From f482c6d0b4f0371653a00b1ffc32cbcc0988fb12 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Fri, 22 Nov 2024 10:03:36 -0800 Subject: [PATCH 01/59] first draft of drawer env --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 156 ++++++++++++++++++ 1 file changed, 156 insertions(+) create mode 100644 mani_skill/envs/tasks/tabletop/pull_drawer.py diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py new file mode 100644 index 000000000..58d9c3686 --- /dev/null +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -0,0 +1,156 @@ +from typing import Dict, List, Union +import numpy as np +import sapien +import torch +from mani_skill import PACKAGE_ASSET_DIR +from mani_skill.agents.robots import Fetch, Panda +from mani_skill.envs.sapien_env import BaseEnv +from mani_skill.envs.utils import randomization +from mani_skill.sensors.camera import CameraConfig +from mani_skill.utils import common, io_utils, sapien_utils +from mani_skill.utils.building import actors, articulations +from mani_skill.utils.registration import register_env +from mani_skill.utils.scene_builder.table.scene_builder import TableSceneBuilder +from mani_skill.utils.structs.articulation import Articulation +from mani_skill.utils.structs.link import Link +from mani_skill.utils.structs.pose import Pose +from mani_skill.utils.structs.types import SimConfig + +@register_env("PullDrawer-v1", max_episode_steps=200) +class PullDrawerEnv(BaseEnv): + SUPPORTED_REWARD_MODES = ["sparse", "none"] + SUPPORTED_ROBOTS = ["panda", "panda_wristcam", "fetch"] + agent: Union[Panda, Fetch] + + def __init__( + self, + *args, + robot_uids="panda_wristcam", + robot_init_qpos_noise=0.02, + reconfiguration_freq=None, + num_envs=1, + **kwargs, + ): + self.robot_init_qpos_noise = robot_init_qpos_noise + + if reconfiguration_freq is None: + reconfiguration_freq = 1 if num_envs == 1 else 0 + + super().__init__( + *args, + robot_uids=robot_uids, + reconfiguration_freq=reconfiguration_freq, + num_envs=num_envs, + **kwargs, + ) + + @property + def _default_sim_config(self): + return SimConfig() + + @property + def _default_sensor_configs(self): + pose = sapien_utils.look_at([-0.4, 0, 0.3], [0, 0, 0.1]) + return [ + CameraConfig("base_camera", pose=pose, width=128, height=128, fov=np.pi / 2) + ] + + def _load_agent(self, options: dict): + super()._load_agent(options, sapien.Pose(p=[-0.615, 0, 0])) + + def _load_scene(self, options: dict): + self.scene_builder = TableSceneBuilder( + self, robot_init_qpos_noise=self.robot_init_qpos_noise + ) + self.scene_builder.build() + + # Create a simple drawer using ArticulationBuilder + builder = self.scene.create_articulation_builder() + + # Create the base (fixed part) + base = builder.create_link_builder() + base.add_box_collision(half_size=[0.2, 0.3, 0.02]) + base.add_box_visual(half_size=[0.2, 0.3, 0.02], color=[0.8, 0.8, 0.8, 1]) + + # Create the drawer (moving part) + drawer = builder.create_link_builder(parent=base) + drawer.add_box_collision(half_size=[0.18, 0.28, 0.1]) + drawer.add_box_visual(half_size=[0.18, 0.28, 0.1], color=[0.6, 0.6, 0.6, 1]) + + + drawer.set_joint_properties( + type="prismatic", + limits=(-0.3, 0), # 30cm travel range + pose_in_parent=sapien.Pose([0, 0, 0.1]), + pose_in_child=sapien.Pose(), + friction=0.1, + damping=10 + ) + drawer.set_joint_name("drawer_joint") + + # Build the articulation + builder.set_initial_pose(sapien.Pose(p=[0, 0, 0.5])) + self.drawer = builder.build(fix_root_link=True) + + self.drawer_link = self.drawer.get_links()[1] + self.target_pos = -0.25 # set target position as 25cm out + + def _initialize_episode(self, env_idx: torch.Tensor, options: dict): + with torch.device(self.device): + self.scene_builder.initialize(env_idx) + # Reset drawer position + self.drawer.set_qpos([0]) # Close the drawer initially + + @property + def current_pos(self): + return self.drawer.get_qpos()[0] + + def evaluate(self): + pos_dist = self.target_pos - self.current_pos + return dict( + success=abs(pos_dist) < 0.02, # 2cm threshold + pos_dist=pos_dist + ) + + def _get_obs_extra(self, info: Dict): + return dict( + tcp_pose=self.agent.tcp.pose.raw_pose, + drawer_pos=self.current_pos, + target_pos=self.target_pos, + drawer_link_pos=self.drawer_link.pose.p + ) + + def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): + reward = 0.0 + + # Success bonus + if info["success"]: + return 10.0 + + # Distance reward + pos_dist = abs(info["pos_dist"]) + reward += 1 - np.tanh(pos_dist * 5.0) + + # Contact reward + is_contacted = any(self.agent.check_contact_fingers(self.drawer_link)) + if is_contacted: + reward += 0.25 + + # Movement reward based on position difference + pos_diff = info["pos_dist"] - self.last_pos_dist + if info["pos_dist"] > 0: + # Penalize moving away from target + movement_reward = -np.tanh(pos_diff * 2) * 5 + else: + # Reward moving toward target + movement_reward = np.tanh(pos_diff * 2) * 5 + reward += movement_reward + + # Store current distance for next step + self.last_pos_dist = info["pos_dist"] + + return reward + + def compute_normalized_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): + max_reward = 10.0 + return self.compute_dense_reward(obs=obs, action=action, info=info) / max_reward \ No newline at end of file From 40d143397538b1795e3e9ec17e5e08494bac52ef Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Fri, 22 Nov 2024 13:12:16 -0800 Subject: [PATCH 02/59] fixed spawn and dimensions, need to debug joint --- mani_skill/envs/tasks/tabletop/__init__.py | 3 +- mani_skill/envs/tasks/tabletop/pull_drawer.py | 242 +++++++++++------- 2 files changed, 155 insertions(+), 90 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/__init__.py b/mani_skill/envs/tasks/tabletop/__init__.py index be5c15bbc..cf9152ce4 100644 --- a/mani_skill/envs/tasks/tabletop/__init__.py +++ b/mani_skill/envs/tasks/tabletop/__init__.py @@ -15,4 +15,5 @@ from .place_sphere import PlaceSphereEnv from .roll_ball import RollBallEnv from .push_t import PushTEnv -from .pull_cube_tool import PullCubeToolEnv \ No newline at end of file +from .pull_cube_tool import PullCubeToolEnv +from .pull_drawer import PullDrawerEnv \ No newline at end of file diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 58d9c3686..974797ff5 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -1,62 +1,82 @@ -from typing import Dict, List, Union +from typing import Dict, Union, Any import numpy as np import sapien import torch -from mani_skill import PACKAGE_ASSET_DIR from mani_skill.agents.robots import Fetch, Panda from mani_skill.envs.sapien_env import BaseEnv from mani_skill.envs.utils import randomization from mani_skill.sensors.camera import CameraConfig -from mani_skill.utils import common, io_utils, sapien_utils -from mani_skill.utils.building import actors, articulations +from mani_skill.utils import sapien_utils +from mani_skill.utils.building import actors from mani_skill.utils.registration import register_env -from mani_skill.utils.scene_builder.table.scene_builder import TableSceneBuilder -from mani_skill.utils.structs.articulation import Articulation -from mani_skill.utils.structs.link import Link -from mani_skill.utils.structs.pose import Pose -from mani_skill.utils.structs.types import SimConfig +from mani_skill.utils.scene_builder.table import TableSceneBuilder +from mani_skill.utils.structs import Pose +from mani_skill.utils.structs.types import SimConfig, GPUMemoryConfig @register_env("PullDrawer-v1", max_episode_steps=200) class PullDrawerEnv(BaseEnv): - SUPPORTED_REWARD_MODES = ["sparse", "none"] - SUPPORTED_ROBOTS = ["panda", "panda_wristcam", "fetch"] + SUPPORTED_REWARD_MODES = ("sparse", "dense", "normalized_dense", "none") + SUPPORTED_ROBOTS = ["panda", "fetch"] agent: Union[Panda, Fetch] + + drawer_half_size = [0.1, 0.15, 0.01] + drawer_body_half_size = [0.09, 0.14, 0.05] + target_pos = -0.125 + max_pull_distance = 0.15 + def __init__( self, *args, - robot_uids="panda_wristcam", + robot_uids="panda", robot_init_qpos_noise=0.02, - reconfiguration_freq=None, - num_envs=1, - **kwargs, + **kwargs ): self.robot_init_qpos_noise = robot_init_qpos_noise - - if reconfiguration_freq is None: - reconfiguration_freq = 1 if num_envs == 1 else 0 - super().__init__( *args, robot_uids=robot_uids, - reconfiguration_freq=reconfiguration_freq, - num_envs=num_envs, - **kwargs, + **kwargs ) @property def _default_sim_config(self): - return SimConfig() + return SimConfig( + gpu_memory_config=GPUMemoryConfig( + found_lost_pairs_capacity=2**25, + max_rigid_patch_count=2**18 + ) + ) @property def _default_sensor_configs(self): - pose = sapien_utils.look_at([-0.4, 0, 0.3], [0, 0, 0.1]) + pose = sapien_utils.look_at([0.2, -0.3, 0.3], [0, 0, 0.1]) return [ - CameraConfig("base_camera", pose=pose, width=128, height=128, fov=np.pi / 2) + CameraConfig( + "base_camera", + pose=pose, + width=128, + height=128, + fov=np.pi / 2, + near=0.01, + far=100 + ) ] - def _load_agent(self, options: dict): - super()._load_agent(options, sapien.Pose(p=[-0.615, 0, 0])) + @property + def _default_human_render_camera_configs(self): + pose = sapien_utils.look_at([-0.4, -0.5, 0.6], [0.0, 0.0, 0.2]) + return [ + CameraConfig( + "render_camera", + pose=pose, + width=512, + height=512, + fov=1, + near=0.01, + far=100 + ) + ] def _load_scene(self, options: dict): self.scene_builder = TableSceneBuilder( @@ -64,93 +84,137 @@ def _load_scene(self, options: dict): ) self.scene_builder.build() - # Create a simple drawer using ArticulationBuilder + # Create drawer builder = self.scene.create_articulation_builder() - # Create the base (fixed part) + # Base/outer casing with walls base = builder.create_link_builder() - base.add_box_collision(half_size=[0.2, 0.3, 0.02]) - base.add_box_visual(half_size=[0.2, 0.3, 0.02], color=[0.8, 0.8, 0.8, 1]) - - # Create the drawer (moving part) + base.name = "drawer_base" + wall_thickness = 0.01 + + # Back wall + base.add_box_collision( + sapien.Pose([-(self.drawer_half_size[0] - wall_thickness/2), 0, 0]), + [wall_thickness/2, self.drawer_half_size[1], self.drawer_half_size[2]] + ) + base.add_box_visual( + sapien.Pose([-(self.drawer_half_size[0] - wall_thickness/2), 0, 0]), + [wall_thickness/2, self.drawer_half_size[1], self.drawer_half_size[2]] + ) + + # Side walls + for y_sign in [-1, 1]: + base.add_box_collision( + sapien.Pose([0, y_sign * (self.drawer_half_size[1] - wall_thickness/2), 0]), + [self.drawer_half_size[0], wall_thickness/2, self.drawer_half_size[2]] + ) + base.add_box_visual( + sapien.Pose([0, y_sign * (self.drawer_half_size[1] - wall_thickness/2), 0]), + [self.drawer_half_size[0], wall_thickness/2, self.drawer_half_size[2]] + ) + + # Bottom wall + base.add_box_collision( + sapien.Pose([0, 0, -(self.drawer_half_size[2] - wall_thickness/2)]), + [self.drawer_half_size[0], self.drawer_half_size[1], wall_thickness/2] + ) + base.add_box_visual( + sapien.Pose([0, 0, -(self.drawer_half_size[2] - wall_thickness/2)]), + [self.drawer_half_size[0], self.drawer_half_size[1], wall_thickness/2] + ) + + # Inner sliding drawer drawer = builder.create_link_builder(parent=base) - drawer.add_box_collision(half_size=[0.18, 0.28, 0.1]) - drawer.add_box_visual(half_size=[0.18, 0.28, 0.1], color=[0.6, 0.6, 0.6, 1]) - + drawer.name = "drawer_body" + drawer.add_box_collision(half_size=self.drawer_body_half_size) + drawer.add_box_visual(half_size=self.drawer_body_half_size) + + # Add handle + handle_size = [0.02, 0.04, 0.01] + handle_offset = 0.02 + drawer.add_box_collision( + sapien.Pose([self.drawer_body_half_size[0] + handle_offset, 0, 0]), + handle_size + ) + drawer.add_box_visual( + sapien.Pose([self.drawer_body_half_size[0] + handle_offset, 0, 0]), + handle_size + ) drawer.set_joint_properties( type="prismatic", - limits=(-0.3, 0), # 30cm travel range - pose_in_parent=sapien.Pose([0, 0, 0.1]), - pose_in_child=sapien.Pose(), + limits=(-self.max_pull_distance, 0), + pose_in_parent=sapien.Pose([0, 0, 0]), + pose_in_child=sapien.Pose(), friction=0.1, damping=10 ) - drawer.set_joint_name("drawer_joint") - # Build the articulation - builder.set_initial_pose(sapien.Pose(p=[0, 0, 0.5])) - self.drawer = builder.build(fix_root_link=True) + # Build articulation with drawer slightly ajar + builder.set_scene_idxs(scene_idxs=range(self.num_envs)) + builder.set_initial_pose(sapien.Pose(p=[0.12, 0, 0.2])) - self.drawer_link = self.drawer.get_links()[1] - self.target_pos = -0.25 # set target position as 25cm out + self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") + self.drawer_link = self.drawer.get_links()[1] def _initialize_episode(self, env_idx: torch.Tensor, options: dict): with torch.device(self.device): + b = len(env_idx) self.scene_builder.initialize(env_idx) - # Reset drawer position - self.drawer.set_qpos([0]) # Close the drawer initially - - @property - def current_pos(self): - return self.drawer.get_qpos()[0] - - def evaluate(self): - pos_dist = self.target_pos - self.current_pos - return dict( - success=abs(pos_dist) < 0.02, # 2cm threshold - pos_dist=pos_dist - ) + + init_pos = torch.zeros((b, 1), device=self.device) + noise = torch.rand((b, 1), device=self.device) * 0.02 + init_pos -= noise + + self.drawer.set_qpos(init_pos) def _get_obs_extra(self, info: Dict): - return dict( + obs = dict( tcp_pose=self.agent.tcp.pose.raw_pose, - drawer_pos=self.current_pos, - target_pos=self.target_pos, - drawer_link_pos=self.drawer_link.pose.p ) + + if self._obs_mode in ["state", "state_dict"]: + obs.update( + drawer_pose=self.drawer.pose.raw_pose, + drawer_qpos=self.drawer.get_qpos(), + ) + return obs - def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - reward = 0.0 + def evaluate(self): + drawer_qpos = self.drawer.get_qpos() + pos_dist = torch.abs(self.target_pos - drawer_qpos) + cube_pulled_close = pos_dist.squeeze(-1) < 0.007 - # Success bonus - if info["success"]: - return 10.0 + progress = 1 - torch.tanh(5.0 * pos_dist) - # Distance reward - pos_dist = abs(info["pos_dist"]) - reward += 1 - np.tanh(pos_dist * 5.0) + return { + "success": cube_pulled_close, + "success_once": cube_pulled_close, + "success_at_end": cube_pulled_close, + "drawer_progress": progress.mean(), + "drawer_distance": pos_dist.mean(), + "reward": self.compute_normalized_dense_reward( + None, None, {"success": cube_pulled_close} + ), + } + + def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): + drawer_qpos = self.drawer.get_qpos() + pos_dist = torch.abs(self.target_pos - drawer_qpos) - # Contact reward - is_contacted = any(self.agent.check_contact_fingers(self.drawer_link)) - if is_contacted: - reward += 0.25 + distance_reward = 2.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) - # Movement reward based on position difference - pos_diff = info["pos_dist"] - self.last_pos_dist - if info["pos_dist"] > 0: - # Penalize moving away from target - movement_reward = -np.tanh(pos_diff * 2) * 5 - else: - # Reward moving toward target - movement_reward = np.tanh(pos_diff * 2) * 5 - reward += movement_reward + is_grasping = self.agent.is_grasping(self.drawer_link, max_angle=30) + grasping_reward = 2.0 * is_grasping - # Store current distance for next step - self.last_pos_dist = info["pos_dist"] + success_mask = info.get("success", torch.zeros_like(is_grasping)) + success_reward = torch.where(success_mask, 5.0, 0.0) - return reward + return distance_reward + grasping_reward + success_reward - def compute_normalized_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - max_reward = 10.0 - return self.compute_dense_reward(obs=obs, action=action, info=info) / max_reward \ No newline at end of file + def compute_normalized_dense_reward( + self, obs: Any, action: torch.Tensor, info: Dict + ): + max_reward = 5.0 + dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) + return dense_reward / max_reward From ed5da118f792413c7620fe0d3af17646e167841f Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Sat, 23 Nov 2024 13:00:36 -0800 Subject: [PATCH 03/59] drawer construction bug fix --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 177 ++++++++++++------ 1 file changed, 120 insertions(+), 57 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 974797ff5..b8e3e649e 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -4,14 +4,11 @@ import torch from mani_skill.agents.robots import Fetch, Panda from mani_skill.envs.sapien_env import BaseEnv -from mani_skill.envs.utils import randomization -from mani_skill.sensors.camera import CameraConfig from mani_skill.utils import sapien_utils -from mani_skill.utils.building import actors from mani_skill.utils.registration import register_env from mani_skill.utils.scene_builder.table import TableSceneBuilder -from mani_skill.utils.structs import Pose from mani_skill.utils.structs.types import SimConfig, GPUMemoryConfig +from mani_skill.sensors.camera import CameraConfig @register_env("PullDrawer-v1", max_episode_steps=200) class PullDrawerEnv(BaseEnv): @@ -19,12 +16,6 @@ class PullDrawerEnv(BaseEnv): SUPPORTED_ROBOTS = ["panda", "fetch"] agent: Union[Panda, Fetch] - - drawer_half_size = [0.1, 0.15, 0.01] - drawer_body_half_size = [0.09, 0.14, 0.05] - target_pos = -0.125 - max_pull_distance = 0.15 - def __init__( self, *args, @@ -33,6 +24,26 @@ def __init__( **kwargs ): self.robot_init_qpos_noise = robot_init_qpos_noise + + # Outer cabinet dimensions (scaled down by 0.5) + self.outer_width = 0.15 # x (was 0.3) + self.outer_depth = 0.2 # y (was 0.4) + self.outer_height = 0.15 # z (was 0.3) + self.wall_thickness = 0.01 # (was 0.02) + + # Inner drawer dimensions (slightly smaller to fit inside) + self.inner_width = self.outer_width - 2.2 * self.wall_thickness + self.inner_depth = self.outer_depth - 1.2 * self.wall_thickness + self.inner_height = self.outer_height - 2.2 * self.wall_thickness + + # Handle dimensions (scaled down) + self.handle_radius = 0.01 # (was 0.02) + self.handle_depth = 0.02 # (was 0.04) + + # Movement parameters (scaled proportionally) + self.max_pull_distance = self.outer_depth * 0.8 # Can pull out 80% of depth + self.target_pos = -self.max_pull_distance * 0.8 + super().__init__( *args, robot_uids=robot_uids, @@ -65,7 +76,7 @@ def _default_sensor_configs(self): @property def _default_human_render_camera_configs(self): - pose = sapien_utils.look_at([-0.4, -0.5, 0.6], [0.0, 0.0, 0.2]) + pose = sapien_utils.look_at([-0.6, -0.8, 0.6], [0.0, 0.0, 0.2]) return [ CameraConfig( "render_camera", @@ -84,63 +95,116 @@ def _load_scene(self, options: dict): ) self.scene_builder.build() - # Create drawer builder = self.scene.create_articulation_builder() - # Base/outer casing with walls + # Create outer cabinet (fixed base) base = builder.create_link_builder() - base.name = "drawer_base" - wall_thickness = 0.01 - + base.name = "cabinet" + + # Bottom base + base.add_box_collision( + sapien.Pose([0, 0, -self.outer_height/2]), + half_size=[self.outer_width/2, self.outer_depth/2, self.wall_thickness/2] + ) + base.add_box_visual( + sapien.Pose([0, 0, -self.outer_height/2]), + half_size=[self.outer_width/2, self.outer_depth/2, self.wall_thickness/2], + ) + + # Top wall + base.add_box_collision( + sapien.Pose([0, 0, self.outer_height/2]), + half_size=[self.outer_width/2, self.outer_depth/2, self.wall_thickness/2] + ) + base.add_box_visual( + sapien.Pose([0, 0, self.outer_height/2]), + half_size=[self.outer_width/2, self.outer_depth/2, self.wall_thickness/2], + ) + # Back wall base.add_box_collision( - sapien.Pose([-(self.drawer_half_size[0] - wall_thickness/2), 0, 0]), - [wall_thickness/2, self.drawer_half_size[1], self.drawer_half_size[2]] + sapien.Pose([0, -self.outer_depth/2, 0]), + half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2] ) base.add_box_visual( - sapien.Pose([-(self.drawer_half_size[0] - wall_thickness/2), 0, 0]), - [wall_thickness/2, self.drawer_half_size[1], self.drawer_half_size[2]] + sapien.Pose([0, -self.outer_depth/2, 0]), + half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2], ) - + # Side walls - for y_sign in [-1, 1]: + for x_sign in [-1, 1]: base.add_box_collision( - sapien.Pose([0, y_sign * (self.drawer_half_size[1] - wall_thickness/2), 0]), - [self.drawer_half_size[0], wall_thickness/2, self.drawer_half_size[2]] + sapien.Pose([x_sign * self.outer_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.outer_depth/2, self.outer_height/2] ) base.add_box_visual( - sapien.Pose([0, y_sign * (self.drawer_half_size[1] - wall_thickness/2), 0]), - [self.drawer_half_size[0], wall_thickness/2, self.drawer_half_size[2]] + sapien.Pose([x_sign * self.outer_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.outer_depth/2, self.outer_height/2], ) - - # Bottom wall - base.add_box_collision( - sapien.Pose([0, 0, -(self.drawer_half_size[2] - wall_thickness/2)]), - [self.drawer_half_size[0], self.drawer_half_size[1], wall_thickness/2] + + # Create sliding drawer + drawer = builder.create_link_builder(parent=base) + drawer.name = "drawer" + + # Drawer bottom + drawer.add_box_collision( + sapien.Pose([0, 0, -self.inner_height/2]), + half_size=[self.inner_width/2, self.inner_depth/2, self.wall_thickness/2] ) - base.add_box_visual( - sapien.Pose([0, 0, -(self.drawer_half_size[2] - wall_thickness/2)]), - [self.drawer_half_size[0], self.drawer_half_size[1], wall_thickness/2] + drawer.add_box_visual( + sapien.Pose([0, 0, -self.inner_height/2]), + half_size=[self.inner_width/2, self.inner_depth/2, self.wall_thickness/2], ) - - # Inner sliding drawer - drawer = builder.create_link_builder(parent=base) - drawer.name = "drawer_body" - drawer.add_box_collision(half_size=self.drawer_body_half_size) - drawer.add_box_visual(half_size=self.drawer_body_half_size) - - # Add handle - handle_size = [0.02, 0.04, 0.01] - handle_offset = 0.02 + + # Drawer back drawer.add_box_collision( - sapien.Pose([self.drawer_body_half_size[0] + handle_offset, 0, 0]), - handle_size + sapien.Pose([0, -self.inner_depth/2, 0]), + half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2] ) drawer.add_box_visual( - sapien.Pose([self.drawer_body_half_size[0] + handle_offset, 0, 0]), - handle_size + sapien.Pose([0, -self.inner_depth/2, 0]), + half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2], + ) + + # Drawer sides + for x_sign in [-1, 1]: + drawer.add_box_collision( + sapien.Pose([x_sign * self.inner_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2] + ) + drawer.add_box_visual( + sapien.Pose([x_sign * self.inner_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2], + ) + + # Drawer front + drawer.add_box_collision( + sapien.Pose([0, self.inner_depth/2, 0]), + half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2] + ) + drawer.add_box_visual( + sapien.Pose([0, self.inner_depth/2, 0]), + half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2], + ) + + # Handle (simple curved hook) + mat = sapien.render.RenderMaterial() + mat.set_base_color([1, 0, 0, 1]) + mat.metallic = 1.0 + mat.roughness = 0.0 + mat.specular = 1.0 + + drawer.add_sphere_collision( + sapien.Pose([0, self.inner_depth/2 + self.handle_depth, 0]), + radius=self.handle_radius + ) + drawer.add_sphere_visual( + sapien.Pose([0, self.inner_depth/2 + self.handle_depth, 0]), + radius=self.handle_radius, + material = mat ) + # Configure drawer joint drawer.set_joint_properties( type="prismatic", limits=(-self.max_pull_distance, 0), @@ -150,9 +214,9 @@ def _load_scene(self, options: dict): damping=10 ) - # Build articulation with drawer slightly ajar + # Build and position the drawer builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.12, 0, 0.2])) + builder.set_initial_pose(sapien.Pose(p=[0, 0.1, 0.3])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -183,18 +247,18 @@ def _get_obs_extra(self, info: Dict): def evaluate(self): drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - cube_pulled_close = pos_dist.squeeze(-1) < 0.007 + drawer_pulled = pos_dist.squeeze(-1) < 0.01 progress = 1 - torch.tanh(5.0 * pos_dist) return { - "success": cube_pulled_close, - "success_once": cube_pulled_close, - "success_at_end": cube_pulled_close, + "success": drawer_pulled, + "success_once": drawer_pulled, + "success_at_end": drawer_pulled, "drawer_progress": progress.mean(), "drawer_distance": pos_dist.mean(), "reward": self.compute_normalized_dense_reward( - None, None, {"success": cube_pulled_close} + None, None, {"success": drawer_pulled} ), } @@ -203,7 +267,6 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): pos_dist = torch.abs(self.target_pos - drawer_qpos) distance_reward = 2.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) - is_grasping = self.agent.is_grasping(self.drawer_link, max_angle=30) grasping_reward = 2.0 * is_grasping @@ -217,4 +280,4 @@ def compute_normalized_dense_reward( ): max_reward = 5.0 dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) - return dense_reward / max_reward + return dense_reward / max_reward \ No newline at end of file From 40f117666102651be386257fe2cc052a9424c873 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Sat, 23 Nov 2024 13:54:19 -0800 Subject: [PATCH 04/59] drawer construction bug fix --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 80 +++++++++++++------ 1 file changed, 54 insertions(+), 26 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index b8e3e649e..1b5ede8cd 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -37,8 +37,10 @@ def __init__( self.inner_height = self.outer_height - 2.2 * self.wall_thickness # Handle dimensions (scaled down) - self.handle_radius = 0.01 # (was 0.02) - self.handle_depth = 0.02 # (was 0.04) + self.handle_width = 0.04 # Width of handle bar + self.handle_height = 0.02 # Height of handle from drawer face + self.handle_thickness = 0.01 # Thickness of handle material + self.handle_offset = 0.02 # Offset from drawer front (new parameter) # Movement parameters (scaled proportionally) self.max_pull_distance = self.outer_depth * 0.8 # Can pull out 80% of depth @@ -59,33 +61,33 @@ def _default_sim_config(self): ) ) - @property + @property def _default_sensor_configs(self): - pose = sapien_utils.look_at([0.2, -0.3, 0.3], [0, 0, 0.1]) + pose = sapien_utils.look_at(eye=[0.3, 0, 0.5], target=[-0.1, 0, 0.1]) return [ CameraConfig( - "base_camera", - pose=pose, - width=128, - height=128, + "base_camera", + pose=pose, + width=128, + height=128, fov=np.pi / 2, near=0.01, - far=100 + far=100, ) ] @property def _default_human_render_camera_configs(self): - pose = sapien_utils.look_at([-0.6, -0.8, 0.6], [0.0, 0.0, 0.2]) + pose = sapien_utils.look_at([0.6, 0.7, 0.6], [0.0, 0.0, 0.35]) return [ CameraConfig( - "render_camera", - pose=pose, - width=512, - height=512, + "render_camera", + pose=pose, + width=512, + height=512, fov=1, near=0.01, - far=100 + far=100, ) ] @@ -187,22 +189,36 @@ def _load_scene(self, options: dict): half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2], ) - # Handle (simple curved hook) + # Handle (horizontal bar) - Now positioned clearly in front of drawer mat = sapien.render.RenderMaterial() mat.set_base_color([1, 0, 0, 1]) mat.metallic = 1.0 mat.roughness = 0.0 mat.specular = 1.0 - drawer.add_sphere_collision( - sapien.Pose([0, self.inner_depth/2 + self.handle_depth, 0]), - radius=self.handle_radius + # Main handle bar + drawer.add_box_collision( + sapien.Pose([0, self.inner_depth/2 + self.handle_offset, 0]), + half_size=[self.handle_width/2, self.handle_thickness/2, self.handle_thickness/2] ) - drawer.add_sphere_visual( - sapien.Pose([0, self.inner_depth/2 + self.handle_depth, 0]), - radius=self.handle_radius, - material = mat + drawer.add_box_visual( + sapien.Pose([0, self.inner_depth/2 + self.handle_offset, 0]), + half_size=[self.handle_width/2, self.handle_thickness/2, self.handle_thickness/2], + material=mat ) + + # Handle supports (vertical bars connecting to drawer front) + for x_sign in [-1, 1]: + support_x = x_sign * (self.handle_width/2 - self.handle_thickness/2) + drawer.add_box_collision( + sapien.Pose([support_x, self.inner_depth/2 + self.handle_offset/2, 0]), + half_size=[self.handle_thickness/2, self.handle_offset/2, self.handle_thickness/2] + ) + drawer.add_box_visual( + sapien.Pose([support_x, self.inner_depth/2 + self.handle_offset/2, 0]), + half_size=[self.handle_thickness/2, self.handle_offset/2, self.handle_thickness/2], + material=mat + ) # Configure drawer joint drawer.set_joint_properties( @@ -216,7 +232,7 @@ def _load_scene(self, options: dict): # Build and position the drawer builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0, 0.1, 0.3])) + builder.set_initial_pose(sapien.Pose(p=[-0.2, -0.5, 0.3])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -266,18 +282,30 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) + # Get gripper position relative to handle + tcp_pose = self.agent.tcp.pose.raw_pose + tcp_pos = tcp_pose[..., :3] + # Updated handle position calculation to match new handle position + handle_pos = torch.tensor( + [-0.2, -0.5 + self.inner_depth/2 + self.handle_offset, 0.3], + device=self.device + ) + reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) + + # Compute rewards distance_reward = 2.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) + reaching_reward = 1.0 * (1 - torch.tanh(10.0 * reach_dist)) is_grasping = self.agent.is_grasping(self.drawer_link, max_angle=30) grasping_reward = 2.0 * is_grasping success_mask = info.get("success", torch.zeros_like(is_grasping)) success_reward = torch.where(success_mask, 5.0, 0.0) - return distance_reward + grasping_reward + success_reward + return distance_reward + reaching_reward + grasping_reward + success_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 5.0 + max_reward = 10.0 # Maximum possible reward (2 + 1 + 2 + 5) dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward \ No newline at end of file From 80c894a7877d9e028eca41cfe985351c0f13eb2e Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Sat, 23 Nov 2024 13:58:00 -0800 Subject: [PATCH 05/59] drawer construction bug fix --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 1b5ede8cd..d70160e14 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -61,7 +61,7 @@ def _default_sim_config(self): ) ) - @property + @property def _default_sensor_configs(self): pose = sapien_utils.look_at(eye=[0.3, 0, 0.5], target=[-0.1, 0, 0.1]) return [ From 8ca873e9f0164af3e43148828021a394c57faeff Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Sat, 23 Nov 2024 14:04:05 -0800 Subject: [PATCH 06/59] drawer construction bug fix --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index d70160e14..ceda2d9bc 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -232,7 +232,7 @@ def _load_scene(self, options: dict): # Build and position the drawer builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[-0.2, -0.5, 0.3])) + builder.set_initial_pose(sapien.Pose(p=[-0.2, -0.5, 0])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From f71d2959d2dd581e14629ad88827984e73d5d02a Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Sat, 23 Nov 2024 14:22:34 -0800 Subject: [PATCH 07/59] mostly fixed drawer, need to verify dense reward --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index ceda2d9bc..0cfee9861 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -232,7 +232,7 @@ def _load_scene(self, options: dict): # Build and position the drawer builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[-0.2, -0.5, 0])) + builder.set_initial_pose(sapien.Pose(p=[0, -0.3, 0.151])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From 0560810814d87c73599563912725b97073a959a2 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 25 Nov 2024 02:49:57 +0530 Subject: [PATCH 08/59] main axis motion fix --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 127 ++++++++++-------- 1 file changed, 72 insertions(+), 55 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 0cfee9861..e81db3363 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -25,13 +25,13 @@ def __init__( ): self.robot_init_qpos_noise = robot_init_qpos_noise - # Outer cabinet dimensions (scaled down by 0.5) - self.outer_width = 0.15 # x (was 0.3) - self.outer_depth = 0.2 # y (was 0.4) - self.outer_height = 0.15 # z (was 0.3) - self.wall_thickness = 0.01 # (was 0.02) + # Outer cabinet dimensions + self.outer_width = 0.15 + self.outer_depth = 0.2 + self.outer_height = 0.15 + self.wall_thickness = 0.01 - # Inner drawer dimensions (slightly smaller to fit inside) + # Inner drawer dimensions self.inner_width = self.outer_width - 2.2 * self.wall_thickness self.inner_depth = self.outer_depth - 1.2 * self.wall_thickness self.inner_height = self.outer_height - 2.2 * self.wall_thickness @@ -40,10 +40,10 @@ def __init__( self.handle_width = 0.04 # Width of handle bar self.handle_height = 0.02 # Height of handle from drawer face self.handle_thickness = 0.01 # Thickness of handle material - self.handle_offset = 0.02 # Offset from drawer front (new parameter) + self.handle_offset = 0.02 # Offset from drawer side # Movement parameters (scaled proportionally) - self.max_pull_distance = self.outer_depth * 0.8 # Can pull out 80% of depth + self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width self.target_pos = -self.max_pull_distance * 0.8 super().__init__( @@ -78,7 +78,7 @@ def _default_sensor_configs(self): @property def _default_human_render_camera_configs(self): - pose = sapien_utils.look_at([0.6, 0.7, 0.6], [0.0, 0.0, 0.35]) + pose = sapien_utils.look_at([-0.7, -0.7, 0.6], [0.0, 0.0, 0.0]) return [ CameraConfig( "render_camera", @@ -99,7 +99,7 @@ def _load_scene(self, options: dict): builder = self.scene.create_articulation_builder() - # Create outer cabinet (fixed base) + # Create outer cabinet base = builder.create_link_builder() base.name = "cabinet" @@ -123,7 +123,7 @@ def _load_scene(self, options: dict): half_size=[self.outer_width/2, self.outer_depth/2, self.wall_thickness/2], ) - # Back wall + # Back wall base.add_box_collision( sapien.Pose([0, -self.outer_depth/2, 0]), half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2] @@ -133,16 +133,25 @@ def _load_scene(self, options: dict): half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2], ) - # Side walls - for x_sign in [-1, 1]: - base.add_box_collision( - sapien.Pose([x_sign * self.outer_width/2, 0, 0]), - half_size=[self.wall_thickness/2, self.outer_depth/2, self.outer_height/2] - ) - base.add_box_visual( - sapien.Pose([x_sign * self.outer_width/2, 0, 0]), - half_size=[self.wall_thickness/2, self.outer_depth/2, self.outer_height/2], - ) + # Front wall + base.add_box_collision( + sapien.Pose([0, self.outer_depth/2, 0]), + half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2] + ) + base.add_box_visual( + sapien.Pose([0, self.outer_depth/2, 0]), + half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2], + ) + + # Right wall + base.add_box_collision( + sapien.Pose([self.outer_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.outer_depth/2, self.outer_height/2] + ) + base.add_box_visual( + sapien.Pose([self.outer_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.outer_depth/2, self.outer_height/2], + ) # Create sliding drawer drawer = builder.create_link_builder(parent=base) @@ -158,7 +167,7 @@ def _load_scene(self, options: dict): half_size=[self.inner_width/2, self.inner_depth/2, self.wall_thickness/2], ) - # Drawer back + # Drawer back drawer.add_box_collision( sapien.Pose([0, -self.inner_depth/2, 0]), half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2] @@ -168,18 +177,7 @@ def _load_scene(self, options: dict): half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2], ) - # Drawer sides - for x_sign in [-1, 1]: - drawer.add_box_collision( - sapien.Pose([x_sign * self.inner_width/2, 0, 0]), - half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2] - ) - drawer.add_box_visual( - sapien.Pose([x_sign * self.inner_width/2, 0, 0]), - half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2], - ) - - # Drawer front + # Drawer front drawer.add_box_collision( sapien.Pose([0, self.inner_depth/2, 0]), half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2] @@ -189,50 +187,70 @@ def _load_scene(self, options: dict): half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2], ) - # Handle (horizontal bar) - Now positioned clearly in front of drawer + # Drawer right side + drawer.add_box_collision( + sapien.Pose([self.inner_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2] + ) + drawer.add_box_visual( + sapien.Pose([self.inner_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2], + ) + + # Drawer left side + drawer.add_box_collision( + sapien.Pose([-self.inner_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2] + ) + drawer.add_box_visual( + sapien.Pose([-self.inner_width/2, 0, 0]), + half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2], + ) + + # Handle material mat = sapien.render.RenderMaterial() mat.set_base_color([1, 0, 0, 1]) mat.metallic = 1.0 mat.roughness = 0.0 mat.specular = 1.0 - # Main handle bar + # Main handle bar drawer.add_box_collision( - sapien.Pose([0, self.inner_depth/2 + self.handle_offset, 0]), - half_size=[self.handle_width/2, self.handle_thickness/2, self.handle_thickness/2] + sapien.Pose([-self.inner_width/2 - self.handle_offset, 0, 0]), + half_size=[self.handle_thickness/2, self.handle_width/2, self.handle_thickness/2] ) drawer.add_box_visual( - sapien.Pose([0, self.inner_depth/2 + self.handle_offset, 0]), - half_size=[self.handle_width/2, self.handle_thickness/2, self.handle_thickness/2], + sapien.Pose([-self.inner_width/2 - self.handle_offset, 0, 0]), + half_size=[self.handle_thickness/2, self.handle_width/2, self.handle_thickness/2], material=mat ) - # Handle supports (vertical bars connecting to drawer front) - for x_sign in [-1, 1]: - support_x = x_sign * (self.handle_width/2 - self.handle_thickness/2) + # Handle supports + for y_sign in [-1, 1]: + support_y = y_sign * (self.handle_width/2 - self.handle_thickness/2) drawer.add_box_collision( - sapien.Pose([support_x, self.inner_depth/2 + self.handle_offset/2, 0]), - half_size=[self.handle_thickness/2, self.handle_offset/2, self.handle_thickness/2] + sapien.Pose([-self.inner_width/2 - self.handle_offset/2, support_y, 0]), + half_size=[self.handle_offset/2, self.handle_thickness/2, self.handle_thickness/2] ) drawer.add_box_visual( - sapien.Pose([support_x, self.inner_depth/2 + self.handle_offset/2, 0]), - half_size=[self.handle_thickness/2, self.handle_offset/2, self.handle_thickness/2], + sapien.Pose([-self.inner_width/2 - self.handle_offset/2, support_y, 0]), + half_size=[self.handle_offset/2, self.handle_thickness/2, self.handle_thickness/2], material=mat ) - # Configure drawer joint + # Configure drawer joint drawer.set_joint_properties( type="prismatic", limits=(-self.max_pull_distance, 0), - pose_in_parent=sapien.Pose([0, 0, 0]), + pose_in_parent=sapien.Pose(), pose_in_child=sapien.Pose(), friction=0.1, damping=10 ) - # Build and position the drawer + builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0, -0.3, 0.151])) + builder.set_initial_pose(sapien.Pose(p=[0, -0.3, 0.077])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -282,12 +300,11 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - # Get gripper position relative to handle + # Update handle position for reward calculation tcp_pose = self.agent.tcp.pose.raw_pose tcp_pos = tcp_pose[..., :3] - # Updated handle position calculation to match new handle position handle_pos = torch.tensor( - [-0.2, -0.5 + self.inner_depth/2 + self.handle_offset, 0.3], + [-0.2 - self.inner_width/2 - self.handle_offset, -0.3, 0.3], device=self.device ) reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) @@ -308,4 +325,4 @@ def compute_normalized_dense_reward( ): max_reward = 10.0 # Maximum possible reward (2 + 1 + 2 + 5) dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) - return dense_reward / max_reward \ No newline at end of file + return dense_reward / max_reward From cada3c21da44ef5b538876b836aea84070dbc8cb Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 25 Nov 2024 15:49:44 +0530 Subject: [PATCH 09/59] reward function experiment From 2f9fe20371da08cbd9d758820e8e659ad1324d93 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Mon, 25 Nov 2024 03:12:57 -0800 Subject: [PATCH 10/59] test run --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index e81db3363..86cdd0518 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -36,7 +36,7 @@ def __init__( self.inner_depth = self.outer_depth - 1.2 * self.wall_thickness self.inner_height = self.outer_height - 2.2 * self.wall_thickness - # Handle dimensions (scaled down) + # Handle dimensions self.handle_width = 0.04 # Width of handle bar self.handle_height = 0.02 # Height of handle from drawer face self.handle_thickness = 0.01 # Thickness of handle material @@ -78,7 +78,7 @@ def _default_sensor_configs(self): @property def _default_human_render_camera_configs(self): - pose = sapien_utils.look_at([-0.7, -0.7, 0.6], [0.0, 0.0, 0.0]) + pose = sapien_utils.look_at([-0.7, 0.7, 0.4], [0.0, 0.0, 0.0]) return [ CameraConfig( "render_camera", From 2dc2a3639c585baca13807a597a5ee0d6875a44f Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Mon, 25 Nov 2024 03:21:20 -0800 Subject: [PATCH 11/59] test run --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 86cdd0518..a90df5eb3 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -78,7 +78,7 @@ def _default_sensor_configs(self): @property def _default_human_render_camera_configs(self): - pose = sapien_utils.look_at([-0.7, 0.7, 0.4], [0.0, 0.0, 0.0]) + pose = sapien_utils.look_at([-0.8, 0.7, 0.7], [0.0, 0.0, 0.0]) return [ CameraConfig( "render_camera", From 7ac086998979d4e1dbd180132c6f6c74f66b7815 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Mon, 25 Nov 2024 03:48:34 -0800 Subject: [PATCH 12/59] test run --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index a90df5eb3..4601c803f 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -250,7 +250,7 @@ def _load_scene(self, options: dict): builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0, -0.3, 0.077])) + builder.set_initial_pose(sapien.Pose(p=[0, 0.3, 0.077])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From 5003d523549ff8cd268e03d129da37faf1cd0274 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Mon, 25 Nov 2024 13:17:22 -0800 Subject: [PATCH 13/59] fixed handle bugs --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 4601c803f..84d337bbe 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -37,10 +37,10 @@ def __init__( self.inner_height = self.outer_height - 2.2 * self.wall_thickness # Handle dimensions - self.handle_width = 0.04 # Width of handle bar - self.handle_height = 0.02 # Height of handle from drawer face - self.handle_thickness = 0.01 # Thickness of handle material - self.handle_offset = 0.02 # Offset from drawer side + self.handle_width = 0.08 # Width of handle bar + self.handle_height = 0.04 # Height of handle from drawer face + self.handle_thickness = 0.02 # Thickness of handle material + self.handle_offset = 0.03 # Offset from drawer side # Movement parameters (scaled proportionally) self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width @@ -244,13 +244,13 @@ def _load_scene(self, options: dict): limits=(-self.max_pull_distance, 0), pose_in_parent=sapien.Pose(), pose_in_child=sapien.Pose(), - friction=0.1, + friction=0.3, damping=10 ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0, 0.3, 0.077])) + builder.set_initial_pose(sapien.Pose(p=[0, 0.15, 0.077])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -313,7 +313,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): distance_reward = 2.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) reaching_reward = 1.0 * (1 - torch.tanh(10.0 * reach_dist)) is_grasping = self.agent.is_grasping(self.drawer_link, max_angle=30) - grasping_reward = 2.0 * is_grasping + grasping_reward = 4.0 * is_grasping success_mask = info.get("success", torch.zeros_like(is_grasping)) success_reward = torch.where(success_mask, 5.0, 0.0) @@ -323,6 +323,6 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 10.0 # Maximum possible reward (2 + 1 + 2 + 5) + max_reward = 12.0 # Maximum possible reward (2 + 1 + 4 + 5) dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward From 12d44fbe9d4edefa42b507549848eda2a64a87cc Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Tue, 26 Nov 2024 13:55:32 +0530 Subject: [PATCH 14/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 84d337bbe..a3a6425d5 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -304,7 +304,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): tcp_pose = self.agent.tcp.pose.raw_pose tcp_pos = tcp_pose[..., :3] handle_pos = torch.tensor( - [-0.2 - self.inner_width/2 - self.handle_offset, -0.3, 0.3], + [-0.2 - self.inner_width/2 - self.handle_offset, -0.15, 0.15], device=self.device ) reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) From 86a1f56b415c442b9a3d497ee6efe4de4ba22048 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Tue, 26 Nov 2024 03:53:23 -0800 Subject: [PATCH 15/59] added draft planner, needs env fix --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 28 +++-- .../panda/solutions/pull_drawer.py | 100 ++++++++++++++++++ 2 files changed, 113 insertions(+), 15 deletions(-) create mode 100644 mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index a3a6425d5..ba51a9295 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -32,8 +32,8 @@ def __init__( self.wall_thickness = 0.01 # Inner drawer dimensions - self.inner_width = self.outer_width - 2.2 * self.wall_thickness - self.inner_depth = self.outer_depth - 1.2 * self.wall_thickness + self.inner_width = self.outer_width - 1.2 * self.wall_thickness + self.inner_depth = self.outer_depth - 2.2 * self.wall_thickness self.inner_height = self.outer_height - 2.2 * self.wall_thickness # Handle dimensions @@ -101,7 +101,7 @@ def _load_scene(self, options: dict): # Create outer cabinet base = builder.create_link_builder() - base.name = "cabinet" + base.set_name('cabinet') # Bottom base base.add_box_collision( @@ -123,7 +123,7 @@ def _load_scene(self, options: dict): half_size=[self.outer_width/2, self.outer_depth/2, self.wall_thickness/2], ) - # Back wall + # Left wall base.add_box_collision( sapien.Pose([0, -self.outer_depth/2, 0]), half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2] @@ -133,7 +133,7 @@ def _load_scene(self, options: dict): half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2], ) - # Front wall + # Left wall base.add_box_collision( sapien.Pose([0, self.outer_depth/2, 0]), half_size=[self.outer_width/2, self.wall_thickness/2, self.outer_height/2] @@ -155,7 +155,7 @@ def _load_scene(self, options: dict): # Create sliding drawer drawer = builder.create_link_builder(parent=base) - drawer.name = "drawer" + drawer.set_name('drawer') # Drawer bottom drawer.add_box_collision( @@ -167,7 +167,7 @@ def _load_scene(self, options: dict): half_size=[self.inner_width/2, self.inner_depth/2, self.wall_thickness/2], ) - # Drawer back + # Drawer right drawer.add_box_collision( sapien.Pose([0, -self.inner_depth/2, 0]), half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2] @@ -177,7 +177,7 @@ def _load_scene(self, options: dict): half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2], ) - # Drawer front + # Drawer left drawer.add_box_collision( sapien.Pose([0, self.inner_depth/2, 0]), half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2] @@ -187,7 +187,7 @@ def _load_scene(self, options: dict): half_size=[self.inner_width/2, self.wall_thickness/2, self.inner_height/2], ) - # Drawer right side + # Drawer back drawer.add_box_collision( sapien.Pose([self.inner_width/2, 0, 0]), half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2] @@ -197,7 +197,7 @@ def _load_scene(self, options: dict): half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2], ) - # Drawer left side + # Drawer front drawer.add_box_collision( sapien.Pose([-self.inner_width/2, 0, 0]), half_size=[self.wall_thickness/2, self.inner_depth/2, self.inner_height/2] @@ -243,7 +243,7 @@ def _load_scene(self, options: dict): type="prismatic", limits=(-self.max_pull_distance, 0), pose_in_parent=sapien.Pose(), - pose_in_child=sapien.Pose(), + pose_in_child=sapien.Pose(), # try setting the link's position to be on the handle in child frame friction=0.3, damping=10 ) @@ -261,8 +261,6 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): self.scene_builder.initialize(env_idx) init_pos = torch.zeros((b, 1), device=self.device) - noise = torch.rand((b, 1), device=self.device) * 0.02 - init_pos -= noise self.drawer.set_qpos(init_pos) @@ -281,7 +279,7 @@ def _get_obs_extra(self, info: Dict): def evaluate(self): drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - drawer_pulled = pos_dist.squeeze(-1) < 0.01 + drawer_pulled = pos_dist.squeeze(-1) < 0.025 progress = 1 - torch.tanh(5.0 * pos_dist) @@ -304,7 +302,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): tcp_pose = self.agent.tcp.pose.raw_pose tcp_pos = tcp_pose[..., :3] handle_pos = torch.tensor( - [-0.2 - self.inner_width/2 - self.handle_offset, -0.15, 0.15], + [-self.inner_width/2, 0.15, 0.075], # hardcoded values, change later to make it offset from drawer qpos device=self.device ) reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) diff --git a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py new file mode 100644 index 000000000..93e1b3736 --- /dev/null +++ b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py @@ -0,0 +1,100 @@ +import gymnasium as gym +import numpy as np +import sapien +from mani_skill.examples.motionplanning.panda.motionplanner import PandaArmMotionPlanningSolver +from mani_skill.examples.motionplanning.panda.utils import compute_grasp_info_by_obb + +def main(): + env = gym.make( + "PullDrawer-v1", + obs_mode="none", + control_mode="pd_joint_pos", + render_mode="rgb_array", + reward_mode="sparse" + ) + + for seed in range(100): + res = solve(env, seed=seed, debug=False, vis=True) + print(res[-1]) + env.close() + +def solve(env, seed=None, debug=False, vis=False): + env.reset(seed=seed) + assert env.unwrapped.control_mode in ["pd_joint_pos", "pd_joint_pos_vel"] + + planner = PandaArmMotionPlanningSolver( + env, + debug=debug, + vis=vis, + base_pose=env.unwrapped.agent.robot.pose, + visualize_target_grasp_pose=vis, + print_env_info=False, + joint_vel_limits=0.5, + joint_acc_limits=0.5, + ) + + env = env.unwrapped + FINGER_LENGTH = 0.025 + + # Get handle position and compute grasp + handle_pos = [-env.inner_width/2 - env.handle_offset, 0, 0] + handle_pose = env.drawer_link.pose * sapien.Pose(p=handle_pos) + + # Compute grasp pose for handle + approaching = np.array([1, 0, 0]) # Approach from front + target_closing = env.agent.tcp.pose.to_transformation_matrix()[:3, 1] + + handle_obb = { + 'center': handle_pose.p, + 'extents': np.array([env.handle_thickness, env.handle_width, env.handle_height]) * 2, + 'rotation': handle_pose.to_transformation_matrix()[:3, :3] + } + + grasp_info = compute_grasp_info_by_obb( + handle_obb, + approaching=approaching, + target_closing=target_closing, + depth=FINGER_LENGTH + ) + + closing, center = grasp_info["closing"], grasp_info["center"] + grasp_pose = env.agent.build_grasp_pose(approaching, closing, center) + + # -------------------------------------------------------------------------- # + # Pre-grasp pose + # -------------------------------------------------------------------------- # + pre_grasp_pose = grasp_pose * sapien.Pose([0.05, 0, 0]) + res = planner.move_to_pose_with_screw(pre_grasp_pose) + if res == -1: return res + + # -------------------------------------------------------------------------- # + # Grasp handle + # -------------------------------------------------------------------------- # + res = planner.move_to_pose_with_screw(grasp_pose) + if res == -1: return res + planner.close_gripper() + + # -------------------------------------------------------------------------- # + # Pull drawer + # -------------------------------------------------------------------------- # + pull_distance = env.max_pull_distance * 0.8 + steps = 5 + + # Pull in small increments with refinement + for i in range(steps): + current_pull = (i + 1) * pull_distance / steps + pull_pose = grasp_pose * sapien.Pose([-current_pull, 0, 0]) + + # Move and refine position + res = planner.move_to_pose_with_screw(pull_pose, refine_steps=3) + if res == -1: return res + + # Check if drawer is actually moving + if not env.agent.is_grasping(env.drawer_link): + return res + + planner.close() + return res + +if __name__ == "__main__": + main() From df8c69aa7382c5bb25e4b67f0b056cefe520772f Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 27 Nov 2024 08:40:15 +0530 Subject: [PATCH 16/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 21 ++++++++++++------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index ba51a9295..09133b26f 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -250,7 +250,7 @@ def _load_scene(self, options: dict): builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0, 0.15, 0.077])) + builder.set_initial_pose(sapien.Pose(p=[0.05, 0.15, 0.077])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -295,16 +295,22 @@ def evaluate(self): } def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - drawer_qpos = self.drawer.get_qpos() + drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - # Update handle position for reward calculation - tcp_pose = self.agent.tcp.pose.raw_pose - tcp_pos = tcp_pose[..., :3] - handle_pos = torch.tensor( - [-self.inner_width/2, 0.15, 0.075], # hardcoded values, change later to make it offset from drawer qpos + # Create handle position with proper batch dimension + batch_size = drawer_qpos.shape[0] + handle_pos = torch.zeros((batch_size, 3), device=self.device) + handle_pos[:] = torch.tensor( + [-self.inner_width/2 - self.handle_offset, 0.15, -0.077], device=self.device ) + + # Update x-position based on drawer movement + handle_pos[:, 0] = handle_pos[:, 0] + drawer_qpos.squeeze(-1) + + tcp_pose = self.agent.tcp.pose.raw_pose + tcp_pos = tcp_pose[..., :3] reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) # Compute rewards @@ -312,7 +318,6 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): reaching_reward = 1.0 * (1 - torch.tanh(10.0 * reach_dist)) is_grasping = self.agent.is_grasping(self.drawer_link, max_angle=30) grasping_reward = 4.0 * is_grasping - success_mask = info.get("success", torch.zeros_like(is_grasping)) success_reward = torch.where(success_mask, 5.0, 0.0) From 31bfe1e44ec769bff502abfb2aa02ccf9691da03 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 27 Nov 2024 09:13:16 +0530 Subject: [PATCH 17/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 09133b26f..afd26f126 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -250,7 +250,7 @@ def _load_scene(self, options: dict): builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.05, 0.15, 0.077])) + builder.set_initial_pose(sapien.Pose(p=[0.05, 0.15, 0])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From 646e2d60b110d6b28f401d1420880304fb76b9f6 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 27 Nov 2024 09:34:45 +0530 Subject: [PATCH 18/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index afd26f126..cba459518 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -250,7 +250,7 @@ def _load_scene(self, options: dict): builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.05, 0.15, 0])) + builder.set_initial_pose(sapien.Pose(p=[0.05, 0.15, 0.077])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -302,7 +302,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): batch_size = drawer_qpos.shape[0] handle_pos = torch.zeros((batch_size, 3), device=self.device) handle_pos[:] = torch.tensor( - [-self.inner_width/2 - self.handle_offset, 0.15, -0.077], + [-self.inner_width/2 - self.handle_offset, 0.15, 0], device=self.device ) From 831af6fa5797e90961b3212cc61e38a54fe1977a Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 27 Nov 2024 10:18:06 +0530 Subject: [PATCH 19/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index cba459518..23d1b550d 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -243,7 +243,7 @@ def _load_scene(self, options: dict): type="prismatic", limits=(-self.max_pull_distance, 0), pose_in_parent=sapien.Pose(), - pose_in_child=sapien.Pose(), # try setting the link's position to be on the handle in child frame + pose_in_child=sapien.Pose(), friction=0.3, damping=10 ) @@ -302,7 +302,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): batch_size = drawer_qpos.shape[0] handle_pos = torch.zeros((batch_size, 3), device=self.device) handle_pos[:] = torch.tensor( - [-self.inner_width/2 - self.handle_offset, 0.15, 0], + [-self.inner_width/2 - self.handle_offset, 0.15, -0.07], device=self.device ) From 0fd6082ac0e3a8f22603cbec8e6b590e54d86a5c Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 27 Nov 2024 11:01:24 +0530 Subject: [PATCH 20/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 23 ++++++++----------- 1 file changed, 9 insertions(+), 14 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 23d1b550d..ba51a9295 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -243,14 +243,14 @@ def _load_scene(self, options: dict): type="prismatic", limits=(-self.max_pull_distance, 0), pose_in_parent=sapien.Pose(), - pose_in_child=sapien.Pose(), + pose_in_child=sapien.Pose(), # try setting the link's position to be on the handle in child frame friction=0.3, damping=10 ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.05, 0.15, 0.077])) + builder.set_initial_pose(sapien.Pose(p=[0, 0.15, 0.077])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -295,22 +295,16 @@ def evaluate(self): } def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - drawer_qpos = self.drawer.get_qpos() + drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - # Create handle position with proper batch dimension - batch_size = drawer_qpos.shape[0] - handle_pos = torch.zeros((batch_size, 3), device=self.device) - handle_pos[:] = torch.tensor( - [-self.inner_width/2 - self.handle_offset, 0.15, -0.07], - device=self.device - ) - - # Update x-position based on drawer movement - handle_pos[:, 0] = handle_pos[:, 0] + drawer_qpos.squeeze(-1) - + # Update handle position for reward calculation tcp_pose = self.agent.tcp.pose.raw_pose tcp_pos = tcp_pose[..., :3] + handle_pos = torch.tensor( + [-self.inner_width/2, 0.15, 0.075], # hardcoded values, change later to make it offset from drawer qpos + device=self.device + ) reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) # Compute rewards @@ -318,6 +312,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): reaching_reward = 1.0 * (1 - torch.tanh(10.0 * reach_dist)) is_grasping = self.agent.is_grasping(self.drawer_link, max_angle=30) grasping_reward = 4.0 * is_grasping + success_mask = info.get("success", torch.zeros_like(is_grasping)) success_reward = torch.where(success_mask, 5.0, 0.0) From b621c059890399e0660c981fa68481362ee69bf6 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Wed, 27 Nov 2024 02:00:03 -0800 Subject: [PATCH 21/59] modified offset for grasp --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- mani_skill/examples/motionplanning/panda/run.py | 5 +++-- .../examples/motionplanning/panda/solutions/__init__.py | 3 ++- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index ba51a9295..c28ef9bb5 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -279,7 +279,7 @@ def _get_obs_extra(self, info: Dict): def evaluate(self): drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - drawer_pulled = pos_dist.squeeze(-1) < 0.025 + drawer_pulled = pos_dist.squeeze(-1) < 0.03 progress = 1 - torch.tanh(5.0 * pos_dist) @@ -302,7 +302,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): tcp_pose = self.agent.tcp.pose.raw_pose tcp_pos = tcp_pose[..., :3] handle_pos = torch.tensor( - [-self.inner_width/2, 0.15, 0.075], # hardcoded values, change later to make it offset from drawer qpos + [-self.inner_width/2, 0, 0], # hardcoded values, change later to make it offset from drawer qpos device=self.device ) reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) diff --git a/mani_skill/examples/motionplanning/panda/run.py b/mani_skill/examples/motionplanning/panda/run.py index e4033a7d2..9b6f2f377 100644 --- a/mani_skill/examples/motionplanning/panda/run.py +++ b/mani_skill/examples/motionplanning/panda/run.py @@ -9,7 +9,7 @@ import os.path as osp from mani_skill.utils.wrappers.record import RecordEpisode from mani_skill.trajectory.merge_trajectory import merge_trajectories -from mani_skill.examples.motionplanning.panda.solutions import solvePushCube, solvePickCube, solveStackCube, solvePegInsertionSide, solvePlugCharger, solvePullCubeTool, solveLiftPegUpright, solvePullCube +from mani_skill.examples.motionplanning.panda.solutions import solvePushCube, solvePickCube, solveStackCube, solvePegInsertionSide, solvePlugCharger, solvePullCubeTool, solveLiftPegUpright, solvePullCube, solvePullDrawer MP_SOLUTIONS = { "PickCube-v1": solvePickCube, "StackCube-v1": solveStackCube, @@ -18,7 +18,8 @@ "PushCube-v1": solvePushCube, "PullCubeTool-v1": solvePullCubeTool, "LiftPegUpright-v1": solveLiftPegUpright, - "PullCube-v1": solvePullCube + "PullCube-v1": solvePullCube, + "PullDrawer-v1": solvePullDrawer } def parse_args(args=None): diff --git a/mani_skill/examples/motionplanning/panda/solutions/__init__.py b/mani_skill/examples/motionplanning/panda/solutions/__init__.py index f1b2510d3..951dd4cef 100644 --- a/mani_skill/examples/motionplanning/panda/solutions/__init__.py +++ b/mani_skill/examples/motionplanning/panda/solutions/__init__.py @@ -5,4 +5,5 @@ from .push_cube import solve as solvePushCube from .pull_cube_tool import solve as solvePullCubeTool from .lift_peg_upright import solve as solveLiftPegUpright -from .pull_cube import solve as solvePullCube \ No newline at end of file +from .pull_cube import solve as solvePullCube +from .pull_drawer import solve as solvePullDrawer \ No newline at end of file From 0774d19bc14dbdd9d138e196b467ffd38e675680 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Wed, 27 Nov 2024 02:26:28 -0800 Subject: [PATCH 22/59] modified offset for grasp --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 23 ++++++++++--------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index c28ef9bb5..30d8b871c 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -302,25 +302,26 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): tcp_pose = self.agent.tcp.pose.raw_pose tcp_pos = tcp_pose[..., :3] handle_pos = torch.tensor( - [-self.inner_width/2, 0, 0], # hardcoded values, change later to make it offset from drawer qpos + [-self.inner_width/2 - self.handle_offset, 0, 0], # Adjust to actual handle position device=self.device ) reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) - # Compute rewards - distance_reward = 2.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) - reaching_reward = 1.0 * (1 - torch.tanh(10.0 * reach_dist)) - is_grasping = self.agent.is_grasping(self.drawer_link, max_angle=30) - grasping_reward = 4.0 * is_grasping + # 1. Reaching reward: Incentivize moving towards the handle + reaching_reward = 2.0 * (1 - torch.tanh(10.0 * reach_dist)) - success_mask = info.get("success", torch.zeros_like(is_grasping)) - success_reward = torch.where(success_mask, 5.0, 0.0) + # 2. Pulling reward: Incentivize pulling the drawer + pulling_reward = 3.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) - return distance_reward + reaching_reward + grasping_reward + success_reward + # 3. Completion reward: Reward for successfully pulling the drawer + success_mask = info.get("success", torch.zeros_like(reaching_reward, dtype=torch.bool)) + completion_reward = 5.0 * success_mask + + return reaching_reward + pulling_reward + completion_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 12.0 # Maximum possible reward (2 + 1 + 4 + 5) + max_reward = 10.0 # Maximum possible reward (2 + 3 + 5) dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) - return dense_reward / max_reward + return dense_reward / max_reward \ No newline at end of file From d521c79431da648c4e3b89822260b9bfd263596c Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Thu, 28 Nov 2024 10:57:21 -0800 Subject: [PATCH 23/59] test sphere for goal --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 30d8b871c..3ca6da73d 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -9,6 +9,7 @@ from mani_skill.utils.scene_builder.table import TableSceneBuilder from mani_skill.utils.structs.types import SimConfig, GPUMemoryConfig from mani_skill.sensors.camera import CameraConfig +from mani_skill.utils.building import actors @register_env("PullDrawer-v1", max_episode_steps=200) class PullDrawerEnv(BaseEnv): @@ -32,7 +33,7 @@ def __init__( self.wall_thickness = 0.01 # Inner drawer dimensions - self.inner_width = self.outer_width - 1.2 * self.wall_thickness + self.inner_width = self.outer_width - 3.5 * self.wall_thickness self.inner_depth = self.outer_depth - 2.2 * self.wall_thickness self.inner_height = self.outer_height - 2.2 * self.wall_thickness @@ -40,7 +41,7 @@ def __init__( self.handle_width = 0.08 # Width of handle bar self.handle_height = 0.04 # Height of handle from drawer face self.handle_thickness = 0.02 # Thickness of handle material - self.handle_offset = 0.03 # Offset from drawer side + self.handle_offset = 0.05 # Offset from drawer side # Movement parameters (scaled proportionally) self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width @@ -244,10 +245,20 @@ def _load_scene(self, options: dict): limits=(-self.max_pull_distance, 0), pose_in_parent=sapien.Pose(), pose_in_child=sapien.Pose(), # try setting the link's position to be on the handle in child frame - friction=0.3, + friction=0.4, damping=10 ) + self.goal_site = actors.build_sphere( + self.scene, + radius=0.01, + color=[0, 1, 0, 1], + name="goal_site", + body_type="kinematic", + add_collision=False, + initial_pose=sapien.Pose(), + ) + builder.set_scene_idxs(scene_idxs=range(self.num_envs)) builder.set_initial_pose(sapien.Pose(p=[0, 0.15, 0.077])) From 8ec7401e27f9349f19c2e3c55d1dd88185956e31 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Fri, 29 Nov 2024 22:28:51 -0800 Subject: [PATCH 24/59] fixed handle pose handling issue --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 42 +++++++++++-------- 1 file changed, 24 insertions(+), 18 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 3ca6da73d..b92b7f93f 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -244,7 +244,7 @@ def _load_scene(self, options: dict): type="prismatic", limits=(-self.max_pull_distance, 0), pose_in_parent=sapien.Pose(), - pose_in_child=sapien.Pose(), # try setting the link's position to be on the handle in child frame + pose_in_child=sapien.Pose(), friction=0.4, damping=10 ) @@ -260,9 +260,11 @@ def _load_scene(self, options: dict): ) + + builder.set_scene_idxs(scene_idxs=range(self.num_envs)) builder.set_initial_pose(sapien.Pose(p=[0, 0.15, 0.077])) - + self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -305,34 +307,38 @@ def evaluate(self): ), } + + def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): + drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) + + self.scene.px.gpu_update_articulation_kinematics() + self.scene._gpu_fetch_all() - # Update handle position for reward calculation tcp_pose = self.agent.tcp.pose.raw_pose - tcp_pos = tcp_pose[..., :3] - handle_pos = torch.tensor( - [-self.inner_width/2 - self.handle_offset, 0, 0], # Adjust to actual handle position - device=self.device - ) - reach_dist = torch.norm(tcp_pos - handle_pos, dim=-1) - # 1. Reaching reward: Incentivize moving towards the handle - reaching_reward = 2.0 * (1 - torch.tanh(10.0 * reach_dist)) - - # 2. Pulling reward: Incentivize pulling the drawer - pulling_reward = 3.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) + tcp_pos = tcp_pose[..., :3] + drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose + handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) + + offset_x, offset_y, offset_z = -self.inner_width/2 - self.handle_offset, 0, 0 + handle_pose = drawer_link_pose[:, :3] + torch.tensor([offset_x, offset_y, offset_z], device=drawer_link_pose.device).unsqueeze(0) + + reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) - # 3. Completion reward: Reward for successfully pulling the drawer + reaching_reward = 4.0 * (1 - torch.tanh(10.0 * reach_dist)) + pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) success_mask = info.get("success", torch.zeros_like(reaching_reward, dtype=torch.bool)) - completion_reward = 5.0 * success_mask - + completion_reward = 4.0 * success_mask + return reaching_reward + pulling_reward + completion_reward + def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 10.0 # Maximum possible reward (2 + 3 + 5) + max_reward = 12.0 # Maximum possible reward (2 + 3 + 5) dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward \ No newline at end of file From 3c518a738358247268562213259c888cb55e1f27 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Sat, 30 Nov 2024 11:56:49 -0800 Subject: [PATCH 25/59] tests for run --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index b92b7f93f..d5fd8c460 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -30,7 +30,7 @@ def __init__( self.outer_width = 0.15 self.outer_depth = 0.2 self.outer_height = 0.15 - self.wall_thickness = 0.01 + self.wall_thickness = 0.025 # Inner drawer dimensions self.inner_width = self.outer_width - 3.5 * self.wall_thickness @@ -251,12 +251,12 @@ def _load_scene(self, options: dict): self.goal_site = actors.build_sphere( self.scene, - radius=0.01, + radius=0.02, color=[0, 1, 0, 1], name="goal_site", body_type="kinematic", add_collision=False, - initial_pose=sapien.Pose(), + initial_pose=sapien.Pose(p = [-0.1075, 0.15, 0.077]), ) From d5a39c732ab23cb40e53660a51b39fde957d1aa8 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 07:52:43 +0530 Subject: [PATCH 26/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 48 +++++++++++++------ 1 file changed, 34 insertions(+), 14 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index d5fd8c460..e7441d9e0 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -30,7 +30,7 @@ def __init__( self.outer_width = 0.15 self.outer_depth = 0.2 self.outer_height = 0.15 - self.wall_thickness = 0.025 + self.wall_thickness = 0.01 # Inner drawer dimensions self.inner_width = self.outer_width - 3.5 * self.wall_thickness @@ -43,7 +43,7 @@ def __init__( self.handle_thickness = 0.02 # Thickness of handle material self.handle_offset = 0.05 # Offset from drawer side - # Movement parameters (scaled proportionally) + # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width self.target_pos = -self.max_pull_distance * 0.8 @@ -259,9 +259,6 @@ def _load_scene(self, options: dict): initial_pose=sapien.Pose(p = [-0.1075, 0.15, 0.077]), ) - - - builder.set_scene_idxs(scene_idxs=range(self.num_envs)) builder.set_initial_pose(sapien.Pose(p=[0, 0.15, 0.077])) @@ -308,30 +305,53 @@ def evaluate(self): } - def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - + drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) + self.scene._gpu_apply_all() self.scene.px.gpu_update_articulation_kinematics() self.scene._gpu_fetch_all() tcp_pose = self.agent.tcp.pose.raw_pose - tcp_pos = tcp_pose[..., :3] drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose + + # Calculate handle pose more precisely handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) + handle_pose = drawer_link_pose[:, :3] + handle_offset + - offset_x, offset_y, offset_z = -self.inner_width/2 - self.handle_offset, 0, 0 - handle_pose = drawer_link_pose[:, :3] + torch.tensor([offset_x, offset_y, offset_z], device=drawer_link_pose.device).unsqueeze(0) - + # Compute distance to handle reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) - reaching_reward = 4.0 * (1 - torch.tanh(10.0 * reach_dist)) - pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) + # New condition: Check if TCP is close to handle + handle_contact_threshold = 0.015 # adjust based on your specific setup + is_handling_handle = reach_dist < handle_contact_threshold + + # Modify rewards to be conditional on handle interaction + reaching_reward = torch.where( + is_handling_handle, + 4.0 * (1 - torch.tanh(10.0 * reach_dist)), + torch.zeros_like(reach_dist) + ) + + print("reach reward", reaching_reward) + + + pulling_reward = torch.where( + is_handling_handle, + 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), + torch.zeros_like(pos_dist) + ) + + print("pulling reward", pulling_reward) + success_mask = info.get("success", torch.zeros_like(reaching_reward, dtype=torch.bool)) completion_reward = 4.0 * success_mask + + print("completion reward", completion_reward) return reaching_reward + pulling_reward + completion_reward @@ -341,4 +361,4 @@ def compute_normalized_dense_reward( ): max_reward = 12.0 # Maximum possible reward (2 + 3 + 5) dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) - return dense_reward / max_reward \ No newline at end of file + return dense_reward / max_reward From 3a231af363c5543d2505c9d73acfd7ac065990e5 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 08:54:03 +0530 Subject: [PATCH 27/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index e7441d9e0..f6cd4c6be 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -30,7 +30,7 @@ def __init__( self.outer_width = 0.15 self.outer_depth = 0.2 self.outer_height = 0.15 - self.wall_thickness = 0.01 + self.wall_thickness = 0.02 # Inner drawer dimensions self.inner_width = self.outer_width - 3.5 * self.wall_thickness @@ -38,10 +38,10 @@ def __init__( self.inner_height = self.outer_height - 2.2 * self.wall_thickness # Handle dimensions - self.handle_width = 0.08 # Width of handle bar + self.handle_width = 0.12 # Width of handle bar self.handle_height = 0.04 # Height of handle from drawer face self.handle_thickness = 0.02 # Thickness of handle material - self.handle_offset = 0.05 # Offset from drawer side + self.handle_offset = 0.06 # Offset from drawer side # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width From 4952aef4c8919d699561ed0dbcd129f14c267249 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 09:39:57 +0530 Subject: [PATCH 28/59] expt new reward --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 76 +++++++++++-------- 1 file changed, 43 insertions(+), 33 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index f6cd4c6be..f61ba0974 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -306,59 +306,69 @@ def evaluate(self): def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - + drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) + + pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) + + success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) + completion_reward = 4.0 * success_mask + + return pulling_reward + completion_reward + + # drawer_qpos = self.drawer.get_qpos() + # pos_dist = torch.abs(self.target_pos - drawer_qpos) - self.scene._gpu_apply_all() - self.scene.px.gpu_update_articulation_kinematics() - self.scene._gpu_fetch_all() + # self.scene._gpu_apply_all() + # self.scene.px.gpu_update_articulation_kinematics() + # self.scene._gpu_fetch_all() - tcp_pose = self.agent.tcp.pose.raw_pose - tcp_pos = tcp_pose[..., :3] - drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose + # tcp_pose = self.agent.tcp.pose.raw_pose + # tcp_pos = tcp_pose[..., :3] + # drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose - # Calculate handle pose more precisely - handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) - handle_pose = drawer_link_pose[:, :3] + handle_offset + # # Calculate handle pose more precisely + # handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) + # handle_pose = drawer_link_pose[:, :3] + handle_offset - # Compute distance to handle - reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) + # # Compute distance to handle + # reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) - # New condition: Check if TCP is close to handle - handle_contact_threshold = 0.015 # adjust based on your specific setup - is_handling_handle = reach_dist < handle_contact_threshold + # # New condition: Check if TCP is close to handle + # handle_contact_threshold = 0.015 # adjust based on your specific setup + # is_handling_handle = reach_dist < handle_contact_threshold - # Modify rewards to be conditional on handle interaction - reaching_reward = torch.where( - is_handling_handle, - 4.0 * (1 - torch.tanh(10.0 * reach_dist)), - torch.zeros_like(reach_dist) - ) + # # Modify rewards to be conditional on handle interaction + # reaching_reward = torch.where( + # is_handling_handle, + # 4.0 * (1 - torch.tanh(10.0 * reach_dist)), + # torch.zeros_like(reach_dist) + # ) - print("reach reward", reaching_reward) + # # print("reach reward", reaching_reward) - pulling_reward = torch.where( - is_handling_handle, - 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), - torch.zeros_like(pos_dist) - ) + # pulling_reward = torch.where( + # is_handling_handle, + # 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), + # torch.zeros_like(pos_dist) + # ) - print("pulling reward", pulling_reward) + # # print("pulling reward", pulling_reward) - success_mask = info.get("success", torch.zeros_like(reaching_reward, dtype=torch.bool)) - completion_reward = 4.0 * success_mask + # success_mask = info.get("success", torch.zeros_like(reaching_reward, dtype=torch.bool)) + # completion_reward = 4.0 * success_mask - print("completion reward", completion_reward) + # # print("completion reward", completion_reward) - return reaching_reward + pulling_reward + completion_reward + # return reaching_reward + pulling_reward + completion_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 12.0 # Maximum possible reward (2 + 3 + 5) + max_reward = 8.0 # Maximum possible reward dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward From 959eb5be4c00ae1da8922c5bcf193de64e1064e9 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 10:19:17 +0530 Subject: [PATCH 29/59] modified reward expt --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index f61ba0974..815fc5c27 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -30,10 +30,10 @@ def __init__( self.outer_width = 0.15 self.outer_depth = 0.2 self.outer_height = 0.15 - self.wall_thickness = 0.02 + self.wall_thickness = 0.03 # Inner drawer dimensions - self.inner_width = self.outer_width - 3.5 * self.wall_thickness + self.inner_width = self.outer_width - 3 * self.wall_thickness self.inner_depth = self.outer_depth - 2.2 * self.wall_thickness self.inner_height = self.outer_height - 2.2 * self.wall_thickness @@ -256,11 +256,11 @@ def _load_scene(self, options: dict): name="goal_site", body_type="kinematic", add_collision=False, - initial_pose=sapien.Pose(p = [-0.1075, 0.15, 0.077]), + initial_pose=sapien.Pose(p = [-0.0075, 0.15, 0.077]), ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0, 0.15, 0.077])) + builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.077])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From 792704e7f46e7922ec665efff52ffe492f0f4e43 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 10:32:20 +0530 Subject: [PATCH 30/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 815fc5c27..a59f12464 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -27,10 +27,10 @@ def __init__( self.robot_init_qpos_noise = robot_init_qpos_noise # Outer cabinet dimensions - self.outer_width = 0.15 - self.outer_depth = 0.2 - self.outer_height = 0.15 - self.wall_thickness = 0.03 + self.outer_width = 0.225 + self.outer_depth = 0.3 + self.outer_height = 0.225 + self.wall_thickness = 0.04 # Inner drawer dimensions self.inner_width = self.outer_width - 3 * self.wall_thickness @@ -38,10 +38,10 @@ def __init__( self.inner_height = self.outer_height - 2.2 * self.wall_thickness # Handle dimensions - self.handle_width = 0.12 # Width of handle bar - self.handle_height = 0.04 # Height of handle from drawer face - self.handle_thickness = 0.02 # Thickness of handle material - self.handle_offset = 0.06 # Offset from drawer side + self.handle_width = 0.18 # Width of handle bar + self.handle_height = 0.06 # Height of handle from drawer face + self.handle_thickness = 0.03 # Thickness of handle material + self.handle_offset = 0.09 # Offset from drawer side # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width @@ -256,7 +256,7 @@ def _load_scene(self, options: dict): name="goal_site", body_type="kinematic", add_collision=False, - initial_pose=sapien.Pose(p = [-0.0075, 0.15, 0.077]), + initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.077]), ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) From d769d7ecdc7d5184025f096fee1202d448cfd471 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 10:36:24 +0530 Subject: [PATCH 31/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index a59f12464..d7cacbfef 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -256,11 +256,11 @@ def _load_scene(self, options: dict): name="goal_site", body_type="kinematic", add_collision=False, - initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.077]), + initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.113]), ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.077])) + builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.113])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From 98c5f9f553172067e4802b61775c9aa46ce2f918 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 11:08:45 +0530 Subject: [PATCH 32/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index d7cacbfef..07acd6140 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -256,11 +256,11 @@ def _load_scene(self, options: dict): name="goal_site", body_type="kinematic", add_collision=False, - initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.113]), + initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.12]), ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.113])) + builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.12])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From 7af12ab49572f10efa987d54e5a29b90561226ee Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 12:35:58 +0530 Subject: [PATCH 33/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 07acd6140..67a53fbcc 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -40,8 +40,8 @@ def __init__( # Handle dimensions self.handle_width = 0.18 # Width of handle bar self.handle_height = 0.06 # Height of handle from drawer face - self.handle_thickness = 0.03 # Thickness of handle material - self.handle_offset = 0.09 # Offset from drawer side + self.handle_thickness = 0.015 # Thickness of handle material + self.handle_offset = 0.11 # Offset from drawer side # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width From 4865a9ce5164027debee2a7942908d1fcec3db0d Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Mon, 2 Dec 2024 12:37:42 +0530 Subject: [PATCH 34/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 67a53fbcc..3ba633e67 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -260,7 +260,7 @@ def _load_scene(self, options: dict): ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.12])) + builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.153])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From f7b9096b15583bf9760a55d82e2fc107e2781711 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Tue, 3 Dec 2024 08:36:14 +0530 Subject: [PATCH 35/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 28 +++++++++---------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 3ba633e67..dd3c7b354 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -30,12 +30,12 @@ def __init__( self.outer_width = 0.225 self.outer_depth = 0.3 self.outer_height = 0.225 - self.wall_thickness = 0.04 + self.wall_thickness = 0.03 # Inner drawer dimensions - self.inner_width = self.outer_width - 3 * self.wall_thickness - self.inner_depth = self.outer_depth - 2.2 * self.wall_thickness - self.inner_height = self.outer_height - 2.2 * self.wall_thickness + self.inner_width = self.outer_width - 2 * self.wall_thickness + self.inner_depth = self.outer_depth - 2.1 * self.wall_thickness + self.inner_height = self.outer_height - 2.1 * self.wall_thickness # Handle dimensions self.handle_width = 0.18 # Width of handle bar @@ -249,18 +249,18 @@ def _load_scene(self, options: dict): damping=10 ) - self.goal_site = actors.build_sphere( - self.scene, - radius=0.02, - color=[0, 1, 0, 1], - name="goal_site", - body_type="kinematic", - add_collision=False, - initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.12]), - ) + # self.goal_site = actors.build_sphere( + # self.scene, + # radius=0.02, + # color=[0, 1, 0, 1], + # name="goal_site", + # body_type="kinematic", + # add_collision=False, + # initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.13]), + # ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.153])) + builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.12])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From d01e766aeae996746f149428802369a5e7a7cdc9 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 4 Dec 2024 05:30:09 +0530 Subject: [PATCH 36/59] reward forcing expt --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 107 +++++++++--------- 1 file changed, 55 insertions(+), 52 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index dd3c7b354..4b1b8a493 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -306,69 +306,72 @@ def evaluate(self): def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - - drawer_qpos = self.drawer.get_qpos() - pos_dist = torch.abs(self.target_pos - drawer_qpos) - - pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) - - success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) - completion_reward = 4.0 * success_mask - - return pulling_reward + completion_reward + # Update scene kinematics to ensure latest poses + self.scene._gpu_apply_all() + self.scene.px.gpu_update_articulation_kinematics() + self.scene._gpu_fetch_all() - # drawer_qpos = self.drawer.get_qpos() - # pos_dist = torch.abs(self.target_pos - drawer_qpos) - - # self.scene._gpu_apply_all() - # self.scene.px.gpu_update_articulation_kinematics() - # self.scene._gpu_fetch_all() + # Get TCP pose and drawer link pose + tcp_pose = self.agent.tcp.pose.raw_pose + tcp_pos = tcp_pose[..., :3] + drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose - # tcp_pose = self.agent.tcp.pose.raw_pose - # tcp_pos = tcp_pose[..., :3] - # drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose + # Calculate handle pose + handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) + handle_pose = drawer_link_pose[:, :3] + handle_offset - # # Calculate handle pose more precisely - # handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) - # handle_pose = drawer_link_pose[:, :3] + handle_offset + # Stage 1: Alignment Reward + # Compute alignment in XZ plane (ensure gripper is roughly parallel to handle's movement axis) + handle_dir = torch.tensor([0, 1, 0], device=tcp_pose.device) # handle moves along Y axis + tcp_forward = tcp_pose[..., 3:6] # gripper's forward direction + alignment_score = torch.abs(torch.nn.functional.cosine_similarity(tcp_forward, handle_dir, dim=-1)) + alignment_reward = 2.0 * (1 - alignment_score) - - # # Compute distance to handle - # reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) + # Stage 2: Approach Reward + # Compute distance to handle + reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) + approach_reward = 2.0 * (1 - torch.tanh(5.0 * reach_dist)) - # # New condition: Check if TCP is close to handle - # handle_contact_threshold = 0.015 # adjust based on your specific setup - # is_handling_handle = reach_dist < handle_contact_threshold - - # # Modify rewards to be conditional on handle interaction - # reaching_reward = torch.where( - # is_handling_handle, - # 4.0 * (1 - torch.tanh(10.0 * reach_dist)), - # torch.zeros_like(reach_dist) - # ) - - # # print("reach reward", reaching_reward) + # Stage 3: Grasping Reward + # Define proximity and orientation conditions for proper grasping + grasp_dist_threshold = 0.02 # Close to handle + grasp_angle_threshold = 0.1 # Roughly aligned + is_near_handle = reach_dist < grasp_dist_threshold + # Compute grasping reward that considers both distance and alignment + grasping_reward = torch.where( + is_near_handle, + 2.0 * (1 - alignment_score), # Reward for being close and aligned + torch.zeros_like(reach_dist) + ) - # pulling_reward = torch.where( - # is_handling_handle, - # 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), - # torch.zeros_like(pos_dist) - # ) - - # # print("pulling reward", pulling_reward) + # Stage 4: Pulling Reward + drawer_qpos = self.drawer.get_qpos() + pos_dist = torch.abs(self.target_pos - drawer_qpos) + pulling_reward = torch.where( + is_near_handle, # Only reward pulling if properly grasping + 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), + torch.zeros_like(pos_dist) + ) - # success_mask = info.get("success", torch.zeros_like(reaching_reward, dtype=torch.bool)) - # completion_reward = 4.0 * success_mask - - # # print("completion reward", completion_reward) - - # return reaching_reward + pulling_reward + completion_reward - + # Final Stage: Completion Reward + success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) + completion_reward = 4.0 * success_mask + + # Combine rewards + total_reward = ( + alignment_reward + + approach_reward + + grasping_reward + + pulling_reward + + completion_reward + ) + + return total_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 8.0 # Maximum possible reward + max_reward = 7.5 # Sum of max individual reward components dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward From 7814612a53e2192841e8faf3983588729b96ddc2 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 4 Dec 2024 23:23:24 +0530 Subject: [PATCH 37/59] Update pull_drawer.py --- .../panda/solutions/pull_drawer.py | 125 ++++++++++-------- 1 file changed, 69 insertions(+), 56 deletions(-) diff --git a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py index 93e1b3736..97617c0a1 100644 --- a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py +++ b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py @@ -1,26 +1,35 @@ import gymnasium as gym import numpy as np import sapien +import torch + +from mani_skill.envs.tasks import PullDrawerEnv from mani_skill.examples.motionplanning.panda.motionplanner import PandaArmMotionPlanningSolver -from mani_skill.examples.motionplanning.panda.utils import compute_grasp_info_by_obb +from mani_skill.utils.structs import Pose + def main(): - env = gym.make( + env: PullDrawerEnv = gym.make( "PullDrawer-v1", - obs_mode="none", + obs_mode="none", control_mode="pd_joint_pos", render_mode="rgb_array", - reward_mode="sparse" + reward_mode="dense", ) for seed in range(100): res = solve(env, seed=seed, debug=False, vis=True) - print(res[-1]) + print(f"Seed {seed} result: {res}") + env.close() -def solve(env, seed=None, debug=False, vis=False): + +def solve(env: PullDrawerEnv, seed=None, debug=False, vis=False): env.reset(seed=seed) - assert env.unwrapped.control_mode in ["pd_joint_pos", "pd_joint_pos_vel"] + assert env.unwrapped.control_mode in [ + "pd_joint_pos", + "pd_joint_pos_vel", + ], env.unwrapped.control_mode planner = PandaArmMotionPlanningSolver( env, @@ -29,72 +38,76 @@ def solve(env, seed=None, debug=False, vis=False): base_pose=env.unwrapped.agent.robot.pose, visualize_target_grasp_pose=vis, print_env_info=False, - joint_vel_limits=0.5, - joint_acc_limits=0.5, + joint_vel_limits=0.75, + joint_acc_limits=0.75, ) env = env.unwrapped - FINGER_LENGTH = 0.025 - - # Get handle position and compute grasp - handle_pos = [-env.inner_width/2 - env.handle_offset, 0, 0] - handle_pose = env.drawer_link.pose * sapien.Pose(p=handle_pos) - - # Compute grasp pose for handle - approaching = np.array([1, 0, 0]) # Approach from front - target_closing = env.agent.tcp.pose.to_transformation_matrix()[:3, 1] - - handle_obb = { - 'center': handle_pose.p, - 'extents': np.array([env.handle_thickness, env.handle_width, env.handle_height]) * 2, - 'rotation': handle_pose.to_transformation_matrix()[:3, :3] - } - - grasp_info = compute_grasp_info_by_obb( - handle_obb, - approaching=approaching, - target_closing=target_closing, - depth=FINGER_LENGTH + + # Compute drawer handle pose and dimensions + drawer_pose = env.drawer.pose + handle_offset = np.array([-env.inner_width/2 - env.handle_offset, 0, 0]) + handle_pose = drawer_pose.to_transformation_matrix()[0, :3, :3] @ handle_offset + drawer_pose.p + + # Define grasp approach and closing direction + approaching = np.array([1, 0, 0]) # Approach from side of handle + tcp_forward = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1] + + # Compute grasp pose + grasp_center = handle_pose + grasp_offset = 0.05 # Small offset to account for gripper width + + # Create initial approach and grasp poses + approach_pose = Pose.create_from_pq( + p=grasp_center + approaching * grasp_offset, + q=env.agent.tcp.pose.q ) - closing, center = grasp_info["closing"], grasp_info["center"] - grasp_pose = env.agent.build_grasp_pose(approaching, closing, center) - + grasp_pose = Pose.create_from_pq( + p=grasp_center, + q=env.agent.tcp.pose.q + ) + + # Motion planning stages # -------------------------------------------------------------------------- # - # Pre-grasp pose + # Stage 1: Approach Handle # -------------------------------------------------------------------------- # - pre_grasp_pose = grasp_pose * sapien.Pose([0.05, 0, 0]) - res = planner.move_to_pose_with_screw(pre_grasp_pose) - if res == -1: return res - + res = planner.move_to_pose_with_screw(approach_pose) + if res == -1: + return res + # -------------------------------------------------------------------------- # - # Grasp handle + # Stage 2: Grasp Handle # -------------------------------------------------------------------------- # res = planner.move_to_pose_with_screw(grasp_pose) - if res == -1: return res + if res == -1: + return res + planner.close_gripper() - + # -------------------------------------------------------------------------- # - # Pull drawer + # Stage 3: Pull Drawer # -------------------------------------------------------------------------- # - pull_distance = env.max_pull_distance * 0.8 - steps = 5 + # Define pull trajectory + pull_distance = env.max_pull_distance * 0.8 # Pull 80% of max distance + pull_direction = np.array([-1, 0, 0]) # Pull along drawer's movement axis - # Pull in small increments with refinement - for i in range(steps): - current_pull = (i + 1) * pull_distance / steps - pull_pose = grasp_pose * sapien.Pose([-current_pull, 0, 0]) - - # Move and refine position - res = planner.move_to_pose_with_screw(pull_pose, refine_steps=3) - if res == -1: return res + + for fraction in [0.25, 0.5, 0.75, 1.0]: + pull_pose = Pose.create_from_pq( + p=grasp_center + pull_direction * (pull_distance * fraction), + q=grasp_pose.q + ) - # Check if drawer is actually moving - if not env.agent.is_grasping(env.drawer_link): + res = planner.move_to_pose_with_screw(pull_pose) + if res == -1: return res + + # Final stage: release and verify + planner.open_gripper() + + return 0 - planner.close() - return res if __name__ == "__main__": main() From e7b9e2579913731a8023c024fe4fa961a23f1615 Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Wed, 4 Dec 2024 10:25:09 -0800 Subject: [PATCH 38/59] planner test --- .../examples/motionplanning/panda/solutions/pull_drawer.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py index 97617c0a1..05e029a2e 100644 --- a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py +++ b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py @@ -9,12 +9,14 @@ def main(): + env: PullDrawerEnv = gym.make( "PullDrawer-v1", obs_mode="none", control_mode="pd_joint_pos", render_mode="rgb_array", reward_mode="dense", + sim_backend="gpu" ) for seed in range(100): From 59099938f74ac18d160e1404c8d56762c00c4ceb Mon Sep 17 00:00:00 2001 From: Viswesh-N Date: Wed, 4 Dec 2024 10:36:16 -0800 Subject: [PATCH 39/59] planner test --- .../panda/solutions/pull_drawer.py | 109 +++++------------- 1 file changed, 31 insertions(+), 78 deletions(-) diff --git a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py index 05e029a2e..564a80984 100644 --- a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py +++ b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py @@ -8,108 +8,61 @@ from mani_skill.utils.structs import Pose -def main(): - - env: PullDrawerEnv = gym.make( - "PullDrawer-v1", - obs_mode="none", - control_mode="pd_joint_pos", - render_mode="rgb_array", - reward_mode="dense", - sim_backend="gpu" - ) - - for seed in range(100): - res = solve(env, seed=seed, debug=False, vis=True) - print(f"Seed {seed} result: {res}") - - env.close() - - def solve(env: PullDrawerEnv, seed=None, debug=False, vis=False): env.reset(seed=seed) - assert env.unwrapped.control_mode in [ - "pd_joint_pos", - "pd_joint_pos_vel", - ], env.unwrapped.control_mode - planner = PandaArmMotionPlanningSolver( env, debug=debug, vis=vis, base_pose=env.unwrapped.agent.robot.pose, - visualize_target_grasp_pose=vis, - print_env_info=False, joint_vel_limits=0.75, joint_acc_limits=0.75, ) - env = env.unwrapped - - # Compute drawer handle pose and dimensions - drawer_pose = env.drawer.pose + # Get drawer handle position + drawer_link = env.drawer.links_map['drawer'] handle_offset = np.array([-env.inner_width/2 - env.handle_offset, 0, 0]) - handle_pose = drawer_pose.to_transformation_matrix()[0, :3, :3] @ handle_offset + drawer_pose.p - - # Define grasp approach and closing direction - approaching = np.array([1, 0, 0]) # Approach from side of handle - tcp_forward = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1] + handle_pose = drawer_link.pose * sapien.Pose(handle_offset) - # Compute grasp pose - grasp_center = handle_pose - grasp_offset = 0.05 # Small offset to account for gripper width - - # Create initial approach and grasp poses - approach_pose = Pose.create_from_pq( - p=grasp_center + approaching * grasp_offset, - q=env.agent.tcp.pose.q - ) + # Pre-grasp pose slightly behind handle + approach_offset = sapien.Pose([0.05, 0, 0]) # Offset behind handle + pre_grasp_pose = handle_pose * approach_offset - grasp_pose = Pose.create_from_pq( - p=grasp_center, - q=env.agent.tcp.pose.q - ) - - # Motion planning stages - # -------------------------------------------------------------------------- # - # Stage 1: Approach Handle - # -------------------------------------------------------------------------- # - res = planner.move_to_pose_with_screw(approach_pose) + # Move to pre-grasp + res = planner.move_to_pose_with_screw(pre_grasp_pose) if res == -1: return res - - # -------------------------------------------------------------------------- # - # Stage 2: Grasp Handle - # -------------------------------------------------------------------------- # + + # Move to grasp + grasp_pose = handle_pose res = planner.move_to_pose_with_screw(grasp_pose) if res == -1: return res + # Close gripper planner.close_gripper() - # -------------------------------------------------------------------------- # - # Stage 3: Pull Drawer - # -------------------------------------------------------------------------- # - # Define pull trajectory - pull_distance = env.max_pull_distance * 0.8 # Pull 80% of max distance - pull_direction = np.array([-1, 0, 0]) # Pull along drawer's movement axis + # Pull drawer + pull_offset = sapien.Pose([-env.max_pull_distance * 0.8, 0, 0]) + pull_pose = grasp_pose * pull_offset + res = planner.move_to_pose_with_screw(pull_pose) - - for fraction in [0.25, 0.5, 0.75, 1.0]: - pull_pose = Pose.create_from_pq( - p=grasp_center + pull_direction * (pull_distance * fraction), - q=grasp_pose.q - ) - - res = planner.move_to_pose_with_screw(pull_pose) - if res == -1: - return res - - # Final stage: release and verify - planner.open_gripper() - - return 0 + planner.close() + return res +def main(): + env = gym.make( + "PullDrawer-v1", + obs_mode="none", + control_mode="pd_joint_pos", + render_mode="rgb_array" + ) + + for seed in range(100): + res = solve(env, seed=seed, debug=False, vis=True) + print(f"Seed {seed}: {res}") + + env.close() if __name__ == "__main__": main() From 8299c48f54ed6ab82d5f81b31ed33f690846013b Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 00:12:33 +0530 Subject: [PATCH 40/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 4b1b8a493..65938b937 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -260,7 +260,7 @@ def _load_scene(self, options: dict): # ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.1, 0.15, 0.12])) + builder.set_initial_pose(sapien.Pose(p=[0.25, 0.15, 0.12])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From ffd0148934ab3c09b1dbd3070d61a193b649513d Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 00:47:12 +0530 Subject: [PATCH 41/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 66 ++----------------- 1 file changed, 7 insertions(+), 59 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 65938b937..60f5dc7ef 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -306,72 +306,20 @@ def evaluate(self): def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - # Update scene kinematics to ensure latest poses - self.scene._gpu_apply_all() - self.scene.px.gpu_update_articulation_kinematics() - self.scene._gpu_fetch_all() - - # Get TCP pose and drawer link pose - tcp_pose = self.agent.tcp.pose.raw_pose - tcp_pos = tcp_pose[..., :3] - drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose - - # Calculate handle pose - handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) - handle_pose = drawer_link_pose[:, :3] + handle_offset - - # Stage 1: Alignment Reward - # Compute alignment in XZ plane (ensure gripper is roughly parallel to handle's movement axis) - handle_dir = torch.tensor([0, 1, 0], device=tcp_pose.device) # handle moves along Y axis - tcp_forward = tcp_pose[..., 3:6] # gripper's forward direction - alignment_score = torch.abs(torch.nn.functional.cosine_similarity(tcp_forward, handle_dir, dim=-1)) - alignment_reward = 2.0 * (1 - alignment_score) - - # Stage 2: Approach Reward - # Compute distance to handle - reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) - approach_reward = 2.0 * (1 - torch.tanh(5.0 * reach_dist)) - - # Stage 3: Grasping Reward - # Define proximity and orientation conditions for proper grasping - grasp_dist_threshold = 0.02 # Close to handle - grasp_angle_threshold = 0.1 # Roughly aligned - is_near_handle = reach_dist < grasp_dist_threshold - - # Compute grasping reward that considers both distance and alignment - grasping_reward = torch.where( - is_near_handle, - 2.0 * (1 - alignment_score), # Reward for being close and aligned - torch.zeros_like(reach_dist) - ) - - # Stage 4: Pulling Reward + drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - pulling_reward = torch.where( - is_near_handle, # Only reward pulling if properly grasping - 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), - torch.zeros_like(pos_dist) - ) - - # Final Stage: Completion Reward + + pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) + success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) completion_reward = 4.0 * success_mask - - # Combine rewards - total_reward = ( - alignment_reward + - approach_reward + - grasping_reward + - pulling_reward + - completion_reward - ) - - return total_reward + + return pulling_reward + completion_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 7.5 # Sum of max individual reward components + max_reward = 8 # Sum of max individual reward components dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward From 810977dda61123252dbf400f0592665c93a4f87c Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 01:21:27 +0530 Subject: [PATCH 42/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 60f5dc7ef..f4d7c7317 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -260,7 +260,7 @@ def _load_scene(self, options: dict): # ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.25, 0.15, 0.12])) + builder.set_initial_pose(sapien.Pose(p=[0.17, 0.15, 0.12])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] From e37e74fe134dadbe590b84c25431ab1abe0a3cd2 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 08:29:01 +0530 Subject: [PATCH 43/59] draft planner --- .../panda/solutions/pull_drawer.py | 29 ++++++++++++------- 1 file changed, 19 insertions(+), 10 deletions(-) diff --git a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py index 564a80984..c99ee35f7 100644 --- a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py +++ b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py @@ -20,30 +20,38 @@ def solve(env: PullDrawerEnv, seed=None, debug=False, vis=False): ) # Get drawer handle position + # planner.open_gripper() + drawer_link = env.drawer.links_map['drawer'] + + handle_offset = np.array([-env.inner_width/2 - env.handle_offset, 0, 0]) handle_pose = drawer_link.pose * sapien.Pose(handle_offset) + # Pre-grasp pose slightly behind handle - approach_offset = sapien.Pose([0.05, 0, 0]) # Offset behind handle + approach_offset = sapien.Pose(p = [-0.1, 0, 0]) # Offset behind handle pre_grasp_pose = handle_pose * approach_offset - - # Move to pre-grasp + # First 90-degree rotation around x-axis, then 90-degree rotation around z-axis + pre_grasp_pose.q = torch.tensor([0.5, 0.5, 0.5, 0.5]) + res = planner.move_to_pose_with_screw(pre_grasp_pose) - if res == -1: - return res - - # Move to grasp - grasp_pose = handle_pose + + + move_in_offset = sapien.Pose(p = [0, 0, 0.13]) + grasp_pose = pre_grasp_pose * move_in_offset + res = planner.move_to_pose_with_screw(grasp_pose) + + if res == -1: return res # Close gripper planner.close_gripper() - + # Pull drawer - pull_offset = sapien.Pose([-env.max_pull_distance * 0.8, 0, 0]) + pull_offset = sapien.Pose([0, 0, -env.max_pull_distance * 0.81]) pull_pose = grasp_pose * pull_offset res = planner.move_to_pose_with_screw(pull_pose) @@ -56,6 +64,7 @@ def main(): obs_mode="none", control_mode="pd_joint_pos", render_mode="rgb_array" + sim ) for seed in range(100): From 06443860a092dbb533e67fa891290321ed1fd76f Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 08:46:34 +0530 Subject: [PATCH 44/59] Updated env with spawn randomness --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 28 +++++++++++-------- 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index f4d7c7317..4e6ac86d4 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -2,6 +2,7 @@ import numpy as np import sapien import torch +import random from mani_skill.agents.robots import Fetch, Panda from mani_skill.envs.sapien_env import BaseEnv from mani_skill.utils import sapien_utils @@ -9,6 +10,7 @@ from mani_skill.utils.scene_builder.table import TableSceneBuilder from mani_skill.utils.structs.types import SimConfig, GPUMemoryConfig from mani_skill.sensors.camera import CameraConfig +from mani_skill.utils.structs import Pose from mani_skill.utils.building import actors @register_env("PullDrawer-v1", max_episode_steps=200) @@ -249,18 +251,10 @@ def _load_scene(self, options: dict): damping=10 ) - # self.goal_site = actors.build_sphere( - # self.scene, - # radius=0.02, - # color=[0, 1, 0, 1], - # name="goal_site", - # body_type="kinematic", - # add_collision=False, - # initial_pose=sapien.Pose(p = [-0.0095, 0.15, 0.13]), - # ) - builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.17, 0.15, 0.12])) + x = random.random()*0.05 + 0.17 + y = random.random()*0.1 + 0.12 + builder.set_initial_pose(sapien.Pose(p=[x, y, 0.12])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -269,7 +263,17 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): with torch.device(self.device): b = len(env_idx) self.scene_builder.initialize(env_idx) - + + drawer_xyz = torch.zeros((b,3), device=self.device) + drawer_xyz[..., 0] = torch.rand((b,1), device=self.device)*0.05 + 0.17 + drawer_xyz[..., 1] = torch.rand((b,1), device= self.device)*0.1 + 0.12 + drawer_xyz[..., 2] = self.outer_height/2 + 0.001 + + drawer_pose = Pose.create_from_pq(p = drawer_xyz) + + self.drawer.set_pose(drawer_pose) + + init_pos = torch.zeros((b, 1), device=self.device) self.drawer.set_qpos(init_pos) From 440f65bae8cc2d7f8e21ffd61365cd9b53a9655e Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 08:48:08 +0530 Subject: [PATCH 45/59] Update pull_drawer.py --- .../examples/motionplanning/panda/solutions/pull_drawer.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py index c99ee35f7..fa398e50e 100644 --- a/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py +++ b/mani_skill/examples/motionplanning/panda/solutions/pull_drawer.py @@ -41,6 +41,7 @@ def solve(env: PullDrawerEnv, seed=None, debug=False, vis=False): move_in_offset = sapien.Pose(p = [0, 0, 0.13]) grasp_pose = pre_grasp_pose * move_in_offset + res = planner.move_to_pose_with_screw(grasp_pose) @@ -63,8 +64,8 @@ def main(): "PullDrawer-v1", obs_mode="none", control_mode="pd_joint_pos", - render_mode="rgb_array" - sim + render_mode="rgb_array", + sim_backend = "gpu" ) for seed in range(100): From 70ffa4105000af8e5bcfcb76334c6c0544474881 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 14:08:03 +0530 Subject: [PATCH 46/59] revert to last working reward version --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 84 ++++++++++++++----- 1 file changed, 61 insertions(+), 23 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 4e6ac86d4..117d792d2 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -2,7 +2,6 @@ import numpy as np import sapien import torch -import random from mani_skill.agents.robots import Fetch, Panda from mani_skill.envs.sapien_env import BaseEnv from mani_skill.utils import sapien_utils @@ -10,7 +9,6 @@ from mani_skill.utils.scene_builder.table import TableSceneBuilder from mani_skill.utils.structs.types import SimConfig, GPUMemoryConfig from mani_skill.sensors.camera import CameraConfig -from mani_skill.utils.structs import Pose from mani_skill.utils.building import actors @register_env("PullDrawer-v1", max_episode_steps=200) @@ -252,9 +250,7 @@ def _load_scene(self, options: dict): ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - x = random.random()*0.05 + 0.17 - y = random.random()*0.1 + 0.12 - builder.set_initial_pose(sapien.Pose(p=[x, y, 0.12])) + builder.set_initial_pose(sapien.Pose(p=[0.17, 0.15, 0.12])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -263,17 +259,7 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): with torch.device(self.device): b = len(env_idx) self.scene_builder.initialize(env_idx) - - drawer_xyz = torch.zeros((b,3), device=self.device) - drawer_xyz[..., 0] = torch.rand((b,1), device=self.device)*0.05 + 0.17 - drawer_xyz[..., 1] = torch.rand((b,1), device= self.device)*0.1 + 0.12 - drawer_xyz[..., 2] = self.outer_height/2 + 0.001 - - drawer_pose = Pose.create_from_pq(p = drawer_xyz) - - self.drawer.set_pose(drawer_pose) - - + init_pos = torch.zeros((b, 1), device=self.device) self.drawer.set_qpos(init_pos) @@ -310,20 +296,72 @@ def evaluate(self): def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - + # Update scene kinematics to ensure latest poses + self.scene._gpu_apply_all() + self.scene.px.gpu_update_articulation_kinematics() + self.scene._gpu_fetch_all() + + # Get TCP pose and drawer link pose + tcp_pose = self.agent.tcp.pose.raw_pose + tcp_pos = tcp_pose[..., :3] + drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose + + # Calculate handle pose + handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) + handle_pose = drawer_link_pose[:, :3] + handle_offset + + # Stage 1: Alignment Reward + # Compute alignment in XZ plane (ensure gripper is roughly parallel to handle's movement axis) + handle_dir = torch.tensor([0, 1, 0], device=tcp_pose.device) # handle moves along Y axis + tcp_forward = tcp_pose[..., 3:6] # gripper's forward direction + alignment_score = torch.abs(torch.nn.functional.cosine_similarity(tcp_forward, handle_dir, dim=-1)) + alignment_reward = 2.0 * (1 - alignment_score) + + # Stage 2: Approach Reward + # Compute distance to handle + reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) + approach_reward = 2.0 * (1 - torch.tanh(5.0 * reach_dist)) + + # Stage 3: Grasping Reward + # Define proximity and orientation conditions for proper grasping + grasp_dist_threshold = 0.02 # Close to handle + grasp_angle_threshold = 0.1 # Roughly aligned + is_near_handle = reach_dist < grasp_dist_threshold + + # Compute grasping reward that considers both distance and alignment + grasping_reward = torch.where( + is_near_handle, + 2.0 * (1 - alignment_score), # Reward for being close and aligned + torch.zeros_like(reach_dist) + ) + + # Stage 4: Pulling Reward drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - - pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) - + pulling_reward = torch.where( + is_near_handle, # Only reward pulling if properly grasping + 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), + torch.zeros_like(pos_dist) + ) + + # Final Stage: Completion Reward success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) completion_reward = 4.0 * success_mask - - return pulling_reward + completion_reward + + # Combine rewards + total_reward = ( + alignment_reward + + approach_reward + + grasping_reward + + pulling_reward + + completion_reward + ) + + return total_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 8 # Sum of max individual reward components + max_reward = 7.5 # Sum of max individual reward components dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward From 3fe43ab3cb972573533920a54567f54d5ba310bf Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Thu, 5 Dec 2024 14:34:24 +0530 Subject: [PATCH 47/59] orientation expt --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 75 ++++--------------- 1 file changed, 13 insertions(+), 62 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 117d792d2..6d5b6611f 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -296,72 +296,23 @@ def evaluate(self): def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): - # Update scene kinematics to ensure latest poses - self.scene._gpu_apply_all() - self.scene.px.gpu_update_articulation_kinematics() - self.scene._gpu_fetch_all() - - # Get TCP pose and drawer link pose - tcp_pose = self.agent.tcp.pose.raw_pose - tcp_pos = tcp_pose[..., :3] - drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose - - # Calculate handle pose - handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) - handle_pose = drawer_link_pose[:, :3] + handle_offset - - # Stage 1: Alignment Reward - # Compute alignment in XZ plane (ensure gripper is roughly parallel to handle's movement axis) - handle_dir = torch.tensor([0, 1, 0], device=tcp_pose.device) # handle moves along Y axis - tcp_forward = tcp_pose[..., 3:6] # gripper's forward direction - alignment_score = torch.abs(torch.nn.functional.cosine_similarity(tcp_forward, handle_dir, dim=-1)) - alignment_reward = 2.0 * (1 - alignment_score) - - # Stage 2: Approach Reward - # Compute distance to handle - reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) - approach_reward = 2.0 * (1 - torch.tanh(5.0 * reach_dist)) - - # Stage 3: Grasping Reward - # Define proximity and orientation conditions for proper grasping - grasp_dist_threshold = 0.02 # Close to handle - grasp_angle_threshold = 0.1 # Roughly aligned - is_near_handle = reach_dist < grasp_dist_threshold - - # Compute grasping reward that considers both distance and alignment - grasping_reward = torch.where( - is_near_handle, - 2.0 * (1 - alignment_score), # Reward for being close and aligned - torch.zeros_like(reach_dist) - ) - - # Stage 4: Pulling Reward - drawer_qpos = self.drawer.get_qpos() - pos_dist = torch.abs(self.target_pos - drawer_qpos) - pulling_reward = torch.where( - is_near_handle, # Only reward pulling if properly grasping - 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1), - torch.zeros_like(pos_dist) - ) - - # Final Stage: Completion Reward - success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) - completion_reward = 4.0 * success_mask - - # Combine rewards - total_reward = ( - alignment_reward + - approach_reward + - grasping_reward + - pulling_reward + - completion_reward - ) + # Batch size extraction + batch_size = self.drawer.get_qpos().shape[0] + device = self.device + + # 1. Orientation Reward + tcp_pose_q = self.agent.tcp.pose.q + desired_q = torch.tensor([0.5, 0.5, 0.5, 0.5], device=device).expand(batch_size, 4) + orientation_diff = torch.norm(tcp_pose_q - desired_q, dim=-1) < 0.02 + + q_orientation_reward = 4 * orientation_diff - return total_reward + + return q_orientation_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 7.5 # Sum of max individual reward components + max_reward = 4.0 # Maximum possible reward dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward From c9044dd58f0315d5c0f63c6cb81d4b7a11c835c3 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Sun, 8 Dec 2024 13:50:54 +0530 Subject: [PATCH 48/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 32 +++++++++++++++++-- 1 file changed, 30 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 6d5b6611f..880cc017b 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -300,19 +300,47 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): batch_size = self.drawer.get_qpos().shape[0] device = self.device + self.scene._gpu_apply_all() + self.scene.px.gpu_update_articulation_kinematics() + self.scene._gpu_fetch_all() + + # Get TCP pose and drawer link pose + tcp_pose = self.agent.tcp.pose.raw_pose + tcp_pos = tcp_pose[..., :3] + drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose + + handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) + handle_pose = drawer_link_pose[:, :3] + handle_offset + # 1. Orientation Reward tcp_pose_q = self.agent.tcp.pose.q desired_q = torch.tensor([0.5, 0.5, 0.5, 0.5], device=device).expand(batch_size, 4) orientation_diff = torch.norm(tcp_pose_q - desired_q, dim=-1) < 0.02 q_orientation_reward = 4 * orientation_diff + + # 2. Approach Reward + reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) + approach_reward = 4.0 * (1 - torch.tanh(5.0 * reach_dist)) + + # 3. Progress Reward + drawer_qpos = self.drawer.get_qpos() + pos_dist = torch.abs(self.target_pos - drawer_qpos) + + pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) + + # 4. Success Reward + success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) + completion_reward = 4.0 * success_mask + + print(q_orientation_reward, pulling_reward, completion_reward) - return q_orientation_reward + return q_orientation_reward + approach_reward + pulling_reward + completion_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict ): - max_reward = 4.0 # Maximum possible reward + max_reward = 16.0 # Maximum possible reward dense_reward = self.compute_dense_reward(obs=obs, action=action, info=info) return dense_reward / max_reward From a4715595c718d2f8368a9c74f034560778e992b0 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Sun, 8 Dec 2024 13:52:40 +0530 Subject: [PATCH 49/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 880cc017b..2501d6701 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -332,10 +332,7 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): # 4. Success Reward success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) completion_reward = 4.0 * success_mask - - print(q_orientation_reward, pulling_reward, completion_reward) - return q_orientation_reward + approach_reward + pulling_reward + completion_reward def compute_normalized_dense_reward( From b6335f0fa7790d7cf1e55aca56c7b2fc518bd560 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Sat, 14 Dec 2024 03:46:42 +0530 Subject: [PATCH 50/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 2501d6701..efc77173a 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -9,6 +9,7 @@ from mani_skill.utils.scene_builder.table import TableSceneBuilder from mani_skill.utils.structs.types import SimConfig, GPUMemoryConfig from mani_skill.sensors.camera import CameraConfig +from mani_skill.utils.structs import Pose from mani_skill.utils.building import actors @register_env("PullDrawer-v1", max_episode_steps=200) @@ -260,9 +261,14 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): b = len(env_idx) self.scene_builder.initialize(env_idx) - init_pos = torch.zeros((b, 1), device=self.device) + drawer_xyz = torch.zeros((b, 3), device=self.device) + drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * 0.005 + 0.17 + drawer_xyz[..., 1] = torch.rand((b,), device=self.device) * 0.005 + 0.15 + drawer_xyz[..., 2] = self.outer_height / 2 + 0.005 + + init_pos = Pose.create_from_pq(p=drawer_xyz) - self.drawer.set_qpos(init_pos) + self.drawer.set_pose(init_pos) def _get_obs_extra(self, info: Dict): obs = dict( From 7cbb255d72290b14dca799f184332fd77c7baf9e Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Sat, 14 Dec 2024 04:04:58 +0530 Subject: [PATCH 51/59] final working planner and dense reward --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index efc77173a..c3939d45d 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -262,8 +262,8 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): self.scene_builder.initialize(env_idx) drawer_xyz = torch.zeros((b, 3), device=self.device) - drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * 0.005 + 0.17 - drawer_xyz[..., 1] = torch.rand((b,), device=self.device) * 0.005 + 0.15 + drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * 0.01 + 0.17 + drawer_xyz[..., 1] = torch.rand((b,), device=self.device) * 0.01 + 0.15 drawer_xyz[..., 2] = self.outer_height / 2 + 0.005 init_pos = Pose.create_from_pq(p=drawer_xyz) From e56b17ab1948530800b36f7b57d596fb72bbb7d9 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Sat, 14 Dec 2024 04:09:26 +0530 Subject: [PATCH 52/59] Update pull_drawer.py --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index c3939d45d..8615ef1bd 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -47,6 +47,7 @@ def __init__( # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width self.target_pos = -self.max_pull_distance * 0.8 + self.k = 0.01 super().__init__( *args, @@ -262,8 +263,8 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): self.scene_builder.initialize(env_idx) drawer_xyz = torch.zeros((b, 3), device=self.device) - drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * 0.01 + 0.17 - drawer_xyz[..., 1] = torch.rand((b,), device=self.device) * 0.01 + 0.15 + drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * self.k + 0.17 + drawer_xyz[..., 1] = torch.rand((b,), device=self.device) * self.k + 0.15 drawer_xyz[..., 2] = self.outer_height / 2 + 0.005 init_pos = Pose.create_from_pq(p=drawer_xyz) From f8658169cd882acccd6c3bdc7712924e1bc37c17 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh <72874174+Viswesh-N@users.noreply.github.com> Date: Wed, 18 Dec 2024 15:04:51 -0800 Subject: [PATCH 53/59] fully working planner with seeding --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 8615ef1bd..9082d3001 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -47,7 +47,7 @@ def __init__( # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width self.target_pos = -self.max_pull_distance * 0.8 - self.k = 0.01 + self.k = 0.05 super().__init__( *args, @@ -252,7 +252,7 @@ def _load_scene(self, options: dict): ) builder.set_scene_idxs(scene_idxs=range(self.num_envs)) - builder.set_initial_pose(sapien.Pose(p=[0.17, 0.15, 0.12])) + # builder.set_initial_pose(sapien.Pose(p=[0.17, 0.15, 0.12])) self.drawer = builder.build(fix_root_link=True, name="drawer_articulation") self.drawer_link = self.drawer.get_links()[1] @@ -263,14 +263,18 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): self.scene_builder.initialize(env_idx) drawer_xyz = torch.zeros((b, 3), device=self.device) - drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * self.k + 0.17 + drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * self.k + 0.22 drawer_xyz[..., 1] = torch.rand((b,), device=self.device) * self.k + 0.15 drawer_xyz[..., 2] = self.outer_height / 2 + 0.005 + init_pos = Pose.create_from_pq(p=drawer_xyz) self.drawer.set_pose(init_pos) + closed_qpos = torch.zeros((b, 1), device=self.device) + self.drawer.set_qpos(closed_qpos) + def _get_obs_extra(self, info: Dict): obs = dict( tcp_pose=self.agent.tcp.pose.raw_pose, From 6fd0cc8d5160baeb74af0e61a7b6f4db18df2dc7 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh Date: Fri, 20 Dec 2024 03:24:06 -0800 Subject: [PATCH 54/59] improved dense reward --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 26 ++++++++++++------- 1 file changed, 16 insertions(+), 10 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 9082d3001..4734baff6 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -47,7 +47,7 @@ def __init__( # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width self.target_pos = -self.max_pull_distance * 0.8 - self.k = 0.05 + self.k = 0.03 super().__init__( *args, @@ -263,7 +263,7 @@ def _initialize_episode(self, env_idx: torch.Tensor, options: dict): self.scene_builder.initialize(env_idx) drawer_xyz = torch.zeros((b, 3), device=self.device) - drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * self.k + 0.22 + drawer_xyz[..., 0] = torch.rand((b,), device=self.device) * self.k + 0.17 drawer_xyz[..., 1] = torch.rand((b,), device=self.device) * self.k + 0.15 drawer_xyz[..., 2] = self.outer_height / 2 + 0.005 @@ -323,12 +323,19 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) handle_pose = drawer_link_pose[:, :3] + handle_offset - # 1. Orientation Reward - tcp_pose_q = self.agent.tcp.pose.q + # 1. Orientation Reward - Modified for continuous feedback + tcp_pose_q = self.agent.tcp.pose.q # Current quaternion desired_q = torch.tensor([0.5, 0.5, 0.5, 0.5], device=device).expand(batch_size, 4) - orientation_diff = torch.norm(tcp_pose_q - desired_q, dim=-1) < 0.02 - - q_orientation_reward = 4 * orientation_diff + + # Calculate quaternion distance (dot product between quaternions) + # Abs because q and -q represent the same rotation + quat_dot = torch.abs(torch.sum(tcp_pose_q * desired_q, dim=-1)) + # Clip to handle numerical errors + quat_dot = torch.clamp(quat_dot, -1.0, 1.0) + # Convert to angle (in radians) + angle_dist = 2.0 * torch.acos(quat_dot) + # Normalize to [0, 1] range and invert so smaller angles give higher rewards + orientation_reward = 4.0 * (1.0 - torch.tanh(2.0 * angle_dist)) # 2. Approach Reward reach_dist = torch.norm(tcp_pos - handle_pose, dim=-1) @@ -337,14 +344,13 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): # 3. Progress Reward drawer_qpos = self.drawer.get_qpos() pos_dist = torch.abs(self.target_pos - drawer_qpos) - pulling_reward = 4.0 * (1 - torch.tanh(5.0 * pos_dist)).squeeze(-1) - + # 4. Success Reward success_mask = info.get("success", torch.zeros_like(pulling_reward, dtype=torch.bool)) completion_reward = 4.0 * success_mask - return q_orientation_reward + approach_reward + pulling_reward + completion_reward + return orientation_reward + approach_reward + pulling_reward + completion_reward def compute_normalized_dense_reward( self, obs: Any, action: torch.Tensor, info: Dict From b711f0bf703b31807a673e7191c1a6034f23a8d1 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh Date: Fri, 3 Jan 2025 11:27:16 -0800 Subject: [PATCH 55/59] update motion planning sh with new env --- scripts/data_generation/motionplanning.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/data_generation/motionplanning.sh b/scripts/data_generation/motionplanning.sh index 3ff42acb9..96fcb1d50 100644 --- a/scripts/data_generation/motionplanning.sh +++ b/scripts/data_generation/motionplanning.sh @@ -2,7 +2,7 @@ ## Panda Arm Solutions ## -for env_id in PushCube-v1 PickCube-v1 StackCube-v1 PegInsertionSide-v1 PlugCharger-v1 LiftPegUpright-v1 PullCubeTool-v1 PullCube-v1 +for env_id in PushCube-v1 PickCube-v1 StackCube-v1 PegInsertionSide-v1 PlugCharger-v1 LiftPegUpright-v1 PullCubeTool-v1 PullCube-v1 PullDrawer-v1 do python -m mani_skill.examples.motionplanning.panda.run --env-id $env_id \ --traj-name="trajectory" --only-count-success --save-video -n 1 \ From bf62882b6564820d06620b69a99ec61d76f2d64b Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh Date: Fri, 3 Jan 2025 11:30:28 -0800 Subject: [PATCH 56/59] added sample ppo script --- examples/baselines/ppo/examples.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/examples/baselines/ppo/examples.sh b/examples/baselines/ppo/examples.sh index b0958b55c..ac2cecb06 100644 --- a/examples/baselines/ppo/examples.sh +++ b/examples/baselines/ppo/examples.sh @@ -15,6 +15,9 @@ python ppo.py --env_id="PushT-v1" \ python ppo.py --env_id="PickSingleYCB-v1" \ --num_envs=1024 --update_epochs=8 --num_minibatches=32 \ --total_timesteps=25_000_000 +python ppo.py --env_id="PullDrawer-v1" \ + --num_envs=1024 --update_epochs=8 --num_minibatches=32 \ + --total_timesteps=100_000_000 python ppo.py --env_id="PegInsertionSide-v1" \ --num_envs=1024 --update_epochs=8 --num_minibatches=32 \ --total_timesteps=250_000_000 --num-steps=100 --num-eval-steps=100 From a1a7a2c325495153a86025b32d5d933b71776024 Mon Sep 17 00:00:00 2001 From: Viswesh Nagaswamy Rajesh Date: Sun, 5 Jan 2025 11:54:11 -0800 Subject: [PATCH 57/59] added docs for new task --- .../PullDrawer-v1_rt_thumb_first.png | Bin 0 -> 95426 bytes .../PullDrawer-v1_rt_thumb_last.png | Bin 0 -> 97437 bytes docs/source/tasks/table_top_gripper/index.md | 8 ++++++++ figures/environment_demos/PullDrawerv1_rt.mp4 | Bin 0 -> 244008 bytes 4 files changed, 8 insertions(+) create mode 100644 docs/source/_static/env_thumbnails/PullDrawer-v1_rt_thumb_first.png create mode 100644 docs/source/_static/env_thumbnails/PullDrawer-v1_rt_thumb_last.png 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100

+

PullDrawer-v1

+
PullDrawer-v1 PullDrawer-v1
+

✅

+

✅

+

❌

+

200

+ +

PushCube-v1

PushCube-v1 PushCube-v1

✅

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zInc|uSvE=0Qw~Ch-jN`c0}gmfOqg_ry#ji0p%9hq(UITB+v*AlhqWojEy-d>^zb1GOj@jgque%GQ0N?q}pLaQTVM?gH_?K7;s} z9G411$9}fpi*sv;(0O_k*sRG2=I~#lUBE)T1OXnn&-=pO(a{400@>MnSeXI*UkP#_ z1bVXxf&gB(_pjXl3IN4_Q39_T|99E{DT9GF3EW(aZ2^^@o9$n1LjJ4RKh}VD|9kpx z?fk#m1&o7U2}qRYW^S$kCp5Qnb^9ylFHc|XLjB`2e6qcnwK1S0wKx0k$1VVrQ39zC z{8f|D%FNE?9~&SKYcuoz$gf-jz>dNd#vZ1u0Dn#Yw)s~E`1P=*0r8by z)Bh;(clN(NasL3X&I7RkR>dI9K*WExK)99w|GX?5h-M`WEH6O72P)*ZkLH08AZV+j zJ%*1!d0bbwzrqTLf3;EmPr$JNZ(qaxnqJ!m2wKVX|CR;Hz2*U-|BEC1!~cU{;j8|y z&I9=W>i>?%|HkLqY~VuA1IWN!00ubB<=+_0 z4q!?U2+k3}{eaB!w;mptsv&Oy8JMBKMu7eofU^Ku2q01M#sCIu1o{#Z=u5B%KsbOsKLBF^u~-C%9BBUu;IGS-1%Sc< znGzrfKn8pT(E$Xs0|WFi2Ju==Kql^HZa{oNI`-y&aX Date: Sun, 5 Jan 2025 22:47:35 -0800 Subject: [PATCH 58/59] final cleanup, working dense reward --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 4734baff6..56b0c261e 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -47,7 +47,7 @@ def __init__( # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width self.target_pos = -self.max_pull_distance * 0.8 - self.k = 0.03 + self.k = 0.005 super().__init__( *args, @@ -319,9 +319,10 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict): tcp_pose = self.agent.tcp.pose.raw_pose tcp_pos = tcp_pose[..., :3] drawer_link_pose = self.drawer.links_map['drawer'].pose.raw_pose + drawer_pose = self.drawer.pose.raw_pose handle_offset = torch.tensor([-self.inner_width/2 - self.handle_offset, 0, 0], device=drawer_link_pose.device) - handle_pose = drawer_link_pose[:, :3] + handle_offset + handle_pose = drawer_pose[:, :3] + handle_offset # 1. Orientation Reward - Modified for continuous feedback tcp_pose_q = self.agent.tcp.pose.q # Current quaternion From e716253490127902122df2970401569947661364 Mon Sep 17 00:00:00 2001 From: Viswesh N <72874174+Viswesh-N@users.noreply.github.com> Date: Sun, 5 Jan 2025 23:55:59 -0800 Subject: [PATCH 59/59] increase randomness --- mani_skill/envs/tasks/tabletop/pull_drawer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mani_skill/envs/tasks/tabletop/pull_drawer.py b/mani_skill/envs/tasks/tabletop/pull_drawer.py index 56b0c261e..29888cdd2 100644 --- a/mani_skill/envs/tasks/tabletop/pull_drawer.py +++ b/mani_skill/envs/tasks/tabletop/pull_drawer.py @@ -47,7 +47,7 @@ def __init__( # Movement parameters self.max_pull_distance = self.outer_width * 0.8 # Can pull out 80% of width self.target_pos = -self.max_pull_distance * 0.8 - self.k = 0.005 + self.k = 0.03 super().__init__( *args,