Python mujoco_py.MujocoException() Examples

The following are 6 code examples of mujoco_py.MujocoException(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module mujoco_py , or try the search function .
Example #1
Source File: util.py    From multi-agent-emergence-environments with MIT License 6 votes vote down vote up 
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
Example #2
Source File: util.py    From multi-agent-emergence-environments with MIT License 5 votes vote down vote up 
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
Example #3
Source File: mjpy_sim_scene.py    From robel with Apache License 2.0 5 votes vote down vote up 
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))
Example #4
Source File: manipulate.py    From DRL_DeliveryDuel with MIT License 4 votes vote down vote up 
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()
Example #5
Source File: manipulate.py    From ia-course with MIT License 4 votes vote down vote up 
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()
Example #6
Source File: manipulate.py    From DQN-DDPG_Stock_Trading with MIT License 4 votes vote down vote up 
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()