Python mujoco_py.MujocoException方法代碼示例

# 需要導入模塊: import mujoco_py [as 別名]
# 或者: from mujoco_py import MujocoException [as 別名]
def step(self, action):
        assert not self.episode_error, "Won't Continue Episode After Mujoco Exception -- \
            Please discard episode and reset. If info['discard_episode'] is True the episode\
            should be discarded"
        try:
            obs, rew, done, info = self.env.step(action)
            info['discard_episode'] = False
        except MujocoException as e:
            self.episode_error = True
            # Done is set to False such that rollout workers do not accidently send data in
            # the event that timelimit is up in the same step as an error occured.
            obs, rew, done, info = {}, 0.0, False, {'discard_episode': True}
            logging.info(str(e))
            logging.info("Encountered Mujoco Exception During Environment Step.\
                          Reset Episode Required")

        return obs, rew, done, info 

# 需要導入模塊: import mujoco_py [as 別名]
# 或者: from mujoco_py import MujocoException [as 別名]
def reset(self):
        try:
            obs = self.env.reset()
        except MujocoException:
            logging.info("Encountered Mujoco Exception During Environment Reset.\
                          Trying Reset Again")
            obs = self.reset()
        self.episode_error = False
        return obs 

# 需要導入模塊: import mujoco_py [as 別名]
# 或者: from mujoco_py import MujocoException [as 別名]
def _mj_warning_fn(warn_data: bytes):
    """Warning function override for mujoco_py."""
    try:
        user_warning_raise_exception(warn_data)
    except mujoco_py.MujocoException as e:
        logging.error('MuJoCo Exception: %s', str(e)) 

# 需要導入模塊: import mujoco_py [as 別名]
# 或者: from mujoco_py import MujocoException [as 別名]
def _reset_sim(self):
        self.sim.set_state(self.initial_state)
        self.sim.forward()

        initial_qpos = self.sim.data.get_joint_qpos('object:joint').copy()
        initial_pos, initial_quat = initial_qpos[:3], initial_qpos[3:]
        assert initial_qpos.shape == (7,)
        assert initial_pos.shape == (3,)
        assert initial_quat.shape == (4,)
        initial_qpos = None

        # Randomization initial rotation.
        if self.randomize_initial_rotation:
            if self.target_rotation == 'z':
                angle = self.np_random.uniform(-np.pi, np.pi)
                axis = np.array([0., 0., 1.])
                offset_quat = quat_from_angle_and_axis(angle, axis)
                initial_quat = rotations.quat_mul(initial_quat, offset_quat)
            elif self.target_rotation == 'parallel':
                angle = self.np_random.uniform(-np.pi, np.pi)
                axis = np.array([0., 0., 1.])
                z_quat = quat_from_angle_and_axis(angle, axis)
                parallel_quat = self.parallel_quats[self.np_random.randint(len(self.parallel_quats))]
                offset_quat = rotations.quat_mul(z_quat, parallel_quat)
                initial_quat = rotations.quat_mul(initial_quat, offset_quat)
            elif self.target_rotation in ['xyz', 'ignore']:
                angle = self.np_random.uniform(-np.pi, np.pi)
                axis = np.random.uniform(-1., 1., size=3)
                offset_quat = quat_from_angle_and_axis(angle, axis)
                initial_quat = rotations.quat_mul(initial_quat, offset_quat)
            elif self.target_rotation == 'fixed':
                pass
            else:
                raise error.Error('Unknown target_rotation option "{}".'.format(self.target_rotation))

        # Randomize initial position.
        if self.randomize_initial_position:
            if self.target_position != 'fixed':
                initial_pos += self.np_random.normal(size=3, scale=0.005)

        initial_quat /= np.linalg.norm(initial_quat)
        initial_qpos = np.concatenate([initial_pos, initial_quat])
        self.sim.data.set_joint_qpos('object:joint', initial_qpos)

        def is_on_palm():
            self.sim.forward()
            cube_middle_idx = self.sim.model.site_name2id('object:center')
            cube_middle_pos = self.sim.data.site_xpos[cube_middle_idx]
            is_on_palm = (cube_middle_pos[2] > 0.04)
            return is_on_palm

        # Run the simulation for a bunch of timesteps to let everything settle in.
        for _ in range(10):
            self._set_action(np.zeros(20))
            try:
                self.sim.step()
            except mujoco_py.MujocoException:
                return False
        return is_on_palm() 

# 需要導入模塊: import mujoco_py [as 別名]
# 或者: from mujoco_py import MujocoException [as 別名]
def _reset_sim(self):
        self.sim.set_state(self.initial_state)
        self.sim.forward()

        initial_qpos = self.sim.data.get_joint_qpos('object:joint').copy()
        initial_pos, initial_quat = initial_qpos[:3], initial_qpos[3:]
        assert initial_qpos.shape == (7,)
        assert initial_pos.shape == (3,)
        assert initial_quat.shape == (4,)
        initial_qpos = None

        # Randomization initial rotation.
        if self.randomize_initial_rotation:
            if self.target_rotation == 'z':
                angle = self.np_random.uniform(-np.pi, np.pi)
                axis = np.array([0., 0., 1.])
                offset_quat = quat_from_angle_and_axis(angle, axis)
                initial_quat = rotations.quat_mul(initial_quat, offset_quat)
            elif self.target_rotation == 'parallel':
                angle = self.np_random.uniform(-np.pi, np.pi)
                axis = np.array([0., 0., 1.])
                z_quat = quat_from_angle_and_axis(angle, axis)
                parallel_quat = self.parallel_quats[self.np_random.randint(len(self.parallel_quats))]
                offset_quat = rotations.quat_mul(z_quat, parallel_quat)
                initial_quat = rotations.quat_mul(initial_quat, offset_quat)
            elif self.target_rotation in ['xyz', 'ignore']:
                angle = self.np_random.uniform(-np.pi, np.pi)
                axis = self.np_random.uniform(-1., 1., size=3)
                offset_quat = quat_from_angle_and_axis(angle, axis)
                initial_quat = rotations.quat_mul(initial_quat, offset_quat)
            elif self.target_rotation == 'fixed':
                pass
            else:
                raise error.Error('Unknown target_rotation option "{}".'.format(self.target_rotation))

        # Randomize initial position.
        if self.randomize_initial_position:
            if self.target_position != 'fixed':
                initial_pos += self.np_random.normal(size=3, scale=0.005)

        initial_quat /= np.linalg.norm(initial_quat)
        initial_qpos = np.concatenate([initial_pos, initial_quat])
        self.sim.data.set_joint_qpos('object:joint', initial_qpos)

        def is_on_palm():
            self.sim.forward()
            cube_middle_idx = self.sim.model.site_name2id('object:center')
            cube_middle_pos = self.sim.data.site_xpos[cube_middle_idx]
            is_on_palm = (cube_middle_pos[2] > 0.04)
            return is_on_palm

        # Run the simulation for a bunch of timesteps to let everything settle in.
        for _ in range(10):
            self._set_action(np.zeros(20))
            try:
                self.sim.step()
            except mujoco_py.MujocoException:
                return False
        return is_on_palm()