwargs) - obs_size = ( self.data.qpos.size + self.data.qvel.size diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 23ef6225..274055a0 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -138,6 +138,14 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): * v0: Initial versions release (1.0.0) """ + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + def __init__( self, xml_file="walker2d_v5.xml", @@ -184,15 +192,6 @@ def __init__( exclude_current_positions_from_observation ) - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - # "render_fps": 500 / frame_skip, - } - MujocoEnv.__init__( self, xml_file, @@ -202,6 +201,15 @@ def __init__( **kwargs, ) + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + obs_size = ( self.data.qpos.size + self.data.qvel.size From 360b6dcdc643e55342a793886e6fa194023ff3f9 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 5 Jun 2023 20:22:07 +0300 Subject: [PATCH 093/104] add `walker2d` `info[z_distance_from_origon]` --- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 1 + 1 file changed, 1 insertion(+) diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 274055a0..ac732d29 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -292,6 +292,7 @@ def step(self, action): "reward_ctrl": -ctrl_cost, "reward_survive": healthy_reward, "x_position": x_position_after, + "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], "x_velocity": x_velocity, } From f96d8883a30399c1e996020e704b8ecc3a8fcc04 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 5 Jun 2023 21:37:08 +0300 Subject: [PATCH 094/104] add `reset_info` --- gymnasium_robotics/envs/mujoco/ant_v5.py | 9 +- .../envs/mujoco/half_cheetah_v5.py | 5 + gymnasium_robotics/envs/mujoco/hopper_v5.py | 6 + gymnasium_robotics/envs/mujoco/humanoid_v5.py | 9 ++ .../envs/mujoco/humanoidstandup_v5.py | 10 ++ .../envs/mujoco/point_mujoco.py | 110 ++++++++++++++++++ gymnasium_robotics/envs/mujoco/swimmer_v5.py | 7 ++ gymnasium_robotics/envs/mujoco/walker2d_v5.py | 6 + 8 files changed, 161 insertions(+), 1 deletion(-) create mode 100644 gymnasium_robotics/envs/mujoco/point_mujoco.py diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index a35be93b..419fa95b 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -113,7 +113,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). - **Note:** Ant-v4 environment no longer has the following contact forces issue. + **Note:** Ant-v4+ environment no longer has the following contact forces issue. If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 results in the contact forces always being 0. As such we recommend to use a Mujoco-Py version < 2.0 when using the Ant environment if you would like to report results with contact forces (if @@ -410,3 +410,10 @@ def reset_model(self): observation = self._get_obs() return observation + + def _get_reset_info(self): + return { + "x_position": self.data.qpos[0], + "y_position": self.data.qpos[1], + "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), + } diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index da6a6b61..e4d4a279 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -256,3 +256,8 @@ def reset_model(self): observation = self._get_obs() return observation + + def _get_reset_info(self): + return { + "x_position": self.data.qpos[0], + } diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 2328411d..67461f4e 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -326,3 +326,9 @@ def viewer_setup(self): getattr(self.viewer.cam, key)[:] = value else: setattr(self.viewer.cam, key, value) + + def _get_reset_info(self): + return { + "x_position": self.data.qpos[0], + "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], + } diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index d413b0d2..7daa4fce 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -499,3 +499,12 @@ def reset_model(self): observation = self._get_obs() return observation + + def _get_reset_info(self): + return { + "x_position": self.data.qpos[0], + "y_position": self.data.qpos[1], + "tendon_lenght": self.data.ten_length, + "tendon_velocity": self.data.ten_velocity, + "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), + } diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index e465bd44..642eef88 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -419,6 +419,7 @@ def step(self, action): "reward_impact": -quad_impact_cost, "x_position": self.data.qpos[0], "y_position": self.data.qpos[1], + "z_distance_from_origin": self.data.qpos[2] - self.init_qpos[2], "tendon_lenght": self.data.ten_length, "tendon_velocity": self.data.ten_velocity, } @@ -441,3 +442,12 @@ def reset_model(self): observation = self._get_obs() return observation + + def _get_reset_info(self): + return { + "x_position": self.data.qpos[0], + "y_position": self.data.qpos[1], + "z_distance_from_origin": self.data.qpos[2] - self.init_qpos[2], + "tendon_lenght": self.data.ten_length, + "tendon_velocity": self.data.ten_velocity, + } diff --git a/gymnasium_robotics/envs/mujoco/point_mujoco.py b/gymnasium_robotics/envs/mujoco/point_mujoco.py new file mode 100644 index 00000000..9a389b81 --- /dev/null +++ b/gymnasium_robotics/envs/mujoco/point_mujoco.py @@ -0,0 +1,110 @@ +__credits__ = ["Kallinteris-Andreas"] + +import warnings + +import numpy as np +import pytest + +import gymnasium as gym +from gymnasium import utils +from gymnasium.envs.mujoco import MujocoEnv +from gymnasium.error import Error +from gymnasium.spaces import Box + + +class PointEnv(MujocoEnv, utils.EzPickle): + """ + A simple mujuco env to test third party mujoco env, using the `Gymansium.MujocoEnv` environment API. + """ + + metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + } + + def __init__(self, xml_file="point.xml", frame_skip=1, **kwargs): + utils.EzPickle.__init__(self, xml_file, frame_skip, **kwargs) + + MujocoEnv.__init__( + self, + xml_file, + frame_skip=frame_skip, + observation_space=None, # needs to be defined after + default_camera_config={}, + **kwargs, + ) + + self.metadata = { + "render_modes": [ + "human", + "rgb_array", + "depth_array", + ], + "render_fps": int(np.round(1.0 / self.dt)), + } + + obs_size = self.data.qpos.size + self.data.qvel.size + + self.observation_space = Box( + low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 + ) + + def step(self, action): + x_position_before = self.data.qpos[0] + self.do_simulation(action, self.frame_skip) + x_position_after = self.data.qpos[0] + + observation = self._get_obs() + reward = x_position_after - x_position_before + info = {} + + if self.render_mode == "human": + self.render() + return observation, reward, False, False, info + + def _get_obs(self): + position = self.data.qpos.flat.copy() + velocity = self.data.qvel.flat.copy() + return np.concatenate((position, velocity)) + + def reset_model(self): + qpos = self.init_qpos + qvel = self.init_qvel + self.set_state(qpos, qvel) + + observation = self._get_obs() + + return observation + + +CHECK_ENV_IGNORE_WARNINGS = [ + f"\x1b[33mWARN: {message}\x1b[0m" + for message in [ + "A Box observation space minimum value is -infinity. This is probably too low.", + "A Box observation space maximum value is -infinity. This is probably too high.", + "For Box action spaces, we recommend using a symmetric and normalized space (range=[-1, 1] or [0, 1]). See https://stable-baselines3.readthedocs.io/en/master/guide/rl_tips.html for more information.", + ] +] + + +@pytest.mark.parametrize("frame_skip", [1, 2, 3, 4, 5]) +def test_frame_skip(frame_skip): + """verify that custom envs work with different `frame_skip` values""" + env = PointEnv(frame_skip=frame_skip) + + # Test if env adheres to Gym API + with warnings.catch_warnings(record=True) as w: + gym.utils.env_checker.check_env(env.unwrapped, skip_render_check=True) + env.close() + for warning in w: + if warning.message.args[0] not in CHECK_ENV_IGNORE_WARNINGS: + raise Error(f"Unexpected warning: {warning.message}") + + +def test_xml_file(): + """Verify that the loading of a custom XML file works """ + env = PointEnv(xml_file="./assets/walker2d_v5_uneven_feet") + assert env.unwrapped.data.qpos.size == 9 diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index bf61a5bb..ea7ff355 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -239,3 +239,10 @@ def reset_model(self): observation = self._get_obs() return observation + + def _get_reset_info(self): + return { + "x_position": self.data.qpos[0], + "y_position": self.data.qpos[1], + "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), + } diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index ac732d29..a21afa0a 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -316,3 +316,9 @@ def reset_model(self): observation = self._get_obs() return observation + + def _get_reset_info(self): + return { + "x_position": self.data.qpos[0], + "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], + } From 9f910fb6a5a8487bc22f68d66f54c69bbede3384 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 5 Jun 2023 23:11:44 +0300 Subject: [PATCH 095/104] refactored observation structures to a member variable --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 2 +- gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 +- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 +- gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 2 +- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 2 +- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 419fa95b..835cd01f 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -287,7 +287,7 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) - self.metadata["observation_structure"] = { + self.observation_structure = { "skipped_qpos": 2 * exclude_current_positions_from_observation, "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index e4d4a279..0ac510e8 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -192,7 +192,7 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) - self.metadata["observation_structure"] = { + self.observation_structure = { "skipped_qpos": 1 * exclude_current_positions_from_observation, "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 67461f4e..7eda8485 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -218,7 +218,7 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) - self.metadata["observation_structure"] = { + self.observation_structure = { "skipped_qpos": 1 * exclude_current_positions_from_observation, "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 7daa4fce..bf886baa 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -361,7 +361,7 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) - self.metadata["observation_structure"] = { + self.observation_structure = { "skipped_qpos": 2 * exclude_current_positions_from_observation, "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 642eef88..bfca2ce5 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -343,7 +343,7 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) - self.metadata["observation_structure"] = { + self.observation_structure = { "skipped_qpos": 2 * exclude_current_positions_from_observation, "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index ea7ff355..01ce888e 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -170,7 +170,7 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) - self.metadata["observation_structure"] = { + self.observation_structure = { "skipped_qpos": 2 * exclude_current_positions_from_observation, "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index a21afa0a..4bb2a42e 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -219,7 +219,7 @@ def __init__( low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 ) - self.metadata["observation_structure"] = { + self.observation_structure = { "skipped_qpos": 1 * exclude_current_positions_from_observation, "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, From 85e9edad8e7e1d7123f0df6bb59d865e57d43f7b Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 5 Jun 2023 23:47:25 +0300 Subject: [PATCH 096/104] cleanup observation_structure --- gymnasium_robotics/envs/mujoco/ant_v5.py | 3 --- gymnasium_robotics/envs/mujoco/half_cheetah_v5.py | 4 ---- gymnasium_robotics/envs/mujoco/hopper_v5.py | 4 ---- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py | 2 ++ gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py | 5 +++++ gymnasium_robotics/envs/mujoco/swimmer_v5.py | 4 ---- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 4 ---- 8 files changed, 9 insertions(+), 19 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 835cd01f..4c52af67 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -292,9 +292,6 @@ def __init__( "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, - "cinert": 0, - "cvel": 0, - "qfrc_actuator": 0, "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, } diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 0ac510e8..856d3746 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -197,10 +197,6 @@ def __init__( "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, - "cinert": 0, - "cvel": 0, - "qfrc_actuator": 0, - "cfrc_ext": 0, } def control_cost(self, action): diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 7eda8485..8f614843 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -223,10 +223,6 @@ def __init__( "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, - "cinert": 0, - "cvel": 0, - "qfrc_actuator": 0, - "cfrc_ext": 0, } @property diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index bf886baa..8bfc69ca 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -371,6 +371,8 @@ def __init__( "qfrc_actuator": (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation, "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, + "ten_lenght": 0, + "ten_velocity": 0, } @property diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index bfca2ce5..3e1a11ed 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -353,6 +353,8 @@ def __init__( "qfrc_actuator": (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation, "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, + "ten_lenght": 0, + "ten_velocity": 0, } def _get_obs(self): diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index 1cadc6ef..bca5b298 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -128,6 +128,11 @@ def __init__( "render_fps": int(np.round(1.0 / self.dt)), } + self.observation_structure = { + "qpos": self.data.qpos.size, + "qvel": self.data.qvel.size, + } + def step(self, action): self.do_simulation(action, self.frame_skip) diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 01ce888e..9995d77b 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -175,10 +175,6 @@ def __init__( "qpos": self.data.qpos.size - 2 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, - "cinert": 0, - "cvel": 0, - "qfrc_actuator": 0, - "cfrc_ext": 0, } def control_cost(self, action): diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 4bb2a42e..17b1f947 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -224,10 +224,6 @@ def __init__( "qpos": self.data.qpos.size - 1 * exclude_current_positions_from_observation, "qvel": self.data.qvel.size, - "cinert": 0, - "cvel": 0, - "qfrc_actuator": 0, - "cfrc_ext": 0, } @property From aa1b9e22ec03c9d735598615300bb28f58738cfd Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Sat, 10 Jun 2023 14:11:23 +0300 Subject: [PATCH 097/104] Final? documention update --- gymnasium_robotics/envs/mujoco/ant_v5.py | 55 +++++---- .../envs/mujoco/half_cheetah_v5.py | 41 ++++--- gymnasium_robotics/envs/mujoco/hopper_v5.py | 51 ++++---- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 56 +++++---- .../envs/mujoco/humanoidstandup_v5.py | 50 +++++--- .../mujoco/inverted_double_pendulum_v5.py | 56 +++++---- .../envs/mujoco/inverted_pendulum_v5.py | 28 +++-- .../envs/mujoco/point_mujoco.py | 110 ------------------ gymnasium_robotics/envs/mujoco/pusher_v5.py | 56 ++++----- gymnasium_robotics/envs/mujoco/reacher_v5.py | 60 +++++----- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 50 +++++--- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 49 ++++---- 12 files changed, 327 insertions(+), 335 deletions(-) delete mode 100644 gymnasium_robotics/envs/mujoco/point_mujoco.py diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 4c52af67..2bbc305b 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -1,6 +1,6 @@ __credits__ = ["Kallinteris-Andreas"] -from typing import Dict, Tuple +from typing import Dict, Tuple, Union import numpy as np from gymnasium import utils @@ -24,6 +24,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): torques on the eight hinges connecting the two body parts of each leg and the torso (nine body parts and eight hinges). + ## Action Space The action space is a `Box(-1, 1, (8,), float32)`. An action represents the torques applied at the hinge joints. @@ -38,6 +39,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): | 6 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | | 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | + ## Observation Space Observations consist of positional values of different body parts of the ant, followed by the velocities of those individual parts (their derivatives) with all @@ -119,21 +121,30 @@ class AntEnv(MujocoEnv, utils.EzPickle): when using the Ant environment if you would like to report results with contact forces (if contact forces are not used in your experiments, you can use version > 2.0). + ## Rewards The reward consists of three parts: - - *healthy_reward*: Every timestep that the ant is healthy (see definition in section "Episode Termination"), it gets a reward of fixed value `healthy_reward` - - *forward_reward*: A reward of moving forward which is measured as - $\frac{dx}{dt} \times$ `forward_reward_weight`. - $dx$ is the displacement of the `main_body` (x-coordinate before action - x-coordinate after action)*. - $dt$ is the time between actions and is dependent on the `frame_skip` parameter (default is 5), - where the frametime is 0.01 - making the default *dt = 5 * 0.01 = 0.05*. - This reward would be positive if the ant moves forward (in positive x direction). - - *ctrl_cost*: A negative reward for penalising the ant if it takes actions - that are too large. It is measured as *`ctrl_cost_weight` * sum(action2)* - where *`ctr_cost_weight`* is a parameter set for the control and has a default value of 0.5. - - *contact_cost*: A negative reward for penalising the ant if the external contact - force is too large. It is calculated *`contact_cost_weight` * sum(clip(external contact - force to `contact_force_range`)2)*. + - *healthy_reward*: + Every timestep that the ant is healthy (see definition in section "Episode Termination"), + it gets a reward of fixed value `healthy_reward`. + - *forward_reward*: + A reward of moving forward, + this reward would be positive if the Ant moves forward (in the positive $x$ direction / in the right direction). + $w_{forward} \times \frac{dx}{dt}$, where + $dx$ is the displacement of the `main_body` ($x_{after-action} - x_{before-action}$), + $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 5), + and `frametime` which is 0.01 - making the default $dt = 5 \times 0.01 = 0.05$, + $w_{forward}$ is the `forward_reward_weight` (default is $1$). + - *ctrl_cost*: + A negative reward for penalizing the Ant if it takes actions that are too large. + $w_{control} \times \\|action\\|_2^2$, + where $w_{control}$ is `ctrl_cost_weight` (default is $0.5$). + - *contact_cost*: + A negative reward for penalizing the Ant if the external contact forces are too large. + $w_{contact} \times \\|F_{contact}\\|_2^2$, where + $w_{contact}$ is `contact_cost_weight` (default is $5\times10^{-4}$), + $F_{contact}$ are the external contact forces clipped by `contact_force_range` (see `cfrc_ext` section on observation). + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost*. @@ -142,6 +153,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): In either case `info` will also contain the individual reward terms. + ## Starting State All observations start in state (0.0, 0.0, 0.75, 1.0, 0.0 ... 0.0) with a uniform noise in the range @@ -151,19 +163,18 @@ class AntEnv(MujocoEnv, utils.EzPickle): to be slightly high, thereby indicating a standing up ant. The initial orientation is designed to make it face forward as well. + ## Episode End - The ant is said to be unhealthy if any of the following happens: + #### Termination + If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Ant is unhealthy. + the Ant is unhealthy if any of the following happens: 1. Any of the state space values is no longer finite 2. The z-coordinate of the torso is **not** in the closed interval given by `healthy_z_range` (defaults to [0.2, 1.0]) - If `terminate_when_unhealthy=True` is passed during construction (which is the default), - the episode ends when any of the following happens: - - 1. Truncation: The episode duration reaches a 1000 timesteps - 2. Termination: The ant is unhealthy + #### truncation + The maximum duration of an episode is 1000 timesteps. - If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. @@ -214,7 +225,7 @@ def __init__( ctrl_cost_weight: float = 0.5, contact_cost_weight: float = 5e-4, healthy_reward: float = 1.0, - main_body: str = "torso", + main_body: Union[int, str] = 1, terminate_when_unhealthy: bool = True, healthy_z_range: Tuple[float, float] = (0.2, 1.0), contact_force_range: Tuple[float, float] = (-1.0, 1.0), diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 856d3746..0c06e167 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -13,7 +13,6 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment is based on the work by P. Wawrzyński in ["A Cat-Like Robot Real-Time Learning to Run"](http://staff.elka.pw.edu.pl/~pwawrzyn/pub-s/0812_LSCLRR.pdf). The HalfCheetah is a 2-dimensional robot consisting of 9 body parts and 8 @@ -25,6 +24,7 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): over the front and back thighs (connecting to the torso), shins (connecting to the thighs) and feet (connecting to the shins). + ## Action Space The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints. @@ -72,20 +72,25 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): | 16 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angular velocity (rad/s) | | excluded | x-coordinate of the front tip | -Inf | Inf | rootx | slide | position (m) | + ## Rewards The reward consists of two parts: - - *forward_reward*: A reward of moving forward which is measured - as *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. *dt* is - the time between actions and is dependent on the frame_skip parameter - (fixed to 5), where the frametime is 0.01 - making the - default *dt = 5 * 0.01 = 0.05*. This reward would be positive if the cheetah - runs forward (right). - - *ctrl_cost*: A cost for penalising the cheetah if it takes - actions that are too large. It is measured as *`ctrl_cost_weight` * - sum(action2)* where *`ctrl_cost_weight`* is a parameter set for the - control and has a default value of 0.1 - - The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost* and `info` will also contain the individual reward terms. + - *forward_reward*: + A reward of moving forward, + this reward would be positive if the Half Cheetah moves forward (in the positive $x$ direction / in the right direction). + $w_{forward} \times \frac{dx}{dt}$, where + $dx$ is the displacement of the "tip" ($x_{after-action} - x_{before-action}$), + $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 5), + and `frametime` which is 0.01 - making the default $dt = 5 \times 0.01 = 0.05$, + $w_{forward}$ is the `forward_reward_weight` (default is $1$). + - *ctrl_cost*: + A negative reward for penalizing the Half Cheetah if it takes actions that are too large. + $w_{control} \times \\|action\\|_2^2$, + where $w_{control}$ is `ctrl_cost_weight` (default is $0.1$). + + The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost*, + and `info` will also contain the individual reward terms. + ## Starting State All observations start in state (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, @@ -96,8 +101,14 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): normal noise with a mean of 0 and standard deviation of `reset_noise_scale` is added to the initial velocity values of all zeros. + ## Episode End - The episode truncates when the episode length is greater than 1000. + #### Termination + The Half Cheetah never terminates. + + #### Truncation + The maximum duration of an episode is 1000 timesteps. + ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. @@ -110,7 +121,7 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default | Description | | -------------------------------------------- | --------- | -------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `xml_file` | **str** | `"half_cheetah.xml"` | Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ weight (see section on reward) | | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 8f614843..76db9f06 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -16,7 +16,6 @@ class HopperEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment is based on the work done by Erez, Tassa, and Todorov in ["Infinite Horizon Model Predictive Control for Nonlinear Periodic Tasks"](http://www.roboticsproceedings.org/rss07/p10.pdf). The environment aims to increase the number of independent state and control variables as compared to @@ -27,6 +26,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): forward (right) direction by applying torques on the three hinges connecting the four body parts. + ## Action Space The action space is a `Box(-1, 1, (3,), float32)`. An action represents the torques applied at the hinge joints. @@ -36,6 +36,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): | 1 | Torque applied on the leg rotor | -1 | 1 | leg_joint | hinge | torque (N m) | | 2 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | + ## Observation Space Observations consist of positional values of different body parts of the hopper, followed by the velocities of those individual parts @@ -69,39 +70,43 @@ class HopperEnv(MujocoEnv, utils.EzPickle): ## Rewards The reward consists of three parts: - - *healthy_reward*: Every timestep that the hopper is healthy (see definition in section "Episode Termination"), it gets a reward of fixed value `healthy_reward`. - - *forward_reward*: A reward of hopping forward which is measured - as *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. *dt* is - the time between actions and is dependent on the frame_skip parameter - (fixed to 4), where the frametime is 0.002 - making the - default *dt = 4 * 0.002 = 0.008*. This reward would be positive if the hopper - hops forward (positive x direction). - - *ctrl_cost*: A cost for penalising the hopper if it takes - actions that are too large. It is measured as *`ctrl_cost_weight` * - sum(action2)* where *`ctrl_cost_weight`* is a parameter set for the - control and has a default value of 0.001 - - The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost* and `info` will also contain the individual reward terms. + - *healthy_reward*: + Every timestep that the Hopper is healthy (see definition in section "Episode Termination"), + it gets a reward of fixed value `healthy_reward`. + - *forward_reward*: + A reward of moving forward, + this reward would be positive if the Hopper moves forward (in the positive $x$ direction / in the right direction). + $w_{forward} \times \frac{dx}{dt}$, where + $dx$ is the displacement of the "torso" ($x_{after-action} - x_{before-action}$), + $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 4), + and `frametime` which is 0.002 - making the default $dt = 4 \times 0.002 = 0.008$, + $w_{forward}$ is the `forward_reward_weight` (default is $1$). + - *ctrl_cost*: + A negative reward for penalizing the Hopper if it takes actions that are too large. + $w_{control} \times \\|action\\|_2^2$, + where $w_{control}$ is `ctrl_cost_weight` (default is $10^{-3}$). + + The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*, + and `info` will also contain the individual reward terms. ## Starting State All observations start in state (0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise in the range of [-`reset_noise_scale`, `reset_noise_scale`] added to the values for stochasticity. + ## Episode End - The hopper is said to be unhealthy if any of the following happens: + #### Termination + If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Hopper is unhealthy. + The Hopper is unhealthy if any of the following happens: 1. An element of `observation[1:]` (if `exclude_current_positions_from_observation=True`, else `observation[2:]`) is no longer contained in the closed interval specified by the argument `healthy_state_range` 2. The height of the hopper (`observation[0]` if `exclude_current_positions_from_observation=True`, else `observation[1]`) is no longer contained in the closed interval specified by the argument `healthy_z_range` (usually meaning that it has fallen) - 3. The angle (`observation[1]` if `exclude_current_positions_from_observation=True`, else `observation[2]`) is no longer contained in the closed interval specified by the argument `healthy_angle_range` - - If `terminate_when_unhealthy=True` is passed during construction (which is the default), - the episode ends when any of the following happens: + 3. The angle of the torso (`observation[1]` if `exclude_current_positions_from_observation=True`, else `observation[2]`) is no longer contained in the closed interval specified by the argument `healthy_angle_range` - 1. Truncation: The episode duration reaches a 1000 timesteps - 2. Termination: The hopper is unhealthy + #### Truncation + The maximum duration of an episode is 1000 timesteps. - If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. @@ -114,7 +119,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default | Description | | -------------------------------------------- | --------- | --------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `xml_file` | **str** | `"hopper_v5.xml"` | Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctrl_cost_ reward (see section on reward) | | `healthy_reward` | **float** | `1` | Weight for _healthy_reward_ reward (see section on reward) | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the hopper is no longer healthy | diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 8bfc69ca..1981148a 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -22,13 +22,13 @@ def mass_center(model, data): class HumanoidEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment is based on the environment introduced by Tassa, Erez and Todorov in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). The 3D bipedal robot is designed to simulate a human. It has a torso (abdomen) with a pair of legs and arms. The legs each consist of three body parts, and the arms 2 body parts (representing the knees and elbows respectively). The goal of the environment is to walk forward as fast as possible without falling over. + ## Action Space The action space is a `Box(-1, 1, (17,), float32)`. An action represents the torques applied at the hinge joints. @@ -52,6 +52,7 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | + ## Observation Space Observations consist of positional values of different body parts of the Humanoid, followed by the velocities of those individual parts (their derivatives) with all the @@ -188,27 +189,38 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): with contact forces (if contact forces are not used in your experiments, you can use version > 2.0). + ## Rewards The reward consists of three parts: - - *healthy_reward*: Every timestep that the humanoid is alive (see section Episode Termination for definition), it gets a reward of fixed value `healthy_reward` - - *forward_reward*: A reward of walking forward which is measured as *`forward_reward_weight` * - (average center of mass before action - average center of mass after action)/dt*. - *dt* is the time between actions and is dependent on the frame_skip parameter - (default is 5), where the frametime is 0.003 - making the default *dt = 5 * 0.003 = 0.015*. - This reward would be positive if the humanoid walks forward (in positive x-direction). The calculation - for the center of mass is defined in the `.py` file for the Humanoid. - - *ctrl_cost*: A negative reward for penalising the humanoid if it has too - large of a control force. If there are *nu* actuators/controls, then the control has - shape `nu x 1`. It is measured as *`ctrl_cost_weight` * sum(control2)*. - - *contact_cost*: A negative reward for penalising the humanoid if the external - contact force is too large. It is calculated by clipping - *`contact_cost_weight` * sum(external contact force2)* to the interval specified by `contact_cost_range`. + - *healthy_reward*: + Every timestep that the Humanoid is alive (see section Episode Termination for definition), + it gets a reward of fixed value `healthy_reward`. + - *forward_reward*: + A reward of moving forward, + this reward would be positive if the Humanoid moves forward (in the positive $x$ direction / in the right direction). + $w_{forward} \times \frac{dx}{dt}$, where + $dx$ is the displacement of the center of mass ($x_{after-action} - x_{before-action}$), + $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 5), + and `frametime` which is 0.001 - making the default $dt = 5 \times 0.003 = 0.015$, + $w_{forward}$ is the `forward_reward_weight` (default is $1.25$). + The calculation for the center of mass is defined in the `.py` file for the Humanoid. + - *ctrl_cost*: + A negative reward for penalizing the Humanoid if it takes actions that are too large. + $w_{control} \times \\|action\\|_2^2$, + where $w_{control}$ is `ctrl_cost_weight` (default is $0.1$). + If there are *nu* actuators/controls, then the control has shape `nu x 1`. + - *contact_cost*: + A negative reward for penalizing the Humanoid if the external contact forces are too large. + $w_{contact} \times clamp(contact\\_cost\\_range, \\|F_{contact}\\|_2^2)$, where + $w_{contact}$ is `contact_cost_weight` (default is $5\times10^{-7}$), + $F_{contact}$ are the external contact forces (see `cfrc_ext` section on observation). The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost* - and `info` will also contain the individual reward terms + and `info` will also contain the individual reward terms. Note: in `v4` the total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost* + ## Starting State All observations start in state (0.0, 0.0, 1.4, 1.0, 0.0 ... 0.0) with a uniform noise in the range @@ -217,17 +229,17 @@ class HumanoidEnv(MujocoEnv, utils.EzPickle): selected to be high, thereby indicating a standing up humanoid. The initial orientation is designed to make it face forward as well. + ## Episode End - The humanoid is said to be unhealthy if the z-position of the torso is no longer contained in the - closed interval specified by the argument `healthy_z_range`. + #### Termination + If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Humanoid is unhealthy. + The Humanoid is said to be unhealthy if any of the following happens: - If `terminate_when_unhealthy=True` is passed during construction (which is the default), - the episode ends when any of the following happens: + 1. The z-position of the torso (the height) is no longer contained in `healthy_z_range`. - 1. Truncation: The episode duration reaches a 1000 timesteps - 3. Termination: The humanoid is unhealthy + #### Truncation + The maximum duration of an episode is 1000 timesteps. - If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 3e1a11ed..4c851860 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -24,6 +24,7 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): and then the goal of the environment is to make the humanoid standup and then keep it standing by applying torques on the various hinges. + ## Action Space The agent take a 17-element vector for actions. @@ -50,6 +51,7 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | + ## Observation Space Observations consist of positional values of different body parts of the Humanoid, followed by the velocities of those individual parts (their derivatives) with all the @@ -186,23 +188,32 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): with contact forces (if contact forces are not used in your experiments, you can use version > 2.0). + ## Rewards The reward consists of three parts: - - *uph_cost*: A reward for moving upward (in an attempt to stand up). This is not a relative - reward which measures how much upward it has moved from the last timestep, but it is an - absolute reward which measures how much upward the Humanoid has moved overall. It is - measured as *(z coordinate after action - 0)/(atomic timestep)*, where *z coordinate after - action* is index 0 in the state/index 2 in the table, and *atomic timestep* is the time for - one frame of movement even though the simulation has a framerate of 5 (done in order to inflate - rewards a little for faster learning). - - *quad_ctrl_cost*: A negative reward for penalising the humanoid if it has too large of - a control force. If there are *nu* actuators/controls, then the control has shape `nu x 1`. - It is measured as *0.1 **x** sum(control2)*. - - *quad_impact_cost*: A negative reward for penalising the humanoid if the external - contact force is too large. It is calculated as *min(0.5 * 0.000001 * sum(external - contact force2), 10)*. - - The total reward returned is ***reward*** *=* *uph_cost + 1 - quad_ctrl_cost - quad_impact_cost* + - *uph_cost*: + A reward for moving upward (in an attempt to stand up). + This is not a relative reward which measures how much upward it has moved from the last timestep, + but it is an absolute reward which measures how much upward the Humanoid has moved overall. + It is measured as $weight_{uph} \times (z_{after action} - 0)/dt$, + where $z_{after action}$ is the z coordinate of the torso after taking an action, + and *dt* is the time between actions and is dependent on the `frame_skip` parameter + (default is 5), where the frametime is 0.003 - making the default *dt = 5 * 0.003 = 0.015*. + and $weight_{uph}$ is `uph_cost_weight`. + - *quad_ctrl_cost*: + A negative reward for penalizing the Humanoid if it takes actions that are too large. + $w_{quad_control} \times \\|action\\|_2^2$, + where $w_{quad_control}$ is `ctrl_cost_weight` (default is $0.1$). + If there are *nu* actuators/controls, then the control has shape `nu x 1`. + - *impact_cost*: + A negative reward for penalizing the Humanoid if the external contact forces are too large. + $w_{impact} \times clamp(impact\\_cost\\_range, \\|F_{contact}\\|_2^2)$, where + $w_{impact}$ is `impact_cost_weight` (default is $5\times10^{-7}$), + $F_{contact}$ are the external contact forces (see `cfrc_ext` section on observation). + + The total reward returned is ***reward*** *=* *uph_cost + 1 - quad_ctrl_cost - quad_impact_cost*, + and `info` will also contain the individual reward terms. + ## Starting State All observations start in state @@ -212,11 +223,14 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): to be low, thereby indicating a laying down humanoid. The initial orientation is designed to make it face forward as well. + ## Episode End - The episode ends when any of the following happens: + #### Termination + The Humanoid never terminates. + + #### Truncation + The maximum duration of an episode is 1000 timesteps. - 1. Truncation: The episode duration reaches a 1000 timesteps - 2. Termination: Any of the state space values is no longer finite ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 04d00f3d..0a17750f 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -13,7 +13,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment originates from control theory and builds on the cartpole environment based on the work done by Barto, Sutton, and Anderson in @@ -25,6 +25,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): and the goal is to balance the second pole on top of the first pole, which is in turn on top of the cart, by applying continuous forces on the cart. + ## Action Space The agent take a 1-element vector for actions. The action space is a continuous `(action)` in `[-1, 1]`, where `action` represents the @@ -35,6 +36,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): |-----|---------------------------|-------------|-------------|----------------------------------|-------|-----------| | 0 | Force applied on the cart | -1 | 1 | slider | slide | Force (N) | + ## Observation Space The state space consists of positional values of different body parts of the pendulum system, followed by the velocities of those individual parts (their derivatives) with all the @@ -52,9 +54,9 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): | 5 | velocity of the cart | -Inf | Inf | slider | slide | velocity (m/s) | | 6 | angular velocity of the angle between the cart and the first pole | -Inf | Inf | hinge | hinge | angular velocity (rad/s) | | 7 | angular velocity of the angle between the two poles | -Inf | Inf | hinge2 | hinge | angular velocity (rad/s) | - | 8 | constraint force | -Inf | Inf | slider | slide | Force (N) | - | excluded | constraint force | -Inf | Inf | hinge | slide | Force (N) | - | excluded | constraint force | -Inf | Inf | hinge2 | slide | Force (N) | + | 8 | constraint force - x | -Inf | Inf | slider | slide | Force (N) | + | excluded | constraint force - y | -Inf | Inf | hinge | slide | Force (N) | + | excluded | constraint force - z | -Inf | Inf | hinge2 | slide | Force (N) | There is physical contact between the robots and their environment - and Mujoco @@ -62,40 +64,48 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): dynamics by aiming for physical accuracy and computational efficiency. There is one constraint force for contacts for each degree of freedom (3). - The approach and handling of constraints by Mujoco is unique to the simulator - and is based on their research. Once can find more information in their - [*documentation*](https://mujoco.readthedocs.io/en/latest/computation.html) - or in their paper - ["Analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo"](https://homes.cs.washington.edu/~todorov/papers/TodorovICRA14.pdf). + The approach and handling of constraints by Mujoco is unique to the simulator and is based on their research. + Once can find more information in their [*documentation*](https://mujoco.readthedocs.io/en/latest/computation.html) + or in their paper ["Analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo"](https://homes.cs.washington.edu/~todorov/papers/TodorovICRA14.pdf). ## Rewards The reward consists of two parts: - - *alive_bonus*: The goal is to make the second inverted pendulum stand upright - (within a certain angle limit) as long as possible - as such a reward of `` is awarded + - *alive_bonus*: + The goal is to make the second inverted pendulum stand upright + (within a certain angle limit) as long as possible - as such a reward of `healthy_reward` is awarded for each timestep that the second pole is upright. - - *distance_penalty*: This reward is a measure of how far the *tip* of the second pendulum - (the only free end) moves, and it is calculated as - *0.01 * x2 + (y - 2)2*, where *x* is the x-coordinate of the tip - and *y* is the y-coordinate of the tip of the second pole. - - *velocity_penalty*: A negative reward for penalising the agent if it moves too - fast *0.001 * v12 + 0.005 * v2 2* + - *distance_penalty*: + This reward is a measure of how far the *tip* of the second pendulum (the only free end) moves, + and it is calculated as $0.01 x_{pole2-tip}^2 + (y_{pole2-tip}-2)^2$, + where $x_{pole2-tip}, y_{pole2-tip}$ are the xy-coordinatesof the tip of the second pole. + - *velocity_penalty*: + A negative reward for penalising the agent if it moves too fast. + $10^{-3} \omega_1 + 5 10^{-3} \omega_2$, + where $\omega_1, \omega_2$ are the angular velocities of the hinges. The total reward returned is ***reward*** *=* *alive_bonus - distance_penalty - velocity_penalty* and `info` will also contain the individual reward terms. + ## Starting State All observations start in state (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise in the range - of [-0.1, 0.1] added to the positional values (cart position and pole angles) and standard - normal force with a standard deviation of 0.1 added to the velocity values for stochasticity. + of `[-reset_noise_scale, reset_noise_scale]` added to the positional values (cart position and pole angles) and standard + normal force with a standard deviation of `reset_noise_scale` added to the velocity values for stochasticity. + ## Episode End - The episode ends when any of the following happens: + #### Termination + The environment terminates when the Inverted Double Pendulum is unhealthy. + The Inverted Double Pendulum is unhealthy if any of the following happens: + + 1.Termination: The y_coordinate of the tip of the second pole $\leq 1$. + The maximum standing height of the system is 1.2 m when all the parts are perpendicularly vertical on top of each other). + + #### Truncation + The maximum duration of an episode is 1000 timesteps. - 1.Truncation: The episode duration reaches 1000 timesteps. - 2.Termination: Any of the state space values is no longer finite. - 3.Termination: The y_coordinate of the tip of the second pole *is less than or equal* to 1. The maximum standing height of the system is 1.196 m when all the parts are perpendicularly vertical on top of each other). ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`, `healthy_reward`, `reset_noise_scale`, etc. diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index bca5b298..f910e1ca 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -23,6 +23,7 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): at one end and having another end free. The cart can be pushed left or right, and the goal is to balance the pole on the top of the cart by applying forces on the cart. + ## Action Space The agent take a 1-element vector for actions. @@ -34,6 +35,7 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): |-----|---------------------------|-------------|-------------|----------------------------------|-------|-----------| | 0 | Force applied on the cart | -3 | 3 | slider | slide | Force (N) | + ## Observation Space The state space consists of positional values of different body parts of the pendulum system, followed by the velocities of those individual parts (their derivatives) @@ -54,19 +56,29 @@ class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): as long as possible - as such a reward of +1 is awarded for each timestep that the pole is upright. + The pole is considered upright if: + $|angle| < 0.2$ + and `info` will also contain the reward. + ## Starting State All observations start in state (0.0, 0.0, 0.0, 0.0) with a uniform noise in the range - of [-0.01, 0.01] added to the values for stochasticity. + of `[-reset_noise_scale, reset_noise_scale]` added to the values for stochasticity. + ## Episode End - The episode ends when any of the following happens: + #### Termination + The environment terminates when the Inverted Pendulum is unhealthy. + The Inverted Pendulum is unhealthy if any of the following happens: + + 1. Any of the state space values is no longer finite. + 2. The absolute value of the vertical angle between the pole and the cart is greater than 0.2 radian. + + #### Truncation + The maximum duration of an episode is 1000 timesteps. - 1. Truncation: The episode duration reaches 1000 timesteps. - 2. Termination: Any of the state space values is no longer finite. - 3. Termination: The absolute value of the vertical angle between the pole and the cart is greater than 0.2 radian. ## Arguments `gymnasium.make` takes additional arguments such as `reset_noise_scale`. @@ -136,9 +148,9 @@ def __init__( def step(self, action): self.do_simulation(action, self.frame_skip) - ob = self._get_obs() + observation = self._get_obs() - terminated = bool(not np.isfinite(ob).all() or (np.abs(ob[1]) > 0.2)) + terminated = bool(not np.isfinite(observation).all() or (np.abs(observation[1]) > 0.2)) reward = int(not terminated) @@ -146,7 +158,7 @@ def step(self, action): if self.render_mode == "human": self.render() - return ob, reward, terminated, False, info + return observation, reward, terminated, False, info def reset_model(self): noise_low = -self._reset_noise_scale diff --git a/gymnasium_robotics/envs/mujoco/point_mujoco.py b/gymnasium_robotics/envs/mujoco/point_mujoco.py deleted file mode 100644 index 9a389b81..00000000 --- a/gymnasium_robotics/envs/mujoco/point_mujoco.py +++ /dev/null @@ -1,110 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import warnings - -import numpy as np -import pytest - -import gymnasium as gym -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.error import Error -from gymnasium.spaces import Box - - -class PointEnv(MujocoEnv, utils.EzPickle): - """ - A simple mujuco env to test third party mujoco env, using the `Gymansium.MujocoEnv` environment API. - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__(self, xml_file="point.xml", frame_skip=1, **kwargs): - utils.EzPickle.__init__(self, xml_file, frame_skip, **kwargs) - - MujocoEnv.__init__( - self, - xml_file, - frame_skip=frame_skip, - observation_space=None, # needs to be defined after - default_camera_config={}, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = self.data.qpos.size + self.data.qvel.size - - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - def step(self, action): - x_position_before = self.data.qpos[0] - self.do_simulation(action, self.frame_skip) - x_position_after = self.data.qpos[0] - - observation = self._get_obs() - reward = x_position_after - x_position_before - info = {} - - if self.render_mode == "human": - self.render() - return observation, reward, False, False, info - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = self.data.qvel.flat.copy() - return np.concatenate((position, velocity)) - - def reset_model(self): - qpos = self.init_qpos - qvel = self.init_qvel - self.set_state(qpos, qvel) - - observation = self._get_obs() - - return observation - - -CHECK_ENV_IGNORE_WARNINGS = [ - f"\x1b[33mWARN: {message}\x1b[0m" - for message in [ - "A Box observation space minimum value is -infinity. This is probably too low.", - "A Box observation space maximum value is -infinity. This is probably too high.", - "For Box action spaces, we recommend using a symmetric and normalized space (range=[-1, 1] or [0, 1]). See https://stable-baselines3.readthedocs.io/en/master/guide/rl_tips.html for more information.", - ] -] - - -@pytest.mark.parametrize("frame_skip", [1, 2, 3, 4, 5]) -def test_frame_skip(frame_skip): - """verify that custom envs work with different `frame_skip` values""" - env = PointEnv(frame_skip=frame_skip) - - # Test if env adheres to Gym API - with warnings.catch_warnings(record=True) as w: - gym.utils.env_checker.check_env(env.unwrapped, skip_render_check=True) - env.close() - for warning in w: - if warning.message.args[0] not in CHECK_ENV_IGNORE_WARNINGS: - raise Error(f"Unexpected warning: {warning.message}") - - -def test_xml_file(): - """Verify that the loading of a custom XML file works """ - env = PointEnv(xml_file="./assets/walker2d_v5_uneven_feet") - assert env.unwrapped.data.qpos.size == 9 diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py index a79f585a..be9ed636 100644 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ b/gymnasium_robotics/envs/mujoco/pusher_v5.py @@ -12,12 +12,13 @@ class PusherEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description "Pusher" is a multi-jointed robot arm which is very similar to that of a human. The goal is to move a target cylinder (called *object*) to a goal position using the robot's end effector (called *fingertip*). The robot consists of shoulder, elbow, forearm, and wrist joints. + ## Action Space The action space is a `Box(-2, 2, (7,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints. @@ -31,6 +32,7 @@ class PusherEnv(MujocoEnv, utils.EzPickle): | 5 | Rotation of flexing the wrist | -2 | 2 | r_wrist_flex_joint | hinge | torque (N m) | | 6 | Rotation of rolling the wrist | -2 | 2 | r_wrist_roll_joint | hinge | torque (N m) | + ## Observation Space Observations consist of @@ -73,24 +75,23 @@ class PusherEnv(MujocoEnv, utils.EzPickle): ## Rewards The reward consists of two parts: - - *reward_near *: This reward is a measure of how far the *fingertip* - of the pusher (the unattached end) is from the object, with a more negative - value assigned for when the pusher's *fingertip* is further away from the - target. It is calculated as the negative vector norm of (position of - the fingertip - position of target), or *-norm("fingertip" - "target")*. - - *reward_dist *: This reward is a measure of how far the object is from - the target goal position, with a more negative value assigned for object is - further away from the target. It is calculated as the negative vector norm of - (position of the object - position of goal), or *-norm("object" - "target")*. - - *reward_control*: A negative reward for penalising the pusher if - it takes actions that are too large. It is measured as the negative squared - Euclidean norm of the action, i.e. as *- sum(action2)*. - - The total reward returned is ***reward*** *=* *reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near* - - Unlike other environments, Pusher does not allow you to specify weights for the individual reward terms. - However, `info` does contain the keys *reward_dist* and *reward_ctrl*. Thus, if you'd like to weight the terms, - you should create a wrapper that computes the weighted reward from `info`. + - *reward_near*: + This reward is a measure of how far the *fingertip* of the pusher (the unattached end) is from the object, + with a more negative value assigned for when the pusher's *fingertip* is further away from the target. + It is $-w_{near} \|(P_{fingertip} - P_{target})\|_2$. + where $w_{near}$ is `reward_near_weight`. + - *reward_dist*: + This reward is a measure of how far the object is from the target goal position, + with a more negative value assigned for object that is further away from the target. + It is $-w_{dist} \|(P_{object} - P_{target})\|_2$. + where $w_{dist}$ is `reward_dist_weight`. + - *reward_control*: + A negative reward for penalising the pusher if it takes actions that are too large. + It is measured as the negative squared Euclidean norm of the action, i.e. as $-w_{control} \|action\|_2^2$. + where $w_{control}$ is `reward_control_weight`. + + The total reward returned is ***reward*** *=* *reward_dist + reward_ctrl + reward_near*, + `info` will also contain the individual reward terms. ## Starting State @@ -104,11 +105,14 @@ class PusherEnv(MujocoEnv, utils.EzPickle): The default framerate is 5 with each frame lasting for 0.01, giving rise to a *dt = 5 * 0.01 = 0.05* + ## Episode End - The episode ends when any of the following happens: + #### Termination + The Pusher never terminates. + + #### Truncation + The maximum duration of an episode is 100 timesteps. - 1. Truncation: The episode duration reaches a 100 timesteps. - 2. Termination: Any of the state space values is no longer finite. ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`. @@ -196,16 +200,16 @@ def step(self, action): reward = reward_dist + reward_ctrl + reward_near self.do_simulation(action, self.frame_skip) - if self.render_mode == "human": - self.render() - ob = self._get_obs() + observation = self._get_obs() info = { "reward_dist": reward_dist, "reward_ctrl": reward_ctrl, "reward_near": reward_near, } - return (ob, reward, False, False, info) + if self.render_mode == "human": + self.render() + return observation, reward, False, False, info def reset_model(self): qpos = self.init_qpos diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py index 869b5ec8..92faea81 100644 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ b/gymnasium_robotics/envs/mujoco/reacher_v5.py @@ -9,11 +9,12 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description "Reacher" is a two-jointed robot arm. The goal is to move the robot's end effector (called *fingertip*) close to a target that is spawned at a random position. + ## Action Space The action space is a `Box(-1, 1, (2,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints. @@ -22,6 +23,7 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): | 0 | Torque applied at the first hinge (connecting the link to the point of fixture) | -1 | 1 | joint0 | hinge | torque (N m) | | 1 | Torque applied at the second hinge (connecting the two links) | -1 | 1 | joint1 | hinge | torque (N m) | + ## Observation Space Observations consist of @@ -45,14 +47,13 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): | 7 | angular velocity of the second arm | -Inf | Inf | joint1 | hinge | angular velocity (rad/s) | | 8 | x-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | | 9 | y-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | - | excluded | z-value of position_fingertip - position_target (constantly 0 since reacher is 2d and z is same for both) | -Inf | Inf | NA | slide | position (m) | - + | excluded | z-value of position_fingertip - position_target (constantly 0 since reacher is 2d) | -Inf | Inf | NA | slide | position (m) | Most Gym environments just return the positions and velocity of the joints in the `.xml` file as the state of the environment. However, in reacher the state is created by combining only certain elements of the position and velocity, and performing some function transformations on them. - If one is to read the `.xml` for reacher then they will find 4 joints: + If one is to read the `reacher.xml` then they will find 4 joints: | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | |-----|-----------------------------|----------|----------|----------------------------------|-------|--------------------| @@ -64,21 +65,18 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): ## Rewards The reward consists of two parts: - - *reward_distance*: This reward is a measure of how far the *fingertip* - of the reacher (the unattached end) is from the target, with a more negative - value assigned for when the reacher's *fingertip* is further away from the - target. It is calculated as the negative vector norm of (position of - the fingertip - position of target), or *-norm("fingertip" - "target")*. - - *reward_control*: A negative reward for penalising the walker if - it takes actions that are too large. It is measured as the negative squared - Euclidean norm of the action, i.e. as *- sum(action2)*. - - The total reward returned is ***reward*** *=* *reward_distance + reward_control* - - Unlike other environments, Reacher does not allow you to specify weights for the individual reward terms. - However, `info` does contain the keys *reward_dist* and *reward_ctrl*. Thus, if you'd like to weight the terms, - you should create a wrapper that computes the weighted reward from `info`. - + - *reward_distance*: + This reward is a measure of how far the *fingertip* of the reacher (the unattached end) is from the target, + with a more negative value assigned for when the reacher's *fingertip* is further away from the target. + It is $-w_{near} \|(P_{fingertip} - P_{target})\|_2$. + where $w_{near}$ is `reward_near_weight`. + - *reward_control*: + A negative reward for penalising the walker if it takes actions that are too large. + It is measured as the negative squared Euclidean norm of the action, i.e. as $-w_{control} \|action\|_2^2$. + where $w_{control}$ is `reward_control_weight`. + + The total reward returned is ***reward*** *=* *reward_distance + reward_control*. + `info` will also contain the individual reward terms. ## Starting State All observations start in state @@ -92,10 +90,12 @@ class ReacherEnv(MujocoEnv, utils.EzPickle): is set. The default setting has a framerate of 2 and a *dt = 2 * 0.01 = 0.02* ## Episode End - The episode ends when any of the following happens: + #### Termination + The Reacher never terminates. + + #### Truncation + The maximum duration of an episode is 50 timesteps. - 1. Truncation: The episode duration reaches a 50 timesteps (with a new random target popping up if the reacher's fingertip reaches it before 50 timesteps) - 2. Termination: Any of the state space values is no longer finite. ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`. @@ -177,17 +177,15 @@ def step(self, action): reward = reward_dist + reward_ctrl self.do_simulation(action, self.frame_skip) + + observation = self._get_obs() + info = { + "reward_dist": reward_dist, + "reward_ctrl": reward_ctrl, + } if self.render_mode == "human": self.render() - - ob = self._get_obs() - return ( - ob, - reward, - False, - False, - dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl), - ) + return observation, reward, False, False, info def reset_model(self): qpos = ( diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 9995d77b..09e23b1a 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -9,7 +9,6 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment corresponds to the Swimmer environment described in Rémi Coulom's PhD thesis ["Reinforcement Learning Using Neural Networks, with Applications to Motor Control"](https://tel.archives-ouvertes.fr/tel-00003985/document). The environment aims to increase the number of independent state and control @@ -34,6 +33,7 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): and *k* = 0.1. It is possible to pass a custom MuJoCo XML file during construction to increase the number of links, or to tweak any of the parameters. + ## Action Space The action space is a `Box(-1, 1, (2,), float32)`. An action represents the torques applied between *links* @@ -42,6 +42,7 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): | 0 | Torque applied on the first rotor | -1 | 1 | motor1_rot | hinge | torque (N m) | | 1 | Torque applied on the second rotor | -1 | 1 | motor2_rot | hinge | torque (N m) | + ## Observation Space By default, observations consists of: * θi: angle of part *i* with respect to the *x* axis @@ -69,26 +70,37 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): | excluded | position of the tip along the x-axis | -Inf | Inf | slider1 | slide | position (m) | | excluded | position of the tip along the y-axis | -Inf | Inf | slider2 | slide | position (m) | + ## Rewards The reward consists of two parts: - - *forward_reward*: A reward of moving forward which is measured - as *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. *dt* is - the time between actions and is dependent on the frame_skip parameter - (default is 4), where the frametime is 0.01 - making the - default *dt = 4 * 0.01 = 0.04*. This reward would be positive if the swimmer - swims right as desired. - - *ctrl_cost*: A cost for penalising the swimmer if it takes - actions that are too large. It is measured as *`ctrl_cost_weight` * - sum(action2)* where *`ctrl_cost_weight`* is a parameter set for the - control and has a default value of 1e-4 - - The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost* and `info` will also contain the individual reward terms + - *forward_reward*: + A reward of moving forward, + this reward would be positive if the Swimmer moves forward (in the positive $x$ direction / in the right direction). + $w_{forward} \times \frac{dx}{dt}$, where + $dx$ is the displacement of the (front) "tip" ($x_{after-action} - x_{before-action}$), + $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 4), + and `frametime` which is 0.01 - making the default $dt = 4 \times 0.01 = 0.04$, + $w_{forward}$ is the `forward_reward_weight` (default is $1$). + - *ctrl_cost*: + A negative reward for penalizing the Swimmer if it takes actions that are too large. + $w_{control} \times \\|action\\|_2^2$, + where $w_{control}$ is `ctrl_cost_weight` (default is $10^{-4}$). + + The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost*, + and `info` will also contain the individual reward terms + ## Starting State All observations start in state (0,0,0,0,0,0,0,0) with a Uniform noise in the range of [-`reset_noise_scale`, `reset_noise_scale`] is added to the initial state for stochasticity. + ## Episode End - The episode truncates when the episode length is greater than 1000. + #### Termination + The Swimmer never terminates. + + #### truncation + The maximum duration of an episode is 1000 timesteps. + ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`. @@ -98,9 +110,13 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): env = gym.make('Swimmer-v5', xml_file=...) ``` - | Parameter | Type | Default |Description | - |-------------------------|------------|-------------- |-------------------------------| - | `xml_file` | **str** |`"swimmer.xml"`| Path to a MuJoCo model | + | Parameter | Type | Default |Description | + |--------------------------------------------| --------- |-------------- |-------------------------------| + |`xml_file` | **str** |`"swimmer.xml"`| Path to a MuJoCo model | + |`forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward)| + |`ctrl_cost_weight` | **float** | `1e-4` | Weight for _ctrl_cost_ term (see section on reward) | + |`reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | + |`exclude_current_positions_from_observation`| **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | ## Version History diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 17b1f947..6301ecad 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -16,7 +16,6 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): """ ## Description - This environment builds on the [hopper](https://gymnasium.farama.org/environments/mujoco/hopper/) environment by adding another set of legs making it possible for the robot to walk forward instead of hop. Like other Mujoco environments, this environment aims to increase the number of independent state @@ -27,6 +26,7 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): The goal is to walk in the in the forward (right) direction by applying torques on the six hinges connecting the seven body parts. + ## Action Space The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints. @@ -39,6 +39,7 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): | 4 | Torque applied on the left leg rotor | -1 | 1 | leg_left_joint | hinge | torque (N m) | | 5 | Torque applied on the left foot rotor | -1 | 1 | foot_left_joint | hinge | torque (N m) | + ## Observation Space Observations consist of positional values of different body parts of the walker, followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. @@ -73,41 +74,49 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): | 15 | angular velocity of the leg hinge | -Inf | Inf | leg_left_joint | hinge | angular velocity (rad/s) | | 16 | angular velocity of the foot hinge | -Inf | Inf | foot_left_joint | hinge | angular velocity (rad/s) | + ## Rewards The reward consists of three parts: - - *healthy_reward*: Every timestep that the walker is alive, it receives a fixed reward of value `healthy_reward`, - - *forward_reward*: A reward of walking forward which is measured as - *`forward_reward_weight` * (x-coordinate before action - x-coordinate after action)/dt*. - *dt* is the time between actions and is dependeent on the frame_skip parameter - (default is 4), where the frametime is 0.002 - making the default - *dt = 4 * 0.002 = 0.008*. This reward would be positive if the walker walks forward (positive x direction). - - *ctrl_cost*: A cost for penalising the walker if it - takes actions that are too large. It is measured as - *`ctrl_cost_weight` * sum(action2)* where *`ctrl_cost_weight`* is - a parameter set for the control and has a default value of 0.001 - - The total reward returned is ***reward*** *=* *healthy_reward bonus + forward_reward - ctrl_cost* and `info` will also contain the individual reward terms. + - *healthy_reward*: + Every timestep that the Walker2d is alive, it receives a fixed reward of value `healthy_reward`, + - *forward_reward*: + A reward of moving forward, + this reward would be positive if the Swimmer moves forward (in the positive $x$ direction / in the right direction). + $w_{forward} \times \frac{dx}{dt}$, where + $dx$ is the displacement of the (front) "tip" ($x_{after-action} - x_{before-action}$), + $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 4), + and `frametime` which is 0.002 - making the default $dt = 4 \times 0.002 = 0.008$, + $w_{forward}$ is the `forward_reward_weight` (default is $1$). + - *ctrl_cost*: + A negative reward for penalizing the Walker2d if it takes actions that are too large. + $w_{control} \times \\|action\\|_2^2$, + where $w_{control}$ is `ctrl_cost_weight` (default is $10^{-3}$). + + The total reward returned is ***reward*** *=* *healthy_reward bonus + forward_reward - ctrl_cost* + and `info` will also contain the individual reward terms. + ## Starting State All observations start in state (0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise in the range of [-`reset_noise_scale`, `reset_noise_scale`] added to the values for stochasticity. + ## Episode End - The walker is said to be unhealthy if any of the following happens: + #### termination + If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Walker2d is unhealthy. + The Walker2d is unhealthy if any of the following happens: 1. Any of the state space values is no longer finite 2. The height of the walker is ***not*** in the closed interval specified by `healthy_z_range` 3. The absolute value of the angle (`observation[1]` if `exclude_current_positions_from_observation=False`, else `observation[2]`) is ***not*** in the closed interval specified by `healthy_angle_range` - If `terminate_when_unhealthy=True` is passed during construction (which is the default), - the episode ends when any of the following happens: - - 1. Truncation: The episode duration reaches a 1000 timesteps - 2. Termination: The walker is unhealthy + #### truncation + the maximum duration of an episode is 1000 timesteps. If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. + ## Arguments `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. @@ -119,7 +128,7 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): | Parameter | Type | Default | Description | | -------------------------------------------- | --------- | ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `xml_file` | **str** |`"walker2d_v5.xml"`| Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1.0` | Weight for _forward_reward_ term (see section on reward) | + | `forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctr_cost_ term (see section on reward) | | `healthy_reward` | **float** | `1` | Weight for _healthy_reward_ reward (see section on reward) | | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the walker is no longer healthy | From 577f21a535df44796b56339e909e66508828597f Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 16 Jun 2023 16:33:02 +0300 Subject: [PATCH 098/104] cleanup --- .../envs/mujoco/inverted_double_pendulum_v5.py | 8 ++++---- gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py | 4 +++- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 0a17750f..35e2fe4c 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -13,7 +13,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): - r""" + """ ## Description This environment originates from control theory and builds on the cartpole environment based on the work done by Barto, Sutton, and Anderson in @@ -174,7 +174,7 @@ def __init__( def step(self, action): self.do_simulation(action, self.frame_skip) - ob = self._get_obs() + observation = self._get_obs() x, _, y = self.data.site_xpos[0] v1, v2 = self.data.qvel[1:3] @@ -184,7 +184,7 @@ def step(self, action): dist_penalty = 0.01 * x**2 + (y - 2) ** 2 vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2 alive_bonus = self._healthy_reward * int(not terminated) - r = alive_bonus - dist_penalty - vel_penalty + reward = alive_bonus - dist_penalty - vel_penalty info = { "reward_survive": alive_bonus, @@ -194,7 +194,7 @@ def step(self, action): if self.render_mode == "human": self.render() - return ob, r, terminated, False, info + return observation, reward, terminated, False, info def _get_obs(self): assert self.data.qfrc_constraint[2] == 0 # TODO remove after validation diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py index f910e1ca..6bb231b4 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py @@ -150,7 +150,9 @@ def step(self, action): observation = self._get_obs() - terminated = bool(not np.isfinite(observation).all() or (np.abs(observation[1]) > 0.2)) + terminated = bool( + not np.isfinite(observation).all() or (np.abs(observation[1]) > 0.2) + ) reward = int(not terminated) From c4064187c3455ee9db3c3b287181799ced0710fd Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 16 Jun 2023 21:19:18 +0300 Subject: [PATCH 099/104] fix distance_from_origin info --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index 2bbc305b..e77e3f70 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -374,7 +374,7 @@ def step(self, action): "reward_survive": healthy_reward, "x_position": self.data.qpos[0], "y_position": self.data.qpos[1], - "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), + "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, } diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 1981148a..988fddeb 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -490,7 +490,7 @@ def step(self, action): "y_position": self.data.qpos[1], "tendon_lenght": self.data.ten_length, "tendon_velocity": self.data.ten_velocity, - "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), + "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), "x_velocity": x_velocity, "y_velocity": y_velocity, } From faea55c0d16709bcb593c21d3c48096a39353579 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Fri, 16 Jun 2023 21:28:48 +0300 Subject: [PATCH 100/104] pre-commit --- gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py index 35e2fe4c..765be745 100644 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py @@ -13,7 +13,7 @@ class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment originates from control theory and builds on the cartpole environment based on the work done by Barto, Sutton, and Anderson in From 358f55d818f102c882f989d1f27779092c22220f Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas <30759571+Kallinteris-Andreas@users.noreply.github.com> Date: Fri, 23 Jun 2023 12:45:38 +0300 Subject: [PATCH 101/104] Update maze_v4.py --- gymnasium_robotics/envs/maze/maze_v4.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gymnasium_robotics/envs/maze/maze_v4.py b/gymnasium_robotics/envs/maze/maze_v4.py index 3ec03694..36d4da56 100644 --- a/gymnasium_robotics/envs/maze/maze_v4.py +++ b/gymnasium_robotics/envs/maze/maze_v4.py @@ -355,11 +355,11 @@ def add_xy_position_noise(self, xy_pos: np.ndarray) -> np.ndarray: def compute_reward( self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info ) -> float: - d = np.linalg.norm(achieved_goal - desired_goal, axis=-1) + distance = np.linalg.norm(achieved_goal - desired_goal, axis=-1) if self.reward_type == "dense": - return np.exp(-d) + return np.exp(-distance) elif self.reward_type == "sparse": - return -(d > 0.45).astype(np.float32) + return (distance <= 0.45).astype(np.float64) def compute_terminated( self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info From f94a2c3448fb144f5489ce3d22feb25dd5d9209d Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Tue, 27 Jun 2023 20:41:44 +0300 Subject: [PATCH 102/104] cleanup --- gymnasium_robotics/envs/mujoco/ant_v5.py | 2 +- .../envs/mujoco/half_cheetah_v5.py | 2 +- gymnasium_robotics/envs/mujoco/hopper_v5.py | 2 +- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 2 +- .../envs/mujoco/humanoidstandup_v5.py | 2 +- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 2 +- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 2 +- tests/envs/mujoco/test_mujoco_v5.py | 471 ++++++++++++++++++ 8 files changed, 478 insertions(+), 7 deletions(-) create mode 100644 tests/envs/mujoco/test_mujoco_v5.py diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py index e77e3f70..dcf2d388 100644 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ b/gymnasium_robotics/envs/mujoco/ant_v5.py @@ -13,7 +13,7 @@ class AntEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment is based on the environment introduced by Schulman, Moritz, Levine, Jordan and Abbeel in ["High-Dimensional Continuous Control diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py index 0c06e167..3b5c5fb5 100644 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py @@ -11,7 +11,7 @@ class HalfCheetahEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment is based on the work by P. Wawrzyński in ["A Cat-Like Robot Real-Time Learning to Run"](http://staff.elka.pw.edu.pl/~pwawrzyn/pub-s/0812_LSCLRR.pdf). diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py index 76db9f06..b3d2b912 100644 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ b/gymnasium_robotics/envs/mujoco/hopper_v5.py @@ -14,7 +14,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment is based on the work done by Erez, Tassa, and Todorov in ["Infinite Horizon Model Predictive Control for Nonlinear Periodic Tasks"](http://www.roboticsproceedings.org/rss07/p10.pdf). The environment aims to diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py index 988fddeb..b45afc80 100644 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoid_v5.py @@ -20,7 +20,7 @@ def mass_center(model, data): class HumanoidEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment is based on the environment introduced by Tassa, Erez and Todorov in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py index 4c851860..ba13b9f1 100644 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py @@ -14,7 +14,7 @@ class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment is based on the environment introduced by Tassa, Erez and Todorov in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py index 09e23b1a..b156ac5d 100644 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ b/gymnasium_robotics/envs/mujoco/swimmer_v5.py @@ -7,7 +7,7 @@ class SwimmerEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment corresponds to the Swimmer environment described in Rémi Coulom's PhD thesis ["Reinforcement Learning Using Neural Networks, with Applications to Motor Control"](https://tel.archives-ouvertes.fr/tel-00003985/document). diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py index 6301ecad..c09217bd 100644 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ b/gymnasium_robotics/envs/mujoco/walker2d_v5.py @@ -14,7 +14,7 @@ class Walker2dEnv(MujocoEnv, utils.EzPickle): - """ + r""" ## Description This environment builds on the [hopper](https://gymnasium.farama.org/environments/mujoco/hopper/) environment by adding another set of legs making it possible for the robot to walk forward instead of diff --git a/tests/envs/mujoco/test_mujoco_v5.py b/tests/envs/mujoco/test_mujoco_v5.py new file mode 100644 index 00000000..ab53a647 --- /dev/null +++ b/tests/envs/mujoco/test_mujoco_v5.py @@ -0,0 +1,471 @@ +import gymnasium as gym +import pytest +import numpy as np +from gymnasium.utils.env_checker import check_env +import mujoco +from gymnasium.error import Error +import warnings + +ALL_MUJOCO_ENVS = ['Ant', 'HalfCheetah', 'Hopper', 'Humanoid', 'HumanoidStandup', 'InvertedDoublePendulum', 'InvertedPendulum', "Pusher", "Reacher", "Swimmer", 'Walker2d'] + + +# Note: "HumnanoidStandup-v4" does not have `info` +# Note: "Humnanoid-v4/3" & "Ant-v4/3" fail this test +@pytest.mark.parametrize("env_id", ['Ant-v5', 'HalfCheetah-v5', 'HalfCheetah-v4', 'HalfCheetah-v3', 'Hopper-v5', 'Hopper-v4', 'Hopper-v3', 'Humanoid-v5', 'HumanoidStandup-v5', 'Swimmer-v5', 'Swimmer-v4', 'Swimmer-v3', 'Walker2d-v5', 'Walker2d-v4', 'Walker2d-v3']) +def test_verify_info_x_position(env_id): + """Asserts that the environment has position[0] == info['x_position']""" + env = gym.make(env_id, exclude_current_positions_from_observation=False) + + _, _ = env.reset() + obs, _, _, _, info = env.step(env.action_space.sample()) + + assert obs[0] == info['x_position'] + + +# Note: "HumnanoidStandup-v4" does not have `info` +# Note: "Humnanoid-v4/3" & "Ant-v4/3" fail this test +@pytest.mark.parametrize("env_id", ['Ant-v5', 'Humanoid-v5', 'HumanoidStandup-v5', 'Swimmer-v5']) +def test_verify_info_y_position(env_id): + """Asserts that the environment has position[1] == info['y_position']""" + env = gym.make(env_id, exclude_current_positions_from_observation=False) + + _, _ = env.reset() + obs, _, _, _, info = env.step(env.action_space.sample()) + + assert obs[1] == info['y_position'] + + +# Note: "HumnanoidStandup-v4" does not have `info` +@pytest.mark.parametrize("env", ['HalfCheetah', 'Hopper', 'Swimmer', 'Walker2d']) +@pytest.mark.parametrize("version", ['v5', 'v4', 'v3']) +def test_verify_info_x_velocity(env, version): + """Asserts that the environment `info['x_velocity']` is properly assigned""" + env = gym.make(f"{env}-{version}") + env.reset() + + old_x = env.unwrapped.data.qpos[0] + _, _, _, _, info = env.step(env.action_space.sample()) + new_x = env.unwrapped.data.qpos[0] + + dx = new_x - old_x + vel_x = dx / env.dt + assert vel_x == info['x_velocity'] + + +# Note: "HumnanoidStandup-v4" does not have `info` +@pytest.mark.parametrize("env_id", ['Swimmer-v5', 'Swimmer-v4', 'Swimmer-v3']) +def test_verify_info_y_velocity(env_id): + """Asserts that the environment `info['y_velocity']` is properly assigned""" + env = gym.make(env_id) + env.reset() + + old_y = env.unwrapped.data.qpos[1] + _, _, _, _, info = env.step(env.action_space.sample()) + new_y = env.unwrapped.data.qpos[1] + + dy = new_y - old_y + vel_y = dy / env.dt + assert vel_y == info['y_velocity'] + + +@pytest.mark.parametrize("env_id", ['Ant-v5', 'Ant-v4', 'Ant-v3']) +def test_verify_info_xy_velocity_xpos(env_id): + """Asserts that the environment `info['x/y_velocity']` is properly assigned, for the ant environment which uses kinmatics for the velocity""" + env = gym.make(env_id) + env.reset() + + old_xy = env.get_body_com("torso")[:2].copy() + _, _, _, _, info = env.step(env.action_space.sample()) + new_xy = env.get_body_com("torso")[:2].copy() + + dxy = new_xy - old_xy + vel_x, vel_y = dxy / env.dt + assert vel_x == info['x_velocity'] + assert vel_y == info['y_velocity'] + + +@pytest.mark.parametrize("env_id", ['Humanoid-v5', 'Humanoid-v4', 'Humanoid-v3']) +def test_verify_info_xy_velocity_com(env_id): + """Asserts that the environment `info['x/y_velocity']` is properly assigned, for the humanoid environment which uses kinmatics of Center Of Mass for the velocity""" + + def mass_center(model, data): + mass = np.expand_dims(model.body_mass, axis=1) + xpos = data.xipos + return (np.sum(mass * xpos, axis=0) / np.sum(mass))[0:2].copy() + + env = gym.make(env_id) + env.reset() + + old_xy = mass_center(env.unwrapped.model, env.unwrapped.data) + _, _, _, _, info = env.step(env.action_space.sample()) + new_xy = mass_center(env.unwrapped.model, env.unwrapped.data) + + dxy = new_xy - old_xy + vel_x, vel_y = dxy / env.dt + assert vel_x == info['x_velocity'] + assert vel_y == info['y_velocity'] + + +# Note: Hopper-v4/3/2 does not have `info['reward_survive']`, but it is still affected +# Note: Walker2d-v4/3/2 does not have `info['reward_survive']`, but it is still affected +# Note: Inverted(Double)Pendulum-v4/2 does not have `info['reward_survive']`, but it is still affected +# Note: all `v4/v3/v2` environments with a heathly reward are fail this test +@pytest.mark.parametrize("env_id", ['Ant-v5', 'Hopper-v5', 'Humanoid-v5', 'InvertedDoublePendulum-v5', 'InvertedPendulum-v5', 'Walker2d-v5']) +def test_verify_reward_survive(env_id): + """Assert that `reward_survive` is 0 on `terminal` states and not 0 on non-`terminal` states""" + env = gym.make(env_id, reset_noise_scale=0) + env.reset(seed=0) + env.action_space.seed(0) + + for step in range(175): + obs, rew, terminal, truncated, info = env.step(env.action_space.sample()) + + if terminal: + assert info['reward_survive'] == 0 + break + + assert info['reward_survive'] != 0 + + assert terminal, "The environment, should have terminated, if not the test is not valid." + + +CHECK_ENV_IGNORE_WARNINGS = [ + f"\x1b[33mWARN: {message}\x1b[0m" + for message in [ + "A Box observation space minimum value is -infinity. This is probably too low.", + "A Box observation space maximum value is -infinity. This is probably too high.", + "For Box action spaces, we recommend using a symmetric and normalized space (range=[-1, 1] or [0, 1]). See https://stable-baselines3.readthedocs.io/en/master/guide/rl_tips.html for more information.", + ] +] + + +@pytest.mark.parametrize("env", ALL_MUJOCO_ENVS) +@pytest.mark.parametrize("version", ['v5']) +@pytest.mark.parametrize("frame_skip", [1, 2, 3, 4, 5]) +def test_frame_skip(env, version, frame_skip): + """Verify that all `mujoco` envs work with different `frame_skip` values""" + env_id = f"{env}-{version}" + env = gym.make(env_id, frame_skip=frame_skip) + + # Test if env adheres to Gym API + with warnings.catch_warnings(record=True) as w: + gym.utils.env_checker.check_env(env.unwrapped, skip_render_check=True) + env.close() + for warning in w: + if warning.message.args[0] not in CHECK_ENV_IGNORE_WARNINGS: + raise Error(f"Unexpected warning: {warning.message}") + + +# Dev Note: This can be version env parametrized because each env has it's own reward function +@pytest.mark.parametrize("version", ['v5']) +def test_reward_sum(version): + """Assert that the total reward equals the sum of the individual reward terms.""" + env = gym.make(f'Ant-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_contact"] - info["reward_survive"] < 1e-14 + + env = gym.make(f'HalfCheetah-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_forward"] - info["reward_ctrl"] < 1e-14 + + env = gym.make(f'Hopper-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_survive"] < 1e-14 + + env = gym.make(f'Humanoid-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_contact"] - info["reward_survive"] < 1e-14 + + env = gym.make(f'HumanoidStandup-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_linup"] - info["reward_quadctrl"] - info["reward_impact"] - 1 < 1e-14 + + env = gym.make(f'InvertedDoublePendulum-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_survive"] - info["distance_penalty"] - info["velocity_penalty"] < 1e-14 + + env = gym.make(f'InvertedPendulum-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward == info["reward_survive"] + + env = gym.make(f'Pusher-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_dist"] - info["reward_ctrl"] - info["reward_near"] < 1e-14 + + env = gym.make(f'Reacher-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_dist"] - info["reward_ctrl"] < 1e-14 + + env = gym.make(f'Swimmer-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_forward"] - info["reward_ctrl"] < 1e-14 + + env = gym.make(f'Walker2d-{version}') + env.reset() + _, reward, _, _, info = env.step(env.action_space.sample()) + assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_survive"] < 1e-14 + + +# Note: the environtments that are not present, is because they do not have identical behaviour +@pytest.mark.parametrize("env", ['HalfCheetah', 'HumanoidStandup', 'Pusher', 'Reacher', 'Swimmer']) +def test_identical_behaviour_v45(env): + """Verify that v4 -> v5 transition. does not change the behaviour of the environments in way way""" + env_v4 = gym.make(env + '-v4') + env_v5 = gym.make(env + '-v5') + env_v4.reset(seed=1234) + env_v5.reset(seed=1234) + action = env_v4.action_space.sample() + obs_v4, rew_v4, terminal_v4, truncated_v4, info_v4 = env_v4.step(action) + obs_v5, rew_v5, terminal_v5, truncated_v5, info_v5 = env_v5.step(action) + assert obs_v4.shape[0] != 1 + assert obs_v5.shape[0] != 1 + assert (env_v4.unwrapped.data.qpos == env_v5.unwrapped.data.qpos).all() + assert (env_v4.unwrapped.data.qvel == env_v5.unwrapped.data.qvel).all() + if env not in ['HumanoidStandup', 'Reacher']: # they have different obs + assert (obs_v4 == obs_v5).all() + assert rew_v4 == rew_v5 + assert terminal_v4 == terminal_v5 and truncated_v4 == truncated_v5 + + +@pytest.mark.parametrize("version", ['v5', 'v4']) +def test_ant_com(version): + """Verify the kinmatic behaviour of the ant""" + env = gym.make(f'Ant-{version}') # `env` contains `data : MjData` and `model : MjModel` + env.reset() # randomly initlizies the `data.qpos` and `data.qvel`, calls mujoco.mj_forward(env.model, env.data) + + x_position_before = env.unwrapped.data.qpos[0] + x_position_before_com = env.unwrapped.data.body("torso").xpos[0] + assert x_position_before == x_position_before_com, "before failed" # This succeeds + + random_control = env.action_space.sample() + _, _, _, _, info = env.step(random_control) # This calls mujoco.mj_step(env.model, env.data, nstep=env.frame_skip) + mujoco.mj_kinematics(env.unwrapped.model, env.unwrapped.data) + + x_position_after = env.unwrapped.data.qpos[0] + x_position_after_com = env.unwrapped.data.body("torso").xpos[0] + assert x_position_after == x_position_after_com, "after failed" # This succeeds + + +@pytest.mark.parametrize("version", ['v5', 'v4', 'v3', 'v2']) +def test_set_state(version): + """Simple Test to verify that `mujocoEnv.set_state()` works correctly""" + env = gym.make(f'Hopper-{version}') + env.reset() + new_qpos = np.array([0.00136962, 1.24769787, -0.00459026, -0.00483472, 0.0031327 , 0.00412756]) + new_qvel = np.array([0.00106636, 0.00229497, 0.00043625, 0.00435072, 0.00315854, -0.00497261]) + env.set_state(new_qpos, new_qvel) + assert (env.unwrapped.data.qpos == new_qpos).all() + assert (env.unwrapped.data.qvel == new_qvel).all() + + +# Note: HumanoidStandup-v4/v3 does not have `info` +# Note: Ant-v4/v3 fails this test +# Note: Humanoid-v4/v3 fails this test +# Note: v2 does not have `info` +@pytest.mark.parametrize("env_id", ['Ant-v5', 'Humanoid-v5', 'Swimmer-v5', 'Swimmer-v4', 'Swimmer-v3']) +def test_distance_from_origin_info(env_id): + """Verify that `info"distance_from_origin"` is correct""" + env = gym.make(env_id) + env.reset() + _, _, _, _, info = env.step(env.action_space.sample()) + assert info["distance_from_origin"] == np.linalg.norm(env.unwrapped.data.qpos[0:2] - env.init_qpos[0:2]) + + +@pytest.mark.parametrize("env_id", ['Hopper-v5', 'HumanoidStandup-v5', 'Walker2d-v5']) +def test_z_distance_from_origin_info(env_id): + """Verify that `info"z_distance_from_origin"` is correct""" + env = gym.make(env_id) + env.reset() + _, _, _, _, info = env.step(env.action_space.sample()) + mujoco.mj_kinematics(env.unwrapped.model, env.unwrapped.data) + z_index = env.observation_structure["skipped_qpos"] + assert info["z_distance_from_origin"] == env.unwrapped.data.qpos[z_index] - env.init_qpos[z_index] + + +@pytest.mark.parametrize("env_id", ['Ant-v5', 'HalfCheetah-v5', 'Hopper-v5', 'Humanoid-v5', 'HumanoidStandup-v5', 'InvertedPendulum-v5', 'Swimmer-v5', 'Walker2d-v5']) +def test_observation_structure(env_id): + """Verify that the `env.observation_structure` is properly defined.""" + env = gym.make(env_id) + if hasattr(env, "observation_structure"): + return + + obs_struct = env.observation_structure + + assert env.unwrapped.model.nq == obs_struct.get("skipped_qpos", 0) + obs_struct["qpos"] + assert env.unwrapped.model.nv == obs_struct["qvel"] + if obs_struct.get("cinert", 0): + assert (env.unwrapped.model.nbody - 1) * 10 == obs_struct["cinert"] + if obs_struct.get("cvel", 0): + assert (env.unwrapped.model.nbody - 1) * 6 == obs_struct["cvel"] + if obs_struct.get("qfrc_actuator", 0): + assert env.unwrapped.model.nv - 6 == obs_struct["qfrc_actuator"] + if obs_struct.get("cfrc_ext", 0): + assert (env.unwrapped.model.nbody - 1) * 6 == obs_struct["cfrc_ext"] + if obs_struct.get("ten_lenght", 0): + assert env.unwrapped.model.ntendon == obs_struct["ten_lenght"] + if obs_struct.get("ten_velocity", 0): + assert env.unwrapped.model.ntendon == obs_struct["ten_velocity"] + + +@pytest.mark.parametrize("env_id", ['Ant-v5', 'HalfCheetah-v5', 'Hopper-v5', 'Humanoid-v5', 'HumanoidStandup-v5', 'Swimmer-v5', 'Walker2d-v5']) +def test_reset_info(env_id): + """Verify that the environmet returns info at `reset()`""" + env = gym.make(env_id) + _, reset_info = env.reset() + assert reset_info.get('x_position') + + +""" +[Bug Report] [Documentation] Inverted Double Pendulum max Height is wrong + +The Documentation States: +```md +The maximum standing height of the system is 1.196 m when all the parts are perpendicularly vertical on top of each other) +``` +but the height of each pole is 0.6 (0.6+0.6==1.2) +https://github.com/Farama-Foundation/Gymnasium/blob/deb50802facfd827abd4d1f0cf1069afb12a726b/gymnasium/envs/mujoco/assets/inverted_double_pendulum.xml#L33-L39 +""" + + +# Note: the max height used to be wrong in the documention. +@pytest.mark.parametrize("version", ['v5']) +def test_inverted_double_pendulum_max_height(version): + """Verify the max height of Inverted Double Pendulum""" + env = gym.make(f"InvertedDoublePendulum-{version}", reset_noise_scale=0) + env.reset() + y = env.unwrapped.data.site_xpos[0][2] + assert y == 1.2 + + +@pytest.mark.parametrize("version", ['v4']) +def test_inverted_double_pendulum_max_height_old(version): + """Verify the max height of Inverted Double Pendulum (v4 does not have `reset_noise_scale` argument)""" + env = gym.make(f"InvertedDoublePendulum-{version}") + env.set_state(env.init_qpos, env.init_qvel) + y = env.unwrapped.data.site_xpos[0][2] + assert y == 1.2 + + +# note: fails with `brax==0.9.0` +@pytest.mark.parametrize("version", ['v5', 'v4']) +def test_model_object_count(version): + """Verify that all the objects of the model are loaded, mostly usefull for using non-mujoco simulator.""" + env = gym.make(f'Ant-{version}') + assert env.unwrapped.model.nq == 15 + assert env.unwrapped.model.nv == 14 + assert env.unwrapped.model.nu == 8 + assert env.unwrapped.model.nbody == 14 + assert env.unwrapped.model.nbvh == 14 + assert env.unwrapped.model.njnt == 9 + assert env.unwrapped.model.ngeom == 14 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'HalfCheetah-{version}') + assert env.unwrapped.model.nq == 9 + assert env.unwrapped.model.nv == 9 + assert env.unwrapped.model.nu == 6 + assert env.unwrapped.model.nbody == 8 + assert env.unwrapped.model.nbvh == 10 + assert env.unwrapped.model.njnt == 9 + assert env.unwrapped.model.ngeom == 9 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'Hopper-{version}') + assert env.unwrapped.model.nq == 6 + assert env.unwrapped.model.nv == 6 + assert env.unwrapped.model.nu == 3 + assert env.unwrapped.model.nbody == 5 + assert env.unwrapped.model.nbvh == 5 + assert env.unwrapped.model.njnt == 6 + assert env.unwrapped.model.ngeom == 5 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'Humanoid-{version}') + assert env.unwrapped.model.nq == 24 + assert env.unwrapped.model.nv == 23 + assert env.unwrapped.model.nu == 17 + assert env.unwrapped.model.nbody == 14 + assert env.unwrapped.model.nbvh == 22 + assert env.unwrapped.model.njnt == 18 + assert env.unwrapped.model.ngeom == 18 + assert env.unwrapped.model.ntendon == 2 + + env = gym.make(f'HumanoidStandup-{version}') + assert env.unwrapped.model.nq == 24 + assert env.unwrapped.model.nv == 23 + assert env.unwrapped.model.nu == 17 + assert env.unwrapped.model.nbody == 14 + assert env.unwrapped.model.nbvh == 22 + assert env.unwrapped.model.njnt == 18 + assert env.unwrapped.model.ngeom == 18 + assert env.unwrapped.model.ntendon == 2 + + env = gym.make(f'InvertedDoublePendulum-{version}') + assert env.unwrapped.model.nq == 3 + assert env.unwrapped.model.nv == 3 + assert env.unwrapped.model.nu == 1 + assert env.unwrapped.model.nbody == 4 + assert env.unwrapped.model.nbvh == 6 + assert env.unwrapped.model.njnt == 3 + assert env.unwrapped.model.ngeom == 5 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'InvertedPendulum-{version}') + assert env.unwrapped.model.nq == 2 + assert env.unwrapped.model.nv == 2 + assert env.unwrapped.model.nu == 1 + assert env.unwrapped.model.nbody == 3 + assert env.unwrapped.model.nbvh == 3 + assert env.unwrapped.model.njnt == 2 + assert env.unwrapped.model.ngeom == 3 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'Pusher-{version}') + assert env.unwrapped.model.nq == 11 + assert env.unwrapped.model.nv == 11 + assert env.unwrapped.model.nu == 7 + assert env.unwrapped.model.nbody == 13 + assert env.unwrapped.model.nbvh == 18 + assert env.unwrapped.model.njnt == 11 + assert env.unwrapped.model.ngeom == 21 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'Reacher-{version}') + assert env.unwrapped.model.nq == 4 + assert env.unwrapped.model.nv == 4 + assert env.unwrapped.model.nu == 2 + assert env.unwrapped.model.nbody == 5 + assert env.unwrapped.model.nbvh == 5 + assert env.unwrapped.model.njnt == 4 + assert env.unwrapped.model.ngeom == 10 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'Swimmer-{version}') + assert env.unwrapped.model.nq == 5 + assert env.unwrapped.model.nv == 5 + assert env.unwrapped.model.nu == 2 + assert env.unwrapped.model.nbody == 4 + assert env.unwrapped.model.nbvh == 4 + assert env.unwrapped.model.njnt == 5 + assert env.unwrapped.model.ngeom == 4 + assert env.unwrapped.model.ntendon == 0 + + env = gym.make(f'Walker2d-{version}') + assert env.unwrapped.model.nq == 9 + assert env.unwrapped.model.nv == 9 + assert env.unwrapped.model.nu == 6 + assert env.unwrapped.model.nbody == 8 + assert env.unwrapped.model.nbvh == 8 + assert env.unwrapped.model.njnt == 9 + assert env.unwrapped.model.ngeom == 8 + assert env.unwrapped.model.ntendon == 0 From eb4f21b1fd541bef4000756ec48fb44b44ce24c5 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 17 Jul 2023 23:06:48 +0300 Subject: [PATCH 103/104] cleanup --- gymnasium_robotics/envs/mujoco/ant_v5.py | 427 -------------- .../envs/mujoco/assets/hopper_v5.xml | 53 -- .../envs/mujoco/assets/walker2d_v5.xml | 68 --- .../envs/mujoco/assets/walker2d_v5_old.xml | 68 --- .../envs/mujoco/half_cheetah_v5.py | 270 --------- gymnasium_robotics/envs/mujoco/hopper_v5.py | 335 ----------- gymnasium_robotics/envs/mujoco/humanoid_v5.py | 524 ------------------ .../envs/mujoco/humanoidstandup_v5.py | 469 ---------------- .../mujoco/inverted_double_pendulum_v5.py | 224 -------- .../envs/mujoco/inverted_pendulum_v5.py | 179 ------ gymnasium_robotics/envs/mujoco/pusher_v5.py | 246 -------- gymnasium_robotics/envs/mujoco/reacher_v5.py | 220 -------- gymnasium_robotics/envs/mujoco/swimmer_v5.py | 260 --------- gymnasium_robotics/envs/mujoco/walker2d_v5.py | 329 ----------- 14 files changed, 3672 deletions(-) delete mode 100644 gymnasium_robotics/envs/mujoco/ant_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml delete mode 100644 gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml delete mode 100644 gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml delete mode 100644 gymnasium_robotics/envs/mujoco/half_cheetah_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/hopper_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/humanoid_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/pusher_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/reacher_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/swimmer_v5.py delete mode 100644 gymnasium_robotics/envs/mujoco/walker2d_v5.py diff --git a/gymnasium_robotics/envs/mujoco/ant_v5.py b/gymnasium_robotics/envs/mujoco/ant_v5.py deleted file mode 100644 index dcf2d388..00000000 --- a/gymnasium_robotics/envs/mujoco/ant_v5.py +++ /dev/null @@ -1,427 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -from typing import Dict, Tuple, Union - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "distance": 4.0, -} - - -class AntEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment is based on the environment introduced by Schulman, - Moritz, Levine, Jordan and Abbeel in ["High-Dimensional Continuous Control - Using Generalized Advantage Estimation"](https://arxiv.org/abs/1506.02438). - The ant is a 3D robot consisting of one torso (free rotational body) with - four legs attached to it with each leg having two body parts. The goal is to - coordinate the four legs to move in the forward (right) direction by applying - torques on the eight hinges connecting the two body parts of each leg and the torso - (nine body parts and eight hinges). - - - ## Action Space - The action space is a `Box(-1, 1, (8,), float32)`. An action represents the torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - | --- | ----------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | - | 0 | Torque applied on the rotor between the torso and back right hip | -1 | 1 | hip_4 (right_back_leg) | hinge | torque (N m) | - | 1 | Torque applied on the rotor between the back right two links | -1 | 1 | angle_4 (right_back_leg) | hinge | torque (N m) | - | 2 | Torque applied on the rotor between the torso and front left hip | -1 | 1 | hip_1 (front_left_leg) | hinge | torque (N m) | - | 3 | Torque applied on the rotor between the front left two links | -1 | 1 | angle_1 (front_left_leg) | hinge | torque (N m) | - | 4 | Torque applied on the rotor between the torso and front right hip | -1 | 1 | hip_2 (front_right_leg) | hinge | torque (N m) | - | 5 | Torque applied on the rotor between the front right two links | -1 | 1 | angle_2 (front_right_leg) | hinge | torque (N m) | - | 6 | Torque applied on the rotor between the torso and back left hip | -1 | 1 | hip_3 (back_leg) | hinge | torque (N m) | - | 7 | Torque applied on the rotor between the back left two links | -1 | 1 | angle_3 (back_leg) | hinge | torque (N m) | - - - ## Observation Space - Observations consist of positional values of different body parts of the ant, - followed by the velocities of those individual parts (their derivatives) with all - the positions ordered before all the velocities. - - By default, observations do not include the x- and y-coordinates of the ant's torso. These may - be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be a `Box(-Inf, Inf, (107,), float64)` where the first two observations - represent the x- and y- coordinates of the ant's torso. - Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates - of the torso will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - - However, by default, observation Space is a `Box(-Inf, Inf, (105,), float64)` where the elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - |-----|--------------------------------------------------------------|--------|--------|----------------------------------------|-------|--------------------------| - | 0 | z-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | - | 1 | x-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | - | 2 | y-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | - | 3 | z-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | - | 4 | w-orientation of the torso (centre) | -Inf | Inf | torso | free | angle (rad) | - | 5 | angle between torso and first link on front left | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) | - | 6 | angle between the two links on the front left | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) | - | 7 | angle between torso and first link on front right | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) | - | 8 | angle between the two links on the front right | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) | - | 9 | angle between torso and first link on back left | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) | - | 10 | angle between the two links on the back left | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) | - | 11 | angle between torso and first link on back right | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) | - | 12 | angle between the two links on the back right | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) | - | 13 | x-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) | - | 14 | y-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) | - | 15 | z-coordinate velocity of the torso | -Inf | Inf | torso | free | velocity (m/s) | - | 16 | x-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) | - | 17 | y-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) | - | 18 | z-coordinate angular velocity of the torso | -Inf | Inf | torso | free | angular velocity (rad/s) | - | 19 | angular velocity of angle between torso and front left link | -Inf | Inf | hip_1 (front_left_leg) | hinge | angle (rad) | - | 20 | angular velocity of the angle between front left links | -Inf | Inf | ankle_1 (front_left_leg) | hinge | angle (rad) | - | 21 | angular velocity of angle between torso and front right link | -Inf | Inf | hip_2 (front_right_leg) | hinge | angle (rad) | - | 22 | angular velocity of the angle between front right links | -Inf | Inf | ankle_2 (front_right_leg) | hinge | angle (rad) | - | 23 | angular velocity of angle between torso and back left link | -Inf | Inf | hip_3 (back_leg) | hinge | angle (rad) | - | 24 | angular velocity of the angle between back left links | -Inf | Inf | ankle_3 (back_leg) | hinge | angle (rad) | - | 25 | angular velocity of angle between torso and back right link | -Inf | Inf | hip_4 (right_back_leg) | hinge | angle (rad) | - | 26 | angular velocity of the angle between back right links | -Inf | Inf | ankle_4 (right_back_leg) | hinge | angle (rad) | - | excluded | x-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | - | excluded | y-coordinate of the torso (centre) | -Inf | Inf | torso | free | position (m) | - - - Additionally, after all the positional and velocity based values in the table, the observation contains: - - *cfrc_ext:* 13*6 = 78 elements, which are contact forces - (external forces - force x, y, z and torque x, y, z) applied to the - center of mass of each of the body parts. - - The body parts are: - - | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body part | - | ---| --- | ------------ | - | 0 |excluded| worldbody (note: all values are constant 0) | - | 1 |0 | torso | - | 2 |1 | front_left_leg | - | 3 |2 | aux_1 (front left leg) | - | 4 |3 | ankle_1 (front left leg) | - | 5 |4 | front_right_leg | - | 6 |5 | aux_2 (front right leg) | - | 7 |6 | ankle_2 (front right leg) | - | 8 |7 | back_leg (back left leg) | - | 9 |8 | aux_3 (back left leg) | - | 10 |9 | ankle_3 (back left leg) | - | 11 |10 | right_back_leg | - | 12 |11 | aux_4 (back right leg) | - | 13 |12 | ankle_4 (back right leg) | - - The (x,y,z) coordinates are translational DOFs while the orientations are rotational - DOFs expressed as quaternions. One can read more about free joints on the [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). - - - **Note:** Ant-v4+ environment no longer has the following contact forces issue. - If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 results - in the contact forces always being 0. As such we recommend to use a Mujoco-Py version < 2.0 - when using the Ant environment if you would like to report results with contact forces (if - contact forces are not used in your experiments, you can use version > 2.0). - - - ## Rewards - The reward consists of three parts: - - *healthy_reward*: - Every timestep that the ant is healthy (see definition in section "Episode Termination"), - it gets a reward of fixed value `healthy_reward`. - - *forward_reward*: - A reward of moving forward, - this reward would be positive if the Ant moves forward (in the positive $x$ direction / in the right direction). - $w_{forward} \times \frac{dx}{dt}$, where - $dx$ is the displacement of the `main_body` ($x_{after-action} - x_{before-action}$), - $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 5), - and `frametime` which is 0.01 - making the default $dt = 5 \times 0.01 = 0.05$, - $w_{forward}$ is the `forward_reward_weight` (default is $1$). - - *ctrl_cost*: - A negative reward for penalizing the Ant if it takes actions that are too large. - $w_{control} \times \\|action\\|_2^2$, - where $w_{control}$ is `ctrl_cost_weight` (default is $0.5$). - - *contact_cost*: - A negative reward for penalizing the Ant if the external contact forces are too large. - $w_{contact} \times \\|F_{contact}\\|_2^2$, where - $w_{contact}$ is `contact_cost_weight` (default is $5\times10^{-4}$), - $F_{contact}$ are the external contact forces clipped by `contact_force_range` (see `cfrc_ext` section on observation). - - - The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost*. - - But if `use_contact_forces=false` on `v4` - The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*. - - In either case `info` will also contain the individual reward terms. - - - ## Starting State - All observations start in state - (0.0, 0.0, 0.75, 1.0, 0.0 ... 0.0) with a uniform noise in the range - of [-`reset_noise_scale`, `reset_noise_scale`] added to the positional values and standard normal noise - with mean 0 and standard deviation `reset_noise_scale` added to the velocity values for - stochasticity. Note that the initial z coordinate is intentionally selected - to be slightly high, thereby indicating a standing up ant. The initial orientation - is designed to make it face forward as well. - - - ## Episode End - #### Termination - If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Ant is unhealthy. - the Ant is unhealthy if any of the following happens: - - 1. Any of the state space values is no longer finite - 2. The z-coordinate of the torso is **not** in the closed interval given by `healthy_z_range` (defaults to [0.2, 1.0]) - - #### truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Ant-v5', ctrl_cost_weight=0.5, ...) - ``` - - | Parameter | Type | Default |Description | - |--------------------------------------------|------------|--------------|-------------------------------| - |`xml_file` | **str** | `"ant.xml"` | Path to a MuJoCo model | - |`forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward)| - |`ctrl_cost_weight` | **float** | `0.5` | Weight for _ctrl_cost_ term (see section on reward) | - |`contact_cost_weight` | **float** | `5e-4` | Weight for _contact_cost_ term (see section on reward) | - |`healthy_reward` | **float** | `1` | Weight for _healthy_reward_ term (see section on reward) | - |`main_body` |**str|int** | `1`("torso") | Name or ID of the body, whose diplacement is used to calculate the *dx*/_forward_reward_ (useful for custom MuJoCo models)| - |`terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | - |`healthy_z_range` | **tuple** | `(0.2, 1)` | The ant is considered healthy if the z-coordinate of the torso is in this range | - |`contact_force_range` | **tuple** | `(-1, 1)` | Contact forces are clipped to this range in the computation of *contact_cost* | - |`reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - |`exclude_current_positions_from_observation`| **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - |`include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | - |`use_contact_forces` (`v4` only) | **bool** | `False` | If true, it extends the observation space by adding contact forces (see `Observation Space` section) and includes contact_cost to the reward function (see `Rewards` section) | - - ## Version History - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3, also removed contact forces from the default observation space (new variable `use_contact_forces=True` can restore them) - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) - * v2: All continuous control environments now use mujoco-py >= 1.50 - * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file: str = "ant.xml", - frame_skip: int = 5, - default_camera_config: Dict = DEFAULT_CAMERA_CONFIG, - forward_reward_weight: float = 1, - ctrl_cost_weight: float = 0.5, - contact_cost_weight: float = 5e-4, - healthy_reward: float = 1.0, - main_body: Union[int, str] = 1, - terminate_when_unhealthy: bool = True, - healthy_z_range: Tuple[float, float] = (0.2, 1.0), - contact_force_range: Tuple[float, float] = (-1.0, 1.0), - reset_noise_scale: float = 0.1, - exclude_current_positions_from_observation: bool = True, - include_cfrc_ext_in_observation: bool = True, - **kwargs - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - forward_reward_weight, - ctrl_cost_weight, - contact_cost_weight, - healthy_reward, - main_body, - terminate_when_unhealthy, - healthy_z_range, - contact_force_range, - reset_noise_scale, - exclude_current_positions_from_observation, - include_cfrc_ext_in_observation, - **kwargs - ) - - self._forward_reward_weight = forward_reward_weight - self._ctrl_cost_weight = ctrl_cost_weight - self._contact_cost_weight = contact_cost_weight - - self._healthy_reward = healthy_reward - self._terminate_when_unhealthy = terminate_when_unhealthy - self._healthy_z_range = healthy_z_range - - self._contact_force_range = contact_force_range - - self._main_body = main_body - - self._reset_noise_scale = reset_noise_scale - - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation - ) - self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=None, # needs to be defined after - default_camera_config=default_camera_config, - **kwargs - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = self.data.qpos.size + self.data.qvel.size - obs_size -= 2 * exclude_current_positions_from_observation - obs_size += self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation - - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - self.observation_structure = { - "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - - 2 * exclude_current_positions_from_observation, - "qvel": self.data.qvel.size, - "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, - } - - @property - def healthy_reward(self): - return self.is_healthy * self._healthy_reward - - def control_cost(self, action): - control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) - return control_cost - - @property - def contact_forces(self): - raw_contact_forces = self.data.cfrc_ext - min_value, max_value = self._contact_force_range - contact_forces = np.clip(raw_contact_forces, min_value, max_value) - return contact_forces - - @property - def contact_cost(self): - contact_cost = self._contact_cost_weight * np.sum( - np.square(self.contact_forces) - ) - return contact_cost - - @property - def is_healthy(self): - state = self.state_vector() - min_z, max_z = self._healthy_z_range - is_healthy = np.isfinite(state).all() and min_z <= state[2] <= max_z - return is_healthy - - @property - def terminated(self): - terminated = (not self.is_healthy) and self._terminate_when_unhealthy - # TODO remove after validation - assert terminated == ( - not self.is_healthy if self._terminate_when_unhealthy else False - ) - return terminated - - def step(self, action): - xy_position_before = self.data.body(self._main_body).xpos[:2].copy() - # TODO remove after validation - assert (xy_position_before == self.get_body_com("torso")[:2].copy()).all() - self.do_simulation(action, self.frame_skip) - xy_position_after = self.data.body(self._main_body).xpos[:2].copy() - # TODO remove after validation - assert (xy_position_after == self.get_body_com("torso")[:2].copy()).all() - - xy_velocity = (xy_position_after - xy_position_before) / self.dt - x_velocity, y_velocity = xy_velocity - - forward_reward = x_velocity * self._forward_reward_weight - healthy_reward = self.healthy_reward - - rewards = forward_reward + healthy_reward - - costs = ctrl_cost = self.control_cost(action) - contact_cost = self.contact_cost - costs += contact_cost - - terminated = self.terminated - observation = self._get_obs() - info = { - "reward_forward": forward_reward, - "reward_ctrl": -ctrl_cost, - "reward_contact": -contact_cost, - "reward_survive": healthy_reward, - "x_position": self.data.qpos[0], - "y_position": self.data.qpos[1], - "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), - "x_velocity": x_velocity, - "y_velocity": y_velocity, - } - - reward = rewards - costs - - if self.render_mode == "human": - self.render() - return observation, reward, terminated, False, info - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = self.data.qvel.flat.copy() - - if self._exclude_current_positions_from_observation: - position = position[2:] - - if self._include_cfrc_ext_in_observation: - assert ( - self.contact_forces[0].flat.copy() == 0 - ).all() # TODO remove after validation - contact_force = self.contact_forces[1:].flat.copy() - assert len(contact_force) == 78 - return np.concatenate((position, velocity, contact_force)) - else: - return np.concatenate((position, velocity)) - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ) - qvel = ( - self.init_qvel - + self._reset_noise_scale * self.np_random.standard_normal(self.model.nv) - ) - self.set_state(qpos, qvel) - - observation = self._get_obs() - - return observation - - def _get_reset_info(self): - return { - "x_position": self.data.qpos[0], - "y_position": self.data.qpos[1], - "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), - } diff --git a/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml b/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml deleted file mode 100644 index cc3fbc84..00000000 --- a/gymnasium_robotics/envs/mujoco/assets/hopper_v5.xml +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - diff --git a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml deleted file mode 100644 index 12baef14..00000000 --- a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - diff --git a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml b/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml deleted file mode 100644 index 180bfaec..00000000 --- a/gymnasium_robotics/envs/mujoco/assets/walker2d_v5_old.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - diff --git a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py b/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py deleted file mode 100644 index 3b5c5fb5..00000000 --- a/gymnasium_robotics/envs/mujoco/half_cheetah_v5.py +++ /dev/null @@ -1,270 +0,0 @@ -__credits__ = ["Kallinteris-Andreas", "Rushiv Arora"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "distance": 4.0, -} - - -class HalfCheetahEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment is based on the work by P. Wawrzyński in - ["A Cat-Like Robot Real-Time Learning to Run"](http://staff.elka.pw.edu.pl/~pwawrzyn/pub-s/0812_LSCLRR.pdf). - The HalfCheetah is a 2-dimensional robot consisting of 9 body parts and 8 - joints connecting them (including two paws). The goal is to apply a torque - on the joints to make the cheetah run forward (right) as fast as possible, - with a positive reward allocated based on the distance moved forward and a - negative reward allocated for moving backward. The torso and head of the - cheetah are fixed, and the torque can only be applied on the other 6 joints - over the front and back thighs (connecting to the torso), shins - (connecting to the thighs) and feet (connecting to the shins). - - - ## Action Space - The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - | --- | --------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | - | 0 | Torque applied on the back thigh rotor | -1 | 1 | bthigh | hinge | torque (N m) | - | 1 | Torque applied on the back shin rotor | -1 | 1 | bshin | hinge | torque (N m) | - | 2 | Torque applied on the back foot rotor | -1 | 1 | bfoot | hinge | torque (N m) | - | 3 | Torque applied on the front thigh rotor | -1 | 1 | fthigh | hinge | torque (N m) | - | 4 | Torque applied on the front shin rotor | -1 | 1 | fshin | hinge | torque (N m) | - | 5 | Torque applied on the front foot rotor | -1 | 1 | ffoot | hinge | torque (N m) | - - - ## Observation Space - Observations consist of positional values of different body parts of the - cheetah, followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. - - By default, observations do not include the cheetah's `rootx`. It may - be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be a `Box(-Inf, Inf, (18,), float64)` where the first element - represents the `rootx`. - Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the - will be returned in `info` with key `"x_position"`. - - However, by default, the observation is a `Box(-Inf, Inf, (17,), float64)` where the elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | ------------------------------------ | ---- | --- | -------------------------------- | ----- | ------------------------ | - | 0 | z-coordinate of the front tip | -Inf | Inf | rootz | slide | position (m) | - | 1 | angle of the front tip | -Inf | Inf | rooty | hinge | angle (rad) | - | 2 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angle (rad) | - | 3 | angle of the second rotor | -Inf | Inf | bshin | hinge | angle (rad) | - | 4 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angle (rad) | - | 5 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angle (rad) | - | 6 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angle (rad) | - | 7 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angle (rad) | - | 8 | x-coordinate of the front tip | -Inf | Inf | rootx | slide | velocity (m/s) | - | 9 | y-coordinate of the front tip | -Inf | Inf | rootz | slide | velocity (m/s) | - | 10 | angle of the front tip | -Inf | Inf | rooty | hinge | angular velocity (rad/s) | - | 11 | angle of the second rotor | -Inf | Inf | bthigh | hinge | angular velocity (rad/s) | - | 12 | angle of the second rotor | -Inf | Inf | bshin | hinge | angular velocity (rad/s) | - | 13 | velocity of the tip along the x-axis | -Inf | Inf | bfoot | hinge | angular velocity (rad/s) | - | 14 | velocity of the tip along the y-axis | -Inf | Inf | fthigh | hinge | angular velocity (rad/s) | - | 15 | angular velocity of front tip | -Inf | Inf | fshin | hinge | angular velocity (rad/s) | - | 16 | angular velocity of second rotor | -Inf | Inf | ffoot | hinge | angular velocity (rad/s) | - | excluded | x-coordinate of the front tip | -Inf | Inf | rootx | slide | position (m) | - - - ## Rewards - The reward consists of two parts: - - *forward_reward*: - A reward of moving forward, - this reward would be positive if the Half Cheetah moves forward (in the positive $x$ direction / in the right direction). - $w_{forward} \times \frac{dx}{dt}$, where - $dx$ is the displacement of the "tip" ($x_{after-action} - x_{before-action}$), - $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 5), - and `frametime` which is 0.01 - making the default $dt = 5 \times 0.01 = 0.05$, - $w_{forward}$ is the `forward_reward_weight` (default is $1$). - - *ctrl_cost*: - A negative reward for penalizing the Half Cheetah if it takes actions that are too large. - $w_{control} \times \\|action\\|_2^2$, - where $w_{control}$ is `ctrl_cost_weight` (default is $0.1$). - - The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost*, - and `info` will also contain the individual reward terms. - - - ## Starting State - All observations start in state (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,) with a noise added to the - initial state for stochasticity. As seen before, the first 8 values in the - state are positional and the last 9 values are velocity. A uniform noise in - the range of [-`reset_noise_scale`, `reset_noise_scale`] is added to the positional values while a standard - normal noise with a mean of 0 and standard deviation of `reset_noise_scale` is added to the - initial velocity values of all zeros. - - - ## Episode End - #### Termination - The Half Cheetah never terminates. - - #### Truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('HalfCheetah-v5', ctrl_cost_weight=0.1, ....) - ``` - - | Parameter | Type | Default | Description | - | -------------------------------------------- | --------- | -------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"half_cheetah.xml"` | Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ weight (see section on reward) | - | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - - ## Version History - - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. The `xml_file` argument is re-added, renamed `info`'s `reward_run` to `reward_forward`. - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen). - * v2: All continuous control environments now use mujoco-py >= 1.50. - * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="half_cheetah.xml", - frame_skip=5, - default_camera_config=DEFAULT_CAMERA_CONFIG, - forward_reward_weight=1.0, - ctrl_cost_weight=0.1, - reset_noise_scale=0.1, - exclude_current_positions_from_observation=True, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - forward_reward_weight, - ctrl_cost_weight, - reset_noise_scale, - exclude_current_positions_from_observation, - **kwargs, - ) - - self._forward_reward_weight = forward_reward_weight - self._ctrl_cost_weight = ctrl_cost_weight - - self._reset_noise_scale = reset_noise_scale - - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation - ) - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=None, - default_camera_config=DEFAULT_CAMERA_CONFIG, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = ( - self.data.qpos.size - + self.data.qvel.size - - exclude_current_positions_from_observation - ) - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - self.observation_structure = { - "skipped_qpos": 1 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - - 1 * exclude_current_positions_from_observation, - "qvel": self.data.qvel.size, - } - - def control_cost(self, action): - control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) - return control_cost - - def step(self, action): - x_position_before = self.data.qpos[0] - self.do_simulation(action, self.frame_skip) - x_position_after = self.data.qpos[0] - x_velocity = (x_position_after - x_position_before) / self.dt - - ctrl_cost = self.control_cost(action) - - forward_reward = self._forward_reward_weight * x_velocity - - observation = self._get_obs() - reward = forward_reward - ctrl_cost - info = { - "x_position": x_position_after, - "x_velocity": x_velocity, - "reward_forward": forward_reward, - "reward_ctrl": -ctrl_cost, - } - - if self.render_mode == "human": - self.render() - return observation, reward, False, False, info - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = self.data.qvel.flat.copy() - - if self._exclude_current_positions_from_observation: - position = position[1:] - - observation = np.concatenate((position, velocity)).ravel() - return observation - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ) - qvel = ( - self.init_qvel - + self._reset_noise_scale * self.np_random.standard_normal(self.model.nv) - ) - - self.set_state(qpos, qvel) - - observation = self._get_obs() - return observation - - def _get_reset_info(self): - return { - "x_position": self.data.qpos[0], - } diff --git a/gymnasium_robotics/envs/mujoco/hopper_v5.py b/gymnasium_robotics/envs/mujoco/hopper_v5.py deleted file mode 100644 index b3d2b912..00000000 --- a/gymnasium_robotics/envs/mujoco/hopper_v5.py +++ /dev/null @@ -1,335 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "trackbodyid": 2, - "distance": 3.0, - "lookat": np.array((0.0, 0.0, 1.15)), - "elevation": -20.0, -} - - -class HopperEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment is based on the work done by Erez, Tassa, and Todorov in - ["Infinite Horizon Model Predictive Control for Nonlinear Periodic Tasks"](http://www.roboticsproceedings.org/rss07/p10.pdf). The environment aims to - increase the number of independent state and control variables as compared to - the classic control environments. The hopper is a two-dimensional - one-legged figure that consist of four main body parts - the torso at the - top, the thigh in the middle, the leg in the bottom, and a single foot on - which the entire body rests. The goal is to make hops that move in the - forward (right) direction by applying torques on the three hinges - connecting the four body parts. - - - ## Action Space - The action space is a `Box(-1, 1, (3,), float32)`. An action represents the torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| - | 0 | Torque applied on the thigh rotor | -1 | 1 | thigh_joint | hinge | torque (N m) | - | 1 | Torque applied on the leg rotor | -1 | 1 | leg_joint | hinge | torque (N m) | - | 2 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | - - - ## Observation Space - Observations consist of positional values of different body parts of the - hopper, followed by the velocities of those individual parts - (their derivatives) with all the positions ordered before all the velocities. - - By default, observations do not include the x-coordinate of the hopper. It may - be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be `Box(-Inf, Inf, (12,), float64)` where the first observation - represents the x-coordinate of the hopper. - Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x-coordinate - will be returned in `info` with key `"x_position"`. - - However, by default, the observation is a `Box(-Inf, Inf, (11,), float64)` where the elements - correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | -------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | - | 0 | z-coordinate of the torso (height of hopper) | -Inf | Inf | rootz | slide | position (m) | - | 1 | angle of the torso | -Inf | Inf | rooty | hinge | angle (rad) | - | 2 | angle of the thigh joint | -Inf | Inf | thigh_joint | hinge | angle (rad) | - | 3 | angle of the leg joint | -Inf | Inf | leg_joint | hinge | angle (rad) | - | 4 | angle of the foot joint | -Inf | Inf | foot_joint | hinge | angle (rad) | - | 5 | velocity of the x-coordinate of the torso | -Inf | Inf | rootx | slide | velocity (m/s) | - | 6 | velocity of the z-coordinate (height) of the torso | -Inf | Inf | rootz | slide | velocity (m/s) | - | 7 | angular velocity of the angle of the torso | -Inf | Inf | rooty | hinge | angular velocity (rad/s) | - | 8 | angular velocity of the thigh hinge | -Inf | Inf | thigh_joint | hinge | angular velocity (rad/s) | - | 9 | angular velocity of the leg hinge | -Inf | Inf | leg_joint | hinge | angular velocity (rad/s) | - | 10 | angular velocity of the foot hinge | -Inf | Inf | foot_joint | hinge | angular velocity (rad/s) | - | excluded | x-coordinate of the torso | -Inf | Inf | rootx | slide | position (m) | - - - ## Rewards - The reward consists of three parts: - - *healthy_reward*: - Every timestep that the Hopper is healthy (see definition in section "Episode Termination"), - it gets a reward of fixed value `healthy_reward`. - - *forward_reward*: - A reward of moving forward, - this reward would be positive if the Hopper moves forward (in the positive $x$ direction / in the right direction). - $w_{forward} \times \frac{dx}{dt}$, where - $dx$ is the displacement of the "torso" ($x_{after-action} - x_{before-action}$), - $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 4), - and `frametime` which is 0.002 - making the default $dt = 4 \times 0.002 = 0.008$, - $w_{forward}$ is the `forward_reward_weight` (default is $1$). - - *ctrl_cost*: - A negative reward for penalizing the Hopper if it takes actions that are too large. - $w_{control} \times \\|action\\|_2^2$, - where $w_{control}$ is `ctrl_cost_weight` (default is $10^{-3}$). - - The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost*, - and `info` will also contain the individual reward terms. - - ## Starting State - All observations start in state - (0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise - in the range of [-`reset_noise_scale`, `reset_noise_scale`] added to the values for stochasticity. - - - ## Episode End - #### Termination - If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Hopper is unhealthy. - The Hopper is unhealthy if any of the following happens: - - 1. An element of `observation[1:]` (if `exclude_current_positions_from_observation=True`, else `observation[2:]`) is no longer contained in the closed interval specified by the argument `healthy_state_range` - 2. The height of the hopper (`observation[0]` if `exclude_current_positions_from_observation=True`, else `observation[1]`) is no longer contained in the closed interval specified by the argument `healthy_z_range` (usually meaning that it has fallen) - 3. The angle of the torso (`observation[1]` if `exclude_current_positions_from_observation=True`, else `observation[2]`) is no longer contained in the closed interval specified by the argument `healthy_angle_range` - - #### Truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Hopper-v5', ctrl_cost_weight=1e-3, ....) - ``` - - | Parameter | Type | Default | Description | - | -------------------------------------------- | --------- | --------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"hopper_v5.xml"` | Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctrl_cost_ reward (see section on reward) | - | `healthy_reward` | **float** | `1` | Weight for _healthy_reward_ reward (see section on reward) | - | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the hopper is no longer healthy | - | `healthy_state_range` | **tuple** | `(-100, 100)` | The elements of `observation[1:]` (if `exclude_current_positions_from_observation=True`, else `observation[2:]`) must be in this range for the hopper to be considered healthy | - | `healthy_z_range` | **tuple** | `(0.7, float("inf"))` | The z-coordinate must be in this range for the hopper to be considered healthy | - | `healthy_angle_range` | **tuple** | `(-0.2, 0.2)` | The angle given by `observation[1]` (if `exclude_current_positions_from_observation=True`, else `observation[2]`) must be in this range for the hopper to be considered healthy | - | `reset_noise_scale` | **float** | `5e-3` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - - ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Hopper gets a new model, the `xml_file` argument is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) - * v2: All continuous control environments now use mujoco-py >= 1.50. - * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0). - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="hopper_v5.xml", - frame_skip=4, - default_camera_config=DEFAULT_CAMERA_CONFIG, - forward_reward_weight=1.0, - ctrl_cost_weight=1e-3, - healthy_reward=1.0, - terminate_when_unhealthy=True, - healthy_state_range=(-100.0, 100.0), - healthy_z_range=(0.7, float("inf")), - healthy_angle_range=(-0.2, 0.2), - reset_noise_scale=5e-3, - exclude_current_positions_from_observation=True, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - forward_reward_weight, - ctrl_cost_weight, - healthy_reward, - terminate_when_unhealthy, - healthy_state_range, - healthy_z_range, - healthy_angle_range, - reset_noise_scale, - exclude_current_positions_from_observation, - **kwargs, - ) - - self._forward_reward_weight = forward_reward_weight - - self._ctrl_cost_weight = ctrl_cost_weight - - self._healthy_reward = healthy_reward - self._terminate_when_unhealthy = terminate_when_unhealthy - - self._healthy_state_range = healthy_state_range - self._healthy_z_range = healthy_z_range - self._healthy_angle_range = healthy_angle_range - - self._reset_noise_scale = reset_noise_scale - - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation - ) - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=None, - default_camera_config=default_camera_config, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = ( - self.data.qpos.size - + self.data.qvel.size - - exclude_current_positions_from_observation - ) - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - self.observation_structure = { - "skipped_qpos": 1 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - - 1 * exclude_current_positions_from_observation, - "qvel": self.data.qvel.size, - } - - @property - def healthy_reward(self): - return self.is_healthy * self._healthy_reward - - def control_cost(self, action): - control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) - return control_cost - - @property - def is_healthy(self): - z, angle = self.data.qpos[1:3] - state = self.state_vector()[2:] - - min_state, max_state = self._healthy_state_range - min_z, max_z = self._healthy_z_range - min_angle, max_angle = self._healthy_angle_range - - healthy_state = np.all(np.logical_and(min_state < state, state < max_state)) - healthy_z = min_z < z < max_z - healthy_angle = min_angle < angle < max_angle - - is_healthy = all((healthy_state, healthy_z, healthy_angle)) - - return is_healthy - - @property - def terminated(self): - terminated = (not self.is_healthy) and self._terminate_when_unhealthy - # TODO remove after validation - assert terminated == ( - not self.is_healthy if self._terminate_when_unhealthy else False - ) - return terminated - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = np.clip(self.data.qvel.flat.copy(), -10, 10) - - if self._exclude_current_positions_from_observation: - position = position[1:] - - observation = np.concatenate((position, velocity)).ravel() - return observation - - def step(self, action): - x_position_before = self.data.qpos[0] - self.do_simulation(action, self.frame_skip) - x_position_after = self.data.qpos[0] - x_velocity = (x_position_after - x_position_before) / self.dt - - ctrl_cost = self.control_cost(action) - - forward_reward = self._forward_reward_weight * x_velocity - healthy_reward = self.healthy_reward - - rewards = forward_reward + healthy_reward - costs = ctrl_cost - - observation = self._get_obs() - reward = rewards - costs - terminated = self.terminated - info = { - "reward_forward": forward_reward, - "reward_ctrl": -ctrl_cost, - "reward_survive": healthy_reward, - "x_position": x_position_after, - "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], - "x_velocity": x_velocity, - } - - if self.render_mode == "human": - self.render() - return observation, reward, terminated, False, info - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ) - qvel = self.init_qvel + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nv - ) - - self.set_state(qpos, qvel) - - observation = self._get_obs() - return observation - - def viewer_setup(self): - assert self.viewer is not None - for key, value in DEFAULT_CAMERA_CONFIG.items(): - if isinstance(value, np.ndarray): - getattr(self.viewer.cam, key)[:] = value - else: - setattr(self.viewer.cam, key, value) - - def _get_reset_info(self): - return { - "x_position": self.data.qpos[0], - "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], - } diff --git a/gymnasium_robotics/envs/mujoco/humanoid_v5.py b/gymnasium_robotics/envs/mujoco/humanoid_v5.py deleted file mode 100644 index b45afc80..00000000 --- a/gymnasium_robotics/envs/mujoco/humanoid_v5.py +++ /dev/null @@ -1,524 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "trackbodyid": 1, - "distance": 4.0, - "lookat": np.array((0.0, 0.0, 2.0)), - "elevation": -20.0, -} - - -def mass_center(model, data): - mass = np.expand_dims(model.body_mass, axis=1) - xpos = data.xipos - return (np.sum(mass * xpos, axis=0) / np.sum(mass))[0:2].copy() - - -class HumanoidEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment is based on the environment introduced by Tassa, Erez and Todorov - in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). - The 3D bipedal robot is designed to simulate a human. It has a torso (abdomen) with a pair of - legs and arms. The legs each consist of three body parts, and the arms 2 body parts (representing the knees and - elbows respectively). The goal of the environment is to walk forward as fast as possible without falling over. - - - ## Action Space - The action space is a `Box(-1, 1, (17,), float32)`. An action represents the torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|----------------------|---------------|----------------|---------------------------------------|-------|------| - | 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) | - | 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | abdomen_z | hinge | torque (N m) | - | 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | abdomen_x | hinge | torque (N m) | - | 3 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) | - | 4 | Torque applied on the rotor between torso/abdomen and the right hip (z-coordinate) | -0.4 | 0.4 | right_hip_z (right_thigh) | hinge | torque (N m) | - | 5 | Torque applied on the rotor between torso/abdomen and the right hip (y-coordinate) | -0.4 | 0.4 | right_hip_y (right_thigh) | hinge | torque (N m) | - | 6 | Torque applied on the rotor between the right hip/thigh and the right shin | -0.4 | 0.4 | right_knee | hinge | torque (N m) | - | 7 | Torque applied on the rotor between torso/abdomen and the left hip (x-coordinate) | -0.4 | 0.4 | left_hip_x (left_thigh) | hinge | torque (N m) | - | 8 | Torque applied on the rotor between torso/abdomen and the left hip (z-coordinate) | -0.4 | 0.4 | left_hip_z (left_thigh) | hinge | torque (N m) | - | 9 | Torque applied on the rotor between torso/abdomen and the left hip (y-coordinate) | -0.4 | 0.4 | left_hip_y (left_thigh) | hinge | torque (N m) | - | 10 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | - | 11 | Torque applied on the rotor between the torso and right upper arm (coordinate -1) | -0.4 | 0.4 | right_shoulder1 | hinge | torque (N m) | - | 12 | Torque applied on the rotor between the torso and right upper arm (coordinate -2) | -0.4 | 0.4 | right_shoulder2 | hinge | torque (N m) | - | 13 | Torque applied on the rotor between the right upper arm and right lower arm | -0.4 | 0.4 | right_elbow | hinge | torque (N m) | - | 14 | Torque applied on the rotor between the torso and left upper arm (coordinate -1) | -0.4 | 0.4 | left_shoulder1 | hinge | torque (N m) | - | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | - | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | - - - ## Observation Space - Observations consist of positional values of different body parts of the Humanoid, - followed by the velocities of those individual parts (their derivatives) with all the - positions ordered before all the velocities. - - By default, observations do not include the x- and y-coordinates of the torso. These may - be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be a `Box(-Inf, Inf, (350,), float64)` where the first two observations - represent the x- and y-coordinates of the torso. - Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates - will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - - However, by default, the observation is a `Box(-Inf, Inf, (348,), float64)`. The elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | - | 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - | 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) | - | 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) | - | 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) | - | 8 | x-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | angle (rad) | - | 9 | z-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | angle (rad) | - | 10 | y-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | angle (rad) | - | 11 | angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | angle (rad) | - | 12 | x-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | angle (rad) | - | 13 | z-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | angle (rad) | - | 14 | y-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | angle (rad) | - | 15 | angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | angle (rad) | - | 16 | coordinate-1 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | angle (rad) | - | 17 | coordinate-2 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | angle (rad) | - | 18 | angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | angle (rad) | - | 19 | coordinate-1 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | angle (rad) | - | 20 | coordinate-2 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | angle (rad) | - | 21 | angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | angle (rad) | - | 22 | x-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | - | 23 | y-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | - | 24 | z-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | - | 25 | x-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | - | 26 | y-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | - | 27 | z-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | - | 28 | z-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | anglular velocity (rad/s) | - | 29 | y-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | anglular velocity (rad/s) | - | 30 | x-coordinate of angular velocity of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | aanglular velocity (rad/s) | - | 31 | x-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | anglular velocity (rad/s) | - | 32 | z-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | anglular velocity (rad/s) | - | 33 | y-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | anglular velocity (rad/s) | - | 34 | angular velocity of the angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | anglular velocity (rad/s) | - | 35 | x-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | anglular velocity (rad/s) | - | 36 | z-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | anglular velocity (rad/s) | - | 37 | y-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | anglular velocity (rad/s) | - | 38 | angular velocity of the angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | anglular velocity (rad/s) | - | 39 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | anglular velocity (rad/s) | - | 40 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | anglular velocity (rad/s) | - | 41 | angular velocity of the angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | anglular velocity (rad/s) | - | 42 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | anglular velocity (rad/s) | - | 43 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | anglular velocity (rad/s) | - | 44 | angular velocity of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | - | excluded | x-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - | excluded | y-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - - Additionally, after all the positional and velocity based values in the table, - the observation contains (in order): - - *cinert:* Mass and inertia of a single rigid body relative to the center of mass - (this is an intermediate result of transition). It has shape 13*10 (*nbody * 10*) - and hence adds to another 130 elements in the state space. - - *cvel:* Center of mass based velocity. It has shape 13 * 6 (*nbody * 6*) and hence - adds another 78 elements in the state space - - *qfrc_actuator:* Constraint force generated as the actuator force. This has shape - `(17,)` *(nv * 1)* and hence adds another 17 elements to the state space. - - *cfrc_ext:* This is the center of mass based external force on the body. It has shape - 13 * 6 (*nbody * 6*) and hence adds to another 78 elements in the state space. - where *nbody* stands for the number of bodies in the robot and *nv* stands for the - number of degrees of freedom (*= dim(qvel)*) - - The body parts are: - - | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body part | - | ---| --- | ------------ | - | 0 |excluded| worldbody (note: all values are constant 0) | - | 1 | 0 | torso | - | 2 | 1 | lwaist | - | 3 | 2 | pelvis | - | 4 | 3 | right_thigh | - | 5 | 4 | right_sin | - | 6 | 5 | right_foot | - | 7 | 6 | left_thigh | - | 8 | 7 | left_sin | - | 9 | 8 | left_foot | - | 10 | 9 | right_upper_arm | - | 11 | 10 | right_lower_arm | - | 12 | 11 | left_upper_arm | - | 13 | 12 | left_lower_arm | - - The joints are: - - | id (for `v2`, `v3`, `v4)` | id (for `v5`) | joint | - | ---| --- | ------------ | - | 0 |excluded| root (note: all values are constant 0) | - | 1 |excluded| root (note: all values are constant 0) | - | 2 |excluded| root (note: all values are constant 0) | - | 3 |excluded| root (note: all values are constant 0) | - | 4 |excluded| root (note: all values are constant 0) | - | 5 |excluded| root (note: all values are constant 0) | - | 6 | 0 | abdomen_z | - | 7 | 1 | abdomen_y | - | 8 | 2 | abdomen_x | - | 9 | 3 | right_hip_x | - | 10 | 4 | right_hip_z | - | 11 | 5 | right_hip_y | - | 12 | 6 | right_knee | - | 13 | 7 | left_hip_x | - | 14 | 8 | left_hiz_z | - | 15 | 9 | left_hip_y | - | 16 | 10 | left_knee | - | 17 | 11 | right_shoulder1 | - | 18 | 12 | right_shoulder2 | - | 19 | 13 | right_elbow| - | 20 | 14 | left_shoulder1 | - | 21 | 15 | left_shoulder2 | - | 22 | 16 | left_elfbow | - - The (x,y,z) coordinates are translational DOFs while the orientations are rotational - DOFs expressed as quaternions. One can read more about free joints on the - [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). - - **Note:** Humanoid-v4 environment no longer has the following contact forces issue. - If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 - results in the contact forces always being 0. As such we recommend to use a Mujoco-Py - version < 2.0 when using the Humanoid environment if you would like to report results - with contact forces (if contact forces are not used in your experiments, you can use - version > 2.0). - - - ## Rewards - The reward consists of three parts: - - *healthy_reward*: - Every timestep that the Humanoid is alive (see section Episode Termination for definition), - it gets a reward of fixed value `healthy_reward`. - - *forward_reward*: - A reward of moving forward, - this reward would be positive if the Humanoid moves forward (in the positive $x$ direction / in the right direction). - $w_{forward} \times \frac{dx}{dt}$, where - $dx$ is the displacement of the center of mass ($x_{after-action} - x_{before-action}$), - $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 5), - and `frametime` which is 0.001 - making the default $dt = 5 \times 0.003 = 0.015$, - $w_{forward}$ is the `forward_reward_weight` (default is $1.25$). - The calculation for the center of mass is defined in the `.py` file for the Humanoid. - - *ctrl_cost*: - A negative reward for penalizing the Humanoid if it takes actions that are too large. - $w_{control} \times \\|action\\|_2^2$, - where $w_{control}$ is `ctrl_cost_weight` (default is $0.1$). - If there are *nu* actuators/controls, then the control has shape `nu x 1`. - - *contact_cost*: - A negative reward for penalizing the Humanoid if the external contact forces are too large. - $w_{contact} \times clamp(contact\\_cost\\_range, \\|F_{contact}\\|_2^2)$, where - $w_{contact}$ is `contact_cost_weight` (default is $5\times10^{-7}$), - $F_{contact}$ are the external contact forces (see `cfrc_ext` section on observation). - - The total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost - contact_cost* - and `info` will also contain the individual reward terms. - - Note: in `v4` the total reward returned is ***reward*** *=* *healthy_reward + forward_reward - ctrl_cost* - - - ## Starting State - All observations start in state - (0.0, 0.0, 1.4, 1.0, 0.0 ... 0.0) with a uniform noise in the range - of [-`reset_noise_scale`, `reset_noise_scale`] added to the positional and velocity values (values in the table) - for stochasticity. Note that the initial z coordinate is intentionally - selected to be high, thereby indicating a standing up humanoid. The initial - orientation is designed to make it face forward as well. - - - ## Episode End - #### Termination - If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Humanoid is unhealthy. - The Humanoid is said to be unhealthy if any of the following happens: - - 1. The z-position of the torso (the height) is no longer contained in `healthy_z_range`. - - #### Truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Humanoid-v5', ctrl_cost_weight=0.1, ....) - ``` - - | Parameter | Type | Default | Description | - | -------------------------------------------- | --------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"humanoid.xml"` | Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1.25` | Weight for _forward_reward_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `0.1` | Weight for _ctrl_cost_ term (see section on reward) | - | `contact_cost_weight` | **float** | `5e-7` | Weight for _contact_cost_ term (see section on reward) | - | `contact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _contact_cost_ term (see section on reward) | - | `healthy_reward` | **float** | `5.0` | Weight for _healthy_reward_ term (see section on reward) | - | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the torso is no longer in the `healthy_z_range` | - | `healthy_z_range` | **tuple** | `(1.0, 2.0)` | The humanoid is considered healthy if the z-coordinate of the torso is in this range | - | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations. | - | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | - | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | - | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | - - ## Version History - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) - * v2: All continuous control environments now use mujoco-py >= 1.50 - * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="humanoid.xml", - frame_skip=5, - default_camera_config=DEFAULT_CAMERA_CONFIG, - forward_reward_weight=1.25, - ctrl_cost_weight=0.1, - contact_cost_weight=5e-7, - contact_cost_range=(-np.inf, 10.0), - healthy_reward=5.0, - terminate_when_unhealthy=True, - healthy_z_range=(1.0, 2.0), - reset_noise_scale=1e-2, - exclude_current_positions_from_observation=True, - include_cinert_in_observation=True, - include_cvel_in_observation=True, - include_qfrc_actuator_in_observation=True, - include_cfrc_ext_in_observation=True, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - forward_reward_weight, - ctrl_cost_weight, - contact_cost_weight, - contact_cost_range, - healthy_reward, - terminate_when_unhealthy, - healthy_z_range, - reset_noise_scale, - exclude_current_positions_from_observation, - include_cinert_in_observation, - include_cvel_in_observation, - include_qfrc_actuator_in_observation, - include_cfrc_ext_in_observation, - **kwargs, - ) - - self._forward_reward_weight = forward_reward_weight - self._ctrl_cost_weight = ctrl_cost_weight - self._contact_cost_weight = contact_cost_weight - self._contact_cost_range = contact_cost_range - self._healthy_reward = healthy_reward - self._terminate_when_unhealthy = terminate_when_unhealthy - self._healthy_z_range = healthy_z_range - - self._reset_noise_scale = reset_noise_scale - - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation - ) - - self._include_cinert_in_observation = include_cinert_in_observation - self._include_cvel_in_observation = include_cvel_in_observation - self._include_qfrc_actuator_in_observation = ( - include_qfrc_actuator_in_observation - ) - self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=None, - default_camera_config=default_camera_config, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = self.data.qpos.size + self.data.qvel.size - obs_size -= 2 * exclude_current_positions_from_observation - obs_size += self.data.cinert[1:].size * include_cinert_in_observation - obs_size += self.data.cvel[1:].size * include_cvel_in_observation - obs_size += (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation - obs_size += self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation - - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - self.observation_structure = { - "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - - 2 * exclude_current_positions_from_observation, - "qvel": self.data.qvel.size, - "cinert": self.data.cinert[1:].size * include_cinert_in_observation, - "cvel": self.data.cvel[1:].size * include_cvel_in_observation, - "qfrc_actuator": (self.data.qvel.size - 6) - * include_qfrc_actuator_in_observation, - "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, - "ten_lenght": 0, - "ten_velocity": 0, - } - - @property - def healthy_reward(self): - return self.is_healthy * self._healthy_reward - - def control_cost(self, action): - control_cost = self._ctrl_cost_weight * np.sum(np.square(self.data.ctrl)) - return control_cost - - @property - def contact_cost(self): - contact_forces = self.data.cfrc_ext - contact_cost = self._contact_cost_weight * np.sum(np.square(contact_forces)) - min_cost, max_cost = self._contact_cost_range - contact_cost = np.clip(contact_cost, min_cost, max_cost) - return contact_cost - - @property - def is_healthy(self): - min_z, max_z = self._healthy_z_range - is_healthy = min_z < self.data.qpos[2] < max_z - - return is_healthy - - @property - def terminated(self): - terminated = (not self.is_healthy) and self._terminate_when_unhealthy - # TODO remove after validation - assert terminated == ( - not self.is_healthy if self._terminate_when_unhealthy else False - ) - return terminated - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = self.data.qvel.flat.copy() - - if self._include_cinert_in_observation is True: - com_inertia = self.data.cinert[1:].flat.copy() - else: - com_inertia = np.array([]) - if self._include_cvel_in_observation is True: - com_velocity = self.data.cvel[1:].flat.copy() - else: - com_velocity = np.array([]) - - if self._include_qfrc_actuator_in_observation is True: - actuator_forces = self.data.qfrc_actuator[6:].flat.copy() - else: - actuator_forces = np.array([]) - if self._include_cfrc_ext_in_observation is True: - external_contact_forces = self.data.cfrc_ext[1:].flat.copy() - else: - external_contact_forces = np.array([]) - - # TODO remove after validation - assert (self.data.cinert[0].flat.copy() == 0).all() - assert (self.data.cvel[0].flat.copy() == 0).all() - assert (self.data.qfrc_actuator[:6].flat.copy() == 0).all() - assert (self.data.cfrc_ext[0].flat.copy() == 0).all() - - if self._exclude_current_positions_from_observation: - position = position[2:] - - return np.concatenate( - ( - position, - velocity, - com_inertia, - com_velocity, - actuator_forces, - external_contact_forces, - ) - ) - - def step(self, action): - xy_position_before = mass_center(self.model, self.data) - self.do_simulation(action, self.frame_skip) - xy_position_after = mass_center(self.model, self.data) - - xy_velocity = (xy_position_after - xy_position_before) / self.dt - x_velocity, y_velocity = xy_velocity - - ctrl_cost = self.control_cost(action) - contact_cost = self.contact_cost - costs = ctrl_cost + contact_cost - - forward_reward = self._forward_reward_weight * x_velocity - healthy_reward = self.healthy_reward - - rewards = forward_reward + healthy_reward - - observation = self._get_obs() - reward = rewards - costs - terminated = self.terminated - info = { - "reward_survive": healthy_reward, - "reward_forward": forward_reward, - "reward_ctrl": -ctrl_cost, - "reward_contact": -contact_cost, - "x_position": self.data.qpos[0], - "y_position": self.data.qpos[1], - "tendon_lenght": self.data.ten_length, - "tendon_velocity": self.data.ten_velocity, - "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), - "x_velocity": x_velocity, - "y_velocity": y_velocity, - } - - if self.render_mode == "human": - self.render() - return observation, reward, terminated, False, info - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ) - qvel = self.init_qvel + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nv - ) - self.set_state(qpos, qvel) - - observation = self._get_obs() - return observation - - def _get_reset_info(self): - return { - "x_position": self.data.qpos[0], - "y_position": self.data.qpos[1], - "tendon_lenght": self.data.ten_length, - "tendon_velocity": self.data.ten_velocity, - "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), - } diff --git a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py b/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py deleted file mode 100644 index ba13b9f1..00000000 --- a/gymnasium_robotics/envs/mujoco/humanoidstandup_v5.py +++ /dev/null @@ -1,469 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "trackbodyid": 1, - "distance": 4.0, - "lookat": np.array((0.0, 0.0, 0.8925)), - "elevation": -20.0, -} - - -class HumanoidStandupEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment is based on the environment introduced by Tassa, Erez and Todorov - in ["Synthesis and stabilization of complex behaviors through online trajectory optimization"](https://ieeexplore.ieee.org/document/6386025). - The 3D bipedal robot is designed to simulate a human. It has a torso (abdomen) with a - pair of legs and arms. The legs each consist of two links, and so the arms (representing the - knees and elbows respectively). The environment starts with the humanoid laying on the ground, - and then the goal of the environment is to make the humanoid standup and then keep it standing - by applying torques on the various hinges. - - - ## Action Space - The agent take a 17-element vector for actions. - - The action space is a continuous `(action, ...)` all in `[-1, 1]`, where `action` - represents the numerical torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - | --- | ---------------------------------------------------------------------------------- | ----------- | ----------- | -------------------------------- | ----- | ------------ | - | 0 | Torque applied on the hinge in the y-coordinate of the abdomen | -0.4 | 0.4 | abdomen_y | hinge | torque (N m) | - | 1 | Torque applied on the hinge in the z-coordinate of the abdomen | -0.4 | 0.4 | abdomen_z | hinge | torque (N m) | - | 2 | Torque applied on the hinge in the x-coordinate of the abdomen | -0.4 | 0.4 | abdomen_x | hinge | torque (N m) | - | 3 | Torque applied on the rotor between torso/abdomen and the right hip (x-coordinate) | -0.4 | 0.4 | right_hip_x (right_thigh) | hinge | torque (N m) | - | 4 | Torque applied on the rotor between torso/abdomen and the right hip (z-coordinate) | -0.4 | 0.4 | right_hip_z (right_thigh) | hinge | torque (N m) | - | 5 | Torque applied on the rotor between torso/abdomen and the right hip (y-coordinate) | -0.4 | 0.4 | right_hip_y (right_thigh) | hinge | torque (N m) | - | 6 | Torque applied on the rotor between the right hip/thigh and the right shin | -0.4 | 0.4 | right_knee | hinge | torque (N m) | - | 7 | Torque applied on the rotor between torso/abdomen and the left hip (x-coordinate) | -0.4 | 0.4 | left_hip_x (left_thigh) | hinge | torque (N m) | - | 8 | Torque applied on the rotor between torso/abdomen and the left hip (z-coordinate) | -0.4 | 0.4 | left_hip_z (left_thigh) | hinge | torque (N m) | - | 9 | Torque applied on the rotor between torso/abdomen and the left hip (y-coordinate) | -0.4 | 0.4 | left_hip_y (left_thigh) | hinge | torque (N m) | - | 10 | Torque applied on the rotor between the left hip/thigh and the left shin | -0.4 | 0.4 | left_knee | hinge | torque (N m) | - | 11 | Torque applied on the rotor between the torso and right upper arm (coordinate -1) | -0.4 | 0.4 | right_shoulder1 | hinge | torque (N m) | - | 12 | Torque applied on the rotor between the torso and right upper arm (coordinate -2) | -0.4 | 0.4 | right_shoulder2 | hinge | torque (N m) | - | 13 | Torque applied on the rotor between the right upper arm and right lower arm | -0.4 | 0.4 | right_elbow | hinge | torque (N m) | - | 14 | Torque applied on the rotor between the torso and left upper arm (coordinate -1) | -0.4 | 0.4 | left_shoulder1 | hinge | torque (N m) | - | 15 | Torque applied on the rotor between the torso and left upper arm (coordinate -2) | -0.4 | 0.4 | left_shoulder2 | hinge | torque (N m) | - | 16 | Torque applied on the rotor between the left upper arm and left lower arm | -0.4 | 0.4 | left_elbow | hinge | torque (N m) | - - - ## Observation Space - Observations consist of positional values of different body parts of the Humanoid, - followed by the velocities of those individual parts (their derivatives) with all the - positions ordered before all the velocities. - - By default, observations do not include the x- and y-coordinates of the torso. These may - be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be a `Box(-Inf, Inf, (350,), float64)` where the first two observations - represent the x- and y-coordinates of the torso. - Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates - will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - - However, by default, the observation is a `Box(-Inf, Inf, (348,), float64)`. The elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | --------------------------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | -------------------------- | - | 0 | z-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - | 1 | x-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 2 | y-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 3 | z-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 4 | w-orientation of the torso (centre) | -Inf | Inf | root | free | angle (rad) | - | 5 | z-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | angle (rad) | - | 6 | y-angle of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | angle (rad) | - | 7 | x-angle of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | angle (rad) | - | 8 | x-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | angle (rad) | - | 9 | z-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | angle (rad) | - | 10 | y-coordinate of angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | angle (rad) | - | 11 | angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | angle (rad) | - | 12 | x-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | angle (rad) | - | 13 | z-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | angle (rad) | - | 14 | y-coordinate of angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | angle (rad) | - | 15 | angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | angle (rad) | - | 16 | coordinate-1 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | angle (rad) | - | 17 | coordinate-2 (multi-axis) angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | angle (rad) | - | 18 | angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | angle (rad) | - | 19 | coordinate-1 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | angle (rad) | - | 20 | coordinate-2 (multi-axis) angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | angle (rad) | - | 21 | angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | angle (rad) | - | 22 | x-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | - | 23 | y-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | - | 24 | z-coordinate velocity of the torso (centre) | -Inf | Inf | root | free | velocity (m/s) | - | 25 | x-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | - | 26 | y-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | - | 27 | z-coordinate angular velocity of the torso (centre) | -Inf | Inf | root | free | anglular velocity (rad/s) | - | 28 | z-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_z | hinge | anglular velocity (rad/s) | - | 29 | y-coordinate of angular velocity of the abdomen (in lower_waist) | -Inf | Inf | abdomen_y | hinge | anglular velocity (rad/s) | - | 30 | x-coordinate of angular velocity of the abdomen (in pelvis) | -Inf | Inf | abdomen_x | hinge | aanglular velocity (rad/s) | - | 31 | x-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_x | hinge | anglular velocity (rad/s) | - | 32 | z-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_z | hinge | anglular velocity (rad/s) | - | 33 | y-coordinate of the angular velocity of the angle between pelvis and right hip (in right_thigh) | -Inf | Inf | right_hip_y | hinge | anglular velocity (rad/s) | - | 34 | angular velocity of the angle between right hip and the right shin (in right_knee) | -Inf | Inf | right_knee | hinge | anglular velocity (rad/s) | - | 35 | x-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_x | hinge | anglular velocity (rad/s) | - | 36 | z-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_z | hinge | anglular velocity (rad/s) | - | 37 | y-coordinate of the angular velocity of the angle between pelvis and left hip (in left_thigh) | -Inf | Inf | left_hip_y | hinge | anglular velocity (rad/s) | - | 38 | angular velocity of the angle between left hip and the left shin (in left_knee) | -Inf | Inf | left_knee | hinge | anglular velocity (rad/s) | - | 39 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder1 | hinge | anglular velocity (rad/s) | - | 40 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and right arm (in right_upper_arm) | -Inf | Inf | right_shoulder2 | hinge | anglular velocity (rad/s) | - | 41 | angular velocity of the angle between right upper arm and right_lower_arm | -Inf | Inf | right_elbow | hinge | anglular velocity (rad/s) | - | 42 | coordinate-1 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder1 | hinge | anglular velocity (rad/s) | - | 43 | coordinate-2 (multi-axis) of the angular velocity of the angle between torso and left arm (in left_upper_arm) | -Inf | Inf | left_shoulder2 | hinge | anglular velocity (rad/s) | - | 44 | angular velocity of the angle between left upper arm and left_lower_arm | -Inf | Inf | left_elbow | hinge | anglular velocity (rad/s) | - | excluded | x-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - | excluded | y-coordinate of the torso (centre) | -Inf | Inf | root | free | position (m) | - - Additionally, after all the positional and velocity based values in the table, - the observation contains (in order): - - *cinert:* Mass and inertia of a single rigid body relative to the center of mass - (this is an intermediate result of transition). It has shape 13*10 (*nbody * 10*) - and hence adds to another 130 elements in the state space. - - *cvel:* Center of mass based velocity. It has shape 13 * 6 (*nbody * 6*) and hence - adds another 78 elements in the state space - - *qfrc_actuator:* Constraint force generated as the actuator force. This has shape - `(17,)` *(nv * 1)* and hence adds another 17 elements to the state space. - - *cfrc_ext:* This is the center of mass based external force on the body. It has shape - 13 * 6 (*nbody * 6*) and hence adds to another 78 elements in the state space. - where *nbody* stands for the number of bodies in the robot and *nv* stands for the - number of degrees of freedom (*= dim(qvel)*) - - The body parts are: - - | id (for `v2`, `v3`, `v4)` | id (for `v5`) | body part | - | ---| --- | ------------ | - | 0 |excluded| worldbody (note: all values are constant 0) | - | 1 | 0 | torso | - | 2 | 1 | lwaist | - | 3 | 2 | pelvis | - | 4 | 3 | right_thigh | - | 5 | 4 | right_sin | - | 6 | 5 | right_foot | - | 7 | 6 | left_thigh | - | 8 | 7 | left_sin | - | 9 | 8 | left_foot | - | 10 | 9 | right_upper_arm | - | 11 | 10 | right_lower_arm | - | 12 | 11 | left_upper_arm | - | 13 | 12 | left_lower_arm | - - The joints are: - - | id (for `v2`, `v3`, `v4)` | id (for `v5`) | joint | - | ---| --- | ------------ | - | 0 |excluded| root (note: all values are constant 0) | - | 1 |excluded| root (note: all values are constant 0) | - | 2 |excluded| root (note: all values are constant 0) | - | 3 |excluded| root (note: all values are constant 0) | - | 4 |excluded| root (note: all values are constant 0) | - | 5 |excluded| root (note: all values are constant 0) | - | 6 | 0 | abdomen_z | - | 7 | 1 | abdomen_y | - | 8 | 2 | abdomen_x | - | 9 | 3 | right_hip_x | - | 10 | 4 | right_hip_z | - | 11 | 5 | right_hip_y | - | 12 | 6 | right_knee | - | 13 | 7 | left_hip_x | - | 14 | 8 | left_hiz_z | - | 15 | 9 | left_hip_y | - | 16 | 10 | left_knee | - | 17 | 11 | right_shoulder1 | - | 18 | 12 | right_shoulder2 | - | 19 | 13 | right_elbow| - | 20 | 14 | left_shoulder1 | - | 21 | 15 | left_shoulder2 | - | 22 | 16 | left_elfbow | - - The (x,y,z) coordinates are translational DOFs while the orientations are rotational - DOFs expressed as quaternions. One can read more about free joints on the - [Mujoco Documentation](https://mujoco.readthedocs.io/en/latest/XMLreference.html). - - **Note:** Humanoid-v4 environment no longer has the following contact forces issue. - If using previous Humanoid versions from v4, there have been reported issues that using a Mujoco-Py version > 2.0 - results in the contact forces always being 0. As such we recommend to use a Mujoco-Py - version < 2.0 when using the Humanoid environment if you would like to report results - with contact forces (if contact forces are not used in your experiments, you can use - version > 2.0). - - - ## Rewards - The reward consists of three parts: - - *uph_cost*: - A reward for moving upward (in an attempt to stand up). - This is not a relative reward which measures how much upward it has moved from the last timestep, - but it is an absolute reward which measures how much upward the Humanoid has moved overall. - It is measured as $weight_{uph} \times (z_{after action} - 0)/dt$, - where $z_{after action}$ is the z coordinate of the torso after taking an action, - and *dt* is the time between actions and is dependent on the `frame_skip` parameter - (default is 5), where the frametime is 0.003 - making the default *dt = 5 * 0.003 = 0.015*. - and $weight_{uph}$ is `uph_cost_weight`. - - *quad_ctrl_cost*: - A negative reward for penalizing the Humanoid if it takes actions that are too large. - $w_{quad_control} \times \\|action\\|_2^2$, - where $w_{quad_control}$ is `ctrl_cost_weight` (default is $0.1$). - If there are *nu* actuators/controls, then the control has shape `nu x 1`. - - *impact_cost*: - A negative reward for penalizing the Humanoid if the external contact forces are too large. - $w_{impact} \times clamp(impact\\_cost\\_range, \\|F_{contact}\\|_2^2)$, where - $w_{impact}$ is `impact_cost_weight` (default is $5\times10^{-7}$), - $F_{contact}$ are the external contact forces (see `cfrc_ext` section on observation). - - The total reward returned is ***reward*** *=* *uph_cost + 1 - quad_ctrl_cost - quad_impact_cost*, - and `info` will also contain the individual reward terms. - - - ## Starting State - All observations start in state - (0.0, 0.0, 0.105, 1.0, 0.0 ... 0.0) with a uniform noise in the range of - [-0.01, 0.01] added to the positional and velocity values (values in the table) - for stochasticity. Note that the initial z coordinate is intentionally selected - to be low, thereby indicating a laying down humanoid. The initial orientation is - designed to make it face forward as well. - - - ## Episode End - #### Termination - The Humanoid never terminates. - - #### Truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('HumanoidStandup-v5', impact_cost_weight=0.5e-6, ....) - ``` - - | Parameter | Type | Default | Description | - | -------------------------------------------- | --------- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** | `"humanoidstandup.xml"` | Path to a MuJoCo model | - | `uph_cost_weight` | **float** | `1` | Weight for _uph_cost_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `0.1` | Weight for _quad_ctrl_cost_ term (see section on reward) | - | `impact_cost_weight` | **float** | `0.5e-6` | Weight for _impact_cost_ term (see section on reward) | - | `impact_cost_range` | **float** | `(-np.inf, 10.0) | Clamps the _impact_cost_ | - | `reset_noise_scale` | **float** | `1e-2` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - | `include_cinert_in_observation` | **bool** | `True` | Whether to include *cinert* elements in the observations. | - | `include_cvel_in_observation` | **bool** | `True` | Whether to include *cvel* elements in the observations. | - | `include_qfrc_actuator_in_observation` | **bool** | `True` | Whether to include *qfrc_actuator* elements in the observations. | - | `include_cfrc_ext_in_observation` | **bool** | `True` | Whether to include *cfrc_ext* elements in the observations. | - - ## Version History - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. - * v3: This environment does not have a v3 release. - * v2: All continuous control environments now use mujoco-py >= 1.50. - * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0). - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="humanoidstandup.xml", - frame_skip=5, - default_camera_config=DEFAULT_CAMERA_CONFIG, - uph_cost_weight=1, - ctrl_cost_weight=0.1, - impact_cost_weight=0.5e-6, - impact_cost_range=(-np.inf, 10.0), - reset_noise_scale=1e-2, - exclude_current_positions_from_observation=True, - include_cinert_in_observation=True, - include_cvel_in_observation=True, - include_qfrc_actuator_in_observation=True, - include_cfrc_ext_in_observation=True, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - uph_cost_weight, - ctrl_cost_weight, - impact_cost_weight, - impact_cost_range, - reset_noise_scale, - exclude_current_positions_from_observation, - include_cinert_in_observation, - include_cvel_in_observation, - include_qfrc_actuator_in_observation, - include_cfrc_ext_in_observation, - **kwargs, - ) - - self._uph_cost_weight = uph_cost_weight - self._ctrl_cost_weight = ctrl_cost_weight - self._impact_cost_weight = impact_cost_weight - self._impact_cost_range = impact_cost_range - self._reset_noise_scale = reset_noise_scale - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation - ) - - self._include_cinert_in_observation = include_cinert_in_observation - self._include_cvel_in_observation = include_cvel_in_observation - self._include_qfrc_actuator_in_observation = ( - include_qfrc_actuator_in_observation - ) - self._include_cfrc_ext_in_observation = include_cfrc_ext_in_observation - - obs_size = 47 - obs_size -= 2 * exclude_current_positions_from_observation - obs_size += 130 * include_cinert_in_observation - obs_size += 78 * include_cvel_in_observation - obs_size += 17 * include_qfrc_actuator_in_observation - obs_size += 78 * include_cfrc_ext_in_observation - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=None, - default_camera_config=default_camera_config, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = self.data.qpos.size + self.data.qvel.size - obs_size -= 2 * exclude_current_positions_from_observation - obs_size += self.data.cinert[1:].size * include_cinert_in_observation - obs_size += self.data.cvel[1:].size * include_cvel_in_observation - obs_size += (self.data.qvel.size - 6) * include_qfrc_actuator_in_observation - obs_size += self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation - - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - self.observation_structure = { - "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - - 2 * exclude_current_positions_from_observation, - "qvel": self.data.qvel.size, - "cinert": self.data.cinert[1:].size * include_cinert_in_observation, - "cvel": self.data.cvel[1:].size * include_cvel_in_observation, - "qfrc_actuator": (self.data.qvel.size - 6) - * include_qfrc_actuator_in_observation, - "cfrc_ext": self.data.cfrc_ext[1:].size * include_cfrc_ext_in_observation, - "ten_lenght": 0, - "ten_velocity": 0, - } - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = self.data.qvel.flat.copy() - - if self._include_cinert_in_observation is True: - com_inertia = self.data.cinert[1:].flat.copy() - else: - com_inertia = np.array([]) - if self._include_cvel_in_observation is True: - com_velocity = self.data.cvel[1:].flat.copy() - else: - com_velocity = np.array([]) - - if self._include_qfrc_actuator_in_observation is True: - actuator_forces = self.data.qfrc_actuator[6:].flat.copy() - else: - actuator_forces = np.array([]) - if self._include_cfrc_ext_in_observation is True: - external_contact_forces = self.data.cfrc_ext[1:].flat.copy() - else: - external_contact_forces = np.array([]) - - # TODO remove after validation - assert (self.data.cinert[0].flat.copy() == 0).all() - assert (self.data.cvel[0].flat.copy() == 0).all() - assert (self.data.qfrc_actuator[:6].flat.copy() == 0).all() - assert (self.data.cfrc_ext[0].flat.copy() == 0).all() - - if self._exclude_current_positions_from_observation: - position = position[2:] - - return np.concatenate( - ( - position, - velocity, - com_inertia, - com_velocity, - actuator_forces, - external_contact_forces, - ) - ) - - def step(self, action): - self.do_simulation(action, self.frame_skip) - pos_after = self.data.qpos[2] - - uph_cost = (pos_after - 0) / self.model.opt.timestep - - quad_ctrl_cost = self._ctrl_cost_weight * np.square(self.data.ctrl).sum() - - quad_impact_cost = ( - self._impact_cost_weight * np.square(self.data.cfrc_ext).sum() - ) - min_impact_cost, max_impact_cost = self._impact_cost_range - quad_impact_cost = np.clip(quad_impact_cost, min_impact_cost, max_impact_cost) - - reward = uph_cost - quad_ctrl_cost - quad_impact_cost + 1 - - info = { - "reward_linup": uph_cost, - "reward_quadctrl": -quad_ctrl_cost, - "reward_impact": -quad_impact_cost, - "x_position": self.data.qpos[0], - "y_position": self.data.qpos[1], - "z_distance_from_origin": self.data.qpos[2] - self.init_qpos[2], - "tendon_lenght": self.data.ten_length, - "tendon_velocity": self.data.ten_velocity, - } - - if self.render_mode == "human": - self.render() - return self._get_obs(), reward, False, False, info - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ) - qvel = self.init_qvel + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nv - ) - self.set_state(qpos, qvel) - - observation = self._get_obs() - return observation - - def _get_reset_info(self): - return { - "x_position": self.data.qpos[0], - "y_position": self.data.qpos[1], - "z_distance_from_origin": self.data.qpos[2] - self.init_qpos[2], - "tendon_lenght": self.data.ten_length, - "tendon_velocity": self.data.ten_velocity, - } diff --git a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py deleted file mode 100644 index 765be745..00000000 --- a/gymnasium_robotics/envs/mujoco/inverted_double_pendulum_v5.py +++ /dev/null @@ -1,224 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "trackbodyid": 0, - "distance": 4.1225, - "lookat": np.array((0.0, 0.0, 0.12250000000000005)), -} - - -class InvertedDoublePendulumEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment originates from control theory and builds on the cartpole - environment based on the work done by Barto, Sutton, and Anderson in - ["Neuronlike adaptive elements that can solve difficult learning control problems"](https://ieeexplore.ieee.org/document/6313077), - powered by the Mujoco physics simulator - allowing for more complex experiments - (such as varying the effects of gravity or constraints). This environment involves a cart that can - moved linearly, with a pole fixed on it and a second pole fixed on the other end of the first one - (leaving the second pole as the only one with one free end). The cart can be pushed left or right, - and the goal is to balance the second pole on top of the first pole, which is in turn on top of the - cart, by applying continuous forces on the cart. - - - ## Action Space - The agent take a 1-element vector for actions. - The action space is a continuous `(action)` in `[-1, 1]`, where `action` represents the - numerical force applied to the cart (with magnitude representing the amount of force and - sign representing the direction) - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|---------------------------|-------------|-------------|----------------------------------|-------|-----------| - | 0 | Force applied on the cart | -1 | 1 | slider | slide | Force (N) | - - - ## Observation Space - The state space consists of positional values of different body parts of the pendulum system, - followed by the velocities of those individual parts (their derivatives) with all the - positions ordered before all the velocities. - - The observation is a `ndarray` with shape `(9,)` where the elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | ----------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | - | 0 | position of the cart along the linear surface | -Inf | Inf | slider | slide | position (m) | - | 1 | sine of the angle between the cart and the first pole | -Inf | Inf | sin(hinge) | hinge | unitless | - | 2 | sine of the angle between the two poles | -Inf | Inf | sin(hinge2) | hinge | unitless | - | 3 | cosine of the angle between the cart and the first pole | -Inf | Inf | cos(hinge) | hinge | unitless | - | 4 | cosine of the angle between the two poles | -Inf | Inf | cos(hinge2) | hinge | unitless | - | 5 | velocity of the cart | -Inf | Inf | slider | slide | velocity (m/s) | - | 6 | angular velocity of the angle between the cart and the first pole | -Inf | Inf | hinge | hinge | angular velocity (rad/s) | - | 7 | angular velocity of the angle between the two poles | -Inf | Inf | hinge2 | hinge | angular velocity (rad/s) | - | 8 | constraint force - x | -Inf | Inf | slider | slide | Force (N) | - | excluded | constraint force - y | -Inf | Inf | hinge | slide | Force (N) | - | excluded | constraint force - z | -Inf | Inf | hinge2 | slide | Force (N) | - - - There is physical contact between the robots and their environment - and Mujoco - attempts at getting realistic physics simulations for the possible physical contact - dynamics by aiming for physical accuracy and computational efficiency. - - There is one constraint force for contacts for each degree of freedom (3). - The approach and handling of constraints by Mujoco is unique to the simulator and is based on their research. - Once can find more information in their [*documentation*](https://mujoco.readthedocs.io/en/latest/computation.html) - or in their paper ["Analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo"](https://homes.cs.washington.edu/~todorov/papers/TodorovICRA14.pdf). - - - ## Rewards - The reward consists of two parts: - - *alive_bonus*: - The goal is to make the second inverted pendulum stand upright - (within a certain angle limit) as long as possible - as such a reward of `healthy_reward` is awarded - for each timestep that the second pole is upright. - - *distance_penalty*: - This reward is a measure of how far the *tip* of the second pendulum (the only free end) moves, - and it is calculated as $0.01 x_{pole2-tip}^2 + (y_{pole2-tip}-2)^2$, - where $x_{pole2-tip}, y_{pole2-tip}$ are the xy-coordinatesof the tip of the second pole. - - *velocity_penalty*: - A negative reward for penalising the agent if it moves too fast. - $10^{-3} \omega_1 + 5 10^{-3} \omega_2$, - where $\omega_1, \omega_2$ are the angular velocities of the hinges. - - The total reward returned is ***reward*** *=* *alive_bonus - distance_penalty - velocity_penalty* - and `info` will also contain the individual reward terms. - - - ## Starting State - All observations start in state - (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) with a uniform noise in the range - of `[-reset_noise_scale, reset_noise_scale]` added to the positional values (cart position and pole angles) and standard - normal force with a standard deviation of `reset_noise_scale` added to the velocity values for stochasticity. - - - ## Episode End - #### Termination - The environment terminates when the Inverted Double Pendulum is unhealthy. - The Inverted Double Pendulum is unhealthy if any of the following happens: - - 1.Termination: The y_coordinate of the tip of the second pole $\leq 1$. - The maximum standing height of the system is 1.2 m when all the parts are perpendicularly vertical on top of each other). - - #### Truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `healthy_reward`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('InvertedDoublePendulum-v5', healthy_reward=10, ...) - ``` - - | Parameter | Type | Default | Description | - |-------------------------|------------|-------------- |-------------------------------| - | `xml_file` | **str** |`"inverted_double_pendulum.xml"`| Path to a MuJoCo model | - | `healthy_reward` | **float** | `10 | Constant reward given if the pendulum is "healthy" (upright) | - | `reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - - ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward_survive" being 10 on every step (even on terminal steps). Removed "constraint force" of the hinges from the observation space. Added `info` "reward_survive", "distance_penalty", "velocity_penalty". - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 - * v3: This environment does not have a v3 release. - * v2: All continuous control environments now use mujoco-py >= 1.50 - * v1: max_time_steps raised to 1000 for robot based tasks (including inverted pendulum) - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="inverted_double_pendulum.xml", - frame_skip=5, - healthy_reward=10.0, - reset_noise_scale=0.1, - **kwargs, - ): - utils.EzPickle.__init__(self, xml_file, frame_skip, reset_noise_scale, **kwargs) - - self._healthy_reward = healthy_reward - self._reset_noise_scale = reset_noise_scale - - observation_space = Box(low=-np.inf, high=np.inf, shape=(9,), dtype=np.float64) - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=observation_space, - default_camera_config=DEFAULT_CAMERA_CONFIG, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - def step(self, action): - self.do_simulation(action, self.frame_skip) - - observation = self._get_obs() - - x, _, y = self.data.site_xpos[0] - v1, v2 = self.data.qvel[1:3] - - terminated = bool(y <= 1) - - dist_penalty = 0.01 * x**2 + (y - 2) ** 2 - vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2 - alive_bonus = self._healthy_reward * int(not terminated) - reward = alive_bonus - dist_penalty - vel_penalty - - info = { - "reward_survive": alive_bonus, - "distance_penalty": -dist_penalty, - "velocity_penalty": -vel_penalty, - } - - if self.render_mode == "human": - self.render() - return observation, reward, terminated, False, info - - def _get_obs(self): - assert self.data.qfrc_constraint[2] == 0 # TODO remove after validation - assert self.data.qfrc_constraint[1] == 0 # TODO remove after validation - return np.concatenate( - [ - self.data.qpos[:1], # cart x pos - np.sin(self.data.qpos[1:]), # link angles - np.cos(self.data.qpos[1:]), - np.clip(self.data.qvel, -10, 10), - np.clip(self.data.qfrc_constraint, -10, 10)[:1], - ] - ).ravel() - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - self.set_state( - self.init_qpos - + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ), - self.init_qvel - + self.np_random.standard_normal(self.model.nv) * self._reset_noise_scale, - ) - return self._get_obs() diff --git a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py b/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py deleted file mode 100644 index 6bb231b4..00000000 --- a/gymnasium_robotics/envs/mujoco/inverted_pendulum_v5.py +++ /dev/null @@ -1,179 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "trackbodyid": 0, - "distance": 2.04, -} - - -class InvertedPendulumEnv(MujocoEnv, utils.EzPickle): - """ - ## Description - This environment is the cartpole environment based on the work done by - Barto, Sutton, and Anderson in ["Neuronlike adaptive elements that can - solve difficult learning control problems"](https://ieeexplore.ieee.org/document/6313077), - just like in the classic environments but now powered by the Mujoco physics simulator - - allowing for more complex experiments (such as varying the effects of gravity). - This environment involves a cart that can moved linearly, with a pole fixed on it - at one end and having another end free. The cart can be pushed left or right, and the - goal is to balance the pole on the top of the cart by applying forces on the cart. - - - ## Action Space - The agent take a 1-element vector for actions. - - The action space is a continuous `(action)` in `[-3, 3]`, where `action` represents - the numerical force applied to the cart (with magnitude representing the amount of - force and sign representing the direction) - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|---------------------------|-------------|-------------|----------------------------------|-------|-----------| - | 0 | Force applied on the cart | -3 | 3 | slider | slide | Force (N) | - - - ## Observation Space - The state space consists of positional values of different body parts of - the pendulum system, followed by the velocities of those individual parts (their derivatives) - with all the positions ordered before all the velocities. - - The observation is a `ndarray` with shape `(4,)` where the elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | --------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------- | - | 0 | position of the cart along the linear surface | -Inf | Inf | slider | slide | position (m) | - | 1 | vertical angle of the pole on the cart | -Inf | Inf | hinge | hinge | angle (rad) | - | 2 | linear velocity of the cart | -Inf | Inf | slider | slide | velocity (m/s) | - | 3 | angular velocity of the pole on the cart | -Inf | Inf | hinge | hinge | anglular velocity (rad/s) | - - - ## Rewards - The goal is to make the inverted pendulum stand upright (within a certain angle limit) - as long as possible - as such a reward of +1 is awarded for each timestep that - the pole is upright. - - The pole is considered upright if: - $|angle| < 0.2$ - - and `info` will also contain the reward. - - - ## Starting State - All observations start in state - (0.0, 0.0, 0.0, 0.0) with a uniform noise in the range - of `[-reset_noise_scale, reset_noise_scale]` added to the values for stochasticity. - - - ## Episode End - #### Termination - The environment terminates when the Inverted Pendulum is unhealthy. - The Inverted Pendulum is unhealthy if any of the following happens: - - 1. Any of the state space values is no longer finite. - 2. The absolute value of the vertical angle between the pole and the cart is greater than 0.2 radian. - - #### Truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `reset_noise_scale`. - - ```python - import gymnasium as gym - env = gym.make('InvertedPendulum-v5', reset_noise_scale=0.1) - ``` - - | Parameter | Type | Default |Description | - |-------------------------|------------|--------------|-------------------------------| - | `xml_file` | **str** | `"inverted_double_pendulum.xml"` | Path to a MuJoCo model | - | `reset_noise_scale` | **float** | `0.01` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - - ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Fixed "reward survive" being 1 on every step (even on terminal steps) and added "reward_survive" to `info`. - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.. - * v3: This environment does not have a v3 release. - * v2: All continuous control environments now use mujoco-py >= 1.5. - * v1: max_time_steps raised to 1000 for robot based tasks (including inverted pendulum). - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="inverted_pendulum.xml", - frame_skip=2, - reset_noise_scale=0.01, - **kwargs, - ): - utils.EzPickle.__init__(self, xml_file, frame_skip, reset_noise_scale, **kwargs) - observation_space = Box(low=-np.inf, high=np.inf, shape=(4,), dtype=np.float64) - - self._reset_noise_scale = reset_noise_scale - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=observation_space, - default_camera_config=DEFAULT_CAMERA_CONFIG, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - self.observation_structure = { - "qpos": self.data.qpos.size, - "qvel": self.data.qvel.size, - } - - def step(self, action): - self.do_simulation(action, self.frame_skip) - - observation = self._get_obs() - - terminated = bool( - not np.isfinite(observation).all() or (np.abs(observation[1]) > 0.2) - ) - - reward = int(not terminated) - - info = {"reward_survive": reward} - - if self.render_mode == "human": - self.render() - return observation, reward, terminated, False, info - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - size=self.model.nq, low=noise_low, high=noise_high - ) - qvel = self.init_qvel + self.np_random.uniform( - size=self.model.nv, low=noise_low, high=noise_high - ) - self.set_state(qpos, qvel) - return self._get_obs() - - def _get_obs(self): - return np.concatenate([self.data.qpos, self.data.qvel]).ravel() diff --git a/gymnasium_robotics/envs/mujoco/pusher_v5.py b/gymnasium_robotics/envs/mujoco/pusher_v5.py deleted file mode 100644 index be9ed636..00000000 --- a/gymnasium_robotics/envs/mujoco/pusher_v5.py +++ /dev/null @@ -1,246 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "trackbodyid": -1, - "distance": 4.0, -} - - -class PusherEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - "Pusher" is a multi-jointed robot arm which is very similar to that of a human. - The goal is to move a target cylinder (called *object*) to a goal position using the robot's end effector (called *fingertip*). - The robot consists of shoulder, elbow, forearm, and wrist joints. - - - ## Action Space - The action space is a `Box(-2, 2, (7,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|--------------------------------------------------------------------|-------------|-------------|----------------------------------|-------|--------------| - | 0 | Rotation of the panning the shoulder | -2 | 2 | r_shoulder_pan_joint | hinge | torque (N m) | - | 1 | Rotation of the shoulder lifting joint | -2 | 2 | r_shoulder_lift_joint | hinge | torque (N m) | - | 2 | Rotation of the shoulder rolling joint | -2 | 2 | r_upper_arm_roll_joint | hinge | torque (N m) | - | 3 | Rotation of hinge joint that flexed the elbow | -2 | 2 | r_elbow_flex_joint | hinge | torque (N m) | - | 4 | Rotation of hinge that rolls the forearm | -2 | 2 | r_forearm_roll_joint | hinge | torque (N m) | - | 5 | Rotation of flexing the wrist | -2 | 2 | r_wrist_flex_joint | hinge | torque (N m) | - | 6 | Rotation of rolling the wrist | -2 | 2 | r_wrist_roll_joint | hinge | torque (N m) | - - - ## Observation Space - Observations consist of - - - Angle of rotational joints on the pusher - - Angular velocities of rotational joints on the pusher - - The coordinates of the fingertip of the pusher - - The coordinates of the object to be moved - - The coordinates of the goal position - - The observation is a `Box(-Inf, Inf, (23,), float64)` where the elements correspond to the table below. - An analogy can be drawn to a human arm in order to help understand the state space, with the words flex and roll meaning the - same as human joints. - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | -------------------------------------------------------- | ---- | --- | -------------------------------- | -------- | ------------------------ | - | 0 | Rotation of the panning the shoulder | -Inf | Inf | r_shoulder_pan_joint | hinge | angle (rad) | - | 1 | Rotation of the shoulder lifting joint | -Inf | Inf | r_shoulder_lift_joint | hinge | angle (rad) | - | 2 | Rotation of the shoulder rolling joint | -Inf | Inf | r_upper_arm_roll_joint | hinge | angle (rad) | - | 3 | Rotation of hinge joint that flexed the elbow | -Inf | Inf | r_elbow_flex_joint | hinge | angle (rad) | - | 4 | Rotation of hinge that rolls the forearm | -Inf | Inf | r_forearm_roll_joint | hinge | angle (rad) | - | 5 | Rotation of flexing the wrist | -Inf | Inf | r_wrist_flex_joint | hinge | angle (rad) | - | 6 | Rotation of rolling the wrist | -Inf | Inf | r_wrist_roll_joint | hinge | angle (rad) | - | 7 | Rotational velocity of the panning the shoulder | -Inf | Inf | r_shoulder_pan_joint | hinge | angular velocity (rad/s) | - | 8 | Rotational velocity of the shoulder lifting joint | -Inf | Inf | r_shoulder_lift_joint | hinge | angular velocity (rad/s) | - | 9 | Rotational velocity of the shoulder rolling joint | -Inf | Inf | r_upper_arm_roll_joint | hinge | angular velocity (rad/s) | - | 10 | Rotational velocity of hinge joint that flexed the elbow | -Inf | Inf | r_elbow_flex_joint | hinge | angular velocity (rad/s) | - | 11 | Rotational velocity of hinge that rolls the forearm | -Inf | Inf | r_forearm_roll_joint | hinge | angular velocity (rad/s) | - | 12 | Rotational velocity of flexing the wrist | -Inf | Inf | r_wrist_flex_joint | hinge | angular velocity (rad/s) | - | 13 | Rotational velocity of rolling the wrist | -Inf | Inf | r_wrist_roll_joint | hinge | angular velocity (rad/s) | - | 14 | x-coordinate of the fingertip of the pusher | -Inf | Inf | tips_arm | slide | position (m) | - | 15 | y-coordinate of the fingertip of the pusher | -Inf | Inf | tips_arm | slide | position (m) | - | 16 | z-coordinate of the fingertip of the pusher | -Inf | Inf | tips_arm | slide | position (m) | - | 17 | x-coordinate of the object to be moved | -Inf | Inf | object (obj_slidex) | slide | position (m) | - | 18 | y-coordinate of the object to be moved | -Inf | Inf | object (obj_slidey) | slide | position (m) | - | 19 | z-coordinate of the object to be moved | -Inf | Inf | object | cylinder | position (m) | - | 20 | x-coordinate of the goal position of the object | -Inf | Inf | goal (goal_slidex) | slide | position (m) | - | 21 | y-coordinate of the goal position of the object | -Inf | Inf | goal (goal_slidey) | slide | position (m) | - | 22 | z-coordinate of the goal position of the object | -Inf | Inf | goal | sphere | position (m) | - - - ## Rewards - The reward consists of two parts: - - *reward_near*: - This reward is a measure of how far the *fingertip* of the pusher (the unattached end) is from the object, - with a more negative value assigned for when the pusher's *fingertip* is further away from the target. - It is $-w_{near} \|(P_{fingertip} - P_{target})\|_2$. - where $w_{near}$ is `reward_near_weight`. - - *reward_dist*: - This reward is a measure of how far the object is from the target goal position, - with a more negative value assigned for object that is further away from the target. - It is $-w_{dist} \|(P_{object} - P_{target})\|_2$. - where $w_{dist}$ is `reward_dist_weight`. - - *reward_control*: - A negative reward for penalising the pusher if it takes actions that are too large. - It is measured as the negative squared Euclidean norm of the action, i.e. as $-w_{control} \|action\|_2^2$. - where $w_{control}$ is `reward_control_weight`. - - The total reward returned is ***reward*** *=* *reward_dist + reward_ctrl + reward_near*, - `info` will also contain the individual reward terms. - - - ## Starting State - All pusher (not including object and goal) states start in - (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0). A uniform noise in the range - [-0.005, 0.005] is added to the velocity attributes only. The velocities of - the object and goal are permanently set to 0. The object's x-position is selected uniformly - between [-0.3, 0] while the y-position is selected uniformly between [-0.2, 0.2], and this - process is repeated until the vector norm between the object's (x,y) position and origin is not greater - than 0.17. The goal always have the same position of (0.45, -0.05, -0.323). - - The default framerate is 5 with each frame lasting for 0.01, giving rise to a *dt = 5 * 0.01 = 0.05* - - - ## Episode End - #### Termination - The Pusher never terminates. - - #### Truncation - The maximum duration of an episode is 100 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`. - - ```python - import gymnasium as gym - env = gym.make('Pusher-v5', xml_file=...) - ``` - - | Parameter | Type | Default |Description | - |-------------------------|------------|--------------|----------------------------------------------------------| - | `xml_file` | **str** |`"pusher.xml"`| Path to a MuJoCo model | - | `reward_near_weight` | **float** | `0.5` | Weight for *reward_near* term (see section on reward) | - | `reward_dist_weight` | **float** | `1` | Weight for *reward_dist* term (see section on reward) | - | `reward_control_weight` | **float** | `0.1` | Weight for *reward_control* term (see section on reward) | - - ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. "reward_near" is added to the `info`. - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. - * v3: This environment does not have a v3 release. - * v2: All continuous control environments now use mujoco-py >= 1.50. - * v1: max_time_steps raised to 1000 for robot based tasks (not including pusher, which has a max_time_steps of 100). Added reward_threshold to environments. - * v0: Initial versions release (1.0.0). - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="pusher.xml", - frame_skip=5, - default_camera_config=DEFAULT_CAMERA_CONFIG, - reward_near_weight=0.5, - reward_dist_weight=1, - reward_control_weight=0.1, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - reward_near_weight, - reward_dist_weight, - reward_control_weight, - **kwargs, - ) - self._reward_near_weight = reward_near_weight - self._reward_dist_weight = reward_dist_weight - self._reward_control_weight = reward_control_weight - - observation_space = Box(low=-np.inf, high=np.inf, shape=(23,), dtype=np.float64) - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=observation_space, - default_camera_config=default_camera_config, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - def step(self, action): - vec_1 = self.get_body_com("object") - self.get_body_com("tips_arm") - vec_2 = self.get_body_com("object") - self.get_body_com("goal") - - reward_near = -np.linalg.norm(vec_1) * self._reward_near_weight - reward_dist = -np.linalg.norm(vec_2) * self._reward_dist_weight - reward_ctrl = -np.square(action).sum() * self._reward_control_weight - reward = reward_dist + reward_ctrl + reward_near - - self.do_simulation(action, self.frame_skip) - - observation = self._get_obs() - info = { - "reward_dist": reward_dist, - "reward_ctrl": reward_ctrl, - "reward_near": reward_near, - } - if self.render_mode == "human": - self.render() - return observation, reward, False, False, info - - def reset_model(self): - qpos = self.init_qpos - - self.goal_pos = np.asarray([0, 0]) - while True: - self.cylinder_pos = np.concatenate( - [ - self.np_random.uniform(low=-0.3, high=0, size=1), - self.np_random.uniform(low=-0.2, high=0.2, size=1), - ] - ) - if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17: - break - - qpos[-4:-2] = self.cylinder_pos - qpos[-2:] = self.goal_pos - qvel = self.init_qvel + self.np_random.uniform( - low=-0.005, high=0.005, size=self.model.nv - ) - qvel[-4:] = 0 - self.set_state(qpos, qvel) - return self._get_obs() - - def _get_obs(self): - return np.concatenate( - [ - self.data.qpos.flat[:7], - self.data.qvel.flat[:7], - self.get_body_com("tips_arm"), - self.get_body_com("object"), - self.get_body_com("goal"), - ] - ) diff --git a/gymnasium_robotics/envs/mujoco/reacher_v5.py b/gymnasium_robotics/envs/mujoco/reacher_v5.py deleted file mode 100644 index 92faea81..00000000 --- a/gymnasium_robotics/envs/mujoco/reacher_v5.py +++ /dev/null @@ -1,220 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = {"trackbodyid": 0} - - -class ReacherEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - "Reacher" is a two-jointed robot arm. The goal is to move the robot's end effector (called *fingertip*) close to a - target that is spawned at a random position. - - - ## Action Space - The action space is a `Box(-1, 1, (2,), float32)`. An action `(a, b)` represents the torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|---------------------------------------------------------------------------------|-------------|-------------|--------------------------|-------|------| - | 0 | Torque applied at the first hinge (connecting the link to the point of fixture) | -1 | 1 | joint0 | hinge | torque (N m) | - | 1 | Torque applied at the second hinge (connecting the two links) | -1 | 1 | joint1 | hinge | torque (N m) | - - - ## Observation Space - Observations consist of - - - The cosine of the angles of the two arms - - The sine of the angles of the two arms - - The coordinates of the target - - The angular velocities of the arms - - The vector between the target and the reacher's fingertip (3 dimensional with the last element being 0) - - The observation is a `Box(-Inf, Inf, (10,), float64)` where the elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | ---------------------------------------------------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | - | 0 | cosine of the angle of the first arm | -Inf | Inf | cos(joint0) | hinge | unitless | - | 1 | cosine of the angle of the second arm | -Inf | Inf | cos(joint1) | hinge | unitless | - | 2 | sine of the angle of the first arm | -Inf | Inf | sin(joint0) | hinge | unitless | - | 3 | sine of the angle of the second arm | -Inf | Inf | sin(joint1) | hinge | unitless | - | 4 | x-coordinate of the target | -Inf | Inf | target_x | slide | position (m) | - | 5 | y-coordinate of the target | -Inf | Inf | target_y | slide | position (m) | - | 6 | angular velocity of the first arm | -Inf | Inf | joint0 | hinge | angular velocity (rad/s) | - | 7 | angular velocity of the second arm | -Inf | Inf | joint1 | hinge | angular velocity (rad/s) | - | 8 | x-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | - | 9 | y-value of position_fingertip - position_target | -Inf | Inf | NA | slide | position (m) | - | excluded | z-value of position_fingertip - position_target (constantly 0 since reacher is 2d) | -Inf | Inf | NA | slide | position (m) | - - Most Gym environments just return the positions and velocity of the - joints in the `.xml` file as the state of the environment. However, in - reacher the state is created by combining only certain elements of the - position and velocity, and performing some function transformations on them. - If one is to read the `reacher.xml` then they will find 4 joints: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - |-----|-----------------------------|----------|----------|----------------------------------|-------|--------------------| - | 0 | angle of the first arm | -Inf | Inf | joint0 | hinge | angle (rad) | - | 1 | angle of the second arm | -Inf | Inf | joint1 | hinge | angle (rad) | - | 2 | x-coordinate of the target | -Inf | Inf | target_x | slide | position (m) | - | 3 | y-coordinate of the target | -Inf | Inf | target_y | slide | position (m) | - - - ## Rewards - The reward consists of two parts: - - *reward_distance*: - This reward is a measure of how far the *fingertip* of the reacher (the unattached end) is from the target, - with a more negative value assigned for when the reacher's *fingertip* is further away from the target. - It is $-w_{near} \|(P_{fingertip} - P_{target})\|_2$. - where $w_{near}$ is `reward_near_weight`. - - *reward_control*: - A negative reward for penalising the walker if it takes actions that are too large. - It is measured as the negative squared Euclidean norm of the action, i.e. as $-w_{control} \|action\|_2^2$. - where $w_{control}$ is `reward_control_weight`. - - The total reward returned is ***reward*** *=* *reward_distance + reward_control*. - `info` will also contain the individual reward terms. - - ## Starting State - All observations start in state - (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) - with a noise added for stochasticity. A uniform noise in the range - [-0.1, 0.1] is added to the positional attributes, while the target position - is selected uniformly at random in a disk of radius 0.2 around the origin. - Independent, uniform noise in the - range of [-0.005, 0.005] is added to the velocities, and the last - element ("fingertip" - "target") is calculated at the end once everything - is set. The default setting has a framerate of 2 and a *dt = 2 * 0.01 = 0.02* - - ## Episode End - #### Termination - The Reacher never terminates. - - #### Truncation - The maximum duration of an episode is 50 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`. - - ```python - import gymnasium as gym - env = gym.make('Reacher-v5', xml_file=...) - ``` - - | Parameter | Type | Default |Description | - |-------------------------|------------|--------------|----------------------------------------------------------| - | `xml_file` | **str** |`"reacher.xml"`| Path to a MuJoCo model | - | `reward_dist_weight` | **float** | `1` | Weight for *reward_dist* term (see section on reward) | - | `reward_control_weight` | **float** | `0.1` | Weight for *reward_control* term (see section on reward) | - - ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Added `xml_file` argument. Remove "z - position_fingertip" from the observation space. - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 - * v3: This environment does not have a v3 release. - * v2: All continuous control environments now use mujoco-py >= 1.50 - * v1: max_time_steps raised to 1000 for robot based tasks (not including reacher, which has a max_time_steps of 50). Added reward_threshold to environments. - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="reacher.xml", - frame_skip=2, - default_camera_config=DEFAULT_CAMERA_CONFIG, - reward_dist_weight=1, - reward_control_weight=1, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - reward_dist_weight, - reward_control_weight, - **kwargs, - ) - - self._reward_dist_weight = reward_dist_weight - self._reward_control_weight = reward_control_weight - - observation_space = Box(low=-np.inf, high=np.inf, shape=(10,), dtype=np.float64) - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=observation_space, - default_camera_config=default_camera_config, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - def step(self, action): - vec = self.get_body_com("fingertip") - self.get_body_com("target") - reward_dist = -np.linalg.norm(vec) * self._reward_dist_weight - reward_ctrl = -np.square(action).sum() * self._reward_control_weight - reward = reward_dist + reward_ctrl - - self.do_simulation(action, self.frame_skip) - - observation = self._get_obs() - info = { - "reward_dist": reward_dist, - "reward_ctrl": reward_ctrl, - } - if self.render_mode == "human": - self.render() - return observation, reward, False, False, info - - def reset_model(self): - qpos = ( - self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq) - + self.init_qpos - ) - while True: - self.goal = self.np_random.uniform(low=-0.2, high=0.2, size=2) - if np.linalg.norm(self.goal) < 0.2: - break - qpos[-2:] = self.goal - qvel = self.init_qvel + self.np_random.uniform( - low=-0.005, high=0.005, size=self.model.nv - ) - qvel[-2:] = 0 - self.set_state(qpos, qvel) - return self._get_obs() - - def _get_obs(self): - theta = self.data.qpos.flat[:2] - assert (self.get_body_com("fingertip") - self.get_body_com("target"))[ - 2 - ] == 0 # TODO remove after validation - return np.concatenate( - [ - np.cos(theta), - np.sin(theta), - self.data.qpos.flat[2:], - self.data.qvel.flat[:2], - (self.get_body_com("fingertip") - self.get_body_com("target"))[:2], - ] - ) diff --git a/gymnasium_robotics/envs/mujoco/swimmer_v5.py b/gymnasium_robotics/envs/mujoco/swimmer_v5.py deleted file mode 100644 index b156ac5d..00000000 --- a/gymnasium_robotics/envs/mujoco/swimmer_v5.py +++ /dev/null @@ -1,260 +0,0 @@ -__credits__ = ["Kallinteris-Andreas", "Rushiv Arora"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - - -class SwimmerEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment corresponds to the Swimmer environment described in Rémi Coulom's PhD thesis - ["Reinforcement Learning Using Neural Networks, with Applications to Motor Control"](https://tel.archives-ouvertes.fr/tel-00003985/document). - The environment aims to increase the number of independent state and control - variables as compared to the classic control environments. The swimmers - consist of three or more segments ('***links***') and one less articulation - joints ('***rotors***') - one rotor joint connecting exactly two links to - form a linear chain. The swimmer is suspended in a two dimensional pool and - always starts in the same position (subject to some deviation drawn from an - uniform distribution), and the goal is to move as fast as possible towards - the right by applying torque on the rotors and using the fluids friction. - - ## Notes - - The problem parameters are: - Problem parameters: - * *n*: number of body parts - * *mi*: mass of part *i* (*i* ∈ {1...n}) - * *li*: length of part *i* (*i* ∈ {1...n}) - * *k*: viscous-friction coefficient - - While the default environment has *n* = 3, *li* = 0.1, - and *k* = 0.1. It is possible to pass a custom MuJoCo XML file during construction to increase the - number of links, or to tweak any of the parameters. - - - ## Action Space - The action space is a `Box(-1, 1, (2,), float32)`. An action represents the torques applied between *links* - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------| - | 0 | Torque applied on the first rotor | -1 | 1 | motor1_rot | hinge | torque (N m) | - | 1 | Torque applied on the second rotor | -1 | 1 | motor2_rot | hinge | torque (N m) | - - - ## Observation Space - By default, observations consists of: - * θi: angle of part *i* with respect to the *x* axis - * θi': its derivative with respect to time (angular velocity) - - In the default case, observations do not include the x- and y-coordinates of the front tip. These may - be included by passing `exclude_current_positions_from_observation=False` during construction. - Then, the observation space will be `Box(-Inf, Inf, (10,), float64)` where the first two observations - represent the x- and y-coordinates of the front tip. - Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x- and y-coordinates - will be returned in `info` with keys `"x_position"` and `"y_position"`, respectively. - - By default, the observation is a `Box(-Inf, Inf, (8,), float64)` where the elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | ------------------------------------ | ---- | --- | -------------------------------- | ----- | ------------------------ | - | 0 | angle of the front tip | -Inf | Inf | free_body_rot | hinge | angle (rad) | - | 1 | angle of the first rotor | -Inf | Inf | motor1_rot | hinge | angle (rad) | - | 2 | angle of the second rotor | -Inf | Inf | motor2_rot | hinge | angle (rad) | - | 3 | velocity of the tip along the x-axis | -Inf | Inf | slider1 | slide | velocity (m/s) | - | 4 | velocity of the tip along the y-axis | -Inf | Inf | slider2 | slide | velocity (m/s) | - | 5 | angular velocity of front tip | -Inf | Inf | free_body_rot | hinge | angular velocity (rad/s) | - | 6 | angular velocity of first rotor | -Inf | Inf | motor1_rot | hinge | angular velocity (rad/s) | - | 7 | angular velocity of second rotor | -Inf | Inf | motor2_rot | hinge | angular velocity (rad/s) | - | excluded | position of the tip along the x-axis | -Inf | Inf | slider1 | slide | position (m) | - | excluded | position of the tip along the y-axis | -Inf | Inf | slider2 | slide | position (m) | - - - ## Rewards - The reward consists of two parts: - - *forward_reward*: - A reward of moving forward, - this reward would be positive if the Swimmer moves forward (in the positive $x$ direction / in the right direction). - $w_{forward} \times \frac{dx}{dt}$, where - $dx$ is the displacement of the (front) "tip" ($x_{after-action} - x_{before-action}$), - $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 4), - and `frametime` which is 0.01 - making the default $dt = 4 \times 0.01 = 0.04$, - $w_{forward}$ is the `forward_reward_weight` (default is $1$). - - *ctrl_cost*: - A negative reward for penalizing the Swimmer if it takes actions that are too large. - $w_{control} \times \\|action\\|_2^2$, - where $w_{control}$ is `ctrl_cost_weight` (default is $10^{-4}$). - - The total reward returned is ***reward*** *=* *forward_reward - ctrl_cost*, - and `info` will also contain the individual reward terms - - - ## Starting State - All observations start in state (0,0,0,0,0,0,0,0) with a Uniform noise in the range of [-`reset_noise_scale`, `reset_noise_scale`] is added to the initial state for stochasticity. - - - ## Episode End - #### Termination - The Swimmer never terminates. - - #### truncation - The maximum duration of an episode is 1000 timesteps. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`. - - ```python - import gymnasium as gym - env = gym.make('Swimmer-v5', xml_file=...) - ``` - - | Parameter | Type | Default |Description | - |--------------------------------------------| --------- |-------------- |-------------------------------| - |`xml_file` | **str** |`"swimmer.xml"`| Path to a MuJoCo model | - |`forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward)| - |`ctrl_cost_weight` | **float** | `1e-4` | Weight for _ctrl_cost_ term (see section on reward) | - |`reset_noise_scale` | **float** | `0.1` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - |`exclude_current_positions_from_observation`| **bool** | `True` | Whether or not to omit the x- and y-coordinates from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - - - ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. The `xml_file` argument is re-added, replaced "reward_fwd"/ "forward_reward" with "reward_forward" in `info`. - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3. - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen). - * v2: All continuous control environments now use mujoco-py >= 1.50. - * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="swimmer.xml", - frame_skip=4, - forward_reward_weight=1.0, - ctrl_cost_weight=1e-4, - reset_noise_scale=0.1, - exclude_current_positions_from_observation=True, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - forward_reward_weight, - ctrl_cost_weight, - reset_noise_scale, - exclude_current_positions_from_observation, - **kwargs, - ) - - self._forward_reward_weight = forward_reward_weight - self._ctrl_cost_weight = ctrl_cost_weight - - self._reset_noise_scale = reset_noise_scale - - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation - ) - - MujocoEnv.__init__(self, xml_file, frame_skip, observation_space=None, **kwargs) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = ( - self.data.qpos.size - + self.data.qvel.size - - 2 * exclude_current_positions_from_observation - ) - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - self.observation_structure = { - "skipped_qpos": 2 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - - 2 * exclude_current_positions_from_observation, - "qvel": self.data.qvel.size, - } - - def control_cost(self, action): - control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) - return control_cost - - def step(self, action): - xy_position_before = self.data.qpos[0:2].copy() - self.do_simulation(action, self.frame_skip) - xy_position_after = self.data.qpos[0:2].copy() - - xy_velocity = (xy_position_after - xy_position_before) / self.dt - x_velocity, y_velocity = xy_velocity - - forward_reward = self._forward_reward_weight * x_velocity - - ctrl_cost = self.control_cost(action) - - observation = self._get_obs() - reward = forward_reward - ctrl_cost - info = { - "reward_forward": forward_reward, - "reward_ctrl": -ctrl_cost, - "x_position": xy_position_after[0], - "y_position": xy_position_after[1], - "distance_from_origin": np.linalg.norm(xy_position_after, ord=2), - "x_velocity": x_velocity, - "y_velocity": y_velocity, - } - - if self.render_mode == "human": - self.render() - - return observation, reward, False, False, info - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = self.data.qvel.flat.copy() - - if self._exclude_current_positions_from_observation: - position = position[2:] - - observation = np.concatenate([position, velocity]).ravel() - return observation - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ) - qvel = self.init_qvel + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nv - ) - - self.set_state(qpos, qvel) - - observation = self._get_obs() - return observation - - def _get_reset_info(self): - return { - "x_position": self.data.qpos[0], - "y_position": self.data.qpos[1], - "distance_from_origin": np.linalg.norm(self.data.qpos[0:2], ord=2), - } diff --git a/gymnasium_robotics/envs/mujoco/walker2d_v5.py b/gymnasium_robotics/envs/mujoco/walker2d_v5.py deleted file mode 100644 index c09217bd..00000000 --- a/gymnasium_robotics/envs/mujoco/walker2d_v5.py +++ /dev/null @@ -1,329 +0,0 @@ -__credits__ = ["Kallinteris-Andreas"] - -import numpy as np -from gymnasium import utils -from gymnasium.envs.mujoco import MujocoEnv -from gymnasium.spaces import Box - -DEFAULT_CAMERA_CONFIG = { - "trackbodyid": 2, - "distance": 4.0, - "lookat": np.array((0.0, 0.0, 1.15)), - "elevation": -20.0, -} - - -class Walker2dEnv(MujocoEnv, utils.EzPickle): - r""" - ## Description - This environment builds on the [hopper](https://gymnasium.farama.org/environments/mujoco/hopper/) environment - by adding another set of legs making it possible for the robot to walk forward instead of - hop. Like other Mujoco environments, this environment aims to increase the number of independent state - and control variables as compared to the classic control environments. The walker is a - two-dimensional two-legged figure that consist of seven main body parts - a single torso at the top - (with the two legs splitting after the torso), two thighs in the middle below the torso, two legs - in the bottom below the thighs, and two feet attached to the legs on which the entire body rests. - The goal is to walk in the in the forward (right) - direction by applying torques on the six hinges connecting the seven body parts. - - - ## Action Space - The action space is a `Box(-1, 1, (6,), float32)`. An action represents the torques applied at the hinge joints. - - | Num | Action | Control Min | Control Max | Name (in corresponding XML file) | Joint | Unit | - |-----|----------------------------------------|-------------|-------------|----------------------------------|-------|--------------| - | 0 | Torque applied on the thigh rotor | -1 | 1 | thigh_joint | hinge | torque (N m) | - | 1 | Torque applied on the leg rotor | -1 | 1 | leg_joint | hinge | torque (N m) | - | 2 | Torque applied on the foot rotor | -1 | 1 | foot_joint | hinge | torque (N m) | - | 3 | Torque applied on the left thigh rotor | -1 | 1 | thigh_left_joint | hinge | torque (N m) | - | 4 | Torque applied on the left leg rotor | -1 | 1 | leg_left_joint | hinge | torque (N m) | - | 5 | Torque applied on the left foot rotor | -1 | 1 | foot_left_joint | hinge | torque (N m) | - - - ## Observation Space - Observations consist of positional values of different body parts of the walker, - followed by the velocities of those individual parts (their derivatives) with all the positions ordered before all the velocities. - - By default, observations do not include the x-coordinate of the torso. It may - be included by passing `exclude_current_positions_from_observation=False` during construction. - In that case, the observation space will be `Box(-Inf, Inf, (18,), float64)` where the first observation - represent the x-coordinates of the torso of the walker. - Regardless of whether `exclude_current_positions_from_observation` was set to true or false, the x-coordinate - of the torso will be returned in `info` with key `"x_position"`. - - By default, observation is a `Box(-Inf, Inf, (17,), float64)` where the elements correspond to the following: - - | Num | Observation | Min | Max | Name (in corresponding XML file) | Joint | Unit | - | --- | -------------------------------------------------- | ---- | --- | -------------------------------- | ----- | ------------------------ | - | excluded | x-coordinate of the torso | -Inf | Inf | rootx | slide | position (m) | - | 0 | z-coordinate of the torso (height of Walker2d) | -Inf | Inf | rootz | slide | position (m) | - | 1 | angle of the torso | -Inf | Inf | rooty | hinge | angle (rad) | - | 2 | angle of the thigh joint | -Inf | Inf | thigh_joint | hinge | angle (rad) | - | 3 | angle of the leg joint | -Inf | Inf | leg_joint | hinge | angle (rad) | - | 4 | angle of the foot joint | -Inf | Inf | foot_joint | hinge | angle (rad) | - | 5 | angle of the left thigh joint | -Inf | Inf | thigh_left_joint | hinge | angle (rad) | - | 6 | angle of the left leg joint | -Inf | Inf | leg_left_joint | hinge | angle (rad) | - | 7 | angle of the left foot joint | -Inf | Inf | foot_left_joint | hinge | angle (rad) | - | 8 | velocity of the x-coordinate of the torso | -Inf | Inf | rootx | slide | velocity (m/s) | - | 9 | velocity of the z-coordinate (height) of the torso | -Inf | Inf | rootz | slide | velocity (m/s) | - | 10 | angular velocity of the angle of the torso | -Inf | Inf | rooty | hinge | angular velocity (rad/s) | - | 11 | angular velocity of the thigh hinge | -Inf | Inf | thigh_joint | hinge | angular velocity (rad/s) | - | 12 | angular velocity of the leg hinge | -Inf | Inf | leg_joint | hinge | angular velocity (rad/s) | - | 13 | angular velocity of the foot hinge | -Inf | Inf | foot_joint | hinge | angular velocity (rad/s) | - | 14 | angular velocity of the thigh hinge | -Inf | Inf | thigh_left_joint | hinge | angular velocity (rad/s) | - | 15 | angular velocity of the leg hinge | -Inf | Inf | leg_left_joint | hinge | angular velocity (rad/s) | - | 16 | angular velocity of the foot hinge | -Inf | Inf | foot_left_joint | hinge | angular velocity (rad/s) | - - - ## Rewards - The reward consists of three parts: - - *healthy_reward*: - Every timestep that the Walker2d is alive, it receives a fixed reward of value `healthy_reward`, - - *forward_reward*: - A reward of moving forward, - this reward would be positive if the Swimmer moves forward (in the positive $x$ direction / in the right direction). - $w_{forward} \times \frac{dx}{dt}$, where - $dx$ is the displacement of the (front) "tip" ($x_{after-action} - x_{before-action}$), - $dt$ is the time between actions which is dependent on the `frame_skip` parameter (default is 4), - and `frametime` which is 0.002 - making the default $dt = 4 \times 0.002 = 0.008$, - $w_{forward}$ is the `forward_reward_weight` (default is $1$). - - *ctrl_cost*: - A negative reward for penalizing the Walker2d if it takes actions that are too large. - $w_{control} \times \\|action\\|_2^2$, - where $w_{control}$ is `ctrl_cost_weight` (default is $10^{-3}$). - - The total reward returned is ***reward*** *=* *healthy_reward bonus + forward_reward - ctrl_cost* - and `info` will also contain the individual reward terms. - - - ## Starting State - All observations start in state - (0.0, 1.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) - with a uniform noise in the range of [-`reset_noise_scale`, `reset_noise_scale`] added to the values for stochasticity. - - - ## Episode End - #### termination - If `terminate_when_unhealthy is True` (which is the default), the environment terminates when the Walker2d is unhealthy. - The Walker2d is unhealthy if any of the following happens: - - 1. Any of the state space values is no longer finite - 2. The height of the walker is ***not*** in the closed interval specified by `healthy_z_range` - 3. The absolute value of the angle (`observation[1]` if `exclude_current_positions_from_observation=False`, else `observation[2]`) is ***not*** in the closed interval specified by `healthy_angle_range` - - #### truncation - the maximum duration of an episode is 1000 timesteps. - - If `terminate_when_unhealthy=False` is passed, the episode is ended only when 1000 timesteps are exceeded. - - - ## Arguments - `gymnasium.make` takes additional arguments such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. - - ```python - import gymnasium as gym - env = gym.make('Walker2d-v5', ctrl_cost_weight=1e-3, ...) - ``` - - | Parameter | Type | Default | Description | - | -------------------------------------------- | --------- | ---------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | - | `xml_file` | **str** |`"walker2d_v5.xml"`| Path to a MuJoCo model | - | `forward_reward_weight` | **float** | `1` | Weight for _forward_reward_ term (see section on reward) | - | `ctrl_cost_weight` | **float** | `1e-3` | Weight for _ctr_cost_ term (see section on reward) | - | `healthy_reward` | **float** | `1` | Weight for _healthy_reward_ reward (see section on reward) | - | `terminate_when_unhealthy` | **bool** | `True` | If true, issue a done signal if the z-coordinate of the walker is no longer healthy | - | `healthy_z_range` | **tuple** | `(0.8, 2)` | The z-coordinate of the torso of the walker must be in this range to be considered healthy | - | `healthy_angle_range` | **tuple** | `(-1, 1)` | The angle must be in this range to be considered healthy | - | `reset_noise_scale` | **float** | `5e-3` | Scale of random perturbations of initial position and velocity (see section on Starting State) | - | `exclude_current_positions_from_observation` | **bool** | `True` | Whether or not to omit the x-coordinate from observations. Excluding the position can serve as an inductive bias to induce position-agnostic behavior in policies | - - - ## Version History - * v5: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.3.3. Walker2d gets a new model (feet friction set to 1.9), the `xml_file` argument is re-added, added "reward_forward", "reward_ctrl", "reward_survive" to `info`. - * v4: All MuJoCo environments now use the MuJoCo bindings in mujoco >= 2.1.3 - * v3: Support for `gymnasium.make` kwargs such as `xml_file`, `ctrl_cost_weight`, `reset_noise_scale`, etc. rgb rendering comes from tracking camera (so agent does not run away from screen) - * v2: All continuous control environments now use mujoco-py >= 1.50 - * v1: max_time_steps raised to 1000 for robot based tasks. Added reward_threshold to environments. - * v0: Initial versions release (1.0.0) - """ - - metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - } - - def __init__( - self, - xml_file="walker2d_v5.xml", - frame_skip=4, - default_camera_config=DEFAULT_CAMERA_CONFIG, - forward_reward_weight=1.0, - ctrl_cost_weight=1e-3, - healthy_reward=1.0, - terminate_when_unhealthy=True, - healthy_z_range=(0.8, 2.0), - healthy_angle_range=(-1.0, 1.0), - reset_noise_scale=5e-3, - exclude_current_positions_from_observation=True, - **kwargs, - ): - utils.EzPickle.__init__( - self, - xml_file, - frame_skip, - default_camera_config, - forward_reward_weight, - ctrl_cost_weight, - healthy_reward, - terminate_when_unhealthy, - healthy_z_range, - healthy_angle_range, - reset_noise_scale, - exclude_current_positions_from_observation, - **kwargs, - ) - - self._forward_reward_weight = forward_reward_weight - self._ctrl_cost_weight = ctrl_cost_weight - - self._healthy_reward = healthy_reward - self._terminate_when_unhealthy = terminate_when_unhealthy - - self._healthy_z_range = healthy_z_range - self._healthy_angle_range = healthy_angle_range - - self._reset_noise_scale = reset_noise_scale - - self._exclude_current_positions_from_observation = ( - exclude_current_positions_from_observation - ) - - MujocoEnv.__init__( - self, - xml_file, - frame_skip, - observation_space=None, - default_camera_config=default_camera_config, - **kwargs, - ) - - self.metadata = { - "render_modes": [ - "human", - "rgb_array", - "depth_array", - ], - "render_fps": int(np.round(1.0 / self.dt)), - } - - obs_size = ( - self.data.qpos.size - + self.data.qvel.size - - exclude_current_positions_from_observation - ) - self.observation_space = Box( - low=-np.inf, high=np.inf, shape=(obs_size,), dtype=np.float64 - ) - - self.observation_structure = { - "skipped_qpos": 1 * exclude_current_positions_from_observation, - "qpos": self.data.qpos.size - - 1 * exclude_current_positions_from_observation, - "qvel": self.data.qvel.size, - } - - @property - def healthy_reward(self): - return self.is_healthy * self._healthy_reward - - def control_cost(self, action): - control_cost = self._ctrl_cost_weight * np.sum(np.square(action)) - return control_cost - - @property - def is_healthy(self): - z, angle = self.data.qpos[1:3] - - min_z, max_z = self._healthy_z_range - min_angle, max_angle = self._healthy_angle_range - - healthy_z = min_z < z < max_z - healthy_angle = min_angle < angle < max_angle - is_healthy = healthy_z and healthy_angle - - return is_healthy - - @property - def terminated(self): - terminated = (not self.is_healthy) and self._terminate_when_unhealthy - # TODO remove after validation - assert terminated == ( - not self.is_healthy if self._terminate_when_unhealthy else False - ) - return terminated - - def _get_obs(self): - position = self.data.qpos.flat.copy() - velocity = np.clip(self.data.qvel.flat.copy(), -10, 10) - - if self._exclude_current_positions_from_observation: - position = position[1:] - - observation = np.concatenate((position, velocity)).ravel() - return observation - - def step(self, action): - x_position_before = self.data.qpos[0] - self.do_simulation(action, self.frame_skip) - x_position_after = self.data.qpos[0] - x_velocity = (x_position_after - x_position_before) / self.dt - - ctrl_cost = self.control_cost(action) - - forward_reward = self._forward_reward_weight * x_velocity - healthy_reward = self.healthy_reward - - rewards = forward_reward + healthy_reward - costs = ctrl_cost - - observation = self._get_obs() - reward = rewards - costs - terminated = self.terminated - info = { - "reward_forward": forward_reward, - "reward_ctrl": -ctrl_cost, - "reward_survive": healthy_reward, - "x_position": x_position_after, - "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], - "x_velocity": x_velocity, - } - - if self.render_mode == "human": - self.render() - - return observation, reward, terminated, False, info - - def reset_model(self): - noise_low = -self._reset_noise_scale - noise_high = self._reset_noise_scale - - qpos = self.init_qpos + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nq - ) - qvel = self.init_qvel + self.np_random.uniform( - low=noise_low, high=noise_high, size=self.model.nv - ) - - self.set_state(qpos, qvel) - - observation = self._get_obs() - return observation - - def _get_reset_info(self): - return { - "x_position": self.data.qpos[0], - "z_distance_from_origin": self.data.qpos[1] - self.init_qpos[1], - } From e188458f5031e722d298273b28a7ef17c7d2130e Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Mon, 17 Jul 2023 23:36:40 +0300 Subject: [PATCH 104/104] clean --- gymnasium_robotics/__init__.py | 293 ----------------- tests/envs/mujoco/test_mujoco_v5.py | 471 ---------------------------- 2 files changed, 764 deletions(-) delete mode 100644 tests/envs/mujoco/test_mujoco_v5.py diff --git a/gymnasium_robotics/__init__.py b/gymnasium_robotics/__init__.py index ff272bca..7f2817a6 100644 --- a/gymnasium_robotics/__init__.py +++ b/gymnasium_robotics/__init__.py @@ -1224,299 +1224,6 @@ def _merge(a, b): max_episode_steps=280, ) - # Mujoco - # ---------------------------------------- - - # Manipulation - - """ - register( - id="Reacher-v2", - entry_point="gymnasium_robotics.envs.mujoco:ReacherEnv", - max_episode_steps=50, - reward_threshold=-3.75, - ) - - register( - id="Reacher-v4", - entry_point="gymnasium_robotics.envs.mujoco.reacher_v4:ReacherEnv", - max_episode_steps=50, - reward_threshold=-3.75, - ) - """ - - register( - id="Reacher-v5", - entry_point="gymnasium_robotics.envs.mujoco.reacher_v5:ReacherEnv", - max_episode_steps=50, - reward_threshold=-3.75, - ) - - """ - register( - id="Pusher-v2", - entry_point="gymnasium_robotics.envs.mujoco:PusherEnv", - max_episode_steps=100, - reward_threshold=0.0, - ) - - register( - id="Pusher-v4", - entry_point="gymnasium_robotics.envs.mujoco.pusher_v4:PusherEnv", - max_episode_steps=100, - reward_threshold=0.0, - ) - """ - - register( - id="Pusher-v5", - entry_point="gymnasium_robotics.envs.mujoco.pusher_v5:PusherEnv", - max_episode_steps=100, - reward_threshold=0.0, - ) - - # Balance - - """ - register( - id="InvertedPendulum-v2", - entry_point="gymnasium_robotics.envs.mujoco:InvertedPendulumEnv", - max_episode_steps=1000, - reward_threshold=950.0, - ) - - register( - id="InvertedPendulum-v4", - entry_point="gymnasium_robotics.envs.mujoco.inverted_pendulum_v4:InvertedPendulumEnv", - max_episode_steps=1000, - reward_threshold=950.0, - ) - """ - - register( - id="InvertedPendulum-v5", - entry_point="gymnasium_robotics.envs.mujoco.inverted_pendulum_v5:InvertedPendulumEnv", - max_episode_steps=1000, - reward_threshold=950.0, - ) - - """ - register( - id="InvertedDoublePendulum-v2", - entry_point="gymnasium_robotics.envs.mujoco:InvertedDoublePendulumEnv", - max_episode_steps=1000, - reward_threshold=9100.0, - ) - - register( - id="InvertedDoublePendulum-v4", - entry_point="gymnasium_robotics.envs.mujoco.inverted_double_pendulum_v4:InvertedDoublePendulumEnv", - max_episode_steps=1000, - reward_threshold=9100.0, - ) - """ - - register( - id="InvertedDoublePendulum-v5", - entry_point="gymnasium_robotics.envs.mujoco.inverted_double_pendulum_v5:InvertedDoublePendulumEnv", - max_episode_steps=1000, - reward_threshold=9100.0, - ) - - # Running - - """ - register( - id="HalfCheetah-v2", - entry_point="gymnasium_robotics.envs.mujoco:HalfCheetahEnv", - max_episode_steps=1000, - reward_threshold=4800.0, - ) - - register( - id="HalfCheetah-v3", - entry_point="gymnasium_robotics.envs.mujoco.half_cheetah_v3:HalfCheetahEnv", - max_episode_steps=1000, - reward_threshold=4800.0, - ) - - register( - id="HalfCheetah-v4", - entry_point="gymnasium_robotics.envs.mujoco.half_cheetah_v4:HalfCheetahEnv", - max_episode_steps=1000, - reward_threshold=4800.0, - ) - """ - - register( - id="HalfCheetah-v5", - entry_point="gymnasium_robotics.envs.mujoco.half_cheetah_v5:HalfCheetahEnv", - max_episode_steps=1000, - reward_threshold=4800.0, - ) - - """ - register( - id="Hopper-v2", - entry_point="gymnasium_robotics.envs.mujoco:HopperEnv", - max_episode_steps=1000, - reward_threshold=3800.0, - ) - - register( - id="Hopper-v3", - entry_point="gymnasium_robotics.envs.mujoco.hopper_v3:HopperEnv", - max_episode_steps=1000, - reward_threshold=3800.0, - ) - - register( - id="Hopper-v4", - entry_point="gymnasium_robotics.envs.mujoco.hopper_v4:HopperEnv", - max_episode_steps=1000, - reward_threshold=3800.0, - ) - """ - - register( - id="Hopper-v5", - entry_point="gymnasium_robotics.envs.mujoco.hopper_v5:HopperEnv", - max_episode_steps=1000, - reward_threshold=3800.0, - ) - - """ - register( - id="Swimmer-v2", - entry_point="gymnasium_robotics.envs.mujoco:SwimmerEnv", - max_episode_steps=1000, - reward_threshold=360.0, - ) - - register( - id="Swimmer-v3", - entry_point="gymnasium_robotics.envs.mujoco.swimmer_v3:SwimmerEnv", - max_episode_steps=1000, - reward_threshold=360.0, - ) - - register( - id="Swimmer-v4", - entry_point="gymnasium_robotics.envs.mujoco.swimmer_v4:SwimmerEnv", - max_episode_steps=1000, - reward_threshold=360.0, - ) - """ - - register( - id="Swimmer-v5", - entry_point="gymnasium_robotics.envs.mujoco.swimmer_v5:SwimmerEnv", - max_episode_steps=1000, - reward_threshold=360.0, - ) - - """ - register( - id="Walker2d-v2", - max_episode_steps=1000, - entry_point="gymnasium_robotics.envs.mujoco:Walker2dEnv", - ) - - register( - id="Walker2d-v3", - max_episode_steps=1000, - entry_point="gymnasium_robotics.envs.mujoco.walker2d_v3:Walker2dEnv", - ) - - register( - id="Walker2d-v4", - max_episode_steps=1000, - entry_point="gymnasium_robotics.envs.mujoco.walker2d_v4:Walker2dEnv", - ) - """ - - register( - id="Walker2d-v5", - max_episode_steps=1000, - entry_point="gymnasium_robotics.envs.mujoco.walker2d_v5:Walker2dEnv", - ) - - """ - register( - id="Ant-v2", - entry_point="gymnasium_robotics.envs.mujoco:AntEnv", - max_episode_steps=1000, - reward_threshold=6000.0, - ) - - register( - id="Ant-v3", - entry_point="gymnasium_robotics.envs.mujoco.ant_v3:AntEnv", - max_episode_steps=1000, - reward_threshold=6000.0, - ) - - register( - id="Ant-v4", - entry_point="gymnasium_robotics.envs.mujoco.ant_v4:AntEnv", - max_episode_steps=1000, - reward_threshold=6000.0, - ) - """ - - register( - id="Ant-v5", - entry_point="gymnasium_robotics.envs.mujoco.ant_v5:AntEnv", - max_episode_steps=1000, - reward_threshold=6000.0, - ) - - """ - register( - id="Humanoid-v2", - entry_point="gymnasium_robotics.envs.mujoco:HumanoidEnv", - max_episode_steps=1000, - ) - - register( - id="Humanoid-v3", - entry_point="gymnasium_robotics.envs.mujoco.humanoid_v3:HumanoidEnv", - max_episode_steps=1000, - ) - - register( - id="Humanoid-v4", - entry_point="gymnasium_robotics.envs.mujoco.humanoid_v4:HumanoidEnv", - max_episode_steps=1000, - ) - """ - - register( - id="Humanoid-v5", - entry_point="gymnasium_robotics.envs.mujoco.humanoid_v5:HumanoidEnv", - max_episode_steps=1000, - ) - - """ - register( - id="HumanoidStandup-v2", - entry_point="gymnasium_robotics.envs.mujoco:HumanoidStandupEnv", - max_episode_steps=1000, - ) - - register( - id="HumanoidStandup-v4", - entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v4:HumanoidStandupEnv", - max_episode_steps=1000, - ) - """ - - register( - id="HumanoidStandup-v5", - entry_point="gymnasium_robotics.envs.mujoco.humanoidstandup_v5:HumanoidStandupEnv", - max_episode_steps=1000, - ) - __version__ = "1.2.2" diff --git a/tests/envs/mujoco/test_mujoco_v5.py b/tests/envs/mujoco/test_mujoco_v5.py deleted file mode 100644 index ab53a647..00000000 --- a/tests/envs/mujoco/test_mujoco_v5.py +++ /dev/null @@ -1,471 +0,0 @@ -import gymnasium as gym -import pytest -import numpy as np -from gymnasium.utils.env_checker import check_env -import mujoco -from gymnasium.error import Error -import warnings - -ALL_MUJOCO_ENVS = ['Ant', 'HalfCheetah', 'Hopper', 'Humanoid', 'HumanoidStandup', 'InvertedDoublePendulum', 'InvertedPendulum', "Pusher", "Reacher", "Swimmer", 'Walker2d'] - - -# Note: "HumnanoidStandup-v4" does not have `info` -# Note: "Humnanoid-v4/3" & "Ant-v4/3" fail this test -@pytest.mark.parametrize("env_id", ['Ant-v5', 'HalfCheetah-v5', 'HalfCheetah-v4', 'HalfCheetah-v3', 'Hopper-v5', 'Hopper-v4', 'Hopper-v3', 'Humanoid-v5', 'HumanoidStandup-v5', 'Swimmer-v5', 'Swimmer-v4', 'Swimmer-v3', 'Walker2d-v5', 'Walker2d-v4', 'Walker2d-v3']) -def test_verify_info_x_position(env_id): - """Asserts that the environment has position[0] == info['x_position']""" - env = gym.make(env_id, exclude_current_positions_from_observation=False) - - _, _ = env.reset() - obs, _, _, _, info = env.step(env.action_space.sample()) - - assert obs[0] == info['x_position'] - - -# Note: "HumnanoidStandup-v4" does not have `info` -# Note: "Humnanoid-v4/3" & "Ant-v4/3" fail this test -@pytest.mark.parametrize("env_id", ['Ant-v5', 'Humanoid-v5', 'HumanoidStandup-v5', 'Swimmer-v5']) -def test_verify_info_y_position(env_id): - """Asserts that the environment has position[1] == info['y_position']""" - env = gym.make(env_id, exclude_current_positions_from_observation=False) - - _, _ = env.reset() - obs, _, _, _, info = env.step(env.action_space.sample()) - - assert obs[1] == info['y_position'] - - -# Note: "HumnanoidStandup-v4" does not have `info` -@pytest.mark.parametrize("env", ['HalfCheetah', 'Hopper', 'Swimmer', 'Walker2d']) -@pytest.mark.parametrize("version", ['v5', 'v4', 'v3']) -def test_verify_info_x_velocity(env, version): - """Asserts that the environment `info['x_velocity']` is properly assigned""" - env = gym.make(f"{env}-{version}") - env.reset() - - old_x = env.unwrapped.data.qpos[0] - _, _, _, _, info = env.step(env.action_space.sample()) - new_x = env.unwrapped.data.qpos[0] - - dx = new_x - old_x - vel_x = dx / env.dt - assert vel_x == info['x_velocity'] - - -# Note: "HumnanoidStandup-v4" does not have `info` -@pytest.mark.parametrize("env_id", ['Swimmer-v5', 'Swimmer-v4', 'Swimmer-v3']) -def test_verify_info_y_velocity(env_id): - """Asserts that the environment `info['y_velocity']` is properly assigned""" - env = gym.make(env_id) - env.reset() - - old_y = env.unwrapped.data.qpos[1] - _, _, _, _, info = env.step(env.action_space.sample()) - new_y = env.unwrapped.data.qpos[1] - - dy = new_y - old_y - vel_y = dy / env.dt - assert vel_y == info['y_velocity'] - - -@pytest.mark.parametrize("env_id", ['Ant-v5', 'Ant-v4', 'Ant-v3']) -def test_verify_info_xy_velocity_xpos(env_id): - """Asserts that the environment `info['x/y_velocity']` is properly assigned, for the ant environment which uses kinmatics for the velocity""" - env = gym.make(env_id) - env.reset() - - old_xy = env.get_body_com("torso")[:2].copy() - _, _, _, _, info = env.step(env.action_space.sample()) - new_xy = env.get_body_com("torso")[:2].copy() - - dxy = new_xy - old_xy - vel_x, vel_y = dxy / env.dt - assert vel_x == info['x_velocity'] - assert vel_y == info['y_velocity'] - - -@pytest.mark.parametrize("env_id", ['Humanoid-v5', 'Humanoid-v4', 'Humanoid-v3']) -def test_verify_info_xy_velocity_com(env_id): - """Asserts that the environment `info['x/y_velocity']` is properly assigned, for the humanoid environment which uses kinmatics of Center Of Mass for the velocity""" - - def mass_center(model, data): - mass = np.expand_dims(model.body_mass, axis=1) - xpos = data.xipos - return (np.sum(mass * xpos, axis=0) / np.sum(mass))[0:2].copy() - - env = gym.make(env_id) - env.reset() - - old_xy = mass_center(env.unwrapped.model, env.unwrapped.data) - _, _, _, _, info = env.step(env.action_space.sample()) - new_xy = mass_center(env.unwrapped.model, env.unwrapped.data) - - dxy = new_xy - old_xy - vel_x, vel_y = dxy / env.dt - assert vel_x == info['x_velocity'] - assert vel_y == info['y_velocity'] - - -# Note: Hopper-v4/3/2 does not have `info['reward_survive']`, but it is still affected -# Note: Walker2d-v4/3/2 does not have `info['reward_survive']`, but it is still affected -# Note: Inverted(Double)Pendulum-v4/2 does not have `info['reward_survive']`, but it is still affected -# Note: all `v4/v3/v2` environments with a heathly reward are fail this test -@pytest.mark.parametrize("env_id", ['Ant-v5', 'Hopper-v5', 'Humanoid-v5', 'InvertedDoublePendulum-v5', 'InvertedPendulum-v5', 'Walker2d-v5']) -def test_verify_reward_survive(env_id): - """Assert that `reward_survive` is 0 on `terminal` states and not 0 on non-`terminal` states""" - env = gym.make(env_id, reset_noise_scale=0) - env.reset(seed=0) - env.action_space.seed(0) - - for step in range(175): - obs, rew, terminal, truncated, info = env.step(env.action_space.sample()) - - if terminal: - assert info['reward_survive'] == 0 - break - - assert info['reward_survive'] != 0 - - assert terminal, "The environment, should have terminated, if not the test is not valid." - - -CHECK_ENV_IGNORE_WARNINGS = [ - f"\x1b[33mWARN: {message}\x1b[0m" - for message in [ - "A Box observation space minimum value is -infinity. This is probably too low.", - "A Box observation space maximum value is -infinity. This is probably too high.", - "For Box action spaces, we recommend using a symmetric and normalized space (range=[-1, 1] or [0, 1]). See https://stable-baselines3.readthedocs.io/en/master/guide/rl_tips.html for more information.", - ] -] - - -@pytest.mark.parametrize("env", ALL_MUJOCO_ENVS) -@pytest.mark.parametrize("version", ['v5']) -@pytest.mark.parametrize("frame_skip", [1, 2, 3, 4, 5]) -def test_frame_skip(env, version, frame_skip): - """Verify that all `mujoco` envs work with different `frame_skip` values""" - env_id = f"{env}-{version}" - env = gym.make(env_id, frame_skip=frame_skip) - - # Test if env adheres to Gym API - with warnings.catch_warnings(record=True) as w: - gym.utils.env_checker.check_env(env.unwrapped, skip_render_check=True) - env.close() - for warning in w: - if warning.message.args[0] not in CHECK_ENV_IGNORE_WARNINGS: - raise Error(f"Unexpected warning: {warning.message}") - - -# Dev Note: This can be version env parametrized because each env has it's own reward function -@pytest.mark.parametrize("version", ['v5']) -def test_reward_sum(version): - """Assert that the total reward equals the sum of the individual reward terms.""" - env = gym.make(f'Ant-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_contact"] - info["reward_survive"] < 1e-14 - - env = gym.make(f'HalfCheetah-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_forward"] - info["reward_ctrl"] < 1e-14 - - env = gym.make(f'Hopper-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_survive"] < 1e-14 - - env = gym.make(f'Humanoid-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_contact"] - info["reward_survive"] < 1e-14 - - env = gym.make(f'HumanoidStandup-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_linup"] - info["reward_quadctrl"] - info["reward_impact"] - 1 < 1e-14 - - env = gym.make(f'InvertedDoublePendulum-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_survive"] - info["distance_penalty"] - info["velocity_penalty"] < 1e-14 - - env = gym.make(f'InvertedPendulum-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward == info["reward_survive"] - - env = gym.make(f'Pusher-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_dist"] - info["reward_ctrl"] - info["reward_near"] < 1e-14 - - env = gym.make(f'Reacher-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_dist"] - info["reward_ctrl"] < 1e-14 - - env = gym.make(f'Swimmer-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_forward"] - info["reward_ctrl"] < 1e-14 - - env = gym.make(f'Walker2d-{version}') - env.reset() - _, reward, _, _, info = env.step(env.action_space.sample()) - assert reward - info["reward_forward"] - info["reward_ctrl"] - info["reward_survive"] < 1e-14 - - -# Note: the environtments that are not present, is because they do not have identical behaviour -@pytest.mark.parametrize("env", ['HalfCheetah', 'HumanoidStandup', 'Pusher', 'Reacher', 'Swimmer']) -def test_identical_behaviour_v45(env): - """Verify that v4 -> v5 transition. does not change the behaviour of the environments in way way""" - env_v4 = gym.make(env + '-v4') - env_v5 = gym.make(env + '-v5') - env_v4.reset(seed=1234) - env_v5.reset(seed=1234) - action = env_v4.action_space.sample() - obs_v4, rew_v4, terminal_v4, truncated_v4, info_v4 = env_v4.step(action) - obs_v5, rew_v5, terminal_v5, truncated_v5, info_v5 = env_v5.step(action) - assert obs_v4.shape[0] != 1 - assert obs_v5.shape[0] != 1 - assert (env_v4.unwrapped.data.qpos == env_v5.unwrapped.data.qpos).all() - assert (env_v4.unwrapped.data.qvel == env_v5.unwrapped.data.qvel).all() - if env not in ['HumanoidStandup', 'Reacher']: # they have different obs - assert (obs_v4 == obs_v5).all() - assert rew_v4 == rew_v5 - assert terminal_v4 == terminal_v5 and truncated_v4 == truncated_v5 - - -@pytest.mark.parametrize("version", ['v5', 'v4']) -def test_ant_com(version): - """Verify the kinmatic behaviour of the ant""" - env = gym.make(f'Ant-{version}') # `env` contains `data : MjData` and `model : MjModel` - env.reset() # randomly initlizies the `data.qpos` and `data.qvel`, calls mujoco.mj_forward(env.model, env.data) - - x_position_before = env.unwrapped.data.qpos[0] - x_position_before_com = env.unwrapped.data.body("torso").xpos[0] - assert x_position_before == x_position_before_com, "before failed" # This succeeds - - random_control = env.action_space.sample() - _, _, _, _, info = env.step(random_control) # This calls mujoco.mj_step(env.model, env.data, nstep=env.frame_skip) - mujoco.mj_kinematics(env.unwrapped.model, env.unwrapped.data) - - x_position_after = env.unwrapped.data.qpos[0] - x_position_after_com = env.unwrapped.data.body("torso").xpos[0] - assert x_position_after == x_position_after_com, "after failed" # This succeeds - - -@pytest.mark.parametrize("version", ['v5', 'v4', 'v3', 'v2']) -def test_set_state(version): - """Simple Test to verify that `mujocoEnv.set_state()` works correctly""" - env = gym.make(f'Hopper-{version}') - env.reset() - new_qpos = np.array([0.00136962, 1.24769787, -0.00459026, -0.00483472, 0.0031327 , 0.00412756]) - new_qvel = np.array([0.00106636, 0.00229497, 0.00043625, 0.00435072, 0.00315854, -0.00497261]) - env.set_state(new_qpos, new_qvel) - assert (env.unwrapped.data.qpos == new_qpos).all() - assert (env.unwrapped.data.qvel == new_qvel).all() - - -# Note: HumanoidStandup-v4/v3 does not have `info` -# Note: Ant-v4/v3 fails this test -# Note: Humanoid-v4/v3 fails this test -# Note: v2 does not have `info` -@pytest.mark.parametrize("env_id", ['Ant-v5', 'Humanoid-v5', 'Swimmer-v5', 'Swimmer-v4', 'Swimmer-v3']) -def test_distance_from_origin_info(env_id): - """Verify that `info"distance_from_origin"` is correct""" - env = gym.make(env_id) - env.reset() - _, _, _, _, info = env.step(env.action_space.sample()) - assert info["distance_from_origin"] == np.linalg.norm(env.unwrapped.data.qpos[0:2] - env.init_qpos[0:2]) - - -@pytest.mark.parametrize("env_id", ['Hopper-v5', 'HumanoidStandup-v5', 'Walker2d-v5']) -def test_z_distance_from_origin_info(env_id): - """Verify that `info"z_distance_from_origin"` is correct""" - env = gym.make(env_id) - env.reset() - _, _, _, _, info = env.step(env.action_space.sample()) - mujoco.mj_kinematics(env.unwrapped.model, env.unwrapped.data) - z_index = env.observation_structure["skipped_qpos"] - assert info["z_distance_from_origin"] == env.unwrapped.data.qpos[z_index] - env.init_qpos[z_index] - - -@pytest.mark.parametrize("env_id", ['Ant-v5', 'HalfCheetah-v5', 'Hopper-v5', 'Humanoid-v5', 'HumanoidStandup-v5', 'InvertedPendulum-v5', 'Swimmer-v5', 'Walker2d-v5']) -def test_observation_structure(env_id): - """Verify that the `env.observation_structure` is properly defined.""" - env = gym.make(env_id) - if hasattr(env, "observation_structure"): - return - - obs_struct = env.observation_structure - - assert env.unwrapped.model.nq == obs_struct.get("skipped_qpos", 0) + obs_struct["qpos"] - assert env.unwrapped.model.nv == obs_struct["qvel"] - if obs_struct.get("cinert", 0): - assert (env.unwrapped.model.nbody - 1) * 10 == obs_struct["cinert"] - if obs_struct.get("cvel", 0): - assert (env.unwrapped.model.nbody - 1) * 6 == obs_struct["cvel"] - if obs_struct.get("qfrc_actuator", 0): - assert env.unwrapped.model.nv - 6 == obs_struct["qfrc_actuator"] - if obs_struct.get("cfrc_ext", 0): - assert (env.unwrapped.model.nbody - 1) * 6 == obs_struct["cfrc_ext"] - if obs_struct.get("ten_lenght", 0): - assert env.unwrapped.model.ntendon == obs_struct["ten_lenght"] - if obs_struct.get("ten_velocity", 0): - assert env.unwrapped.model.ntendon == obs_struct["ten_velocity"] - - -@pytest.mark.parametrize("env_id", ['Ant-v5', 'HalfCheetah-v5', 'Hopper-v5', 'Humanoid-v5', 'HumanoidStandup-v5', 'Swimmer-v5', 'Walker2d-v5']) -def test_reset_info(env_id): - """Verify that the environmet returns info at `reset()`""" - env = gym.make(env_id) - _, reset_info = env.reset() - assert reset_info.get('x_position') - - -""" -[Bug Report] [Documentation] Inverted Double Pendulum max Height is wrong - -The Documentation States: -```md -The maximum standing height of the system is 1.196 m when all the parts are perpendicularly vertical on top of each other) -``` -but the height of each pole is 0.6 (0.6+0.6==1.2) -https://github.com/Farama-Foundation/Gymnasium/blob/deb50802facfd827abd4d1f0cf1069afb12a726b/gymnasium/envs/mujoco/assets/inverted_double_pendulum.xml#L33-L39 -""" - - -# Note: the max height used to be wrong in the documention. -@pytest.mark.parametrize("version", ['v5']) -def test_inverted_double_pendulum_max_height(version): - """Verify the max height of Inverted Double Pendulum""" - env = gym.make(f"InvertedDoublePendulum-{version}", reset_noise_scale=0) - env.reset() - y = env.unwrapped.data.site_xpos[0][2] - assert y == 1.2 - - -@pytest.mark.parametrize("version", ['v4']) -def test_inverted_double_pendulum_max_height_old(version): - """Verify the max height of Inverted Double Pendulum (v4 does not have `reset_noise_scale` argument)""" - env = gym.make(f"InvertedDoublePendulum-{version}") - env.set_state(env.init_qpos, env.init_qvel) - y = env.unwrapped.data.site_xpos[0][2] - assert y == 1.2 - - -# note: fails with `brax==0.9.0` -@pytest.mark.parametrize("version", ['v5', 'v4']) -def test_model_object_count(version): - """Verify that all the objects of the model are loaded, mostly usefull for using non-mujoco simulator.""" - env = gym.make(f'Ant-{version}') - assert env.unwrapped.model.nq == 15 - assert env.unwrapped.model.nv == 14 - assert env.unwrapped.model.nu == 8 - assert env.unwrapped.model.nbody == 14 - assert env.unwrapped.model.nbvh == 14 - assert env.unwrapped.model.njnt == 9 - assert env.unwrapped.model.ngeom == 14 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'HalfCheetah-{version}') - assert env.unwrapped.model.nq == 9 - assert env.unwrapped.model.nv == 9 - assert env.unwrapped.model.nu == 6 - assert env.unwrapped.model.nbody == 8 - assert env.unwrapped.model.nbvh == 10 - assert env.unwrapped.model.njnt == 9 - assert env.unwrapped.model.ngeom == 9 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'Hopper-{version}') - assert env.unwrapped.model.nq == 6 - assert env.unwrapped.model.nv == 6 - assert env.unwrapped.model.nu == 3 - assert env.unwrapped.model.nbody == 5 - assert env.unwrapped.model.nbvh == 5 - assert env.unwrapped.model.njnt == 6 - assert env.unwrapped.model.ngeom == 5 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'Humanoid-{version}') - assert env.unwrapped.model.nq == 24 - assert env.unwrapped.model.nv == 23 - assert env.unwrapped.model.nu == 17 - assert env.unwrapped.model.nbody == 14 - assert env.unwrapped.model.nbvh == 22 - assert env.unwrapped.model.njnt == 18 - assert env.unwrapped.model.ngeom == 18 - assert env.unwrapped.model.ntendon == 2 - - env = gym.make(f'HumanoidStandup-{version}') - assert env.unwrapped.model.nq == 24 - assert env.unwrapped.model.nv == 23 - assert env.unwrapped.model.nu == 17 - assert env.unwrapped.model.nbody == 14 - assert env.unwrapped.model.nbvh == 22 - assert env.unwrapped.model.njnt == 18 - assert env.unwrapped.model.ngeom == 18 - assert env.unwrapped.model.ntendon == 2 - - env = gym.make(f'InvertedDoublePendulum-{version}') - assert env.unwrapped.model.nq == 3 - assert env.unwrapped.model.nv == 3 - assert env.unwrapped.model.nu == 1 - assert env.unwrapped.model.nbody == 4 - assert env.unwrapped.model.nbvh == 6 - assert env.unwrapped.model.njnt == 3 - assert env.unwrapped.model.ngeom == 5 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'InvertedPendulum-{version}') - assert env.unwrapped.model.nq == 2 - assert env.unwrapped.model.nv == 2 - assert env.unwrapped.model.nu == 1 - assert env.unwrapped.model.nbody == 3 - assert env.unwrapped.model.nbvh == 3 - assert env.unwrapped.model.njnt == 2 - assert env.unwrapped.model.ngeom == 3 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'Pusher-{version}') - assert env.unwrapped.model.nq == 11 - assert env.unwrapped.model.nv == 11 - assert env.unwrapped.model.nu == 7 - assert env.unwrapped.model.nbody == 13 - assert env.unwrapped.model.nbvh == 18 - assert env.unwrapped.model.njnt == 11 - assert env.unwrapped.model.ngeom == 21 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'Reacher-{version}') - assert env.unwrapped.model.nq == 4 - assert env.unwrapped.model.nv == 4 - assert env.unwrapped.model.nu == 2 - assert env.unwrapped.model.nbody == 5 - assert env.unwrapped.model.nbvh == 5 - assert env.unwrapped.model.njnt == 4 - assert env.unwrapped.model.ngeom == 10 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'Swimmer-{version}') - assert env.unwrapped.model.nq == 5 - assert env.unwrapped.model.nv == 5 - assert env.unwrapped.model.nu == 2 - assert env.unwrapped.model.nbody == 4 - assert env.unwrapped.model.nbvh == 4 - assert env.unwrapped.model.njnt == 5 - assert env.unwrapped.model.ngeom == 4 - assert env.unwrapped.model.ntendon == 0 - - env = gym.make(f'Walker2d-{version}') - assert env.unwrapped.model.nq == 9 - assert env.unwrapped.model.nv == 9 - assert env.unwrapped.model.nu == 6 - assert env.unwrapped.model.nbody == 8 - assert env.unwrapped.model.nbvh == 8 - assert env.unwrapped.model.njnt == 9 - assert env.unwrapped.model.ngeom == 8 - assert env.unwrapped.model.ntendon == 0

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--- docs/envs/MaMuJoCo/ma_walker2d.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/envs/MaMuJoCo/ma_walker2d.md b/docs/envs/MaMuJoCo/ma_walker2d.md index c890dd53..6fa6fbea 100644 --- a/docs/envs/MaMuJoCo/ma_walker2d.md +++ b/docs/envs/MaMuJoCo/ma_walker2d.md @@ -42,8 +42,8 @@ If partitioning, is `None` then the environment contains a single agent with the ### elif partitioning == "2x3": # isolate right and left foot -```{figure} figures/walker_2x3.png - :name: walker_2x3 +```{figure} figures/walker2d_2x3.png + :name: walker2d_2x3 ``` | Instantiate | `env = mamujoco_v0.parallel_env("Walker2d", "2x3")`| From 53736bafe8b1b92222df1588fad06373ca372281 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 11 Jan 2023 22:30:02 +0200 Subject: [PATCH 007/104] typo fixes --- docs/envs/MaMuJoCo/ma_single.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/envs/MaMuJoCo/ma_single.md b/docs/envs/MaMuJoCo/ma_single.md index 119f6c1c..95d3bc79 100644 --- a/docs/envs/MaMuJoCo/ma_single.md +++ b/docs/envs/MaMuJoCo/ma_single.md @@ -8,7 +8,9 @@ lastpage: MaMuJoCo also support single action [Gymansium/MuJoCo/](https://gymnasium.farama.org/environments/mujoco/) environment such as [Gymnasium/Mujoco/InvertedPendulum](https://gymnasium.farama.org/environments/mujoco/inverted_pendulum/) and [Gymnasium/Mujoco/InvertedDoublePendulum](https://gymnasium.farama.org/environments/mujoco/inverted_double_pendulum/) And can be instantiated (without a partition) + `env = mamujoco_v0.parallel_env("InvertedDoublePendulum", None)` + `env = mamujoco_v0.parallel_env("InvertedPendulum", None)` In which case, they simply are the same environments with a single agent using the `PettingZoo` APIs. @@ -18,7 +20,7 @@ In which case, they simply are the same environments with a single agent using t The action spaces is depended on the partitioning ## Observation Space -The agent receive the same [Gymnasium's Walker2D](https://gymnasium.farama.org/environments/mujoco/walker2d/#observation-space) reward. +The agent receives the same observations as the single agent Gymnasium environment. From 59772fb77205a945b108068479782ac722e85ef7 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Wed, 11 Jan 2023 22:31:25 +0200 Subject: [PATCH 008/104] fix `shinx` warning --- docs/envs/MaMuJoCo/figures/{credits.md => credits} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename docs/envs/MaMuJoCo/figures/{credits.md => credits} (100%) diff --git a/docs/envs/MaMuJoCo/figures/credits.md b/docs/envs/MaMuJoCo/figures/credits similarity index 100% rename from docs/envs/MaMuJoCo/figures/credits.md rename to docs/envs/MaMuJoCo/figures/credits From 22e11105177c1f0c008f6c13facd6404d363ee18 Mon Sep 17 00:00:00 2001 From: Kallinteris Andreas Date: Thu, 12 Jan 2023 06:05:38 +0200 Subject: [PATCH 009/104] `MaMuJoCo` DOC update --- docs/envs/MaMuJoCo/Ant_2x4.png | Bin 31399 -> 31399 bytes docs/envs/MaMuJoCo/figures/ant.png | Bin 0 -> 30776 bytes docs/envs/MaMuJoCo/figures/ant_2x4.png | Bin 31399 -> 31399 bytes docs/envs/MaMuJoCo/figures/ant_2x4d.png | Bin 29862 -> 29862 bytes 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18761 bytes docs/envs/MaMuJoCo/figures/reacher.png | Bin 0 -> 16528 bytes docs/envs/MaMuJoCo/figures/reacher_2x1.png | Bin 16538 -> 16538 bytes docs/envs/MaMuJoCo/figures/swimmer.png | Bin 0 -> 17823 bytes docs/envs/MaMuJoCo/figures/swimmer_2x1.png | Bin 17790 -> 17790 bytes docs/envs/MaMuJoCo/figures/walker2d.png | Bin 0 -> 26438 bytes docs/envs/MaMuJoCo/figures/walker2d_2x3.png | Bin 26200 -> 26200 bytes docs/envs/MaMuJoCo/index.md | 30 ++++++------- docs/envs/MaMuJoCo/ma_ant.md | 40 +++++++----------- docs/envs/MaMuJoCo/ma_coupled_half_cheetah.md | 15 +++---- docs/envs/MaMuJoCo/ma_half_cheetah.md | 15 ++++--- docs/envs/MaMuJoCo/ma_hopper.md | 10 +++-- docs/envs/MaMuJoCo/ma_humanoid.md | 19 +++++---- docs/envs/MaMuJoCo/ma_humanoid_standup.md | 19 +++++---- docs/envs/MaMuJoCo/ma_pusher.md | 23 +++++----- docs/envs/MaMuJoCo/ma_reacher.md | 9 ++-- docs/envs/MaMuJoCo/ma_single.md | 9 ++-- docs/envs/MaMuJoCo/ma_swimmer.md | 12 ++++-- docs/envs/MaMuJoCo/ma_walker2d.md | 16 +++---- 37 files 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