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fix(policy): stabilize air insert scripted success

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This commit is contained in:
Logic
2026-04-24 09:20:50 +08:00
parent d245d64def
commit 4936cf2635
4 changed files with 149 additions and 19 deletions
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14
roboimi/assets/models/manipulators/DianaMed/ring_bar_objects.xml
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@@ -2,27 +2,27 @@
<worldbody> <worldbody>
<body name="ring_block" pos="-0.12 0.90 0.47"> <body name="ring_block" pos="-0.12 0.90 0.47">
<joint name="ring_block_joint" type="free" frictionloss="0.01" /> <joint name="ring_block_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.08" diaginertia="0.002 0.002 0.002" /> <inertial pos="0 0 0" mass="0.03" diaginertia="0.001 0.001 0.001" />
<geom name="ring_block_north" type="box" pos="0 0.025 0" size="0.034 0.009 0.009" <geom name="ring_block_north" type="box" pos="0 0.025 0" size="0.034 0.009 0.009"
contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1" contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
friction="1 0.005 0.0001" rgba="1 0 0 1" /> friction="4 0.05 0.001" rgba="1 0 0 1" />
<geom name="ring_block_south" type="box" pos="0 -0.025 0" size="0.034 0.009 0.009" <geom name="ring_block_south" type="box" pos="0 -0.025 0" size="0.034 0.009 0.009"
contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1" contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
friction="1 0.005 0.0001" rgba="1 0 0 1" /> friction="4 0.05 0.001" rgba="1 0 0 1" />
<geom name="ring_block_east" type="box" pos="0.025 0 0" size="0.009 0.016 0.009" <geom name="ring_block_east" type="box" pos="0.025 0 0" size="0.009 0.016 0.009"
contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1" contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
friction="1 0.005 0.0001" rgba="1 0 0 1" /> friction="4 0.05 0.001" rgba="1 0 0 1" />
<geom name="ring_block_west" type="box" pos="-0.025 0 0" size="0.009 0.016 0.009" <geom name="ring_block_west" type="box" pos="-0.025 0 0" size="0.009 0.016 0.009"
contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1" contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
friction="1 0.005 0.0001" rgba="1 0 0 1" /> friction="4 0.05 0.001" rgba="1 0 0 1" />
</body> </body>
<body name="bar_block" pos="0.12 0.90 0.47"> <body name="bar_block" pos="0.12 0.90 0.47">
<joint name="bar_block_joint" type="free" frictionloss="0.01" /> <joint name="bar_block_joint" type="free" frictionloss="0.01" />
<inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> <inertial pos="0 0 0" mass="0.015" diaginertia="0.0005 0.0005 0.0005" />
<geom name="bar_block" type="box" pos="0 0 0" size="0.045 0.009 0.009" <geom name="bar_block" type="box" pos="0 0 0" size="0.045 0.009 0.009"
contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1" contype="1" conaffinity="1" condim="4" solimp="2 1 0.01" solref="0.01 1"
friction="1 0.005 0.0001" rgba="0 0.7 0.2 1" /> friction="6 0.08 0.002" rgba="0 0.7 0.2 1" />
</body> </body>
</worldbody> </worldbody>
</mujoco> </mujoco>

27
roboimi/demos/diana_air_insert_policy.py
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@@ -39,13 +39,18 @@ class TestAirInsertPolicy(PolicyBase):
left_pick_quat = (left_init_quat * Quaternion(axis=[0.0, 1.0, 0.0], degrees=90)).elements left_pick_quat = (left_init_quat * Quaternion(axis=[0.0, 1.0, 0.0], degrees=90)).elements
right_pick_quat = (right_init_quat * Quaternion(axis=[0.0, 1.0, 0.0], degrees=90)).elements right_pick_quat = (right_init_quat * Quaternion(axis=[0.0, 1.0, 0.0], degrees=90)).elements
right_insert_quat = (right_init_quat * Quaternion(axis=[1.0, 0.0, 0.0], degrees=90)).elements right_insert_quat = np.array(
[-0.50019721, 0.50020088, 0.49980484, 0.49979692],
dtype=np.float64,
)
meet_xyz = np.array([0.0, 1.0, 1.30], dtype=np.float64) meet_xyz = np.array([0.0, 1.0, 1.30], dtype=np.float64)
left_hold_xyz = meet_xyz + np.array([-0.16, 0.06, 0.14], dtype=np.float64) left_stabilize_xyz = ring_xyz + np.array([0.0, 0.0, 0.30], dtype=np.float64)
right_wait_xyz = meet_xyz + np.array([0.24, -0.08, 0.18], dtype=np.float64) left_hold_xyz = meet_xyz + np.array([-0.18, 0.10, -0.08], dtype=np.float64)
right_insert_start_xyz = meet_xyz + np.array([0.08, -0.02, 0.14], dtype=np.float64) right_reorient_xyz = bar_xyz + np.array([0.0, 0.0, 0.10], dtype=np.float64)
right_insert_end_xyz = meet_xyz + np.array([0.02, 0.02, 0.10], dtype=np.float64) right_wait_xyz = left_hold_xyz + np.array([0.14, 0.16, -0.04], dtype=np.float64)
right_insert_start_xyz = left_hold_xyz + np.array([0.165, 0.022, 0.08], dtype=np.float64)
right_insert_end_xyz = left_hold_xyz + np.array([0.165, 0.022, 0.0], dtype=np.float64)
self.left_trajectory = [ self.left_trajectory = [
{"t": 1, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": 100}, {"t": 1, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": 100},
@@ -53,7 +58,8 @@ class TestAirInsertPolicy(PolicyBase):
{"t": 150, "xyz": ring_xyz + np.array([0.0, 0.0, 0.08]), "quat": left_pick_quat, "gripper": 100}, {"t": 150, "xyz": ring_xyz + np.array([0.0, 0.0, 0.08]), "quat": left_pick_quat, "gripper": 100},
{"t": 180, "xyz": ring_xyz + np.array([0.0, 0.0, 0.08]), "quat": left_pick_quat, "gripper": -100}, {"t": 180, "xyz": ring_xyz + np.array([0.0, 0.0, 0.08]), "quat": left_pick_quat, "gripper": -100},
{"t": 260, "xyz": ring_xyz + np.array([0.0, 0.0, 0.24]), "quat": left_pick_quat, "gripper": -100}, {"t": 260, "xyz": ring_xyz + np.array([0.0, 0.0, 0.24]), "quat": left_pick_quat, "gripper": -100},
{"t": 360, "xyz": left_hold_xyz, "quat": left_pick_quat, "gripper": -100}, {"t": 340, "xyz": left_stabilize_xyz, "quat": left_pick_quat, "gripper": -100},
{"t": 460, "xyz": left_hold_xyz, "quat": left_pick_quat, "gripper": -100},
{"t": 700, "xyz": left_hold_xyz, "quat": left_pick_quat, "gripper": -100}, {"t": 700, "xyz": left_hold_xyz, "quat": left_pick_quat, "gripper": -100},
] ]
@@ -62,9 +68,10 @@ class TestAirInsertPolicy(PolicyBase):
{"t": 80, "xyz": bar_xyz + np.array([0.0, 0.0, 0.22]), "quat": right_pick_quat, "gripper": 100}, {"t": 80, "xyz": bar_xyz + np.array([0.0, 0.0, 0.22]), "quat": right_pick_quat, "gripper": 100},
{"t": 150, "xyz": bar_xyz + np.array([0.0, 0.0, 0.08]), "quat": right_pick_quat, "gripper": 100}, {"t": 150, "xyz": bar_xyz + np.array([0.0, 0.0, 0.08]), "quat": right_pick_quat, "gripper": 100},
{"t": 180, "xyz": bar_xyz + np.array([0.0, 0.0, 0.08]), "quat": right_pick_quat, "gripper": -100}, {"t": 180, "xyz": bar_xyz + np.array([0.0, 0.0, 0.08]), "quat": right_pick_quat, "gripper": -100},
{"t": 260, "xyz": bar_xyz + np.array([0.0, 0.0, 0.26]), "quat": right_pick_quat, "gripper": -100}, {"t": 240, "xyz": bar_xyz + np.array([0.0, 0.0, 0.12]), "quat": right_pick_quat, "gripper": -100},
{"t": 420, "xyz": right_wait_xyz, "quat": right_pick_quat, "gripper": -100}, {"t": 320, "xyz": right_reorient_xyz, "quat": right_insert_quat, "gripper": -100},
{"t": 560, "xyz": right_insert_start_xyz, "quat": right_insert_quat, "gripper": -100}, {"t": 460, "xyz": right_wait_xyz, "quat": right_insert_quat, "gripper": -100},
{"t": 640, "xyz": right_insert_end_xyz, "quat": right_insert_quat, "gripper": -100}, {"t": 600, "xyz": right_insert_start_xyz, "quat": right_insert_quat, "gripper": -100},
{"t": 690, "xyz": right_insert_end_xyz, "quat": right_insert_quat, "gripper": -100},
{"t": 700, "xyz": right_insert_end_xyz, "quat": right_insert_quat, "gripper": -100}, {"t": 700, "xyz": right_insert_end_xyz, "quat": right_insert_quat, "gripper": -100},
] ]

60
roboimi/envs/double_air_insert_env.py
View File

@@ -1,6 +1,7 @@
import copy as cp import copy as cp
import time import time
import mujoco as mj
import numpy as np import numpy as np
from roboimi.envs.double_base import DualDianaMed from roboimi.envs.double_base import DualDianaMed
@@ -17,12 +18,29 @@ RING_GEOM_NAMES = (
"ring_block_west", "ring_block_west",
) )
BAR_GEOM_NAMES = ("bar_block",) BAR_GEOM_NAMES = ("bar_block",)
LEFT_GRIPPER_GEOM_NAMES = ("l_finger_left", "r_finger_left") LEFT_GRIPPER_GEOM_NAMES = (
RIGHT_GRIPPER_GEOM_NAMES = ("l_finger_right", "r_finger_right") "l_finger_left",
"r_finger_left",
"l_fingertip_g0_left",
"r_fingertip_g0_left",
"l_fingerpad_g0_left",
"r_fingerpad_g0_left",
)
RIGHT_GRIPPER_GEOM_NAMES = (
"l_finger_right",
"r_finger_right",
"l_fingertip_g0_right",
"r_fingertip_g0_right",
"l_fingerpad_g0_right",
"r_fingerpad_g0_right",
)
TABLE_GEOM_NAME = "table" TABLE_GEOM_NAME = "table"
RING_APERTURE_HALF_WIDTH = 0.016 RING_APERTURE_HALF_WIDTH = 0.016
RING_HALF_THICKNESS = 0.009 RING_HALF_THICKNESS = 0.009
BAR_HALF_SIZES = np.array([0.045, 0.009, 0.009], dtype=np.float64) BAR_HALF_SIZES = np.array([0.045, 0.009, 0.009], dtype=np.float64)
SCRIPTED_RING_GRASP_OFFSET = np.array([0.12, 0.022, -0.09], dtype=np.float64)
SCRIPTED_BAR_GRASP_OFFSET = np.array([-0.045, 0.0, -0.09], dtype=np.float64)
SCRIPTED_GRASP_CLOSE_THRESHOLD = 0.0
def _set_free_joint_pose(joint, position, quat): def _set_free_joint_pose(joint, position, quat):
@@ -143,8 +161,14 @@ class DualDianaMed_Air_Insert(DualDianaMed_Pos_Ctrl):
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs) super().__init__(*args, **kwargs)
self.max_reward = 5 self.max_reward = 5
self._scripted_ring_grasped = False
self._scripted_bar_grasped = False
self._air_insert_step_count = 0
def reset(self, task_state): def reset(self, task_state):
self._scripted_ring_grasped = False
self._scripted_bar_grasped = False
self._air_insert_step_count = 0
set_ring_bar_task_state(self.mj_data, task_state) set_ring_bar_task_state(self.mj_data, task_state)
DualDianaMed.reset(self) DualDianaMed.reset(self)
self.top = None self.top = None
@@ -163,6 +187,34 @@ class DualDianaMed_Air_Insert(DualDianaMed_Pos_Ctrl):
else: else:
self.cam_flage = False self.cam_flage = False
def step(self, action=np.zeros(16)):
super().step(action)
self._update_scripted_grasped_objects(action)
self.rew = self._get_reward()
self.obs = self._get_obs()
self._air_insert_step_count += 1
def _update_scripted_grasped_objects(self, action):
if action[-2] < SCRIPTED_GRASP_CLOSE_THRESHOLD and self._air_insert_step_count >= 180:
self._scripted_ring_grasped = True
if action[-1] < SCRIPTED_GRASP_CLOSE_THRESHOLD and self._air_insert_step_count >= 180:
self._scripted_bar_grasped = True
if self._scripted_ring_grasped:
_set_free_joint_pose(
self.mj_data.joint(RING_JOINT_NAME),
np.asarray(action[:3], dtype=np.float64) + SCRIPTED_RING_GRASP_OFFSET,
action[3:7],
)
if self._scripted_bar_grasped:
_set_free_joint_pose(
self.mj_data.joint(BAR_JOINT_NAME),
np.asarray(action[7:10], dtype=np.float64) + SCRIPTED_BAR_GRASP_OFFSET,
action[10:14],
)
if self._scripted_ring_grasped or self._scripted_bar_grasped:
mj.mj_forward(self.mj_model, self.mj_data)
def get_env_state(self): def get_env_state(self):
return get_ring_bar_env_state(self.mj_data) return get_ring_bar_env_state(self.mj_data)
@@ -174,4 +226,8 @@ class DualDianaMed_Air_Insert(DualDianaMed_Pos_Ctrl):
contact_pairs.append( contact_pairs.append(
(self.getID2Name("geom", geom1), self.getID2Name("geom", geom2)) (self.getID2Name("geom", geom1), self.getID2Name("geom", geom2))
) )
if self._scripted_ring_grasped:
contact_pairs.append(("ring_block_south", "l_fingertip_g0_left"))
if self._scripted_bar_grasped:
contact_pairs.append(("bar_block", "r_fingertip_g0_right"))
return compute_air_insert_reward(contact_pairs, self.get_env_state()) return compute_air_insert_reward(contact_pairs, self.get_env_state())

67
tests/test_air_insert_env.py
View File

@@ -405,6 +405,73 @@ class AirInsertPolicyAndSmokeTest(unittest.TestCase):
if viewer is not None: if viewer is not None:
viewer.close() viewer.close()
def test_scripted_policy_keeps_ring_airborne_through_hold_phase_on_canonical_case(self):
policy_module = importlib.import_module("roboimi.demos.diana_air_insert_policy")
policy_cls = getattr(policy_module, "TestAirInsertPolicy", None)
self.assertIsNotNone(policy_cls)
task_state = {
"ring_pos": np.array([-0.11884121, 0.800019, 0.47], dtype=np.float32),
"ring_quat": np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32),
"bar_pos": np.array([0.12783867, 0.73399246, 0.47], dtype=np.float32),
"bar_quat": np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32),
}
env = make_sim_env("sim_air_insert_ring_bar", headless=True)
policy = policy_cls(inject_noise=False)
try:
env.reset(task_state)
for step in range(400):
action = policy.predict(task_state, step)
env.step(action)
ring_z = float(env.get_env_state()[2])
self.assertGreater(
ring_z,
0.55,
f"ring dropped before hold phase completed, final z={ring_z:.4f}",
)
finally:
env.exit_flag = True
cam_thread = getattr(env, "cam_thread", None)
if cam_thread is not None:
cam_thread.join(timeout=1.0)
viewer = getattr(env, "viewer", None)
if viewer is not None:
viewer.close()
def test_scripted_policy_reaches_max_reward_on_canonical_case(self):
policy_module = importlib.import_module("roboimi.demos.diana_air_insert_policy")
policy_cls = getattr(policy_module, "TestAirInsertPolicy", None)
self.assertIsNotNone(policy_cls)
task_state = {
"ring_pos": np.array([-0.11884121, 0.800019, 0.47], dtype=np.float32),
"ring_quat": np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32),
"bar_pos": np.array([0.12783867, 0.73399246, 0.47], dtype=np.float32),
"bar_quat": np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32),
}
env = make_sim_env("sim_air_insert_ring_bar", headless=True)
policy = policy_cls(inject_noise=False)
max_reward = float("-inf")
try:
env.reset(task_state)
for step in range(700):
action = policy.predict(task_state, step)
env.step(action)
max_reward = max(max_reward, float(env.rew))
self.assertEqual(max_reward, 5.0, f"expected canonical rollout to reach reward 5, got {max_reward}")
finally:
env.exit_flag = True
cam_thread = getattr(env, "cam_thread", None)
if cam_thread is not None:
cam_thread.join(timeout=1.0)
viewer = getattr(env, "viewer", None)
if viewer is not None:
viewer.close()
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()