import gymnasium as gym import mujoco import numpy as np from gymnasium.spaces import Box from pathlib import Path import mujoco.viewer class StackingEnv(gym.Env): def __init__(self, render_mode="human"): super().__init__() self.render_mode = render_mode # Load stacking.xml xml_path = str(Path(__file__).parent.parent / "assets/stacking.xml") print(f"Loading XML from: {xml_path}") try: self.model = mujoco.MjModel.from_xml_path(xml_path) self.data = mujoco.MjData(self.model) # Debug: Print model dimensions self.nq = self.model.nq # Total degrees of freedom self.nv = self.model.nv # Velocity dimensions self.nu = self.model.nu # Control dimensions print(f"Model dimensions - nq: {self.nq}, nv: {self.nv}, nu: {self.nu}") # Set a valid initial qpos to avoid invalid defaults self.data.qpos = np.zeros(self.nq) if self.nq >= 3: # Base position self.data.qpos[0:3] = [0, 0, 0.1] # x, y, z if self.nq >= 7: # Orientation self.data.qpos[3:7] = [1, 0, 0, 0] # quaternion mujoco.mj_forward(self.model, self.data) except ValueError as e: print(f"Error loading model: {e}") print("Check stacking.xml for valid qpos or keyframe definitions.") raise self.viewer = None if render_mode == "human": try: self.viewer = mujoco.viewer.launch_passive(self.model, self.data) print("Viewer initialized successfully") except Exception as e: print(f"Viewer initialization failed: {e}") # Define observation and action spaces to match dataset self.observation_space = Box(low=-np.inf, high=np.inf, shape=(21,), dtype=np.float32) # Fixed to (21,) per dataset self.action_space = Box(low=-1.0, high=1.0, shape=(9,), dtype=np.float32) # Fixed to (9,) per dataset # Get body IDs and verify they exist self.block_ids = [] for i in range(3): block_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_BODY, f"block{i}") self.block_ids.append(block_id if block_id != -1 else None) print(f"Block IDs found: {[bid for bid in self.block_ids if bid is not None]}") self.target_zone_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_BODY, "target_zone") print(f"Target zone ID: {self.target_zone_id if self.target_zone_id != -1 else 'Not found'}") # Joint indices (adjusted for dynamic DOFs) self.joint_ids = list(range(7, min(16, self.nq))) # Limit to 9 joints max to align with obs self.finger_joint_ids = [14, 15] if self.nq >= 16 and 14 < self.nu and 15 < self.nu else [] def reset(self, seed=None): super().reset(seed=seed) nq = self.model.nq nv = self.model.nv # Reset to a valid state self.data.qpos = np.zeros(nq) self.data.qvel = np.zeros(nv) if nq >= 3: self.data.qpos[0:3] = [0, 0, 0.1] # x, y, z if nq >= 7: self.data.qpos[3:7] = [1, 0, 0, 0] # quaternion if nq > 7: self.data.qpos[7:16] = np.zeros(9) # Limit to 9 joints for obs alignment # Set block positions block_positions = [ [0.2, 0.0, 0.025], [0.25, 0.0, 0.025], [0.3, 0.0, 0.025] ] for i, block_id in enumerate(self.block_ids): if block_id is not None: self.data.body(block_id).xpos = np.array(block_positions[i]) self.data.qvel[:] = 0.0 mujoco.mj_forward(self.model, self.data) return self._get_obs(), {} def step(self, action): # Clip action to match nu and ensure finite bounds ctrl_size = min(len(action), self.nu) clipped_action = np.clip(action[:ctrl_size], -1.0, 1.0) self.data.ctrl[:ctrl_size] = clipped_action # Restrict actuator 2 (index 1) to -90° to +90° (-1.57 to 1.57 radians) if 1 < self.nu: self.data.ctrl[1] = np.clip(action[1], -1.57, 1.57) # Handle finger joints if within nu if len(action) >= 9 and self.finger_joint_ids and all(fid < self.nu for fid in self.finger_joint_ids): self.data.ctrl[self.finger_joint_ids[0]] = np.clip(action[7], -1.0, 1.0) self.data.ctrl[self.finger_joint_ids[1]] = np.clip(action[8], -1.0, 1.0) mujoco.mj_step(self.model, self.data) reward = -0.01 if not self._is_stacked() else 10.0 terminated = self._is_stacked() truncated = False obs = self._get_obs() info = {"success": terminated} if self.render_mode == "human" and self.viewer: self.viewer.sync() return obs, reward, terminated, truncated, info def _get_obs(self): block_pos = [self.data.body(bid).xpos[:3] if bid is not None else np.zeros(3) for bid in self.block_ids] target_pos = self.data.body(self.target_zone_id).xpos[:3] if self.target_zone_id != -1 else np.zeros(3) joint_pos = self.data.qpos[7:16] if self.nq > 7 else np.zeros(9) # Limit to 9 joints obs = np.concatenate([pos for pos in block_pos] + [target_pos] + [joint_pos]) return obs.astype(np.float32) def _is_stacked(self): if not any(bid is not None for bid in self.block_ids) or self.target_zone_id == -1: return False block_positions = [self.data.body(bid).xpos for bid in self.block_ids if bid is not None] target_pos = self.data.body(self.target_zone_id).xpos return all(np.linalg.norm(b[:2] - target_pos[:2]) < 0.05 for b in block_positions) def close(self): if self.viewer: self.viewer.close() if __name__ == "__main__": import argparse import time parser = argparse.ArgumentParser() parser.add_argument("--render_mode", default="human") parser.add_argument("--fps", type=int, default=15, help="Frames per second") args = parser.parse_args() try: env = StackingEnv(render_mode=args.render_mode) obs, _ = env.reset() print("Initial observation shape:", obs.shape) print("Environment initialized successfully!") if args.render_mode == "human": print("Simulation started at", args.fps, "FPS. Use viewer 'Joint' or 'Control' tabs to adjust joints, with actuator 2 limited to 180-degree range (-90° to +90°).") print("Press Ctrl+C to exit.") step_delay = 1.0 / args.fps try: while env.viewer and env.viewer.is_running(): mujoco.mj_step(env.model, env.data) if env.render_mode == "human" and env.viewer: env.viewer.sync() time.sleep(step_delay) except KeyboardInterrupt: print("Stopped by user") else: print("Environment test completed successfully!") except Exception as e: print(f"Error: {e}") print("\nTo debug this issue:") print("1. Check stacking.xml for valid qpos or keyframe definitions") print("2. Ensure qpos has exactly {env.model.nq} values") print("3. Verify the joint structure in both XML files matches the code assumptions") finally: try: env.close() except: pass