PWM / PWM_code /policy_rl /act /sim_env.py

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import numpy as np
import os
import collections
import matplotlib.pyplot as plt
from dm_control import mujoco
from dm_control.rl import control
from dm_control.suite import base

from constants import DT, XML_DIR, START_ARM_POSE
from constants import PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN
from constants import MASTER_GRIPPER_POSITION_NORMALIZE_FN
from constants import PUPPET_GRIPPER_POSITION_NORMALIZE_FN
from constants import PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN

import IPython
e = IPython.embed

BOX_POSE = [None] # to be changed from outside

def make_sim_env(task_name):
    """
    Environment for simulated robot bi-manual manipulation, with joint position control
    Action space:      [left_arm_qpos (6),             # absolute joint position
                        left_gripper_positions (1),    # normalized gripper position (0: close, 1: open)
                        right_arm_qpos (6),            # absolute joint position
                        right_gripper_positions (1),]  # normalized gripper position (0: close, 1: open)
    Observation space: {"qpos": Concat[ left_arm_qpos (6),         # absolute joint position
                                        left_gripper_position (1),  # normalized gripper position (0: close, 1: open)
                                        right_arm_qpos (6),         # absolute joint position
                                        right_gripper_qpos (1)]     # normalized gripper position (0: close, 1: open)
                        "qvel": Concat[ left_arm_qvel (6),         # absolute joint velocity (rad)
                                        left_gripper_velocity (1),  # normalized gripper velocity (pos: opening, neg: closing)
                                        right_arm_qvel (6),         # absolute joint velocity (rad)
                                        right_gripper_qvel (1)]     # normalized gripper velocity (pos: opening, neg: closing)
                        "images": {"main": (480x640x3)}        # h, w, c, dtype='uint8'
    """
    if 'sim_transfer_cube' in task_name:
        xml_path = os.path.join(XML_DIR, f'bimanual_viperx_transfer_cube.xml')
        physics = mujoco.Physics.from_xml_path(xml_path)
        task = TransferCubeTask(random=False)
        env = control.Environment(physics, task, time_limit=20, control_timestep=DT,
                                  n_sub_steps=None, flat_observation=False)
    elif 'sim_insertion' in task_name:
        xml_path = os.path.join(XML_DIR, f'bimanual_viperx_insertion.xml')
        physics = mujoco.Physics.from_xml_path(xml_path)
        task = InsertionTask(random=False)
        env = control.Environment(physics, task, time_limit=20, control_timestep=DT,
                                  n_sub_steps=None, flat_observation=False)
    else:
        raise NotImplementedError
    return env

class BimanualViperXTask(base.Task):
    def __init__(self, random=None):
        super().__init__(random=random)

    def before_step(self, action, physics):
        left_arm_action = action[:6]
        right_arm_action = action[7:7+6]
        normalized_left_gripper_action = action[6]
        normalized_right_gripper_action = action[7+6]

        left_gripper_action = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(normalized_left_gripper_action)
        right_gripper_action = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(normalized_right_gripper_action)

        full_left_gripper_action = [left_gripper_action, -left_gripper_action]
        full_right_gripper_action = [right_gripper_action, -right_gripper_action]

        env_action = np.concatenate([left_arm_action, full_left_gripper_action, right_arm_action, full_right_gripper_action])
        super().before_step(env_action, physics)
        return

    def initialize_episode(self, physics):
        """Sets the state of the environment at the start of each episode."""
        super().initialize_episode(physics)

    @staticmethod
    def get_qpos(physics):
        qpos_raw = physics.data.qpos.copy()
        left_qpos_raw = qpos_raw[:8]
        right_qpos_raw = qpos_raw[8:16]
        left_arm_qpos = left_qpos_raw[:6]
        right_arm_qpos = right_qpos_raw[:6]
        left_gripper_qpos = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(left_qpos_raw[6])]
        right_gripper_qpos = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(right_qpos_raw[6])]
        return np.concatenate([left_arm_qpos, left_gripper_qpos, right_arm_qpos, right_gripper_qpos])

    @staticmethod
    def get_qvel(physics):
        qvel_raw = physics.data.qvel.copy()
        left_qvel_raw = qvel_raw[:8]
        right_qvel_raw = qvel_raw[8:16]
        left_arm_qvel = left_qvel_raw[:6]
        right_arm_qvel = right_qvel_raw[:6]
        left_gripper_qvel = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(left_qvel_raw[6])]
        right_gripper_qvel = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(right_qvel_raw[6])]
        return np.concatenate([left_arm_qvel, left_gripper_qvel, right_arm_qvel, right_gripper_qvel])

    @staticmethod
    def get_env_state(physics):
        raise NotImplementedError

    def get_observation(self, physics):
        obs = collections.OrderedDict()
        obs['qpos'] = self.get_qpos(physics)
        obs['qvel'] = self.get_qvel(physics)
        obs['env_state'] = self.get_env_state(physics)
        obs['images'] = dict()
        obs['images']['top'] = physics.render(height=480, width=640, camera_id='top')
        obs['images']['angle'] = physics.render(height=480, width=640, camera_id='angle')
        obs['images']['vis'] = physics.render(height=480, width=640, camera_id='front_close')

        return obs

    def get_reward(self, physics):
        # return whether left gripper is holding the box
        raise NotImplementedError


class TransferCubeTask(BimanualViperXTask):
    def __init__(self, random=None):
        super().__init__(random=random)
        self.max_reward = 4

    def initialize_episode(self, physics):
        """Sets the state of the environment at the start of each episode."""
        # TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
        # reset qpos, control and box position
        with physics.reset_context():
            physics.named.data.qpos[:16] = START_ARM_POSE
            np.copyto(physics.data.ctrl, START_ARM_POSE)
            assert BOX_POSE[0] is not None
            physics.named.data.qpos[-7:] = BOX_POSE[0]
            # print(f"{BOX_POSE=}")
        super().initialize_episode(physics)

    @staticmethod
    def get_env_state(physics):
        env_state = physics.data.qpos.copy()[16:]
        return env_state

    def get_reward(self, physics):
        # return whether left gripper is holding the box
        all_contact_pairs = []
        for i_contact in range(physics.data.ncon):
            id_geom_1 = physics.data.contact[i_contact].geom1
            id_geom_2 = physics.data.contact[i_contact].geom2
            name_geom_1 = physics.model.id2name(id_geom_1, 'geom')
            name_geom_2 = physics.model.id2name(id_geom_2, 'geom')
            contact_pair = (name_geom_1, name_geom_2)
            all_contact_pairs.append(contact_pair)

        touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
        touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
        touch_table = ("red_box", "table") in all_contact_pairs

        reward = 0
        if touch_right_gripper:
            reward = 1
        if touch_right_gripper and not touch_table: # lifted
            reward = 2
        if touch_left_gripper: # attempted transfer
            reward = 3
        if touch_left_gripper and not touch_table: # successful transfer
            reward = 4
        return reward


class InsertionTask(BimanualViperXTask):
    def __init__(self, random=None):
        super().__init__(random=random)
        self.max_reward = 4

    def initialize_episode(self, physics):
        """Sets the state of the environment at the start of each episode."""
        # TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
        # reset qpos, control and box position
        with physics.reset_context():
            physics.named.data.qpos[:16] = START_ARM_POSE
            np.copyto(physics.data.ctrl, START_ARM_POSE)
            assert BOX_POSE[0] is not None
            physics.named.data.qpos[-7*2:] = BOX_POSE[0] # two objects
            # print(f"{BOX_POSE=}")
        super().initialize_episode(physics)

    @staticmethod
    def get_env_state(physics):
        env_state = physics.data.qpos.copy()[16:]
        return env_state

    def get_reward(self, physics):
        # return whether peg touches the pin
        all_contact_pairs = []
        for i_contact in range(physics.data.ncon):
            id_geom_1 = physics.data.contact[i_contact].geom1
            id_geom_2 = physics.data.contact[i_contact].geom2
            name_geom_1 = physics.model.id2name(id_geom_1, 'geom')
            name_geom_2 = physics.model.id2name(id_geom_2, 'geom')
            contact_pair = (name_geom_1, name_geom_2)
            all_contact_pairs.append(contact_pair)

        touch_right_gripper = ("red_peg", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
        touch_left_gripper = ("socket-1", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
                             ("socket-2", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
                             ("socket-3", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
                             ("socket-4", "vx300s_left/10_left_gripper_finger") in all_contact_pairs

        peg_touch_table = ("red_peg", "table") in all_contact_pairs
        socket_touch_table = ("socket-1", "table") in all_contact_pairs or \
                             ("socket-2", "table") in all_contact_pairs or \
                             ("socket-3", "table") in all_contact_pairs or \
                             ("socket-4", "table") in all_contact_pairs
        peg_touch_socket = ("red_peg", "socket-1") in all_contact_pairs or \
                           ("red_peg", "socket-2") in all_contact_pairs or \
                           ("red_peg", "socket-3") in all_contact_pairs or \
                           ("red_peg", "socket-4") in all_contact_pairs
        pin_touched = ("red_peg", "pin") in all_contact_pairs

        reward = 0
        if touch_left_gripper and touch_right_gripper: # touch both
            reward = 1
        if touch_left_gripper and touch_right_gripper and (not peg_touch_table) and (not socket_touch_table): # grasp both
            reward = 2
        if peg_touch_socket and (not peg_touch_table) and (not socket_touch_table): # peg and socket touching
            reward = 3
        if pin_touched: # successful insertion
            reward = 4
        return reward


def get_action(master_bot_left, master_bot_right):
    action = np.zeros(14)
    # arm action
    action[:6] = master_bot_left.dxl.joint_states.position[:6]
    action[7:7+6] = master_bot_right.dxl.joint_states.position[:6]
    # gripper action
    left_gripper_pos = master_bot_left.dxl.joint_states.position[7]
    right_gripper_pos = master_bot_right.dxl.joint_states.position[7]
    normalized_left_pos = MASTER_GRIPPER_POSITION_NORMALIZE_FN(left_gripper_pos)
    normalized_right_pos = MASTER_GRIPPER_POSITION_NORMALIZE_FN(right_gripper_pos)
    action[6] = normalized_left_pos
    action[7+6] = normalized_right_pos
    return action

def test_sim_teleop():
    """ Testing teleoperation in sim with ALOHA. Requires hardware and ALOHA repo to work. """
    from interbotix_xs_modules.arm import InterbotixManipulatorXS

    BOX_POSE[0] = [0.2, 0.5, 0.05, 1, 0, 0, 0]

    # source of data
    master_bot_left = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper",
                                              robot_name=f'master_left', init_node=True)
    master_bot_right = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper",
                                              robot_name=f'master_right', init_node=False)

    # setup the environment
    env = make_sim_env('sim_transfer_cube')
    ts = env.reset()
    episode = [ts]
    # setup plotting
    ax = plt.subplot()
    plt_img = ax.imshow(ts.observation['images']['angle'])
    plt.ion()

    for t in range(1000):
        action = get_action(master_bot_left, master_bot_right)
        ts = env.step(action)
        episode.append(ts)

        plt_img.set_data(ts.observation['images']['angle'])
        plt.pause(0.02)


if __name__ == '__main__':
    test_sim_teleop()

	import numpy as np
	import os
	import collections
	import matplotlib.pyplot as plt
	from dm_control import mujoco
	from dm_control.rl import control
	from dm_control.suite import base

	from constants import DT, XML_DIR, START_ARM_POSE
	from constants import PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN
	from constants import MASTER_GRIPPER_POSITION_NORMALIZE_FN
	from constants import PUPPET_GRIPPER_POSITION_NORMALIZE_FN
	from constants import PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN

	import IPython
	e = IPython.embed

	BOX_POSE = [None] # to be changed from outside

	def make_sim_env(task_name):
	"""
	Environment for simulated robot bi-manual manipulation, with joint position control
	Action space: [left_arm_qpos (6), # absolute joint position
	left_gripper_positions (1), # normalized gripper position (0: close, 1: open)
	right_arm_qpos (6), # absolute joint position
	right_gripper_positions (1),] # normalized gripper position (0: close, 1: open)

	Observation space: {"qpos": Concat[ left_arm_qpos (6), # absolute joint position
	left_gripper_position (1), # normalized gripper position (0: close, 1: open)
	right_arm_qpos (6), # absolute joint position
	right_gripper_qpos (1)] # normalized gripper position (0: close, 1: open)
	"qvel": Concat[ left_arm_qvel (6), # absolute joint velocity (rad)
	left_gripper_velocity (1), # normalized gripper velocity (pos: opening, neg: closing)
	right_arm_qvel (6), # absolute joint velocity (rad)
	right_gripper_qvel (1)] # normalized gripper velocity (pos: opening, neg: closing)
	"images": {"main": (480x640x3)} # h, w, c, dtype='uint8'
	"""
	if 'sim_transfer_cube' in task_name:
	xml_path = os.path.join(XML_DIR, f'bimanual_viperx_transfer_cube.xml')
	physics = mujoco.Physics.from_xml_path(xml_path)
	task = TransferCubeTask(random=False)
	env = control.Environment(physics, task, time_limit=20, control_timestep=DT,
	n_sub_steps=None, flat_observation=False)
	elif 'sim_insertion' in task_name:
	xml_path = os.path.join(XML_DIR, f'bimanual_viperx_insertion.xml')
	physics = mujoco.Physics.from_xml_path(xml_path)
	task = InsertionTask(random=False)
	env = control.Environment(physics, task, time_limit=20, control_timestep=DT,
	n_sub_steps=None, flat_observation=False)
	else:
	raise NotImplementedError
	return env

	class BimanualViperXTask(base.Task):
	def __init__(self, random=None):
	super().__init__(random=random)

	def before_step(self, action, physics):
	left_arm_action = action[:6]
	right_arm_action = action[7:7+6]
	normalized_left_gripper_action = action[6]
	normalized_right_gripper_action = action[7+6]

	left_gripper_action = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(normalized_left_gripper_action)
	right_gripper_action = PUPPET_GRIPPER_POSITION_UNNORMALIZE_FN(normalized_right_gripper_action)

	full_left_gripper_action = [left_gripper_action, -left_gripper_action]
	full_right_gripper_action = [right_gripper_action, -right_gripper_action]

	env_action = np.concatenate([left_arm_action, full_left_gripper_action, right_arm_action, full_right_gripper_action])
	super().before_step(env_action, physics)
	return

	def initialize_episode(self, physics):
	"""Sets the state of the environment at the start of each episode."""
	super().initialize_episode(physics)

	@staticmethod
	def get_qpos(physics):
	qpos_raw = physics.data.qpos.copy()
	left_qpos_raw = qpos_raw[:8]
	right_qpos_raw = qpos_raw[8:16]
	left_arm_qpos = left_qpos_raw[:6]
	right_arm_qpos = right_qpos_raw[:6]
	left_gripper_qpos = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(left_qpos_raw[6])]
	right_gripper_qpos = [PUPPET_GRIPPER_POSITION_NORMALIZE_FN(right_qpos_raw[6])]
	return np.concatenate([left_arm_qpos, left_gripper_qpos, right_arm_qpos, right_gripper_qpos])

	@staticmethod
	def get_qvel(physics):
	qvel_raw = physics.data.qvel.copy()
	left_qvel_raw = qvel_raw[:8]
	right_qvel_raw = qvel_raw[8:16]
	left_arm_qvel = left_qvel_raw[:6]
	right_arm_qvel = right_qvel_raw[:6]
	left_gripper_qvel = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(left_qvel_raw[6])]
	right_gripper_qvel = [PUPPET_GRIPPER_VELOCITY_NORMALIZE_FN(right_qvel_raw[6])]
	return np.concatenate([left_arm_qvel, left_gripper_qvel, right_arm_qvel, right_gripper_qvel])

	@staticmethod
	def get_env_state(physics):
	raise NotImplementedError

	def get_observation(self, physics):
	obs = collections.OrderedDict()
	obs['qpos'] = self.get_qpos(physics)
	obs['qvel'] = self.get_qvel(physics)
	obs['env_state'] = self.get_env_state(physics)
	obs['images'] = dict()
	obs['images']['top'] = physics.render(height=480, width=640, camera_id='top')
	obs['images']['angle'] = physics.render(height=480, width=640, camera_id='angle')
	obs['images']['vis'] = physics.render(height=480, width=640, camera_id='front_close')

	return obs

	def get_reward(self, physics):
	# return whether left gripper is holding the box
	raise NotImplementedError


	class TransferCubeTask(BimanualViperXTask):
	def __init__(self, random=None):
	super().__init__(random=random)
	self.max_reward = 4

	def initialize_episode(self, physics):
	"""Sets the state of the environment at the start of each episode."""
	# TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
	# reset qpos, control and box position
	with physics.reset_context():
	physics.named.data.qpos[:16] = START_ARM_POSE
	np.copyto(physics.data.ctrl, START_ARM_POSE)
	assert BOX_POSE[0] is not None
	physics.named.data.qpos[-7:] = BOX_POSE[0]
	# print(f"{BOX_POSE=}")
	super().initialize_episode(physics)

	@staticmethod
	def get_env_state(physics):
	env_state = physics.data.qpos.copy()[16:]
	return env_state

	def get_reward(self, physics):
	# return whether left gripper is holding the box
	all_contact_pairs = []
	for i_contact in range(physics.data.ncon):
	id_geom_1 = physics.data.contact[i_contact].geom1
	id_geom_2 = physics.data.contact[i_contact].geom2
	name_geom_1 = physics.model.id2name(id_geom_1, 'geom')
	name_geom_2 = physics.model.id2name(id_geom_2, 'geom')
	contact_pair = (name_geom_1, name_geom_2)
	all_contact_pairs.append(contact_pair)

	touch_left_gripper = ("red_box", "vx300s_left/10_left_gripper_finger") in all_contact_pairs
	touch_right_gripper = ("red_box", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
	touch_table = ("red_box", "table") in all_contact_pairs

	reward = 0
	if touch_right_gripper:
	reward = 1
	if touch_right_gripper and not touch_table: # lifted
	reward = 2
	if touch_left_gripper: # attempted transfer
	reward = 3
	if touch_left_gripper and not touch_table: # successful transfer
	reward = 4
	return reward


	class InsertionTask(BimanualViperXTask):
	def __init__(self, random=None):
	super().__init__(random=random)
	self.max_reward = 4

	def initialize_episode(self, physics):
	"""Sets the state of the environment at the start of each episode."""
	# TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
	# reset qpos, control and box position
	with physics.reset_context():
	physics.named.data.qpos[:16] = START_ARM_POSE
	np.copyto(physics.data.ctrl, START_ARM_POSE)
	assert BOX_POSE[0] is not None
	physics.named.data.qpos[-7*2:] = BOX_POSE[0] # two objects
	# print(f"{BOX_POSE=}")
	super().initialize_episode(physics)

	@staticmethod
	def get_env_state(physics):
	env_state = physics.data.qpos.copy()[16:]
	return env_state

	def get_reward(self, physics):
	# return whether peg touches the pin
	all_contact_pairs = []
	for i_contact in range(physics.data.ncon):
	id_geom_1 = physics.data.contact[i_contact].geom1
	id_geom_2 = physics.data.contact[i_contact].geom2
	name_geom_1 = physics.model.id2name(id_geom_1, 'geom')
	name_geom_2 = physics.model.id2name(id_geom_2, 'geom')
	contact_pair = (name_geom_1, name_geom_2)
	all_contact_pairs.append(contact_pair)

	touch_right_gripper = ("red_peg", "vx300s_right/10_right_gripper_finger") in all_contact_pairs
	touch_left_gripper = ("socket-1", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
	("socket-2", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
	("socket-3", "vx300s_left/10_left_gripper_finger") in all_contact_pairs or \
	("socket-4", "vx300s_left/10_left_gripper_finger") in all_contact_pairs

	peg_touch_table = ("red_peg", "table") in all_contact_pairs
	socket_touch_table = ("socket-1", "table") in all_contact_pairs or \
	("socket-2", "table") in all_contact_pairs or \
	("socket-3", "table") in all_contact_pairs or \
	("socket-4", "table") in all_contact_pairs
	peg_touch_socket = ("red_peg", "socket-1") in all_contact_pairs or \
	("red_peg", "socket-2") in all_contact_pairs or \
	("red_peg", "socket-3") in all_contact_pairs or \
	("red_peg", "socket-4") in all_contact_pairs
	pin_touched = ("red_peg", "pin") in all_contact_pairs

	reward = 0
	if touch_left_gripper and touch_right_gripper: # touch both
	reward = 1
	if touch_left_gripper and touch_right_gripper and (not peg_touch_table) and (not socket_touch_table): # grasp both
	reward = 2
	if peg_touch_socket and (not peg_touch_table) and (not socket_touch_table): # peg and socket touching
	reward = 3
	if pin_touched: # successful insertion
	reward = 4
	return reward


	def get_action(master_bot_left, master_bot_right):
	action = np.zeros(14)
	# arm action
	action[:6] = master_bot_left.dxl.joint_states.position[:6]
	action[7:7+6] = master_bot_right.dxl.joint_states.position[:6]
	# gripper action
	left_gripper_pos = master_bot_left.dxl.joint_states.position[7]
	right_gripper_pos = master_bot_right.dxl.joint_states.position[7]
	normalized_left_pos = MASTER_GRIPPER_POSITION_NORMALIZE_FN(left_gripper_pos)
	normalized_right_pos = MASTER_GRIPPER_POSITION_NORMALIZE_FN(right_gripper_pos)
	action[6] = normalized_left_pos
	action[7+6] = normalized_right_pos
	return action

	def test_sim_teleop():
	""" Testing teleoperation in sim with ALOHA. Requires hardware and ALOHA repo to work. """
	from interbotix_xs_modules.arm import InterbotixManipulatorXS

	BOX_POSE[0] = [0.2, 0.5, 0.05, 1, 0, 0, 0]

	# source of data
	master_bot_left = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper",
	robot_name=f'master_left', init_node=True)
	master_bot_right = InterbotixManipulatorXS(robot_model="wx250s", group_name="arm", gripper_name="gripper",
	robot_name=f'master_right', init_node=False)

	# setup the environment
	env = make_sim_env('sim_transfer_cube')
	ts = env.reset()
	episode = [ts]
	# setup plotting
	ax = plt.subplot()
	plt_img = ax.imshow(ts.observation['images']['angle'])
	plt.ion()

	for t in range(1000):
	action = get_action(master_bot_left, master_bot_right)
	ts = env.step(action)
	episode.append(ts)

	plt_img.set_data(ts.observation['images']['angle'])
	plt.pause(0.02)


	if __name__ == '__main__':
	test_sim_teleop()