[RL robotic 环境] - [Robosuite](2)

Abstract

本文主要解析 Robosuite中 给定环境Stack的解读， 方便后续 自定义环境。

要点

1. 机器人，工作台，物体的搭建
2. 如何能够自定义 物体的大小和位置（包括角度）的初始化
3. 物体的目标位置 放置 虚拟（无实体）的物体 [本文未涉及]
4. 如何建立obs信息
5. 如何reset环境
6. 设置奖励和终止条件

依赖函数|类

from collections import OrderedDict

import numpy as np

from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
from robosuite.models.arenas import TableArena
from robosuite.models.objects import BoxObject
from robosuite.models.tasks import ManipulationTask
from robosuite.utils.mjcf_utils import CustomMaterial
from robosuite.utils.observables import Observable, sensor
from robosuite.utils.placement_samplers import UniformRandomSampler
from robosuite.utils.transform_utils import convert_quat

变量名	函数/类	用处
SingleArmEnv	类	为单机械臂准备的类，单臂的环境需要继承
TableArena	类	用于定义desk，也就是定义工作空间
BoxObject	类	定义物体，比如cube，sphere
ManipulationTask	类	定义任务的类，包含robot,table,object三部分，object可以为None
CustomMaterial	类	用于定义object的材料
Observable	类	用于定义观测量，观测量包含name,sensor_func。 name是观测值在dict中的name，sensor_func定义了如何从sim.data/obs_cache获取该sensor数据
sensor	函数	修饰器函数，用于包装sensor_func
UniformRandomSampler	类	用于管理object的初始化方式，用于uniform生成object的位置和角度
convert_quat	函数	用于转换quat的顺序

类 初始化

class Stack(SingleArmEnv):
    """
    This class corresponds to the stacking task for a single robot arm.
    Args:
        robots (str or list of str): Specification for specific robot arm(s) to be instantiated within this env
            (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
            Note: Must be a single single-arm robot!
        env_configuration (str): Specifies how to position the robots within the environment (default is "default").
            For most single arm environments, this argument has no impact on the robot setup.
        controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
            custom controller. Else, uses the default controller for this specific task. Should either be single
            dict if same controller is to be used for all robots or else it should be a list of the same length as
            "robots" param
        gripper_types (str or list of str): type of gripper, used to instantiate
            gripper models from gripper factory. Default is "default", which is the default grippers(s) associated
            with the robot(s) the 'robots' specification. None removes the gripper, and any other (valid) model
            overrides the default gripper. Should either be single str if same gripper type is to be used for all
            robots or else it should be a list of the same length as "robots" param
        initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
            The expected keys and corresponding value types are specified below:
            :`'magnitude'`: The scale factor of uni-variate random noise applied to each of a robot's given initial
                joint positions. Setting this value to `None` or 0.0 results in no noise being applied.
                If "gaussian" type of noise is applied then this magnitude scales the standard deviation applied,
                If "uniform" type of noise is applied then this magnitude sets the bounds of the sampling range
            :`'type'`: Type of noise to apply. Can either specify "gaussian" or "uniform"
            Should either be single dict if same noise value is to be used for all robots or else it should be a
            list of the same length as "robots" param
            :Note: Specifying "default" will automatically use the default noise settings.
                Specifying None will automatically create the required dict with "magnitude" set to 0.0.
        table_full_size (3-tuple): x, y, and z dimensions of the table.
        table_friction (3-tuple): the three mujoco friction parameters for
            the table.
        use_camera_obs (bool): if True, every observation includes rendered image(s)
        use_object_obs (bool): if True, include object (cube) information in
            the observation.
        reward_scale (None or float): Scales the normalized reward function by the amount specified.
            If None, environment reward remains unnormalized
        reward_shaping (bool): if True, use dense rewards.
        placement_initializer (ObjectPositionSampler): if provided, will
            be used to place objects on every reset, else a UniformRandomSampler
            is used by default.
        has_renderer (bool): If true, render the simulation state in
            a viewer instead of headless mode.
        has_offscreen_renderer (bool): True if using off-screen rendering
        render_camera (str): Name of camera to render if `has_renderer` is True. Setting this value to 'None'
            will result in the default angle being applied, which is useful as it can be dragged / panned by
            the user using the mouse
        render_collision_mesh (bool): True if rendering collision meshes in camera. False otherwise.
        render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
            Defaults to -1, in which case the device will be inferred from environment variables
            (GPUS or CUDA_VISIBLE_DEVICES).
        control_freq (float): how many control signals to receive in every second. This sets the amount of
            simulation time that passes between every action input.
        horizon (int): Every episode lasts for exactly @horizon timesteps.
        ignore_done (bool): True if never terminating the environment (ignore @horizon).
        hard_reset (bool): If True, re-loads model, sim, and render object upon a reset call, else,
            only calls sim.reset and resets all robosuite-internal variables
        camera_names (str or list of str): name of camera to be rendered. Should either be single str if
            same name is to be used for all cameras' rendering or else it should be a list of cameras to render.
            :Note: At least one camera must be specified if @use_camera_obs is True.
            :Note: To render all robots' cameras of a certain type (e.g.: "robotview" or "eye_in_hand"), use the
                convention "all-{name}" (e.g.: "all-robotview") to automatically render all camera images from each
                robot's camera list).
        camera_heights (int or list of int): height of camera frame. Should either be single int if
            same height is to be used for all cameras' frames or else it should be a list of the same length as
            "camera names" param.
        camera_widths (int or list of int): width of camera frame. Should either be single int if
            same width is to be used for all cameras' frames or else it should be a list of the same length as
            "camera names" param.
        camera_depths (bool or list of bool): True if rendering RGB-D, and RGB otherwise. Should either be single
            bool if same depth setting is to be used for all cameras or else it should be a list of the same length as
            "camera names" param.
        camera_segmentations (None or str or list of str or list of list of s