from pathlib import Path
from copy import deepcopy
from dm_control import mjcf
from mushroom_rl.utils.running_stats import *
from mushroom_rl.utils.mujoco import *
from loco_mujoco.environments.humanoids.base_robot_humanoid import BaseRobotHumanoid
from loco_mujoco.utils import check_validity_task_mode_dataset
from loco_mujoco.environments import ValidTaskConf
[docs]
class Atlas(BaseRobotHumanoid):
"""
Description
------------
Mujoco simulation of the Atlas robot. Optionally, Atlas can carry
a weight. This environment can be partially observable by hiding
some of the state space entries from the policy using a state mask.
Hidable entries are "positions", "velocities", "foot_forces",
or "weight".
Tasks
-----------------
* **Walking**: The robot has to walk forward with a fixed speed of 1.25 m/s.
* **Carry**: The robot has to walk forward with a fixed speed of 1.25 m/s while carrying a weight.
The mass is either specified by the user or sampled from a uniformly from [0.1 kg, 1 kg, 5 kg, 10 kg].
Dataset Types
-----------------
The available dataset types for this environment can be found at: :ref:`env-label`.
Observation Space
-----------------
The observation space has the following properties *by default* (i.e., only obs with Disabled == False):
| For walking task: :code:`(min=-inf, max=inf, dim=30, dtype=float32)`
| For carry task: :code:`(min=-inf, max=inf, dim=31, dtype=float32)`
Some observations are **disabled by default**, but can be turned on. The detailed observation space is:
===== =================================================== ========= ======== =========================== === ========================
Index Description Min Max Disabled Dim Units
===== =================================================== ========= ======== =========================== === ========================
0 Position of Joint pelvis_ty -inf inf False 1 Position [m]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
1 Position of Joint pelvis_tilt -inf inf False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
2 Position of Joint pelvis_list -inf inf False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
3 Position of Joint pelvis_rotation -inf inf False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
4 Position of Joint back_bkz -0.663225 0.663225 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
5 Position of Joint back_bkx -0.523599 0.523599 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
6 Position of Joint back_bky -0.219388 0.538783 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
7 Position of Joint l_arm_shz -1.5708 0.785398 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
8 Position of Joint l_arm_shx -1.5708 1.5708 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
9 Position of Joint l_arm_ely 0.0 3.14159 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
10 Position of Joint l_arm_elx 0.0 2.35619 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
11 Position of Joint l_arm_wry -3.011 3.011 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
12 Position of Joint l_arm_wrx -1.7628 1.7628 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
13 Position of Joint r_arm_shz -0.785398 1.5708 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
14 Position of Joint r_arm_shx -1.5708 1.5708 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
15 Position of Joint r_arm_ely 0.0 3.14159 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
16 Position of Joint r_arm_elx -2.35619 0.0 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
17 Position of Joint r_arm_wry -3.011 3.011 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
18 Position of Joint r_arm_wrx -1.7628 1.7628 True 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
19 Position of Joint hip_flexion_r -0.786794 0.786794 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
20 Position of Joint hip_adduction_r -0.523599 0.523599 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
21 Position of Joint hip_rotation_r -1.61234 1.61234 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
22 Position of Joint knee_angle_r -2.35637 0.174 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
23 Position of Joint ankle_angle_r -1.0 1.0 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
24 Position of Joint hip_flexion_l -0.786794 0.786794 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
25 Position of Joint hip_adduction_l -0.523599 0.523599 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
26 Position of Joint hip_rotation_l -1.61234 1.61234 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
27 Position of Joint knee_angle_l -2.35637 0.174 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
28 Position of Joint ankle_angle_l -1.0 1.0 False 1 Angle [rad]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
29 Velocity of Joint pelvis_tx -inf inf False 1 Velocity [m/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
30 Velocity of Joint pelvis_tz -inf inf False 1 Velocity [m/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
31 Velocity of Joint pelvis_ty -inf inf False 1 Velocity [m/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
32 Velocity of Joint pelvis_tilt -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
33 Velocity of Joint pelvis_list -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
34 Velocity of Joint pelvis_rotation -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
35 Velocity of Joint back_bkz -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
36 Velocity of Joint back_bkx -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
37 Velocity of Joint back_bky -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
38 Velocity of Joint l_arm_shz -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
39 Velocity of Joint l_arm_shx -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
40 Velocity of Joint l_arm_ely -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
41 Velocity of Joint l_arm_elx -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
42 Velocity of Joint l_arm_wry -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
43 Velocity of Joint l_arm_wrx -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
44 Velocity of Joint r_arm_shz -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
45 Velocity of Joint r_arm_shx -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
46 Velocity of Joint r_arm_ely -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
47 Velocity of Joint r_arm_elx -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
48 Velocity of Joint r_arm_wry -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
49 Velocity of Joint r_arm_wrx -inf inf True 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
50 Velocity of Joint hip_flexion_r -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
51 Velocity of Joint hip_adduction_r -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
52 Velocity of Joint hip_rotation_r -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
53 Velocity of Joint knee_angle_r -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
54 Velocity of Joint ankle_angle_r -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
55 Velocity of Joint hip_flexion_l -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
56 Velocity of Joint hip_adduction_l -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
57 Velocity of Joint hip_rotation_l -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
58 Velocity of Joint knee_angle_l -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
59 Velocity of Joint ankle_angle_l -inf inf False 1 Angular Velocity [rad/s]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
60 Mass of the Weight 0.0 inf Only Enabled for Carry Task 1 Mass [kg]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
61 3D linear Forces between Back Right Foot and Floor 0.0 inf True 3 Force [N]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
64 3D linear Forces between Front Right Foot and Floor 0.0 inf True 3 Force [N]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
67 3D linear Forces between Back Left Foot and Floor 0.0 inf True 3 Force [N]
----- --------------------------------------------------- --------- -------- --------------------------- --- ------------------------
70 3D linear Forces between Front Left Foot and Floor 0.0 inf True 3 Force [N]
===== =================================================== ========= ======== =========================== === ========================
Action Space
------------
| The action space has the following properties *by default* (i.e., only actions with Disabled == False):
| :code:`(min=-1, max=1, dim=10, dtype=float32)`
The action range in LocoMuJoCo is always standardized, i.e. in [-1.0, 1.0].
The XML of the environment specifies for each actuator a *gearing* ratio, which is used to scale the
the action to the actual control range of the actuator.
Some actions are **disabled by default**, but can be turned on. The detailed action space is:
===== ======================== =========== =========== ========
Index Name in XML Control Min Control Max Disabled
===== ======================== =========== =========== ========
0 back_bkz_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
1 back_bky_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
2 back_bkx_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
3 l_arm_shz_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
4 l_arm_shx_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
5 l_arm_ely_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
6 l_arm_elx_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
7 l_arm_wry_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
8 l_arm_wrx_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
9 r_arm_shz_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
10 r_arm_shx_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
11 r_arm_ely_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
12 r_arm_elx_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
13 r_arm_wry_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
14 r_arm_wrx_actuator -1.0 1.0 True
----- ------------------------ ----------- ----------- --------
15 hip_flexion_r_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
16 hip_adduction_r_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
17 hip_rotation_r_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
18 knee_angle_r_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
19 ankle_angle_r_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
20 hip_flexion_l_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
21 hip_adduction_l_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
22 hip_rotation_l_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
23 knee_angle_l_actuator -1.0 1.0 False
----- ------------------------ ----------- ----------- --------
24 ankle_angle_l_actuator -1.0 1.0 False
===== ======================== =========== =========== ========
Rewards
--------
The default reward function is based on the distance between the current center of mass velocity and the
desired velocity in the x-axis. The desired velocity is given by the dataset to imitate.
**Class**: :class:`loco_mujoco.utils.reward.TargetVelocityReward`
Initial States
---------------
The initial state is sampled by default from the dataset to imitate.
Terminal States
----------------
The terminal state is reached when the robot falls, or rather starts falling. The condition to check if the robot
is falling is based on the orientation of the robot, the height of the center of mass, and the orientation of the
back joint. More details can be found in the :code:`_has_fallen` method of the environment.
Methods
------------
"""
valid_task_confs = ValidTaskConf(tasks=["walk", "carry"],
data_types=["real", "perfect"])
def __init__(self, disable_arms=True, disable_back_joint=True, hold_weight=False,
weight_mass=None, **kwargs):
"""
Constructor.
"""
if hold_weight:
assert disable_arms is True, "If you want Atlas to carry a weight, please disable the arms. " \
"They will be kept fixed."
xml_path = (Path(__file__).resolve().parent.parent / "data" / "atlas" / "atlas.xml").as_posix()
action_spec = self._get_action_specification()
observation_spec = self._get_observation_specification()
collision_groups = [("floor", ["floor"]),
("foot_r", ["right_foot_back"]),
("front_foot_r", ["right_foot_front"]),
("foot_l", ["left_foot_back"]),
("front_foot_l", ["left_foot_front"])]
self._hidable_obs = ("positions", "velocities", "foot_forces", "weight")
# --- Modify the xml, the action_spec, and the observation_spec if needed ---
self._disable_arms = disable_arms
self._disable_back_joint = disable_back_joint
self._hold_weight = hold_weight
self._weight_mass = weight_mass
self._valid_weights = [0.1, 1.0, 5.0, 10.0]
if disable_arms or hold_weight:
xml_handle = mjcf.from_path(xml_path)
if disable_arms or disable_back_joint:
joints_to_remove, motors_to_remove, equ_constr_to_remove = self._get_xml_modifications()
obs_to_remove = ["q_" + j for j in joints_to_remove] + ["dq_" + j for j in joints_to_remove]
observation_spec = [elem for elem in observation_spec if elem[0] not in obs_to_remove]
action_spec = [ac for ac in action_spec if ac not in motors_to_remove]
xml_handle = self._delete_from_xml_handle(xml_handle, joints_to_remove,
motors_to_remove, equ_constr_to_remove)
xml_handles = []
if hold_weight and weight_mass is not None:
color_red = np.array([1.0, 0.0, 0.0, 1.0])
xml_handle = self._add_weight(xml_handle, weight_mass, color_red)
xml_handles.append(xml_handle)
elif hold_weight and weight_mass is None:
for i, w in enumerate(self._valid_weights):
color = self._get_box_color(i)
current_xml_handle = deepcopy(xml_handle)
current_xml_handle = self._add_weight(current_xml_handle, w, color)
xml_handles.append(current_xml_handle)
else:
xml_handles.append(xml_handle)
else:
xml_handles = mjcf.from_path(xml_path)
super().__init__(xml_handles, action_spec, observation_spec, collision_groups, **kwargs)
[docs]
def _get_xml_modifications(self):
"""
Function that specifies which joints, motors and equality constraints
should be removed from the Mujoco xml.
Returns:
A tuple of lists consisting of names of joints to remove, names of motors to remove,
and names of equality constraints to remove.
"""
joints_to_remove = []
motors_to_remove = []
equ_constr_to_remove = []
if self._disable_arms:
joints_to_remove += ["l_arm_shz", "l_arm_shx", "l_arm_ely", "l_arm_elx", "l_arm_wry", "l_arm_wrx",
"r_arm_shz", "r_arm_shx", "r_arm_ely", "r_arm_elx", "r_arm_wry", "r_arm_wrx"]
motors_to_remove += ["l_arm_shz_actuator", "l_arm_shx_actuator", "l_arm_ely_actuator", "l_arm_elx_actuator",
"l_arm_wry_actuator", "l_arm_wrx_actuator", "r_arm_shz_actuator", "r_arm_shx_actuator",
"r_arm_ely_actuator", "r_arm_elx_actuator", "r_arm_wry_actuator", "r_arm_wrx_actuator"]
if self._disable_back_joint:
joints_to_remove += ["back_bkz", "back_bky", "back_bkx"]
motors_to_remove += ["back_bkz_actuator", "back_bky_actuator", "back_bkx_actuator"]
return joints_to_remove, motors_to_remove, equ_constr_to_remove
[docs]
def _has_fallen(self, obs, return_err_msg=False):
"""
Checks if a model has fallen.
Args:
obs (np.array): Current observation.
return_err_msg (bool): If True, an error message with violations is returned.
Returns:
True, if the model has fallen for the current observation, False otherwise.
Optionally an error message is returned.
"""
pelvis_euler = self._get_from_obs(obs, ["q_pelvis_tilt", "q_pelvis_list", "q_pelvis_rotation"])
pelvis_y_condition = (obs[0] < -0.3) or (obs[0] > 0.1)
pelvis_tilt_condition = (pelvis_euler[0] < (-np.pi / 4.5)) or (pelvis_euler[0] > (np.pi / 12))
pelvis_list_condition = (pelvis_euler[1] < -np.pi / 12) or (pelvis_euler[1] > np.pi / 8)
pelvis_rotation_condition = (pelvis_euler[2] < (-np.pi / 10)) or (pelvis_euler[2] > (np.pi / 10))
pelvis_condition = (pelvis_y_condition or pelvis_tilt_condition or
pelvis_list_condition or pelvis_rotation_condition)
if not self._disable_back_joint:
back_euler = self._get_from_obs(obs, ["q_back_bky", "q_back_bkx", "q_back_bkz"])
back_extension_condition = (back_euler[0] < (-np.pi / 4)) or (back_euler[0] > (np.pi / 10))
back_bending_condition = (back_euler[1] < -np.pi / 10) or (back_euler[1] > np.pi / 10)
back_rotation_condition = (back_euler[2] < (-np.pi / 4.5)) or (back_euler[2] > (np.pi / 4.5))
back_condition = (back_extension_condition or back_bending_condition or back_rotation_condition)
else:
back_condition = back_extension_condition = back_bending_condition = back_rotation_condition = False
if return_err_msg:
error_msg = ""
if pelvis_y_condition:
error_msg += "pelvis_y_condition violated.\n"
elif pelvis_tilt_condition:
error_msg += "pelvis_tilt_condition violated.\n"
elif pelvis_list_condition:
error_msg += "pelvis_list_condition violated.\n"
elif pelvis_rotation_condition:
error_msg += "pelvis_rotation_condition violated.\n"
elif back_extension_condition:
error_msg += "back_extension_condition violated.\n"
elif back_bending_condition:
error_msg += "back_bending_condition violated.\n"
elif back_rotation_condition:
error_msg += "back_rotation_condition violated.\n"
return pelvis_condition or back_condition, error_msg
else:
return pelvis_condition or back_condition
[docs]
@staticmethod
def generate(task="walk", dataset_type="real", **kwargs):
"""
Returns an environment corresponding to the specified task.
Args:
task (str): Main task to solve. Either "walk" or "carry". The latter is walking while carrying
an unknown weight, which makes the task partially observable.
dataset_type (str): "real" or "perfect". "real" uses real motion capture data as the
reference trajectory. This data does not perfectly match the kinematics
and dynamics of this environment, hence it is more challenging. "perfect" uses
a perfect dataset.
"""
check_validity_task_mode_dataset(Atlas.__name__, task, None, dataset_type,
*Atlas.valid_task_confs.get_all())
if dataset_type == "real":
path = "datasets/humanoids/real/02-constspeed_ATLAS.npz"
elif dataset_type == "perfect":
if "use_foot_forces" in kwargs.keys():
assert kwargs["use_foot_forces"] is False
if "disable_arms" in kwargs.keys():
assert kwargs["disable_arms"] is True
if "disable_back_joint" in kwargs.keys():
assert kwargs["disable_back_joint"] is False
if "hold_weight" in kwargs.keys():
assert kwargs["hold_weight"] is False
if task == "walk":
path = "datasets/humanoids/perfect/atlas_walk/perfect_expert_dataset_det.npz"
elif task == "carry":
path = "datasets/humanoids/perfect/atlas_carry/Atlas_carry_stochastic_dataset.npz"
return BaseRobotHumanoid.generate(Atlas, path, task, dataset_type, **kwargs)
[docs]
@staticmethod
def _add_weight(xml_handle, mass, color):
"""
Adds a weight to the Mujoco XML handle. The weight will
be hold in front of Atlas. Therefore, the arms will be
reoriented.
Args:
xml_handle: Handle to Mujoco XML.
Returns:
Modified Mujoco XML handle.
"""
# find pelvis handle
pelvis = xml_handle.find("body", "utorso")
pelvis.add("body", name="weight")
weight = xml_handle.find("body", "weight")
weight.add("geom", type="box", size="0.1 0.27 0.1", pos="0.72 0 -0.25", group="0", rgba=color, mass=mass)
# modify the arm orientation
r_clav = xml_handle.find("body", "r_clav")
r_clav.quat = [1.0, 0.0, -0.35, 0.0]
l_clav = xml_handle.find("body", "l_clav")
l_clav.quat = [0.0, -0.35, 0.0, 1.0]
return xml_handle
[docs]
@staticmethod
def _get_observation_specification():
"""
Getter for the observation space specification.
Returns:
A list of tuples containing the specification of each observation
space entry.
"""
observation_spec = [# ------------- JOINT POS -------------
("q_pelvis_tx", "pelvis_tx", ObservationType.JOINT_POS),
("q_pelvis_tz", "pelvis_tz", ObservationType.JOINT_POS),
("q_pelvis_ty", "pelvis_ty", ObservationType.JOINT_POS),
("q_pelvis_tilt", "pelvis_tilt", ObservationType.JOINT_POS),
("q_pelvis_list", "pelvis_list", ObservationType.JOINT_POS),
("q_pelvis_rotation", "pelvis_rotation", ObservationType.JOINT_POS),
("q_back_bkz", "back_bkz", ObservationType.JOINT_POS),
("q_back_bkx", "back_bkx", ObservationType.JOINT_POS),
("q_back_bky", "back_bky", ObservationType.JOINT_POS),
("q_l_arm_shz", "l_arm_shz", ObservationType.JOINT_POS),
("q_l_arm_shx", "l_arm_shx", ObservationType.JOINT_POS),
("q_l_arm_ely", "l_arm_ely", ObservationType.JOINT_POS),
("q_l_arm_elx", "l_arm_elx", ObservationType.JOINT_POS),
("q_l_arm_wry", "l_arm_wry", ObservationType.JOINT_POS),
("q_l_arm_wrx", "l_arm_wrx", ObservationType.JOINT_POS),
("q_r_arm_shz", "r_arm_shz", ObservationType.JOINT_POS),
("q_r_arm_shx", "r_arm_shx", ObservationType.JOINT_POS),
("q_r_arm_ely", "r_arm_ely", ObservationType.JOINT_POS),
("q_r_arm_elx", "r_arm_elx", ObservationType.JOINT_POS),
("q_r_arm_wry", "r_arm_wry", ObservationType.JOINT_POS),
("q_r_arm_wrx", "r_arm_wrx", ObservationType.JOINT_POS),
("q_hip_flexion_r", "hip_flexion_r", ObservationType.JOINT_POS),
("q_hip_adduction_r", "hip_adduction_r", ObservationType.JOINT_POS),
("q_hip_rotation_r", "hip_rotation_r", ObservationType.JOINT_POS),
("q_knee_angle_r", "knee_angle_r", ObservationType.JOINT_POS),
("q_ankle_angle_r", "ankle_angle_r", ObservationType.JOINT_POS),
("q_hip_flexion_l", "hip_flexion_l", ObservationType.JOINT_POS),
("q_hip_adduction_l", "hip_adduction_l", ObservationType.JOINT_POS),
("q_hip_rotation_l", "hip_rotation_l", ObservationType.JOINT_POS),
("q_knee_angle_l", "knee_angle_l", ObservationType.JOINT_POS),
("q_ankle_angle_l", "ankle_angle_l", ObservationType.JOINT_POS),
# ------------- JOINT VEL -------------
("dq_pelvis_tx", "pelvis_tx", ObservationType.JOINT_VEL),
("dq_pelvis_tz", "pelvis_tz", ObservationType.JOINT_VEL),
("dq_pelvis_ty", "pelvis_ty", ObservationType.JOINT_VEL),
("dq_pelvis_tilt", "pelvis_tilt", ObservationType.JOINT_VEL),
("dq_pelvis_list", "pelvis_list", ObservationType.JOINT_VEL),
("dq_pelvis_rotation", "pelvis_rotation", ObservationType.JOINT_VEL),
("dq_back_bkz", "back_bkz", ObservationType.JOINT_VEL),
("dq_back_bkx", "back_bkx", ObservationType.JOINT_VEL),
("dq_back_bky", "back_bky", ObservationType.JOINT_VEL),
("dq_l_arm_shz", "l_arm_shz", ObservationType.JOINT_VEL),
("dq_l_arm_shx", "l_arm_shx", ObservationType.JOINT_VEL),
("dq_l_arm_ely", "l_arm_ely", ObservationType.JOINT_VEL),
("dq_l_arm_elx", "l_arm_elx", ObservationType.JOINT_VEL),
("dq_l_arm_wry", "l_arm_wry", ObservationType.JOINT_VEL),
("dq_l_arm_wrx", "l_arm_wrx", ObservationType.JOINT_VEL),
("dq_r_arm_shz", "r_arm_shz", ObservationType.JOINT_VEL),
("dq_r_arm_shx", "r_arm_shx", ObservationType.JOINT_VEL),
("dq_r_arm_ely", "r_arm_ely", ObservationType.JOINT_VEL),
("dq_r_arm_elx", "r_arm_elx", ObservationType.JOINT_VEL),
("dq_r_arm_wry", "r_arm_wry", ObservationType.JOINT_VEL),
("dq_r_arm_wrx", "r_arm_wrx", ObservationType.JOINT_VEL),
("dq_hip_flexion_r", "hip_flexion_r", ObservationType.JOINT_VEL),
("dq_hip_adduction_r", "hip_adduction_r", ObservationType.JOINT_VEL),
("dq_hip_rotation_r", "hip_rotation_r", ObservationType.JOINT_VEL),
("dq_knee_angle_r", "knee_angle_r", ObservationType.JOINT_VEL),
("dq_ankle_angle_r", "ankle_angle_r", ObservationType.JOINT_VEL),
("dq_hip_flexion_l", "hip_flexion_l", ObservationType.JOINT_VEL),
("dq_hip_adduction_l", "hip_adduction_l", ObservationType.JOINT_VEL),
("dq_hip_rotation_l", "hip_rotation_l", ObservationType.JOINT_VEL),
("dq_knee_angle_l", "knee_angle_l", ObservationType.JOINT_VEL),
("dq_ankle_angle_l", "ankle_angle_l", ObservationType.JOINT_VEL)]
return observation_spec
[docs]
@staticmethod
def _get_action_specification():
"""
Getter for the action space specification.
Returns:
A list of tuples containing the specification of each action
space entry.
"""
action_spec = ["back_bkz_actuator", "back_bky_actuator", "back_bkx_actuator", "l_arm_shz_actuator",
"l_arm_shx_actuator", "l_arm_ely_actuator", "l_arm_elx_actuator", "l_arm_wry_actuator",
"l_arm_wrx_actuator", "r_arm_shz_actuator", "r_arm_shx_actuator",
"r_arm_ely_actuator", "r_arm_elx_actuator", "r_arm_wry_actuator", "r_arm_wrx_actuator",
"hip_flexion_r_actuator", "hip_adduction_r_actuator", "hip_rotation_r_actuator",
"knee_angle_r_actuator", "ankle_angle_r_actuator", "hip_flexion_l_actuator",
"hip_adduction_l_actuator", "hip_rotation_l_actuator", "knee_angle_l_actuator",
"ankle_angle_l_actuator"]
return action_spec