587 lines
21 KiB
Python
587 lines
21 KiB
Python
import torch
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import torch.nn as nn
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from torch.multiprocessing import Process, Queue, set_start_method
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import time
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import gym
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from gym import error, spaces, utils
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from gym.utils import seeding
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import os
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import pybullet as p
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import pybullet_data
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import math
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import numpy as np
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import random
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from scipy import signal
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import sys
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# sys.path.append('D:\\vs2019ws\PythonCtt\PythonCtt')
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import jkrc
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import matplotlib as mpl
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from mpl_toolkits.mplot3d import Axes3D
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import matplotlib.pyplot as plt
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import pandas as pd
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os.environ["KMP_DUPLICATE_LIB_OK"] = "TRUE"
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MAX_EPISODE_LEN = 20 * 100
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x = []
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y = []
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z = []
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# 运动模式
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# PI=3.1415926
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# ABS = 0 # 绝对运动
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# INCR = 1 # 增量运动
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# Enable = True
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# Disable = False
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# robot = jkrc.RC("192.168.31.5")#返回一个机器人对象
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# robot.login()#登录
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# # robot.servo_move_use_none_filter()
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# robot.power_on() #上电
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# robot.enable_robot()
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# # joint_pos=[0, 1.57, 1.57, 1.57, -1.57, 0]
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# # robot.joint_move(joint_pos,ABS,True,1)
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# robot.servo_move_enable(Enable) #进入位置控制模式
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def goal_distance(goal_a, goal_b):
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return np.linalg.norm(np.array(goal_a) - np.array(goal_b), axis=-1)
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def is_collision(robotId, bodyA, bodyB):
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is_bool1 = p.getContactPoints(robotId, bodyA)
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is_bool2 = p.getContactPoints(robotId, bodyB)
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if is_bool1:
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return True
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elif is_bool2:
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return True
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else:
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return False
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class jakaEnv(gym.Env):
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metadata = {"render.modes": ["human"]}
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def __init__(self):
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self.step_counter = 0
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self.eposide = 0
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self.collision_frequency = 0
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self.success_frequency = 0
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self.overstep_frequency = 0
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self.out = 0
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self.reward_type = "dense"
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p.connect(
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p.GUI,
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# options="--background_color_red=0.0 --background_color_green=0.93--background_color_blue=0.54",
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)
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p.resetDebugVisualizerCamera(
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cameraDistance=1.25,
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cameraYaw=45,
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cameraPitch=-30,
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cameraTargetPosition=[0.65, -0.0, 0.65],
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)
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self.x_low = 0.3
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self.x_high = 0.7
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self.y_low = -0.05
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self.y_high = 1.05
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self.z_low = 0.65
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self.z_high = 1.3
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self.speed = [0.3, 0.5, 0.8, 1.0]
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self.action_space = spaces.Box(np.array([-1] * 3), np.array([1] * 3))
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self.observation_space = spaces.Box(np.array([-1] * 38, np.float32), np.array([1] * 38, np.float32))
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def compute_reward(self, achieved_goal, goal):
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d = goal_distance(achieved_goal, goal)
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if self.reward_type == "sparse":
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return -(d > self.distance_threshold).astyp(np.float32)
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else:
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return -d
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def step(self, action):
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p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING)
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orientation = p.getQuaternionFromEuler([-math.pi / 2, -math.pi, math.pi / 2.])
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dv = 0.05
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dx = action[0] * dv
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dy = action[1] * dv
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dz = action[2] * dv
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# print(action)
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currentPose = p.getLinkState(self.jaka_id, 6)
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currentPosition = currentPose[0]
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newPosition = [
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currentPosition[0] + dx,
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currentPosition[1] + dy,
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currentPosition[2] + dz,
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]
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jointPoses = p.calculateInverseKinematics(
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self.jaka_id, 6, newPosition, orientation
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)[0:6]
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p.setJointMotorControlArray(
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self.jaka_id,
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list(range(1, 7)),
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p.POSITION_CONTROL,
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list(jointPoses),
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)
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print(jointPoses)
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p.resetBaseVelocity(self.blockId, linearVelocity=[0, random.choice(self.speed), 0])
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p.stepSimulation()
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# robot.servo_move_enable(True)
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# robot.servo_p(cartesian_pose=[dx*100, dy*100, dz*50, 0, 0, 0], move_mode=1)
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# time.sleep(0.008)
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state_object, state_object_orienation = p.getBasePositionAndOrientation(self.objectId)
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twist_object, twist_object_orienation = p.getBaseVelocity(self.objectId)
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state_robot = p.getLinkState(self.jaka_id, 6)[0]
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block_speed, block_speed_orienation = p.getBaseVelocity(self.blockId)
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block_state, block_state_orienation = p.getBasePositionAndOrientation(self.blockId)
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block2_state, block2state_orienation = p.getBasePositionAndOrientation(self.blockId2)
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p.addUserDebugLine(lineFromXYZ=currentPosition, lineToXYZ=state_robot, lineColorRGB=[0, 1, 0], lineWidth=2)
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x.append(state_robot[0])
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y.append(state_robot[1])
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z.append(state_robot[2])
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self.distance_threshold = 0.05
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d = goal_distance(state_robot, state_object)
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if (state_robot[0] > self.x_high or state_robot[0] < self.x_low
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or state_robot[1] > self.y_high or state_robot[1] < self.y_low
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or state_robot[2] > self.z_high or state_robot[2] <= self.z_low + 0.05):
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reward = -400
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self.eposide = self.eposide + 1
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self.out = self.out + 1
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print()
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print("=" * 50)
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print("\033[36meposide{}:out of range\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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elif is_collision(self.jaka_id, self.blockId, self.blockId2):
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reward = -400
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self.eposide = self.eposide + 1
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self.collision_frequency = self.collision_frequency + 1
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print()
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print("=" * 50)
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print("\033[33meposide{}:collision\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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elif d < self.distance_threshold:
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reward = -1 / self.compute_reward(state_robot, state_object)
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self.eposide = self.eposide + 1
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self.success_frequency = self.success_frequency + 1
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print()
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print("=" * 50)
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print("\033[31eposide{}:success\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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else:
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reward = self.compute_reward(state_robot, state_object)
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done = False
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self.step_counter += 1
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if self.step_counter > MAX_EPISODE_LEN:
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# reward = 0
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self.eposide = self.eposide + 1
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self.overstep_frequency = self.overstep_frequency + 1
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print()
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print("=" * 50)
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print("\033[34meposide{}:overstep\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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info = {"object_position": state_object}
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robot_pos = np.array(state_robot)
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object_pos = np.array(state_object)
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object_rel_pos = object_pos - robot_pos
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object_rot = np.array(state_object_orienation)
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object_velp = np.array(twist_object)
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object_velr = np.array(twist_object_orienation)
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block_velp = np.array(block_speed)
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block_velr = np.array(block_speed_orienation)
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block_vel_range = np.array(self.speed)
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block_loc = np.array(block_state)
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block_rel_pos = np.array(block_loc - robot_pos)
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block2_pos = np.array(block2_state)
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obs = np.concatenate(
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[
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robot_pos.ravel(),
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object_pos.ravel(),
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object_rel_pos.ravel(),
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object_rot.ravel(),
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object_velp.ravel(),
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object_velr.ravel(),
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block_velp.ravel(),
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block_velr.ravel(),
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block_vel_range.ravel(),
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block_loc.ravel(),
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block_rel_pos.ravel(),
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block2_pos.ravel(),
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]
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)
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return obs.copy(), reward, done, info
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def reset(self):
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self.step_counter = 0
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p.resetSimulation()
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p.configureDebugVisualizer(
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p.COV_ENABLE_RENDERING, 0
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)
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urdfRootPath = pybullet_data.getDataPath()
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p.setGravity(0, 0, -10)
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planeId = p.loadURDF(os.path.join(urdfRootPath, "plane.urdf"))
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dir_path = os.path.dirname(os.path.realpath(__file__))
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self.tableId = p.loadURDF(os.path.join(dir_path, "urdf/table.urdf"),
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basePosition=[0.2, 0.5, 0],
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useFixedBase=True,
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)
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self.blockId = p.loadURDF(os.path.join(dir_path, "urdf/block4.urdf"),
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basePosition=[0.4, 0, 0.47],
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useFixedBase=True,
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)
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self.blockId2 = p.loadURDF(os.path.join(dir_path, "urdf/block.urdf"),
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basePosition=[0.6, 0.66, 0.43],
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useFixedBase=True,
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)
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state_object = [0.5, 0.2, 0.8]
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dir_path = os.path.dirname(os.path.realpath(__file__))
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self.objectId = p.loadURDF(
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os.path.join(dir_path, "urdf/goal.urdf"),
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basePosition=state_object,
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useFixedBase=True,
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)
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reset_poses = [0, 0.8, 2.4, 1.3, 1, -1.57, 0]
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reset_realposes = [0.8, 2.4, 1.3, 1, -1.57, 0]
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# 改变路径为你机械臂的URDF文件路径
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self.jaka_id = p.loadURDF(
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"urdf/jaka_description/urdf/jaka_description.urdf",
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basePosition=[0, 0.5, 0.65],
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baseOrientation=p.getQuaternionFromEuler([0, 0, 3.14]),
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useFixedBase=True,
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)
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for i in range(len(reset_poses)):
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p.resetJointState(self.jaka_id, i, reset_poses[i])
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# robot.joint_move(reset_realposes, ABS, True, 1)
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state_robot = p.getLinkState(self.jaka_id, 6)[0]
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self.plot_obs_boundary()
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
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# time.sleep(10)
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robot_pos = np.array(state_robot)
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object_pos = np.array(state_object)
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object_rel_pos = object_pos - robot_pos
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object_rot = np.array([0, 0, 0, 1]) # quaternions?
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object_velp = np.array([0, 0, 0])
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object_velr = np.array([0, 0, 0])
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block_velp = np.array([0, 0, 0])
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block_velr = np.array([0, 0, 0])
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block_vel_range = np.array(self.speed)
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block_loc = np.array([0, 0, 0])
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block_rel_pos = np.array([0, 0, 0])
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block2_pos = np.array([0.6, 0.66, 0.43])
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obs = np.concatenate(
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[
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robot_pos.ravel(),
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object_pos.ravel(),
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object_rel_pos.ravel(),
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object_rot.ravel(),
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object_velp.ravel(),
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object_velr.ravel(),
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block_velp.ravel(),
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block_velr.ravel(),
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block_vel_range.ravel(),
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block_loc.ravel(),
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block_rel_pos.ravel(),
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block2_pos.ravel(),
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]
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)
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return obs.copy()
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def plot_obs_boundary(self):
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_low],
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lineToXYZ=[self.x_low, self.y_high, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_low],
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lineToXYZ=[self.x_high, self.y_low, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_low],
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lineToXYZ=[self.x_low, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_low],
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lineToXYZ=[self.x_high, self.y_low, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_low],
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lineToXYZ=[self.x_low, self.y_high, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_low],
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lineToXYZ=[self.x_high, self.y_high, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_low, self.z_low],
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lineToXYZ=[self.x_high, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_high, self.z_low],
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lineToXYZ=[self.x_low, self.y_high, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_high],
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lineToXYZ=[self.x_low, self.y_high, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_high],
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lineToXYZ=[self.x_high, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_high],
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lineToXYZ=[self.x_high, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_high],
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lineToXYZ=[self.x_low, self.y_high, self.z_high])
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def render(self, mode="human"):
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view_matrix = p.computeViewMatrixFromYawPitchRoll(
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cameraTargetPosition=[0.7, 0, 0.65 + 0.05],
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distance=0.7,
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yaw=90,
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pitch=-50,
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roll=0,
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upAxisIndex=2,
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)
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proj_matrix = p.computeProjectionMatrixFOV(
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fov=60, aspect=float(960) / 720, nearVal=0.1, farVal=100.0
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)
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(_, _, px, _, _) = p.getCameraImage(
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width=960,
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height=720,
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viewMatrix=view_matrix,
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projectionMatrix=proj_matrix,
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renderer=p.ER_BULLET_HARDWARE_OPENGL,
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)
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rgb_array = np.array(px, dtype=np.uint8)
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rgb_array = np.reshape(rgb_array, (720, 960, 4))
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rgb_array = rgb_array[:, :, :3]
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return rgb_array
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def _get_state(self):
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return self.observation
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def close(self):
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p.disconnect()
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if __name__ == "__main__":
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from stable_baselines3 import SAC
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from stable_baselines3.common import results_plotter
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from stable_baselines3.common.monitor import Monitor
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from stable_baselines3.common.results_plotter import load_results, ts2xy, plot_results
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from stable_baselines3.common.noise import NormalActionNoise
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from stable_baselines3.common.callbacks import BaseCallback
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class SaveOnBestTrainingRewardCallback(BaseCallback):
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"""
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Callback for saving a model (the check is done every ``check_freq`` steps)
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based on the training reward (in practice, we recommend using ``EvalCallback``).
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:param check_freq:
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:param log_dir: Path to the folder where the model will be saved.
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It must contains the file created by the ``Monitor`` wrapper.
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:param verbose: Verbosity level.
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"""
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def __init__(self, check_freq: int, log_dir: str, verbose: int = 1):
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super(SaveOnBestTrainingRewardCallback, self).__init__(verbose)
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self.check_freq = check_freq
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self.log_dir = log_dir
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self.save_path = os.path.join(log_dir, 'best_model')
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self.best_mean_reward = -np.inf
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def _init_callback(self) -> None:
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# Create folder if needed
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if self.save_path is not None:
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os.makedirs(self.save_path, exist_ok=True)
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def _on_step(self) -> bool:
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if self.n_calls % self.check_freq == 0:
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# Retrieve training reward
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x, y = ts2xy(load_results(self.log_dir), 'timesteps')
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if len(x) > 0:
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# Mean training reward over the last 100 episodes
|
||
mean_reward = np.mean(y[-100:])
|
||
if self.verbose > 0:
|
||
print(f"Num timesteps: {self.num_timesteps}")
|
||
print(
|
||
f"Best mean reward: {self.best_mean_reward:.2f} - Last mean reward per episode: {mean_reward:.2f}")
|
||
|
||
# New best model, you could save the agent here
|
||
if mean_reward > self.best_mean_reward:
|
||
self.best_mean_reward = mean_reward
|
||
# Example for saving best model
|
||
if self.verbose > 0:
|
||
print(f"Saving new best model to {self.save_path}")
|
||
self.model.save(self.save_path)
|
||
|
||
return True
|
||
|
||
|
||
tempt = 0
|
||
log_dir = './tensorboard/DOA_SAC_callback/'
|
||
os.makedirs(log_dir, exist_ok=True)
|
||
env = jakaEnv()
|
||
env = Monitor(env, log_dir)
|
||
if tempt:
|
||
model = SAC('MlpPolicy', env=env, verbose=1, tensorboard_log=log_dir,
|
||
device="cuda"
|
||
)
|
||
callback = SaveOnBestTrainingRewardCallback(check_freq=1000, log_dir=log_dir)
|
||
model.learn(total_timesteps=4000000, callback=callback)
|
||
model.save('model/DOA_SAC_ENV_callback')
|
||
del model
|
||
|
||
else:
|
||
obs = env.reset()
|
||
# 改变路径为你保存模型的路径
|
||
model = SAC.load(r'D:\Python-Project\RL-PowerTracking-new\model\best_model.zip', env=env)
|
||
|
||
for j in range(50):
|
||
for i in range(2000):
|
||
action, _state = model.predict(obs)
|
||
order1 = 4
|
||
cutoff_freq1 = 1.2
|
||
b1, a1 = signal.butter(order1, cutoff_freq1, fs=2.5, btype='low')
|
||
# 应用滤波器
|
||
action[0] = signal.lfilter(b1, a1, [action[0]])
|
||
action[1] = signal.lfilter(b1, a1, [action[1]])
|
||
action[2] = signal.lfilter(b1, a1, [action[2]])
|
||
obs, reward, done, info = env.step(action)
|
||
# env.render()
|
||
if done:
|
||
print('done')
|
||
# obs = env.reset()
|
||
time.sleep(30)
|
||
break
|
||
break
|
||
|
||
# 三维
|
||
# fig1 = plt.figure("机械臂运行轨迹")
|
||
# ax = fig1.add_subplot(projection="3d") # 三维图形
|
||
# ax.plot(x, y, z, label="simulation")
|
||
# # plt.xlabel("X")
|
||
# # plt.ylabel("Y")
|
||
# ax.set_xlabel("X坐标（米）")
|
||
# ax.set_ylabel("Y坐标（米）")
|
||
# ax.set_zlabel("Z坐标（米）")
|
||
# ax.legend()
|
||
# # plt.savefig('jaka_3d.png')
|
||
# plt.show()
|
||
#
|
||
# # xy方向
|
||
# fig2 = plt.figure()
|
||
# plt.plot(x, y, label="xy-simulation", color="g")
|
||
# plt.xlabel("X")
|
||
# plt.ylabel("Y")
|
||
# plt.savefig("jaka_xy.png")
|
||
# plt.show()
|
||
#
|
||
# # xy方向
|
||
# fig3 = plt.figure()
|
||
# plt.plot(y, z, label="yz-simulation", color="g")
|
||
# plt.xlabel("y")
|
||
# plt.ylabel("z")
|
||
# plt.savefig("jaka_yz.png")
|
||
# plt.show()
|
||
|
||
|
||
def train_parallel(num_processes):
|
||
"""多进程并行训练函数"""
|
||
set_start_method('spawn')
|
||
|
||
# 创建共享模型（使用Stable Baselines3的SAC）
|
||
env = jakaEnv() # 创建环境实例
|
||
model = SAC('MlpPolicy', env=env, verbose=1, device="cuda") # 使用CUDA加速
|
||
shared_model = model.policy.to(torch.device('cuda')) # 显式指定模型在GPU上
|
||
shared_model.share_memory() # 共享模型参数
|
||
|
||
# 创建进程列表
|
||
processes = []
|
||
for rank in range(num_processes):
|
||
p = Process(target=train_process, args=(rank, shared_model))
|
||
p.start()
|
||
processes.append(p)
|
||
|
||
# 等待所有进程完成
|
||
for p in processes:
|
||
p.join()
|
||
|
||
|
||
def train_process(rank, shared_model):
|
||
"""单个训练进程"""
|
||
# 为每个进程分配独立GPU
|
||
device = torch.device(f'cuda:{rank % torch.cuda.device_count()}')
|
||
|
||
# 创建独立环境实例
|
||
env = create_arm_environment() # 替换为实际的环境创建函数
|
||
|
||
# 创建本地模型副本
|
||
local_model = SAC().to(device)
|
||
local_model.load_state_dict(shared_model.state_dict())
|
||
|
||
# 在此处替换原有训练循环为并行版本
|
||
while True:
|
||
# 训练本地模型...
|
||
|
||
# 同步参数到共享模型
|
||
with torch.no_grad():
|
||
for param, shared_param in zip(local_model.parameters(), shared_model.parameters()):
|
||
shared_param.copy_(param)
|
||
|
||
|
||
def create_arm_environment():
|
||
"""创建机械臂环境实例"""
|
||
return jakaEnv() # 返回机械臂环境实例
|
||
|
||
if __name__ == '__main__':
|
||
# 启动并行训练（使用4个进程为例）
|
||
train_parallel(4)
|
||
|