from causal_world.task_generators.base_task import BaseTask
import numpy as np
from causal_world.utils.rotation_utils import quaternion_conjugate, \
quaternion_mul
[docs]class PickAndPlaceTaskGenerator(BaseTask):
[docs] def __init__(self, variables_space='space_a_b',
fractional_reward_weight=0,
dense_reward_weights=np.array([750, 50, 250, 0, 0.005]),
activate_sparse_reward=False,
tool_block_mass=0.02,
joint_positions=None,
tool_block_position=np.array([0, -0.09, 0.0325]),
tool_block_orientation=np.array([0, 0, 0, 1]),
goal_block_position=np.array([0, 0.09, 0.0325]),
goal_block_orientation=np.array([0, 0, 0, 1])):
"""
This task generator generates a task of picking and placing an object
across a fixed block in the middle of the arena.
:param variables_space: (str) space to be used either 'space_a' or
'space_b' or 'space_a_b'
:param fractional_reward_weight: (float) weight multiplied by the
fractional volumetric
overlap in the reward.
:param dense_reward_weights: (list float) specifies the reward weights
for all the other reward
terms calculated in the
calculate_dense_rewards
function.
:param activate_sparse_reward: (bool) specified if you want to
sparsify the reward by having
+1 or 0 if the volumetric
fraction overlap more than 90%.
:param tool_block_mass: (float) specifies the blocks mass.
:param joint_positions: (nd.array) specifies the joints position to start
the episode with. None if the default
to be used.
:param tool_block_position: (nd.array) specifies the cartesian position
of the tool block, x, y, z.
:param tool_block_orientation: (nd.array) specifies the euler orientation
of the tool block, yaw, roll, pitch.
:param goal_block_position: (nd.array) specifies the cartesian position
of the goal block, x, y, z.
:param goal_block_orientation: (nd.array) specifies the euler orientation
of the goal block, yaw, roll, pitch.
"""
super().__init__(task_name="pick_and_place",
variables_space=variables_space,
fractional_reward_weight=fractional_reward_weight,
dense_reward_weights=dense_reward_weights,
activate_sparse_reward=activate_sparse_reward)
self._task_robot_observation_keys = ["time_left_for_task",
"joint_positions",
"joint_velocities",
"end_effector_positions"]
self._task_params["tool_block_mass"] = tool_block_mass
self._task_params["joint_positions"] = joint_positions
self._task_params["tool_block_position"] = tool_block_position
self._task_params["tool_block_orientation"] = tool_block_orientation
self._task_params["goal_block_position"] = goal_block_position
self._task_params["goal_block_orientation"] = goal_block_orientation
self.previous_object_position = None
self.previous_end_effector_positions = None
self.previous_joint_velocities = None
def _set_up_stage_arena(self):
"""
:return:
"""
creation_dict = {
'name': "obstacle",
'shape': "static_cube",
'position': [0, 0, 0.0325],
'color': np.array([0, 0, 0]),
'size': np.array([0.5, 0.015, 0.065])
}
self._stage.add_rigid_general_object(**creation_dict)
creation_dict = {
'name': "tool_block",
'shape': "cube",
'initial_position': self._task_params["tool_block_position"],
'initial_orientation': self._task_params["tool_block_orientation"],
'mass': self._task_params["tool_block_mass"]
}
self._stage.add_rigid_general_object(**creation_dict)
creation_dict = {
'name': "goal_block",
'shape': "cube",
'position': self._task_params["goal_block_position"],
'orientation': self._task_params["goal_block_orientation"]
}
self._stage.add_silhoutte_general_object(**creation_dict)
self._task_stage_observation_keys = [
"tool_block_type", "tool_block_size",
"tool_block_cartesian_position", "tool_block_orientation",
"tool_block_linear_velocity", "tool_block_angular_velocity",
"goal_block_type", "goal_block_size",
"goal_block_cartesian_position", "goal_block_orientation",
"obstacle_type", "obstacle_size", "obstacle_cartesian_position",
"obstacle_orientation"
]
return
def _set_intervention_space_a(self):
"""
:return:
"""
super(PickAndPlaceTaskGenerator, self)._set_intervention_space_a()
self._intervention_space_a['obstacle']['size'] = \
np.array([self._stage.get_object_state('obstacle', 'size'),
self._stage.get_object_state('obstacle', 'size')])
self._intervention_space_a['obstacle']['size'][0][-1] = 0.02
self._intervention_space_a['obstacle']['size'][1][-1] = 0.065
self._intervention_space_a['tool_block']['cylindrical_position'][0] = \
np.array([0.07, np.pi/6, self._stage.get_object_state('tool_block', 'size')[-1] / 2.0])
self._intervention_space_a['tool_block']['cylindrical_position'][1] = \
np.array([0.12, (5 / 6.0) * np.pi ,
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0])
self._intervention_space_a['goal_block']['cylindrical_position'][0] = \
np.array([0.07, -np.pi / 6,
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0])
self._intervention_space_a['goal_block']['cylindrical_position'][1] = \
np.array([0.12, (5 / 6.0) * -np.pi,
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0])
return
def _set_intervention_space_b(self):
"""
:return:
"""
super(PickAndPlaceTaskGenerator, self)._set_intervention_space_b()
self._intervention_space_b['obstacle']['size'] = \
np.array([self._stage.get_object_state('obstacle', 'size'),
self._stage.get_object_state('obstacle', 'size')])
self._intervention_space_b['obstacle']['size'][0][-1] = 0.065
self._intervention_space_b['obstacle']['size'][1][-1] = 0.1
self._intervention_space_b['tool_block']['cylindrical_position'][0] = \
np.array([0.12, np.pi / 6,
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0])
self._intervention_space_b['tool_block']['cylindrical_position'][1] = \
np.array([0.15, (5 / 6.0) * np.pi,
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0])
self._intervention_space_b['goal_block']['cylindrical_position'][0] = \
np.array([0.12, -np.pi / 6,
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0])
self._intervention_space_b['goal_block']['cylindrical_position'][1] = \
np.array([0.15, (5 / 6.0) * -np.pi,
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0])
return
def _set_task_state(self):
"""
:return:
"""
self.previous_end_effector_positions = \
self._robot.get_latest_full_state()['end_effector_positions']
self.previous_end_effector_positions = \
self.previous_end_effector_positions.reshape(-1, 3)
self.previous_object_position = \
self._stage.get_object_state('tool_block', 'cartesian_position')
self.previous_object_orientation = \
self._stage.get_object_state('tool_block', 'orientation')
self.previous_joint_velocities = \
self._robot.get_latest_full_state()['velocities']
return
[docs] def get_description(self):
"""
:return: (str) returns the description of the task itself.
"""
return "Task where the goal is to pick a " \
"cube and then place it in the other side of the wall"
def _calculate_dense_rewards(self, desired_goal, achieved_goal):
"""
:param desired_goal:
:param achieved_goal:
:return:
"""
# rewards order
# 1) delta how much the fingers are close to block
# 2) delta how much are you getting the block close to the goal
# 3) delta how much are you getting the block close to the target_height
# 4) delta in orientations
# 5) delta in joint velocities
joint_velocities = self._robot.get_latest_full_state()['velocities']
rewards = list()
block_position = self._stage.get_object_state('tool_block',
'cartesian_position')
block_orientation = self._stage.get_object_state(
'tool_block', 'orientation')
goal_position = self._stage.get_object_state('goal_block',
'cartesian_position')
goal_orientation = self._stage.get_object_state('goal_block',
'orientation')
end_effector_positions = self._robot.get_latest_full_state(
)['end_effector_positions']
end_effector_positions = end_effector_positions.reshape(-1, 3)
# calculate first reward term
current_distance_from_block = np.linalg.norm(end_effector_positions -
block_position)
previous_distance_from_block = np.linalg.norm(
self.previous_end_effector_positions -
self.previous_object_position)
rewards.append(previous_distance_from_block -
current_distance_from_block)
# calculate second reward term
previous_dist_to_goal = np.linalg.norm(
goal_position[:2] - self.previous_object_position[:2])
current_dist_to_goal = np.linalg.norm(goal_position[:2] -
block_position[:2])
rewards.append(previous_dist_to_goal - current_dist_to_goal)
# calculate third reward term (height trajectory)
if np.sign(block_position[1]) != np.sign(goal_position[1]):
target_height = 0.15
else:
target_height = self._stage.get_object_state('goal_block', 'size')[-1] / 2.0
previous_block_to_goal = abs(self.previous_object_position[2] -
target_height)
current_block_to_goal = abs(block_position[2] - target_height)
height_reward = previous_block_to_goal - current_block_to_goal
rewards.append(height_reward)
# calculate forth reward term
quat_diff_old = quaternion_mul(
np.expand_dims(goal_orientation, 0),
quaternion_conjugate(
np.expand_dims(self.previous_object_orientation, 0)))
angle_diff_old = 2 * np.arccos(np.clip(quat_diff_old[:, 3], -1., 1.))
quat_diff = quaternion_mul(
np.expand_dims(goal_orientation, 0),
quaternion_conjugate(np.expand_dims(block_orientation, 0)))
current_angle_diff = 2 * np.arccos(np.clip(quat_diff[:, 3], -1., 1.))
rewards.append(angle_diff_old[0] - current_angle_diff[0])
# calculate fifth reward term
rewards.append(-np.linalg.norm(joint_velocities -
self.previous_joint_velocities))
update_task_info = {
'current_end_effector_positions': end_effector_positions,
'current_tool_block_position': block_position,
'current_tool_block_orientation': block_orientation
}
return rewards, update_task_info
def _update_task_state(self, update_task_info):
"""
:param update_task_info:
:return:
"""
self.previous_end_effector_positions = \
update_task_info['current_end_effector_positions']
self.previous_object_position = \
update_task_info['current_tool_block_position']
self.previous_object_orientation = \
update_task_info['current_tool_block_orientation']
return
def _handle_contradictory_interventions(self, interventions_dict):
"""
:param interventions_dict:
:return:
"""
if 'goal_block' in interventions_dict:
if 'size' in interventions_dict['goal_block']:
if 'tool_block' not in interventions_dict:
interventions_dict['tool_block'] = dict()
interventions_dict['tool_block']['size'] = \
interventions_dict['goal_block']['size']
if 'cartesian_position' not in interventions_dict['tool_block'] and \
'cylindrical_position' not in interventions_dict['tool_block']:
cyl_pos_tool = self._stage.get_object_state('tool_block', 'cylindrical_position')
cyl_pos_tool[-1] = interventions_dict['goal_block']['size'][-1] / 2.0
interventions_dict['tool_block']['cylindrical_position'] = cyl_pos_tool
if 'cartesian_position' not in interventions_dict['goal_block'] and \
'cylindrical_position' not in interventions_dict['goal_block']:
cyl_pos_goal = self._stage.get_object_state('goal_block', 'cylindrical_position')
cyl_pos_goal[-1] = interventions_dict['goal_block']['size'][-1] / 2.0
interventions_dict['goal_block']['cylindrical_position'] = cyl_pos_goal
elif 'tool_block' in interventions_dict:
if 'size' in interventions_dict['tool_block']:
if 'goal_block' not in interventions_dict:
interventions_dict['goal_block'] = dict()
interventions_dict['goal_block']['size'] = \
interventions_dict['tool_block']['size']
if 'cartesian_position' not in interventions_dict['tool_block'] and \
'cylindrical_position' not in interventions_dict['tool_block']:
cyl_pos_tool = self._stage.get_object_state('tool_block', 'cylindrical_position')
cyl_pos_tool[-1] = interventions_dict['tool_block']['size'][-1] / 2.0
interventions_dict['tool_block']['cylindrical_position'] = cyl_pos_tool
if 'cartesian_position' not in interventions_dict['goal_block'] and \
'cylindrical_position' not in interventions_dict['goal_block']:
cyl_pos_goal = self._stage.get_object_state('goal_block', 'cylindrical_position')
cyl_pos_goal[-1] = interventions_dict['tool_block']['size'][-1] / 2.0
interventions_dict['goal_block']['cylindrical_position'] = cyl_pos_goal
return interventions_dict
[docs] def sample_new_goal(self, level=None):
"""
Used to sample new goal from the corresponding shape families.
:param level: (int) specifying the level - not used for now.
:return: (dict) the corresponding interventions dict that could then
be applied to get a new sampled goal.
"""
intervention_space = self.get_variable_space_used()
rigid_block_side = np.random.randint(0, 2)
# goal_block_side = not rigid_block_side
intervention_dict = dict()
intervention_dict['tool_block'] = dict()
intervention_dict['goal_block'] = dict()
if rigid_block_side == 0:
intervention_dict['tool_block']['cylindrical_position'] = np.array(
[0.09, -np.pi / 2, self._stage.get_object_state('tool_block', 'size')[-1] / 2.0])
else:
intervention_dict['tool_block']['cylindrical_position'] = np.array(
[0.09, np.pi/2, self._stage.get_object_state('tool_block', 'size')[-1]/2.0])
self._adjust_variable_spaces_after_intervention(intervention_dict)
intervention_dict['goal_block']['cylindrical_position'] = \
np.random.uniform(
intervention_space['goal_block']['cylindrical_position'][0],
intervention_space['goal_block']['cylindrical_position'][1])
intervention_dict['goal_block']['euler_orientation'] = \
np.random.uniform(intervention_space['goal_block']['euler_orientation'][0],
intervention_space['goal_block']['euler_orientation'][1])
return intervention_dict
def _adjust_variable_spaces_after_intervention(self, interventions_dict):
"""
:param interventions_dict:
:return:
"""
spaces = [self._intervention_space_a,
self._intervention_space_b,
self._intervention_space_a_b]
if 'tool_block' in interventions_dict:
if 'cylindrical_position' in interventions_dict['tool_block']:
if interventions_dict['tool_block']['cylindrical_position'][1] < 0:
tool_block_multiplier = -1
goal_block_multiplier = 1
else:
tool_block_multiplier = 1
goal_block_multiplier = -1
for variables_space in spaces:
if tool_block_multiplier == -1:
variables_space['tool_block'][
'cylindrical_position'][1][1] = tool_block_multiplier * \
(np.pi/6)
variables_space['tool_block'][
'cylindrical_position'][0][1] = tool_block_multiplier * \
(5/6.0) * np.pi
variables_space['goal_block'][
'cylindrical_position'][0][1] = goal_block_multiplier * \
(np.pi / 6)
variables_space['goal_block'][
'cylindrical_position'][1][1] = goal_block_multiplier * \
(5 / 6.0) * np.pi
else:
variables_space['tool_block'][
'cylindrical_position'][0][
1] = tool_block_multiplier * \
(np.pi / 6)
variables_space['tool_block'][
'cylindrical_position'][1][
1] = tool_block_multiplier * \
(5 / 6.0) * np.pi
variables_space['goal_block'][
'cylindrical_position'][1][
1] = goal_block_multiplier * \
(np.pi / 6)
variables_space['goal_block'][
'cylindrical_position'][0][
1] = goal_block_multiplier * \
(5 / 6.0) * np.pi
if 'size' in interventions_dict['tool_block']:
for variable_space in spaces:
variable_space['tool_block'][
'cylindrical_position'][0][
-1] = \
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0
variable_space['tool_block'][
'cylindrical_position'][
1][-1] = \
self._stage.get_object_state('tool_block', 'size')[
-1] / 2.0
variable_space['goal_block'][
'cylindrical_position'][0][
-1] = \
self._stage.get_object_state('goal_block', 'size')[
-1] / 2.0
variable_space['goal_block'][
'cylindrical_position'][
1][-1] = \
self._stage.get_object_state('goal_block', 'size')[
-1] / 2.0
return