Modified env.py to reflect new mujoco env wrapper

google-research · Jul 18, 2019 · 8ed78b0 · 8ed78b0
1 parent fa898c2
commit 8ed78b0
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Showing 5 changed files with 40 additions and 35 deletions.
diff --git a/assets/clevr_default.xml b/assets/clevr_default.xml
@@ -33,26 +33,27 @@
       <joint name='obj3_slidex' type='slide' pos='0 0 0' axis='1 0 0' range='-10.3213 10.3' damping='0.5'/>
     </body>
 
-    <body name='r_wrist_flex_link' pos='0 0.8 -0.1'>
-      <geom name='wf' type='capsule' fromto='0 -0.05 0 0 0.05 0' size='0.01' />
-      <joint name='r_wrist_flex_joint_y' type='slide' pos='0 0 0' axis='0 1 0' range='-10.3213 10.3' damping='.1' />
-      <joint name='r_wrist_flex_joint_x' type='slide' pos='0 0 0' axis='1 0 0' range='-10.3213 10.3' damping='.1' />
-      <body name='r_wrist_roll_link' pos='0 0 0'>
-        <joint name='r_wrist_roll_joint' type='hinge' pos='0 0 0' limited='true' axis='1 0 0' damping='0.1' range='-1.5 1.5'/>
-        <body name='tips_arm' pos='0 0 0'>
-          <geom name='tip_arml' type='sphere' pos='-0.1 0 -0.1' size='0.01' />
-          <geom name='tip_armr' type='sphere' pos='0.1 0 -0.1' size='0.01' />
-        </body>
-        <geom type='capsule' fromto='-0.1 0 0. +0.1 0 0' size='0.02' contype='1' conaffinity='1' />
-        <geom type='capsule' fromto='-0.1 0. 0 -0.1 0 -0.1' size='0.02' contype='1' conaffinity='1' />
-        <geom type='capsule' fromto='0.1 0. 0 0.1 0 -0.1' size='0.02' contype='1' conaffinity='1' />
-      </body>
+    <body pos='-0.4793 -0.1582 -0.2228' name='obj3'>
+      <geom size='0.1021 0.1021 0.1021' conaffinity='1' contype='1' density='1' rgba='0.2 1 0 1' type='box'/>
+      <joint pos='0 0 0' damping='0.75' type='free' limited='false' name='obj3_slide'/>
     </body>
+
+    <body pos='0.3660 0.4967 -0.2166' name='obj4'>
+      <geom size='0.1083 0.0902 0.05' conaffinity='1' contype='1' density='1' rgba='0.2 1 0 1' type='box'/>
+      <joint pos='0 0 0' damping='0.75' type='free' limited='false' name='obj4_slide'/>
+    </body>
+
+    <body pos='0.469675315258 -0.205294383583 -0.2' name='point_mass'>
+      <geom type='sphere' contype='1' conaffinity='0' rgba='1 1 1 1' density='0.5' size='0.05' name='pm'/>
+      <joint type='slide' axis='1 0 0' damping='0.5' pos='0 0 0' name='pm_joint_x' range='-10.3213 10.3'/>
+      <joint type='slide' axis='0 1 0' damping='0.5' pos='0 0 0' name='pm_joint_y' range='-10.3213 10.3'/>
+    </body>
+
   </worldbody>
 
   <actuator>
-    <motor joint='r_wrist_flex_joint_y' ctrlrange='-2.0 2.0' ctrllimited='true' />
-    <motor joint='r_wrist_flex_joint_x' ctrlrange='-2.0 2.0' ctrllimited='true' />
+    <motor joint='pm_joint_x' ctrllimited='true' ctrlrange='-2.0 2.0'/>
+    <motor joint='pm_joint_y' ctrllimited='true' ctrlrange='-2.0 2.0'/>
   </actuator>
 
 </mujoco>
diff --git a/env.py b/env.py
@@ -37,23 +37,25 @@
 
 try:
   import cv2
-  import mujoco
-  from gym.envs.mujoco import mujoco_env
+  import mujoco_env  # custom mujoco_env
+  from dm_control import mujoco
 except ImportError as e:
   print(e)
 
-DEFAULT_XML_PATH = os.path.join(__file__, 'assets/clevr_default.xml')
-FIXED_PATH = os.path.join(__file__, 'templates', '10_fixed_objective.pkl')
+file_dir = os.path.abspath(os.path.dirname(__file__))
+
+DEFAULT_XML_PATH = os.path.join(file_dir, 'assets', 'clevr_default.xml')
+FIXED_PATH = os.path.join(file_dir, 'templates', '10_fixed_objective.pkl')
 
 # metadata
-DEFAULT_METADATA_PATH = os.path.join(__file__, 'metadata', 'metadata.json')
-VARIABLE_OBJ_METADATA_PATH = os.path.join(__file__, 'metadata',
+DEFAULT_METADATA_PATH = os.path.join(file_dir, 'metadata', 'metadata.json')
+VARIABLE_OBJ_METADATA_PATH = os.path.join(file_dir, 'metadata',
                                           'variable_obj_meta_data.json')
 
 # template_path
 EVEN_Q_DIST_TEMPLATE = os.path.join(
-    __file__, 'templates/even_question_distribution.json')
-VARIABLE_OBJ_TEMPLATE = os.path.join(__file__, 'templates',
+    file_dir, 'templates/even_question_distribution.json')
+VARIABLE_OBJ_TEMPLATE = os.path.join(file_dir, 'templates',
                                      'variable_object.json')
 
 

diff --git a/mujoco_env.py b/mujoco_env.py
@@ -29,7 +29,7 @@
 
 
 class MujocoEnv(gym.Env):
-  """Mujoco environment that uses dm control's wrapper."""
+  """Custom Mujoco environment that uses dm control's wrapper."""
 
   def __init__(self, model_path, frame_skip, max_episode_steps=None,
                reward_threshold=None):
@@ -39,7 +39,8 @@ def __init__(self, model_path, frame_skip, max_episode_steps=None,
     if model_path.startswith('/'):
       fullpath = model_path
     else:
-      fullpath = os.path.join(os.path.dirname(__file__), 'assets', model_path)
+      fullpath = os.path.join(
+          os.path.abspath(os.path.dirname(__file__)), 'assets', model_path)
 
     if not os.path.exists(fullpath):
       raise IOError('File %s does not exist' % fullpath)

diff --git a/utils/load_utils.py b/utils/load_utils.py
@@ -20,10 +20,11 @@
 import six.moves.cPickle as pickle
 
 # pre-generated questions
-pregen_path = os.path.join(__file__, '..',
+parent_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir))
+pregen_path = os.path.join(parent_dir,
                            'assets/pregenerated_data/all_question.pkl')
 variable_input_pregen_path = os.path.join(
-    __file__, '..', 'assets/pregenerated_data/all_questions_variable_input.pkl')
+    parent_dir, 'assets/pregenerated_data/all_questions_variable_input.pkl')
 
 
 

diff --git a/utils/xml_utils.py b/utils/xml_utils.py
@@ -22,13 +22,13 @@
 import os
 import xml.etree.ElementTree as ET
 
-red_metal_path = os.path.join(__file__, '..', 'assets/textures/metal_red.png')
-cyan_metal_path = os.path.join(__file__, '..', 'assets/textures/metal_cyan.png')
-purple_metal_path = os.path.join(
-    __file__, '..', 'assets/textures/metal_purple.png')
-green_metal_path = os.path.join(
-    __file__, '..', 'assets/textures/metal_green.png')
-blue_metal_path = os.path.join(__file__, '..', 'assets/textures/metal_blue.png')
+parent_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir))
+
+red_metal_path = os.path.join(parent_dir, 'assets/textures/metal_red.png')
+cyan_metal_path = os.path.join(parent_dir, 'assets/textures/metal_cyan.png')
+purple_metal_path = os.path.join(parent_dir, 'assets/textures/metal_purple.png')
+green_metal_path = os.path.join(parent_dir, 'assets/textures/metal_green.png')
+blue_metal_path = os.path.join(parent_dir, 'assets/textures/metal_blue.png')
 
 
 texture = {