Humanoid

safe_opax/benchmark_suites/humanoid_bench/__init__.py

@@ -1,30 +1,65 @@
 import os
+import numpy as np
+from gymnasium import RewardWrapper
 from omegaconf import DictConfig
+from gymnasium.spaces import Box
 
 from safe_opax.benchmark_suites.utils import get_domain_and_task
 from safe_opax.rl.types import EnvironmentFactory
 from safe_opax.rl.wrappers import ImageObservation
 
+class ConstraintWrapper(RewardWrapper):
+    def __init__(self, env):
+        self.env = env
 
+    def step(self, action):
+        observation, reward, terminal, truncated, info = self.env.step(action)
+        small_control = info["small_control"]
+        stand_reward = info["stand_reward"]
+        move = info["move"]
+        reward = (
+            0.5 * (small_control * stand_reward) + 0.5 * move
+        )
+        collision_discount = info["collision_discount"]
+        info["cost"] = collision_discount < 1.
+        return observation, reward, terminal, truncated, info
 
+    def __getattr__(self, name):
+        return getattr(self.env, name)
+
+
+class HumanoidImageObservation(ImageObservation):
+    def __init__(self, env, image_size, image_format="channels_first"):
+        super().__init__(env, image_size, image_format)
+        size = image_size + (6,) if image_format == "chw" else (6,) + image_size
+        self.observation_space = Box(0, 255, size, np.float32)
+
+    def observation(self, observation):
+        third_person = super().observation(observation)
+        left = observation["image_left_eye"]
+        left = self.preprocess(left)
+        return np.concatenate([third_person, left], axis=0)
 
 def make(cfg: DictConfig) -> EnvironmentFactory:
     def make_env():
         from .env import HumanoidEnv
 
         _, task_cfg = get_domain_and_task(cfg)
-        env_name = "h1hand-pole-v0"
         reach_data_path = os.path.join(os.path.dirname(__file__), "data", "reach_one_hand")
-        env = HumanoidEnv(robot="h1hand",
+        robot, task = task_cfg.task.split("-")
+        env = HumanoidEnv(robot=robot,
                         control="pos",
-                        task="pole",
+                        task=task,
                         policy_type="reach_single",
-                        policy_path=reach_data_path + "/torch_model.pt",
+                        policy_path=reach_data_path + "/model.ckpt",
                         mean_path=reach_data_path + "/mean.npy",
                         var_path=reach_data_path + "/var.npy",
+                        sensors="image",
+                        obs_wrapper="true",
                         )
+        env = ConstraintWrapper(env)
         if task_cfg.image_observation.enabled:
-            env = ImageObservation(
+            env = HumanoidImageObservation(
                 env,
                 task_cfg.image_observation.image_size,
                 task_cfg.image_observation.image_format

safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1simplehand_pos_stand.xml

@@ -0,0 +1,15 @@
+<mujoco model="h1hand_pos_stand">
+    <option timestep="0.002" iterations="100" ls_iterations="50" solver="Newton">
+        <flag eulerdamp="enable"/>
+    </option>
+    <include file="../common/visual.xml"/>
+    <include file="../common/floor.xml"/>
+    <include file="../robots/h1simplehand_pos.xml"/>
+    <keyframe>
+        <key name="qpos0" qpos="0 0 0.98 1 0 0 0 0 0 -0.4 0.8 -0.4 0 0 -0.4 0.8 -0.4 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 0"/>
+    </keyframe>
+</mujoco>

safe_opax/benchmark_suites/humanoid_bench/assets/mjx/h1_mjx_feet_collisions_pos.xml

@@ -1,6 +1,5 @@
 <mujoco model="h1">
   <compiler angle="radian" meshdir="../h1/assets" autolimits="true"/>
-
   <default>
     <default class="h1">
       <geom type="mesh"/>
@@ -12,7 +11,7 @@
         <geom group="3" mass="0" density="0"/>
       </default>
       <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
-            <default class="hip">
+      <default class="hip">
         <position forcerange="-200 200" kp="200" kv="5"/>
       </default>
       <default class="knee">
@@ -35,11 +34,9 @@
       </default>
     </default>
   </default>
-
   <asset>
     <material name="black" rgba="0.1 0.1 0.1 1"/>
     <material name="white" rgba="1 1 1 1"/>
-
     <mesh file="pelvis.stl"/>
     <mesh file="left_hip_yaw_link.stl"/>
     <mesh file="left_hip_roll_link.stl"/>
@@ -62,7 +59,6 @@
     <mesh file="right_elbow_link.stl"/>
     <mesh file="logo_link.stl"/>
   </asset>
-
   <worldbody>
     <light mode="targetbodycom" target="torso_link" pos="1 0 2.5"/>
     <body name="pelvis" pos="0 0 1.1" childclass="h1">
@@ -142,7 +138,7 @@
         <geom class="visual" mesh="torso_link"/>
         <site name="head" class="visual" size="0.01" pos="0 0 0.7" rgba="1 1 1 1"/>
         <geom class="visual" material="white" mesh="logo_link"/>
-        <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
+        <site name="imu" size="0.01" pos="-0.04452 0. 0.27756"/>
         <body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
           <inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
             diaginertia="0.00129936 0.000987113 0.000858198"/>
@@ -196,7 +192,6 @@
       </body>
     </body>
   </worldbody>
-
   <actuator>
     <position name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-0.43 0.43" class="hip" />
     <position name="left_hip_roll" joint="left_hip_roll" ctrlrange="-0.43 0.43" class="hip" />
@@ -218,9 +213,8 @@
     <position name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-4.45 1.3" class="shoulder2" />
     <position name="right_elbow" joint="right_elbow" ctrlrange="-1.25 2.61" class="elbow" />
   </actuator>
-
   <sensor>
     <touch name="left_foot_sensor" site="left_foot"/>
     <touch name="right_foot_sensor" site="right_foot"/>
   </sensor>
-</mujoco>
+</mujoco>