diff --git a/scripts/gyms/Walk.py b/scripts/gyms/Walk.py index fc310ad..88984ea 100755 --- a/scripts/gyms/Walk.py +++ b/scripts/gyms/Walk.py @@ -159,7 +159,7 @@ class WalkEnv(gym.Env): # Small reset perturbations for robustness training. self.enable_reset_perturb = False self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) - self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "90")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "120")) self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) if self.reset_target_distance_min > self.reset_target_distance_max: @@ -472,8 +472,8 @@ class WalkEnv(gym.Env): prev_abs_yaw_error = abs(self.last_yaw_error) yaw_err_delta = prev_abs_yaw_error - abs_yaw_error progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 - heading_progress_reward = 0.8 * progress_gate * yaw_err_delta - heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + heading_progress_reward = progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -1, 1)) self.last_yaw_error = yaw_error # action_penalty = -0.01 * float(np.linalg.norm(action)) @@ -515,7 +515,7 @@ class WalkEnv(gym.Env): ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) # 分别惩罚左右大腿过度转动 - max_hip_yaw = 0.4 # 最大允许的yaw角度 + max_hip_yaw = 0.5 # 最大允许的yaw角度 left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 @@ -582,9 +582,9 @@ class WalkEnv(gym.Env): + split_penalty + inward_penalty # + leg_proximity_penalty - # + left_hip_yaw_penalty - # + right_hip_yaw_penalty - # + hip_yaw_cross_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + position_penalty # + linkage_reward # + waist_only_turn_penalty @@ -655,8 +655,8 @@ class WalkEnv(gym.Env): action[8] = 0 action[9] = 5 action[10] = 0 - # action[11] = np.clip(action[11], -0.5, 0.5) - # action[17] = np.clip(action[17], -0.5, 0.5) + action[11] = np.clip(action[11], -0.7, 0.7) + action[17] = np.clip(action[17], -0.7, 0.7) # action[12] = -1.0 # action[18] = 1.0 # action[13] = -1.0 @@ -671,7 +671,7 @@ class WalkEnv(gym.Env): for idx, target in enumerate(self.target_joint_positions): r.set_motor_target_position( - r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=110, kd=5 + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=80, kd=4.67 ) self.previous_action = action.copy() diff --git a/scripts/gyms/logs/Turn_R0_000/Walk.py b/scripts/gyms/logs/Turn_R0_000/Walk.py index e996b0c..1db28f9 100755 --- a/scripts/gyms/logs/Turn_R0_000/Walk.py +++ b/scripts/gyms/logs/Turn_R0_000/Walk.py @@ -158,11 +158,23 @@ class WalkEnv(gym.Env): # Small reset perturbations for robustness training. self.enable_reset_perturb = False - self.reset_beam_yaw_range_deg = 45 # randomize target direction fully to encourage learning a real walk instead of a fixed gait + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) self.reset_joint_noise_rad = 0.025 self.reset_perturb_steps = 4 self.reset_recover_steps = 8 + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "0.7")) + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) self.previous_pos = np.array([0.0, 0.0]) # Track previous position @@ -321,8 +333,8 @@ class WalkEnv(gym.Env): if seed is not None: np.random.seed(seed) - target_distance = np.random.uniform(1.2, 2.8) - target_bearing_deg = np.random.uniform(-180.0, 180.0) + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) self.step_counter = 0 self.waypoint_index = 0 @@ -405,6 +417,7 @@ class WalkEnv(gym.Env): return def compute_reward(self, previous_pos, current_pos, action): + print(time.time(), self.step_counter) height = float(self.Player.world.global_position[2]) robot = self.Player.robot @@ -443,12 +456,31 @@ class WalkEnv(gym.Env): # Keep reward simple: turn correctly, stay stable, avoid jerky actions. delta_action_norm = float(np.linalg.norm(action - self.last_action_for_reward)) - smoothness_penalty = -0.1 * delta_action_norm + # Cap smoothness penalty so it regularizes behavior without dominating total reward. + smoothness_penalty = -min(self.reward_smoothness_cap, self.reward_smoothness_scale * delta_action_norm) posture_penalty = -0.45 * tilt_mag # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. ang_vel_penalty = -0.04 * rp_ang_vel_mag + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + hip_spread = left_hip_roll - right_hip_roll + ankle_spread = left_ankle_roll - right_ankle_roll + stance_metric = 0.6 * abs(hip_spread) + 0.4 * abs(ankle_spread) + + # Penalize narrow stance (feet too close) and scissoring (cross-leg pattern). + stance_collapse_penalty = -4 * max(0.0, self.min_stance_rad - stance_metric) + cross_leg_penalty = -2.5 * max(0.0, -(hip_spread * ankle_spread)) + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. waist_speed = abs(float(joint_speed_rad[10])) lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) @@ -475,31 +507,56 @@ class WalkEnv(gym.Env): # Main heading objective: face the target direction. # heading_align_reward = 1.0 * math.cos(yaw_error) + abs_yaw_error = abs(yaw_error) + # Reward reducing heading error between consecutive steps. - # if self.last_yaw_error is None: - # heading_progress_reward = 0.0 - # else: - # heading_progress_reward = 0.7 * (abs(self.last_yaw_error) - abs(yaw_error)) - # self.last_yaw_error = yaw_error + # Use a deadzone and smaller gain to avoid high-frequency jitter near alignment. + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.70 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.70, 0.70)) + self.last_yaw_error = yaw_error yaw_rate = float(np.deg2rad(robot.gyroscope[2])) yaw_rate_abs = abs(yaw_rate) - abs_yaw_error = abs(yaw_error) turn_dir = float(np.sign(yaw_error)) # Continuous turn shaping prevents reward discontinuity near small heading error. turn_gate = min(1.0, abs_yaw_error / math.radians(45.0)) - turn_rate_reward = 0.45 * turn_gate * math.tanh(2.0 * turn_dir * yaw_rate) - head_toward_bonus = 1 if abs_yaw_error < math.radians(10.0) else 0 + turn_rate_reward = 0.70 * turn_gate * math.tanh(2.0 * turn_dir * yaw_rate) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(8.0) else 0.0 + # After roughly aligning with target, prioritize standing stability over continued aggressive turning. + aligned_gate = max(0.0, 1.0 - abs_yaw_error / math.radians(18.0)) + post_turn_ang_vel_penalty = -0.10 * aligned_gate * min(rp_ang_vel_mag, math.radians(60.0)) + lower_body_speed_mag = float(np.mean(np.abs(joint_speed_rad[11:23]))) + post_turn_pose_bonus = 0.30 * aligned_gate * math.exp(-tilt_mag / 0.20) * math.exp(-lower_body_speed_mag / 1.10) + # Keep feet separation when aligned so robot does not collapse stance after turning. + aligned_stance_bonus = 0.20 * aligned_gate * min(1.0, stance_metric / max(self.min_stance_rad, 1e-4)) # Once roughly aligned, damp yaw oscillation and reward keeping a stable stance. - anti_oscillation_penalty = -0.22 * yaw_rate_abs if abs_yaw_error < math.radians(12.0) else 0.0 - stabilize_bonus = 0.35 if ( + anti_oscillation_penalty = -0.08 * min(yaw_rate_abs, math.radians(35.0)) if abs_yaw_error < math.radians(7.0) else 0.0 + stabilize_bonus = 0.45 if ( abs_yaw_error < math.radians(8.0) and yaw_rate_abs < math.radians(10.0) - and tilt_mag < 0.22 + and tilt_mag < 0.28 ) else 0.0 - alive_bonus = max(0.5, 1.5 * math.cos(yaw_error)) # Encourage facing target, but give some baseline reward for not falling even if not facing target yet. + # 改进（线性分段，sigmoid 过渡） + if abs_yaw_error < math.radians(15.0): + alive_bonus = 2 * (1.0 - abs_yaw_error / math.radians(15.0)) ** 0.5 # 平方根让小角度更敏感 + else: + alive_bonus = max(0.1, 2 * (1.0 - (abs_yaw_error - math.radians(15.0)) / math.radians(75.0))) + target_height = self.initial_height + height_error = height - target_height + # 改进（分段，偏离越多惩罚越重） + height_error = height - target_height + if abs(height_error) < 0.04: + height_penalty = -2.5 * abs(height_error) # 小偏离，保持线性 + else: + height_penalty = -2.5 * 0.04 - 4.0 * (abs(height_error) - 0.04) # 大偏离，惩罚加速 total = ( alive_bonus @@ -510,11 +567,17 @@ class WalkEnv(gym.Env): + waist_only_turn_penalty + yaw_link_reward + head_toward_bonus + + heading_progress_reward + anti_oscillation_penalty + stabilize_bonus + + height_penalty + # + post_turn_ang_vel_penalty + # + post_turn_pose_bonus + # + aligned_stance_bonus # + heading_align_reward - # + heading_progress_reward + turn_rate_reward + # + stance_collapse_penalty + # + cross_leg_penalty ) now = time.time() @@ -524,23 +587,48 @@ class WalkEnv(gym.Env): if self._reward_debug_steps_left > 0: self._reward_debug_steps_left -= 1 - print( + # print( + # f"reward_debug: step={self.step_counter}, " + # f"alive_bonus:{alive_bonus:.4f}, " + # # f"heading_align_reward:{heading_align_reward:.4f}, " + # # f"heading_progress_reward:{heading_progress_reward:.4f}, " + # f"head_towards_bonus:{head_toward_bonus}," + # f"posture_penalty:{posture_penalty:.4f}, " + # f"ang_vel_penalty:{ang_vel_penalty:.4f}, " + # f"smoothness_penalty:{smoothness_penalty:.4f}, " + # f"linkage_reward:{linkage_reward:.4f}, " + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}, " + # f"yaw_link_reward:{yaw_link_reward:.4f}, " + # f"anti_oscillation_penalty:{anti_oscillation_penalty:.4f}, " + # f"stabilize_bonus:{stabilize_bonus:.4f}, " + # f"turn_rate_reward:{turn_rate_reward:.4f}, " + # f"total:{total:.4f}" + # ) + + self.debug_log( f"reward_debug: step={self.step_counter}, " f"alive_bonus:{alive_bonus:.4f}, " # f"heading_align_reward:{heading_align_reward:.4f}, " - # f"heading_progress_reward:{heading_progress_reward:.4f}, " + f"heading_progress_reward:{heading_progress_reward:.4f}, " f"head_towards_bonus:{head_toward_bonus}," f"posture_penalty:{posture_penalty:.4f}, " f"ang_vel_penalty:{ang_vel_penalty:.4f}, " f"smoothness_penalty:{smoothness_penalty:.4f}, " + f"heading_progress_reward:{heading_progress_reward:.4f}, " f"linkage_reward:{linkage_reward:.4f}, " f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}, " f"yaw_link_reward:{yaw_link_reward:.4f}, " f"anti_oscillation_penalty:{anti_oscillation_penalty:.4f}, " f"stabilize_bonus:{stabilize_bonus:.4f}, " - f"turn_rate_reward:{turn_rate_reward:.4f}, " + f"height_penalty:{height_penalty:.4f}, " + # f"post_turn_ang_vel_penalty:{post_turn_ang_vel_penalty:.4f}, " + # f"post_turn_pose_bonus:{post_turn_pose_bonus:.4f}, " + f"aligned_stance_bonus:{aligned_stance_bonus:.4f}, " + # f"turn_rate_reward:{turn_rate_reward:.4f}, " + f"stance_collapse_penalty:{stance_collapse_penalty:.4f}, " + f"cross_leg_penalty:{cross_leg_penalty:.4f}, " f"total:{total:.4f}" - ) + ) return total @@ -549,7 +637,10 @@ class WalkEnv(gym.Env): def step(self, action): r = self.Player.robot - self.previous_action = action + max_action_delta = 0.1# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + self.previous_action = action.copy() self.target_joint_positions = ( # self.joint_nominal_position + @@ -559,10 +650,10 @@ class WalkEnv(gym.Env): for idx, target in enumerate(self.target_joint_positions): r.set_motor_target_position( - r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=40, kd=1.2 ) - self.previous_action = action + self.previous_action = action.copy() self.sync() # run simulation step self.step_counter += 1 @@ -664,11 +755,12 @@ class Train(Train_Base): gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor # target_kl=0.03, n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), - tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/", + max_grad_norm=float(os.environ.get("GYM_CPU_TRAIN_MAX_GRAD_NORM", "0.5")) ) model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, - eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=30, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=5, backup_env_file=__file__) except KeyboardInterrupt: sleep(1) # wait for child processes diff --git a/scripts/gyms/logs/Turn_R0_001/Walk.py b/scripts/gyms/logs/Turn_R0_001/Walk.py new file mode 100755 index 0000000..1926405 --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_001/Walk.py @@ -0,0 +1,831 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, + 0.0, + 0.0, + 1.4, + 0.0, + -0.4, + 0.0, + -1.4, + 0.0, + 0.4, + 0.0, + -0.4, + 0.0, + 0.0, + 0.8, + -0.4, + 0.0, + 0.4, + 0.0, + 0.0, + -0.8, + 0.4, + 0.0, + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "0.7")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + # is_fallen = height < 0.55 + # if is_fallen: + # remain = max(0, 800 - self.step_counter) + # # Strong terminal penalty discourages risky turn-and-fall behaviors. + # return -1 + + + + # # 目标方向 + # to_target = self.target_position - current_pos + # dist_to_target = float(np.linalg.norm(to_target)) + # if dist_to_target < 0.5: + # return 15.0 + + # forward_dir = to_target / dist_to_target if dist_to_target > 0.1 else np.array([1.0, 0.0]) + # delta_pos = current_pos - previous_pos + # forward_step = float(np.dot(delta_pos, forward_dir)) + # lateral_step = float(np.linalg.norm(delta_pos - forward_dir * forward_step)) + + # Keep reward simple: turn correctly, stay stable, avoid jerky actions. + + delta_action_norm = float(np.linalg.norm(action - self.last_action_for_reward)) + # Cap smoothness penalty so it regularizes behavior without dominating total reward. + smoothness_penalty = -min(self.reward_smoothness_cap, self.reward_smoothness_scale * delta_action_norm) + + posture_penalty = -0.45 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.04 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + hip_spread = left_hip_roll - right_hip_roll + ankle_spread = left_ankle_roll - right_ankle_roll + stance_metric = 0.6 * abs(hip_spread) + 0.4 * abs(ankle_spread) + + # Penalize narrow stance (feet too close) and scissoring (cross-leg pattern). + stance_collapse_penalty = -4 * max(0.0, self.min_stance_rad - stance_metric) + cross_leg_penalty = -2.5 * max(0.0, -(hip_spread * ankle_spread)) + + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = self._wrap_to_pi(target_yaw - robot_yaw) + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + + # Reward reducing heading error between consecutive steps. + # Use a deadzone and smaller gain to avoid high-frequency jitter near alignment. + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.70 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.70, 0.70)) + self.last_yaw_error = yaw_error + + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + turn_dir = float(np.sign(yaw_error)) + # Continuous turn shaping prevents reward discontinuity near small heading error. + turn_gate = min(1.0, abs_yaw_error / math.radians(45.0)) + turn_rate_reward = 0.70 * turn_gate * math.tanh(2.0 * turn_dir * yaw_rate) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(8.0) else 0.0 + # After roughly aligning with target, prioritize standing stability over continued aggressive turning. + aligned_gate = max(0.0, 1.0 - abs_yaw_error / math.radians(18.0)) + post_turn_ang_vel_penalty = -0.10 * aligned_gate * min(rp_ang_vel_mag, math.radians(60.0)) + lower_body_speed_mag = float(np.mean(np.abs(joint_speed_rad[11:23]))) + post_turn_pose_bonus = 0.30 * aligned_gate * math.exp(-tilt_mag / 0.20) * math.exp(-lower_body_speed_mag / 1.10) + # Keep feet separation when aligned so robot does not collapse stance after turning. + aligned_stance_bonus = 0.20 * aligned_gate * min(1.0, stance_metric / max(self.min_stance_rad, 1e-4)) + # Once roughly aligned, damp yaw oscillation and reward keeping a stable stance. + anti_oscillation_penalty = -0.08 * min(yaw_rate_abs, math.radians(35.0)) if abs_yaw_error < math.radians(7.0) else 0.0 + stabilize_bonus = 0.45 if ( + abs_yaw_error < math.radians(8.0) + and yaw_rate_abs < math.radians(10.0) + and tilt_mag < 0.28 + ) else 0.0 + + # 改进（线性分段，sigmoid 过渡） + if abs_yaw_error < math.radians(15.0): + alive_bonus = 2 * (1.0 - abs_yaw_error / math.radians(15.0)) ** 0.5 # 平方根让小角度更敏感 + else: + alive_bonus = max(0.1, 2 * (1.0 - (abs_yaw_error - math.radians(15.0)) / math.radians(75.0))) + + target_height = self.initial_height + height_error = height - target_height + # 改进（分段，偏离越多惩罚越重） + height_error = height - target_height + if abs(height_error) < 0.04: + height_penalty = -2.5 * abs(height_error) # 小偏离，保持线性 + else: + height_penalty = -2.5 * 0.04 - 4.0 * (abs(height_error) - 0.04) # 大偏离，惩罚加速 + + total = ( + alive_bonus + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + linkage_reward + + waist_only_turn_penalty + + yaw_link_reward + + head_toward_bonus + + heading_progress_reward + + anti_oscillation_penalty + + stabilize_bonus + + height_penalty + # + post_turn_ang_vel_penalty + # + post_turn_pose_bonus + # + aligned_stance_bonus + # + heading_align_reward + + turn_rate_reward + # + stance_collapse_penalty + # + cross_leg_penalty + ) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + # print( + # f"reward_debug: step={self.step_counter}, " + # f"alive_bonus:{alive_bonus:.4f}, " + # # f"heading_align_reward:{heading_align_reward:.4f}, " + # # f"heading_progress_reward:{heading_progress_reward:.4f}, " + # f"head_towards_bonus:{head_toward_bonus}," + # f"posture_penalty:{posture_penalty:.4f}, " + # f"ang_vel_penalty:{ang_vel_penalty:.4f}, " + # f"smoothness_penalty:{smoothness_penalty:.4f}, " + # f"linkage_reward:{linkage_reward:.4f}, " + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}, " + # f"yaw_link_reward:{yaw_link_reward:.4f}, " + # f"anti_oscillation_penalty:{anti_oscillation_penalty:.4f}, " + # f"stabilize_bonus:{stabilize_bonus:.4f}, " + # f"turn_rate_reward:{turn_rate_reward:.4f}, " + # f"total:{total:.4f}" + # ) + + self.debug_log( + f"reward_debug: step={self.step_counter}, " + f"alive_bonus:{alive_bonus:.4f}, " + # f"heading_align_reward:{heading_align_reward:.4f}, " + f"heading_progress_reward:{heading_progress_reward:.4f}, " + f"head_towards_bonus:{head_toward_bonus}," + f"posture_penalty:{posture_penalty:.4f}, " + f"ang_vel_penalty:{ang_vel_penalty:.4f}, " + f"smoothness_penalty:{smoothness_penalty:.4f}, " + f"heading_progress_reward:{heading_progress_reward:.4f}, " + f"linkage_reward:{linkage_reward:.4f}, " + f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}, " + f"yaw_link_reward:{yaw_link_reward:.4f}, " + f"anti_oscillation_penalty:{anti_oscillation_penalty:.4f}, " + f"stabilize_bonus:{stabilize_bonus:.4f}, " + f"height_penalty:{height_penalty:.4f}, " + # f"post_turn_ang_vel_penalty:{post_turn_ang_vel_penalty:.4f}, " + # f"post_turn_pose_bonus:{post_turn_pose_bonus:.4f}, " + f"aligned_stance_bonus:{aligned_stance_bonus:.4f}, " + # f"turn_rate_reward:{turn_rate_reward:.4f}, " + f"stance_collapse_penalty:{stance_collapse_penalty:.4f}, " + f"cross_leg_penalty:{cross_leg_penalty:.4f}, " + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.1# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=40, kd=1.2 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + # Update previous position + self.previous_pos = current_pos.copy() + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "256")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/", + max_grad_norm=float(os.environ.get("GYM_CPU_TRAIN_MAX_GRAD_NORM", "0.5")) + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=5, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_002/Walk.py b/scripts/gyms/logs/Turn_R0_002/Walk.py index e996b0c..6223f71 100755 --- a/scripts/gyms/logs/Turn_R0_002/Walk.py +++ b/scripts/gyms/logs/Turn_R0_002/Walk.py @@ -158,11 +158,23 @@ class WalkEnv(gym.Env): # Small reset perturbations for robustness training. self.enable_reset_perturb = False - self.reset_beam_yaw_range_deg = 45 # randomize target direction fully to encourage learning a real walk instead of a fixed gait + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) self.reset_joint_noise_rad = 0.025 self.reset_perturb_steps = 4 self.reset_recover_steps = 8 + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) self.previous_pos = np.array([0.0, 0.0]) # Track previous position @@ -321,8 +333,8 @@ class WalkEnv(gym.Env): if seed is not None: np.random.seed(seed) - target_distance = np.random.uniform(1.2, 2.8) - target_bearing_deg = np.random.uniform(-180.0, 180.0) + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) self.step_counter = 0 self.waypoint_index = 0 @@ -443,12 +455,31 @@ class WalkEnv(gym.Env): # Keep reward simple: turn correctly, stay stable, avoid jerky actions. delta_action_norm = float(np.linalg.norm(action - self.last_action_for_reward)) - smoothness_penalty = -0.1 * delta_action_norm + # Cap smoothness penalty so it regularizes behavior without dominating total reward. + smoothness_penalty = -min(self.reward_smoothness_cap, self.reward_smoothness_scale * delta_action_norm) posture_penalty = -0.45 * tilt_mag # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. ang_vel_penalty = -0.04 * rp_ang_vel_mag + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + hip_spread = left_hip_roll - right_hip_roll + ankle_spread = left_ankle_roll - right_ankle_roll + stance_metric = 0.5 * abs(hip_spread) + 0.5 * abs(ankle_spread) + + # Penalize narrow stance (feet too close) and scissoring (cross-leg pattern). + stance_collapse_penalty = -3 * max(0.0, self.min_stance_rad - stance_metric) + cross_leg_penalty = -2.5 * max(0.0, -(hip_spread * ankle_spread)) + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. waist_speed = abs(float(joint_speed_rad[10])) lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) @@ -475,31 +506,56 @@ class WalkEnv(gym.Env): # Main heading objective: face the target direction. # heading_align_reward = 1.0 * math.cos(yaw_error) + abs_yaw_error = abs(yaw_error) + # Reward reducing heading error between consecutive steps. - # if self.last_yaw_error is None: - # heading_progress_reward = 0.0 - # else: - # heading_progress_reward = 0.7 * (abs(self.last_yaw_error) - abs(yaw_error)) - # self.last_yaw_error = yaw_error + # Use a deadzone and smaller gain to avoid high-frequency jitter near alignment. + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, 1, 1)) + self.last_yaw_error = yaw_error yaw_rate = float(np.deg2rad(robot.gyroscope[2])) yaw_rate_abs = abs(yaw_rate) - abs_yaw_error = abs(yaw_error) turn_dir = float(np.sign(yaw_error)) # Continuous turn shaping prevents reward discontinuity near small heading error. turn_gate = min(1.0, abs_yaw_error / math.radians(45.0)) - turn_rate_reward = 0.45 * turn_gate * math.tanh(2.0 * turn_dir * yaw_rate) - head_toward_bonus = 1 if abs_yaw_error < math.radians(10.0) else 0 + turn_rate_reward = 0.70 * turn_gate * math.tanh(2.0 * turn_dir * yaw_rate) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(8.0) else 0.0 + # After roughly aligning with target, prioritize standing stability over continued aggressive turning. + aligned_gate = max(0.0, 1.0 - abs_yaw_error / math.radians(18.0)) + post_turn_ang_vel_penalty = -0.10 * aligned_gate * min(rp_ang_vel_mag, math.radians(60.0)) + lower_body_speed_mag = float(np.mean(np.abs(joint_speed_rad[11:23]))) + post_turn_pose_bonus = 0.30 * aligned_gate * math.exp(-tilt_mag / 0.20) * math.exp(-lower_body_speed_mag / 1.10) + # Keep feet separation when aligned so robot does not collapse stance after turning. + aligned_stance_bonus = 0.20 * aligned_gate * min(1.0, stance_metric / max(self.min_stance_rad, 1e-4)) # Once roughly aligned, damp yaw oscillation and reward keeping a stable stance. - anti_oscillation_penalty = -0.22 * yaw_rate_abs if abs_yaw_error < math.radians(12.0) else 0.0 - stabilize_bonus = 0.35 if ( + anti_oscillation_penalty = -0.08 * min(yaw_rate_abs, math.radians(35.0)) if abs_yaw_error < math.radians(7.0) else 0.0 + stabilize_bonus = 0.6 if ( abs_yaw_error < math.radians(8.0) and yaw_rate_abs < math.radians(10.0) - and tilt_mag < 0.22 + and tilt_mag < 0.28 ) else 0.0 - alive_bonus = max(0.5, 1.5 * math.cos(yaw_error)) # Encourage facing target, but give some baseline reward for not falling even if not facing target yet. + # 改进（线性分段，sigmoid 过渡） + if abs_yaw_error < math.radians(15.0): + alive_bonus = 2 * (1.0 - abs_yaw_error / math.radians(15.0)) ** 0.5 # 平方根让小角度更敏感 + else: + alive_bonus = max(0.1, 2 * (1.0 - (abs_yaw_error - math.radians(15.0)) / math.radians(75.0))) + target_height = self.initial_height + height_error = height - target_height + # 改进（分段，偏离越多惩罚越重） + height_error = height - target_height + if abs(height_error) < 0.04: + height_penalty = -2.5 * abs(height_error) # 小偏离，保持线性 + else: + height_penalty = -2.5 * 0.04 - 4.0 * (abs(height_error) - 0.04) # 大偏离，惩罚加速 total = ( alive_bonus @@ -510,11 +566,17 @@ class WalkEnv(gym.Env): + waist_only_turn_penalty + yaw_link_reward + head_toward_bonus + + heading_progress_reward + anti_oscillation_penalty + stabilize_bonus + + height_penalty + # + post_turn_ang_vel_penalty + # + post_turn_pose_bonus + # + aligned_stance_bonus # + heading_align_reward - # + heading_progress_reward + turn_rate_reward + + stance_collapse_penalty + + cross_leg_penalty ) now = time.time() @@ -524,23 +586,48 @@ class WalkEnv(gym.Env): if self._reward_debug_steps_left > 0: self._reward_debug_steps_left -= 1 - print( + # print( + # f"reward_debug: step={self.step_counter}, " + # f"alive_bonus:{alive_bonus:.4f}, " + # # f"heading_align_reward:{heading_align_reward:.4f}, " + # # f"heading_progress_reward:{heading_progress_reward:.4f}, " + # f"head_towards_bonus:{head_toward_bonus}," + # f"posture_penalty:{posture_penalty:.4f}, " + # f"ang_vel_penalty:{ang_vel_penalty:.4f}, " + # f"smoothness_penalty:{smoothness_penalty:.4f}, " + # f"linkage_reward:{linkage_reward:.4f}, " + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}, " + # f"yaw_link_reward:{yaw_link_reward:.4f}, " + # f"anti_oscillation_penalty:{anti_oscillation_penalty:.4f}, " + # f"stabilize_bonus:{stabilize_bonus:.4f}, " + # f"turn_rate_reward:{turn_rate_reward:.4f}, " + # f"total:{total:.4f}" + # ) + + self.debug_log( f"reward_debug: step={self.step_counter}, " f"alive_bonus:{alive_bonus:.4f}, " # f"heading_align_reward:{heading_align_reward:.4f}, " - # f"heading_progress_reward:{heading_progress_reward:.4f}, " + f"heading_progress_reward:{heading_progress_reward:.4f}, " f"head_towards_bonus:{head_toward_bonus}," f"posture_penalty:{posture_penalty:.4f}, " f"ang_vel_penalty:{ang_vel_penalty:.4f}, " f"smoothness_penalty:{smoothness_penalty:.4f}, " + f"heading_progress_reward:{heading_progress_reward:.4f}, " f"linkage_reward:{linkage_reward:.4f}, " f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}, " f"yaw_link_reward:{yaw_link_reward:.4f}, " f"anti_oscillation_penalty:{anti_oscillation_penalty:.4f}, " f"stabilize_bonus:{stabilize_bonus:.4f}, " - f"turn_rate_reward:{turn_rate_reward:.4f}, " + f"height_penalty:{height_penalty:.4f}, " + # f"post_turn_ang_vel_penalty:{post_turn_ang_vel_penalty:.4f}, " + # f"post_turn_pose_bonus:{post_turn_pose_bonus:.4f}, " + f"aligned_stance_bonus:{aligned_stance_bonus:.4f}, " + # f"turn_rate_reward:{turn_rate_reward:.4f}, " + f"stance_collapse_penalty:{stance_collapse_penalty:.4f}, " + f"cross_leg_penalty:{cross_leg_penalty:.4f}, " f"total:{total:.4f}" - ) + ) return total @@ -549,7 +636,10 @@ class WalkEnv(gym.Env): def step(self, action): r = self.Player.robot - self.previous_action = action + max_action_delta = 0.1# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + self.previous_action = action.copy() self.target_joint_positions = ( # self.joint_nominal_position + @@ -559,10 +649,10 @@ class WalkEnv(gym.Env): for idx, target in enumerate(self.target_joint_positions): r.set_motor_target_position( - r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=40, kd=1.2 ) - self.previous_action = action + self.previous_action = action.copy() self.sync() # run simulation step self.step_counter += 1 @@ -664,11 +754,12 @@ class Train(Train_Base): gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor # target_kl=0.03, n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), - tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/", + max_grad_norm=float(os.environ.get("GYM_CPU_TRAIN_MAX_GRAD_NORM", "0.5")) ) model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, - eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=30, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, backup_env_file=__file__) except KeyboardInterrupt: sleep(1) # wait for child processes diff --git a/scripts/gyms/logs/Turn_R0_003/Walk.py b/scripts/gyms/logs/Turn_R0_003/Walk.py new file mode 100755 index 0000000..56b7240 --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_003/Walk.py @@ -0,0 +1,755 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, + 0.0, + 0.0, + 1.4, + 0.0, + -0.4, + 0.0, + -1.4, + 0.0, + 0.4, + 0.0, + -0.4, + 0.0, + 0.0, + 0.8, + -0.4, + 0.0, + 0.4, + 0.0, + 0.0, + -0.8, + 0.4, + 0.0, + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -1.0 + + + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.01 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.45 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.04 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + hip_spread = left_hip_roll - right_hip_roll + ankle_spread = left_ankle_roll - right_ankle_roll + stance_metric = 0.6 * abs(hip_spread) + 0.4 * abs(ankle_spread) + + # Penalize narrow stance (feet too close) and scissoring (cross-leg pattern). + stance_collapse_penalty = -4.0 * max(0.0, self.min_stance_rad - stance_metric) + cross_leg_penalty = -1.2 * max(0.0, -(hip_spread * ankle_spread)) + + target_height = self.initial_height + height_error = height - target_height + height_penalty = -0.5 * abs(height_error) # 惩罚高度偏离，系数可调 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + stance_collapse_penalty + + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}", + f"smoothness_penalty:{smoothness_penalty:.4f},", + f"posture_penalty:{posture_penalty:.4f}", + f"stance_collapse_penalty:{stance_collapse_penalty:.4f}", + f"cross_leg_penalty:{cross_leg_penalty:.4f}", + f"ang_vel_penalty:{ang_vel_penalty:.4f}", + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + if time.time() - self.start_time >= 600: + self.start_time = time.time() + self.debug_log( + # f"progress_reward:{progress_reward:.4f}", + # f"lateral_penalty:{lateral_penalty:.4f}", + # f"action_penalty:{action_penalty:.4f}"s, + f"height_penalty:{height_penalty:.4f}", + f"smoothness_penalty:{smoothness_penalty:.4f},", + f"posture_penalty:{posture_penalty:.4f}", + f"stance_collapse_penalty:{stance_collapse_penalty:.4f}", + f"cross_leg_penalty:{cross_leg_penalty:.4f}", + # f"ang_vel_penalty:{ang_vel_penalty:.4f}", + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.1# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=40, kd=1.2 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + # Update previous position + self.previous_pos = current_pos.copy() + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/", + max_grad_norm=float(os.environ.get("GYM_CPU_TRAIN_MAX_GRAD_NORM", "0.5")) + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_004/Walk.py b/scripts/gyms/logs/Turn_R0_004/Walk.py new file mode 100755 index 0000000..d0c6f6a --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_004/Walk.py @@ -0,0 +1,754 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, + 0.0, + 0.0, + 1.4, + 0.0, + -0.4, + 0.0, + -1.4, + 0.0, + 0.4, + 0.0, + -0.4, + 0.0, + 0.0, + 0.8, + -0.4, + 0.0, + 0.4, + 0.0, + 0.0, + -0.8, + 0.4, + 0.0, + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -1.0 + + + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.7, 0.7)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.02 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + hip_spread = left_hip_roll - right_hip_roll if right_hip_roll > 0.03 and left_hip_roll > 0.03 else 0.0 + ankle_spread = left_ankle_roll - right_ankle_roll if right_ankle_roll > 0.03 and left_ankle_roll > 0.03 else 0.0 + stance_metric = 0.6 * abs(hip_spread) + 0.4 * abs(ankle_spread) + + # Penalize narrow stance (feet too close) and scissoring (cross-leg pattern). + stance_collapse_penalty = -4.0 * max(0.0, self.min_stance_rad - stance_metric) + cross_leg_penalty = -1.2 * max(0.0, -(hip_spread * ankle_spread)) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -math.exp(15*abs(height_error)) + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.1# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=40, kd=1.2 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + # Update previous position + self.previous_pos = current_pos.copy() + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/", + max_grad_norm=float(os.environ.get("GYM_CPU_TRAIN_MAX_GRAD_NORM", "0.5")) + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_005/Walk.py b/scripts/gyms/logs/Turn_R0_005/Walk.py new file mode 100755 index 0000000..cb5889d --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_005/Walk.py @@ -0,0 +1,755 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, + 0.0, + 0.0, + 1.4, + 0.0, + -0.4, + 0.0, + -1.4, + 0.0, + 0.4, + 0.0, + -0.4, + 0.0, + 0.0, + 0.8, + -0.4, + 0.0, + 0.4, + 0.0, + 0.0, + -0.8, + 0.4, + 0.0, + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -1.0 + + + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.7, 0.7)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.02 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + hip_spread = left_hip_roll - right_hip_roll if right_hip_roll > 0.03 and left_hip_roll > 0.03 else 0.0 + ankle_spread = left_ankle_roll - right_ankle_roll if right_ankle_roll > 0.03 and left_ankle_roll > 0.03 else 0.0 + stance_metric = 0.6 * abs(hip_spread) + 0.4 * abs(ankle_spread) + + # Penalize narrow stance (feet too close) and scissoring (cross-leg pattern). + stance_collapse_penalty = -4.0 * max(0.0, self.min_stance_rad - stance_metric) + cross_leg_penalty = -1.2 * max(0.0, -(hip_spread * ankle_spread)) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.1# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=40, kd=1.2 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + # Update previous position + self.previous_pos = current_pos.copy() + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/", + max_grad_norm=float(os.environ.get("GYM_CPU_TRAIN_MAX_GRAD_NORM", "0.5")) + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_006/Walk.py b/scripts/gyms/logs/Turn_R0_006/Walk.py new file mode 100755 index 0000000..21c3885 --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_006/Walk.py @@ -0,0 +1,821 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -1.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -0.1 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.7, 0.7)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.02 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.75 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.1 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.35 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 1 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=150, kd=40 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_007/Walk.py b/scripts/gyms/logs/Turn_R0_007/Walk.py new file mode 100755 index 0000000..e083546 --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_007/Walk.py @@ -0,0 +1,823 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.02 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.75 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.1 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.35 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 1 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=150, kd=40 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_008/Walk.py b/scripts/gyms/logs/Turn_R0_008/Walk.py new file mode 100755 index 0000000..4781f7d --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_008/Walk.py @@ -0,0 +1,849 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.15 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.5 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=80, kd=10 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_009/Walk.py b/scripts/gyms/logs/Turn_R0_009/Walk.py new file mode 100755 index 0000000..e1a8acc --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_009/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.15 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.3 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.3, 0.3) + action[17] = np.clip(action[17], -0.3, 0.3) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=80, kd=10 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_010/Walk.py b/scripts/gyms/logs/Turn_R0_010/Walk.py new file mode 100755 index 0000000..cd3b3ea --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_010/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.15 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.3 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.1, 0.1) + action[17] = np.clip(action[17], -0.1, 0.1) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=110, kd=29.5 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_011/Walk.py b/scripts/gyms/logs/Turn_R0_011/Walk.py new file mode 100755 index 0000000..ab0bec5 --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_011/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.15 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.3 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.1, 0.1) + action[17] = np.clip(action[17], -0.1, 0.1) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=110, kd=6 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_012/Walk.py b/scripts/gyms/logs/Turn_R0_012/Walk.py new file mode 100755 index 0000000..7549193 --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_012/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "90")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.2 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.4 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + # + left_hip_yaw_penalty + # + right_hip_yaw_penalty + # + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + # print(f"abs_yaw_error:{abs_yaw_error:.4f}") + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.4, 0.4) + action[17] = np.clip(action[17], -0.4, 0.4) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=110, kd=6 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_013/Walk.py b/scripts/gyms/logs/Turn_R0_013/Walk.py new file mode 100755 index 0000000..32f2824 --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_013/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "90")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.2 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.4 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + # + left_hip_yaw_penalty + # + right_hip_yaw_penalty + # + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + # print(f"abs_yaw_error:{abs_yaw_error:.4f}") + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.4, 0.4) + action[17] = np.clip(action[17], -0.4, 0.4) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=80, kd=4.67 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_R0_014/Walk.py b/scripts/gyms/logs/Turn_R0_014/Walk.py new file mode 100755 index 0000000..88984ea --- /dev/null +++ b/scripts/gyms/logs/Turn_R0_014/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "120")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -1, 1)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.2 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.5 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + # print(f"abs_yaw_error:{abs_yaw_error:.4f}") + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.7, 0.7) + action[17] = np.clip(action[17], -0.7, 0.7) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=80, kd=4.67 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_around_normal_60deg.zip b/scripts/gyms/logs/Turn_around_normal_60deg.zip new file mode 100644 index 0000000..4eb0768 Binary files /dev/null and b/scripts/gyms/logs/Turn_around_normal_60deg.zip differ diff --git a/scripts/gyms/logs/Turn_around_normal_60deg/Walk.py b/scripts/gyms/logs/Turn_around_normal_60deg/Walk.py new file mode 100755 index 0000000..32f2824 --- /dev/null +++ b/scripts/gyms/logs/Turn_around_normal_60deg/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "90")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.2 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.4 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + # + left_hip_yaw_penalty + # + right_hip_yaw_penalty + # + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + # print(f"abs_yaw_error:{abs_yaw_error:.4f}") + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.4, 0.4) + action[17] = np.clip(action[17], -0.4, 0.4) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=80, kd=4.67 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file diff --git a/scripts/gyms/logs/Turn_around_final.zip b/scripts/gyms/logs/Turn_around_unnormal.zip similarity index 100% rename from scripts/gyms/logs/Turn_around_final.zip rename to scripts/gyms/logs/Turn_around_unnormal.zip diff --git a/scripts/gyms/logs/Turn_around_unnormal/Walk.py b/scripts/gyms/logs/Turn_around_unnormal/Walk.py new file mode 100755 index 0000000..cd3b3ea --- /dev/null +++ b/scripts/gyms/logs/Turn_around_unnormal/Walk.py @@ -0,0 +1,853 @@ +import os +import numpy as np +import math +import time +from time import sleep +from random import random +from random import uniform +from itertools import count + +from stable_baselines3 import PPO +from stable_baselines3.common.monitor import Monitor +from stable_baselines3.common.vec_env import SubprocVecEnv, DummyVecEnv + +import gymnasium as gym +from gymnasium import spaces + +from scripts.commons.Train_Base import Train_Base +from scripts.commons.Server import Server as Train_Server + +from agent.base_agent import Base_Agent +from utils.math_ops import MathOps + +from scipy.spatial.transform import Rotation as R + +''' +Objective: +Learn how to run forward using step primitive +---------- +- class Basic_Run: implements an OpenAI custom gym +- class Train: implements algorithms to train a new model or test an existing model +''' + + +class WalkEnv(gym.Env): + def __init__(self, ip, server_p) -> None: + + # Args: Server IP, Agent Port, Monitor Port, Uniform No., Robot Type, Team Name, Enable Log, Enable Draw + self.Player = player = Base_Agent( + team_name="Gym", + number=1, + host=ip, + port=server_p + ) + self.robot_type = self.Player.robot + self.step_counter = 0 # to limit episode size + self.force_play_on = True + + self.target_position = np.array([0.0, 0.0]) # target position in the x-y plane + self.initial_position = np.array([0.0, 0.0]) # initial position in the x-y plane + self.target_direction = 0.0 # target direction in the x-y plane (relative to the robot's orientation) + self.isfallen = False + self.waypoint_index = 0 + self.route_completed = False + self.debug_every_n_steps = 5 + self.enable_debug_joint_status = False + self.reward_debug_interval_sec = float(os.environ.get("GYM_CPU_REWARD_DEBUG_INTERVAL_SEC", "600")) + self.reward_debug_burst_steps = int(os.environ.get("GYM_CPU_REWARD_DEBUG_BURST_STEPS", "10")) + self._reward_debug_last_time = time.time() + self._reward_debug_steps_left = 0 + self.calibrate_nominal_from_neutral = True + self.auto_calibrate_train_sim_flip = True + self.nominal_calibrated_once = False + self.flip_calibrated_once = False + self._target_hz = 0.0 + self._target_dt = 0.0 + self._last_sync_time = None + target_hz_env = 0 + if target_hz_env: + try: + self._target_hz = float(target_hz_env) + except ValueError: + self._target_hz = 0.0 + if self._target_hz > 0.0: + self._target_dt = 1.0 / self._target_hz + + # State space + # 原始观测大小: 78 + obs_size = 78 + self.obs = np.zeros(obs_size, np.float32) + self.observation_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(obs_size,), + dtype=np.float32 + ) + + action_dim = len(self.Player.robot.ROBOT_MOTORS) + self.no_of_actions = action_dim + self.action_space = spaces.Box( + low=-10.0, + high=10.0, + shape=(action_dim,), + dtype=np.float32 + ) + + # 中立姿态 + self.joint_nominal_position = np.array( + [ + 0.0, # 0: Head_yaw (he1) + 0.0, # 1: Head_pitch (he2) + 0.0, # 2: Left_Shoulder_Pitch (lae1) + 0.0, # 3: Left_Shoulder_Roll (lae2) + 0.0, # 4: Left_Elbow_Pitch (lae3) + 0.0, # 5: Left_Elbow_Yaw (lae4) + 0.0, # 6: Right_Shoulder_Pitch (rae1) + 0.0, # 7: Right_Shoulder_Roll (rae2) + 0.0, # 8: Right_Elbow_Pitch (rae3) + 0.0, # 9: Right_Elbow_Yaw (rae4) + 0.0, # 10: Waist (te1) + 0.0, # 11: Left_Hip_Pitch (lle1) + 0.0, # 12: Left_Hip_Roll (lle2) + 1.0, # 13: Left_Hip_Yaw (lle3) + 0.0, # 14: Left_Knee_Pitch (lle4) + 0.0, # 15: Left_Ankle_Pitch (lle5) + 0.0, # 16: Left_Ankle_Roll (lle6) + 0.0, # 17: Right_Hip_Pitch (rle1) + 0.0, # 18: Right_Hip_Roll (rle2) + 1.0, # 19: Right_Hip_Yaw (rle3) + 0.0, # 20: Right_Knee_Pitch (rle4) + 0.0, # 21: Right_Ankle_Pitch (rle5) + 0.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + self.joint_nominal_position = np.zeros(self.no_of_actions) + self.train_sim_flip = np.array( + [ + 1.0, # 0: Head_yaw (he1) + -1.0, # 1: Head_pitch (he2) + 1.0, # 2: Left_Shoulder_Pitch (lae1) + -1.0, # 3: Left_Shoulder_Roll (lae2) + -1.0, # 4: Left_Elbow_Pitch (lae3) + 1.0, # 5: Left_Elbow_Yaw (lae4) + -1.0, # 6: Right_Shoulder_Pitch (rae1) + -1.0, # 7: Right_Shoulder_Roll (rae2) + 1.0, # 8: Right_Elbow_Pitch (rae3) + 1.0, # 9: Right_Elbow_Yaw (rae4) + 1.0, # 10: Waist (te1) + 1.0, # 11: Left_Hip_Pitch (lle1) + -1.0, # 12: Left_Hip_Roll (lle2) + -1.0, # 13: Left_Hip_Yaw (lle3) + 1.0, # 14: Left_Knee_Pitch (lle4) + 1.0, # 15: Left_Ankle_Pitch (lle5) + -1.0, # 16: Left_Ankle_Roll (lle6) + -1.0, # 17: Right_Hip_Pitch (rle1) + -1.0, # 18: Right_Hip_Roll (rle2) + -1.0, # 19: Right_Hip_Yaw (rle3) + -1.0, # 20: Right_Knee_Pitch (rle4) + -1.0, # 21: Right_Ankle_Pitch (rle5) + -1.0, # 22: Right_Ankle_Roll (rle6) + ] + ) + + self.scaling_factor = 0.3 + # self.scaling_factor = 1 + + # Encourage a minimum lateral stance so the policy avoids feet overlap. + self.min_stance_rad = 0.10 + + # Small reset perturbations for robustness training. + self.enable_reset_perturb = False + self.reset_beam_yaw_range_deg = float(os.environ.get("GYM_CPU_RESET_BEAM_YAW_RANGE_DEG", "180")) + self.reset_target_bearing_range_deg = float(os.environ.get("GYM_CPU_RESET_TARGET_BEARING_RANGE_DEG", "45")) + self.reset_target_distance_min = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MIN", "1.2")) + self.reset_target_distance_max = float(os.environ.get("GYM_CPU_RESET_TARGET_DISTANCE_MAX", "2.8")) + if self.reset_target_distance_min > self.reset_target_distance_max: + self.reset_target_distance_min, self.reset_target_distance_max = ( + self.reset_target_distance_max, + self.reset_target_distance_min, + ) + self.reset_joint_noise_rad = 0.025 + self.reset_perturb_steps = 4 + self.reset_recover_steps = 8 + + self.reward_smoothness_scale = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_SCALE", "0.06")) + self.reward_smoothness_cap = float(os.environ.get("GYM_CPU_REWARD_SMOOTHNESS_CAP", "0.45")) + self.reward_head_toward_bonus = float(os.environ.get("GYM_CPU_REWARD_HEAD_TOWARD_BONUS", "1")) + + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Track previous position + self.last_yaw_error = None + self.Player.server.connect() + # sleep(2.0) # Longer wait for connection to establish completely + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + self.start_time = time.time() + + def _reconnect_server(self): + try: + self.Player.server.shutdown() + except Exception: + pass + + self.Player.server.connect() + self.Player.server.send_immediate( + f"(init {self.Player.robot.name} {self.Player.world.team_name} {self.Player.world.number})" + ) + + def _safe_receive_world_update(self, retries=1): + last_exc = None + for attempt in range(retries + 1): + try: + self.Player.server.receive() + self.Player.world.update() + return + except (ConnectionResetError, OSError) as exc: + last_exc = exc + if attempt >= retries: + raise + self._reconnect_server() + if last_exc is not None: + raise last_exc + + def debug_log(self, message): + print(message) + try: + log_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "comm_debug.log") + with open(log_path, "a", encoding="utf-8") as f: + f.write(message + "\n") + except OSError: + pass + + @staticmethod + def _wrap_to_pi(angle_rad: float) -> float: + return (angle_rad + math.pi) % (2.0 * math.pi) - math.pi + + def observe(self, init=False): + + """获取当前观测值""" + robot = self.Player.robot + world = self.Player.world + + # Safety check: ensure data is available + + # 计算目标速度 + raw_target = self.target_position - world.global_position[:2] + velocity = MathOps.rotate_2d_vec( + raw_target, + -robot.global_orientation_euler[2], + is_rad=False + ) + + # 计算相对方向 + rel_orientation = MathOps.vector_angle(velocity) * 0.3 + rel_orientation = np.clip(rel_orientation, -0.25, 0.25) + + velocity = np.concatenate([velocity, np.array([rel_orientation])]) + velocity[0] = np.clip(velocity[0], -0.5, 0.5) + velocity[1] = np.clip(velocity[1], -0.25, 0.25) + + # 关节状态 + radian_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + radian_joint_speeds = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + qpos_qvel_previous_action = np.concatenate([ + (radian_joint_positions * self.train_sim_flip - self.joint_nominal_position) / 4.6, + radian_joint_speeds / 110.0 * self.train_sim_flip, + self.previous_action / 10.0, + ]) + + # 角速度 + ang_vel = np.clip(np.deg2rad(robot.gyroscope) / 50.0, -1.0, 1.0) + + # 投影的重力方向 + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + + # 组合观测 + observation = np.concatenate([ + qpos_qvel_previous_action, + ang_vel, + velocity, + projected_gravity, + ]) + + observation = np.clip(observation, -10.0, 10.0) + return observation.astype(np.float32) + + def sync(self): + ''' Run a single simulation step ''' + self._safe_receive_world_update(retries=1) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.send() + if self._target_dt > 0.0: + now = time.time() + if self._last_sync_time is None: + self._last_sync_time = now + return + elapsed = now - self._last_sync_time + remaining = self._target_dt - elapsed + if remaining > 0.0: + time.sleep(remaining) + now = time.time() + self._last_sync_time = now + + def debug_joint_status(self): + robot = self.Player.robot + actual_joint_positions = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + target_joint_positions = getattr( + self, + 'target_joint_positions', + np.zeros(len(robot.ROBOT_MOTORS), dtype=np.float32) + ) + joint_error = actual_joint_positions - target_joint_positions + leg_slice = slice(11, None) + + self.debug_log( + "[WalkDebug] " + f"step={self.step_counter} " + f"pos={np.round(self.Player.world.global_position, 3).tolist()} " + f"target_xy={np.round(self.target_position, 3).tolist()} " + f"target_leg={np.round(target_joint_positions[leg_slice], 3).tolist()} " + f"actual_leg={np.round(actual_joint_positions[leg_slice], 3).tolist()} " + f"err_norm={float(np.linalg.norm(joint_error)):.4f} " + f"fallen={self.Player.world.global_position[2] < 0.3}" + ) + print(f"waist target={target_joint_positions[10]:.3f}, actual={actual_joint_positions[10]:.3f}") + + def reset(self, seed=None, options=None): + ''' + Reset and stabilize the robot + Note: for some behaviors it would be better to reduce stabilization or add noise + ''' + r = self.Player.robot + super().reset(seed=seed) + if seed is not None: + np.random.seed(seed) + + target_distance = np.random.uniform(self.reset_target_distance_min, self.reset_target_distance_max) + target_bearing_deg = np.random.uniform(-self.reset_target_bearing_range_deg, self.reset_target_bearing_range_deg) + + self.step_counter = 0 + self.waypoint_index = 0 + self.route_completed = False + self.previous_action = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.last_action_for_reward = np.zeros(len(self.Player.robot.ROBOT_MOTORS)) + self.previous_pos = np.array([0.0, 0.0]) # Initialize for first step + self.last_yaw_error = None + self.walk_cycle_step = 0 + self._reward_debug_steps_left = 0 + + # 随机 beam 目标位置和朝向，增加训练多样性 + beam_x = (random() - 0.5) * 10 + beam_y = (random() - 0.5) * 10 + beam_yaw = uniform(-self.reset_beam_yaw_range_deg, self.reset_beam_yaw_range_deg) + + for _ in range(5): + self._safe_receive_world_update(retries=2) + self.Player.robot.commit_motor_targets_pd() + self.Player.server.commit_beam(pos2d=(beam_x, beam_y), rotation=beam_yaw) + self.Player.server.send() + + # 执行 Neutral 技能直到完成，给机器人足够时间在 beam 位置稳定站立 + finished_count = 0 + for _ in range(50): + finished = self.Player.skills_manager.execute("Neutral") + self.sync() + if finished: + finished_count += 1 + if finished_count >= 20: # 假设需要连续20次完成才算成功 + break + + if self.enable_reset_perturb and self.reset_joint_noise_rad > 0.0: + perturb_action = np.zeros(self.no_of_actions, dtype=np.float32) + # Perturb waist + lower body only (10:), keep head/arms stable. + perturb_action[10:] = np.random.uniform( + -self.reset_joint_noise_rad, + self.reset_joint_noise_rad, + size=(self.no_of_actions - 10,) + ) + + for _ in range(self.reset_perturb_steps): + target_joint_positions = (self.joint_nominal_position + perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + for i in range(self.reset_recover_steps): + # Linearly fade perturbation to help policy start from near-neutral. + alpha = 1.0 - float(i + 1) / float(self.reset_recover_steps) + target_joint_positions = (self.joint_nominal_position + alpha * perturb_action) * self.train_sim_flip + for idx, target in enumerate(target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=25, kd=0.6 + ) + self.sync() + + # memory variables + self.sync() + self.initial_position = np.array(self.Player.world.global_position[:2]) + self.previous_pos = self.initial_position.copy() # Critical: set to actual position + self.act = np.zeros(self.no_of_actions, np.float32) + # Randomize global target bearing so policy must learn to rotate toward it first. + heading_deg = float(r.global_orientation_euler[2]) + target_offset = MathOps.rotate_2d_vec( + np.array([target_distance, 0.0]), + heading_deg + target_bearing_deg, + is_rad=False, + ) + point1 = self.initial_position + target_offset + self.point_list = [point1] + self.target_position = self.point_list[self.waypoint_index] + self.initial_height = self.Player.world.global_position[2] + + return self.observe(True), {} + + def render(self, mode='human', close=False): + return + + + def compute_reward(self, previous_pos, current_pos, action): + height = float(self.Player.world.global_position[2]) + robot = self.Player.robot + + + joint_pos_rad = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) + joint_speed_rad = np.deg2rad( + [robot.motor_speeds[motor] for motor in robot.ROBOT_MOTORS] + ) + + orientation_quat_inv = R.from_quat(robot._global_cheat_orientation).inv() + projected_gravity = orientation_quat_inv.apply(np.array([0.0, 0.0, -1.0])) + tilt_mag = float(np.linalg.norm(projected_gravity[:2])) + ang_vel = np.deg2rad(robot.gyroscope) + rp_ang_vel_mag = float(np.linalg.norm(ang_vel[:2])) + + is_fallen = height < 0.55 + if is_fallen: + # remain = max(0, 800 - self.step_counter) + # return -8.0 - 0.01 * remain + return -20.0 + + + if np.linalg.norm(current_pos - previous_pos) > 0.005: + position_penalty = -3 * float(np.linalg.norm(current_pos - previous_pos)) + else: + position_penalty = 0.0 + + + # Turn-to-target shaping. + to_target = self.target_position - current_pos + dist_to_target = float(np.linalg.norm(to_target)) + if dist_to_target > 1e-6: + target_yaw = math.atan2(float(to_target[1]), float(to_target[0])) + else: + target_yaw = 0.0 + + robot_yaw = math.radians(float(robot.global_orientation_euler[2])) + yaw_error = target_yaw - robot_yaw + + # Main heading objective: face the target direction. + # heading_align_reward = 1.0 * math.cos(yaw_error) + + abs_yaw_error = abs(yaw_error) + alive_bonus = 2.0 * max(0.0, 1.0 - abs_yaw_error / math.pi) + head_toward_bonus = self.reward_head_toward_bonus if abs_yaw_error < math.radians(4.0) else 0.0 + + if self.last_yaw_error is None: + heading_progress_reward = 0.0 + else: + prev_abs_yaw_error = abs(self.last_yaw_error) + yaw_err_delta = prev_abs_yaw_error - abs_yaw_error + progress_gate = 1.0 if abs_yaw_error > math.radians(4.0) else 0.0 + heading_progress_reward = 0.8 * progress_gate * yaw_err_delta + heading_progress_reward = float(np.clip(heading_progress_reward, -0.4, 0.4)) + self.last_yaw_error = yaw_error + + # action_penalty = -0.01 * float(np.linalg.norm(action)) + smoothness_penalty = -0.05 * float(np.linalg.norm(action - self.last_action_for_reward)) + + posture_penalty = -0.6 * tilt_mag + # Penalize roll/pitch rotational shake but do not penalize yaw turning directly. + ang_vel_penalty = -0.06 * rp_ang_vel_mag + + joint_pos = np.deg2rad( + [robot.motor_positions[motor] for motor in robot.ROBOT_MOTORS] + ) * self.train_sim_flip + left_hip_roll = float(joint_pos[12]) + right_hip_roll = float(joint_pos[18]) + left_hip_pitch = float(joint_pos[11]) + right_hip_pitch = float(joint_pos[17]) + + left_ankle_roll = float(joint_pos[16]) + right_ankle_roll = float(joint_pos[22]) + + max_leg_roll = 0.15 # 防止劈叉姿势 + split_penalty = -0.8 * max(0.0, (-left_hip_roll + right_hip_roll - 2 * max_leg_roll) / max_leg_roll) + left_hip_yaw = float(joint_pos[13]) + right_hip_yaw = float(joint_pos[19]) + + min_leg_separation = 0.05 # 最小腿间距（防止贴得太近） + # 惩罚腿过分靠拢（内收）- 基于两腿间距 + leg_separation = -left_hip_roll + right_hip_roll + inward_penalty = -0.25 * max(0.0, (min_leg_separation - leg_separation) / min_leg_separation) + + + # 脚踝roll角度检测：防止过度外翻或内翻 + max_ankle_roll = 0.15 # 最大允许的脚踝roll角度 + + # 惩罚脚踝过度外翻/内翻（绝对值过大） + ankle_roll_penalty = -0.5 * max(0.0, (abs(left_ankle_roll) + abs(right_ankle_roll) - 2 * max_ankle_roll) / max_ankle_roll) + + # 惩罚两脚踝roll方向相反（不稳定姿势） + ankle_roll_cross_penalty = -0.3 * max(0.0, -(left_ankle_roll * right_ankle_roll)) + + # 分别惩罚左右大腿过度转动 + max_hip_yaw = 0.3 # 最大允许的yaw角度 + left_hip_yaw_penalty = -0.4 * max(0.0, abs(left_hip_yaw) - max_hip_yaw) + right_hip_yaw_penalty = -0.4 * max(0.0, abs(right_hip_yaw) - max_hip_yaw) + # 智能交叉腿惩罚：只在站立时惩罚，转身时允许交叉腿 + yaw_rate = float(np.deg2rad(robot.gyroscope[2])) + yaw_rate_abs = abs(yaw_rate) + + # 当转身速度较小时才惩罚交叉腿（站立状态） + cross_leg_gate = max(0.0, 1.0 - yaw_rate_abs / math.radians(8.0)) + hip_yaw_cross_penalty = -1.0 * cross_leg_gate * max(0.0, -(left_hip_yaw * right_hip_yaw)) if left_hip_yaw > 0 and right_hip_yaw < 0 else 0.0 + + # Torso-lower-body linkage: reward coordinated turning, punish waist-only spinning. + waist_speed = abs(float(joint_speed_rad[10])) + lower_body_speed = float(np.mean(np.abs(joint_speed_rad[11:23]))) + lower_body_follow_ratio = lower_body_speed / (waist_speed + 1e-4) + linkage_reward = 0.24 * min(1.0, lower_body_follow_ratio) * min(1.0, waist_speed / 1.2) + waist_only_turn_penalty = -0.20 * max(0.0, waist_speed - 1.35 * lower_body_speed) + + # Extra posture linkage in yaw joints to avoid decoupled torso twist. + waist_yaw = abs(float(joint_pos_rad[10])) + hip_yaw_mean = 0.5 * (abs(float(joint_pos_rad[13])) + abs(float(joint_pos_rad[19]))) + yaw_link_reward = 0.12 * math.exp(-abs(waist_yaw - hip_yaw_mean) / 0.22) + + target_height = self.initial_height + height_error = height - target_height + height_error = height - target_height + + height_penalty = -(math.exp(12*abs(height_error))-1) if height_error > 0.04 else 0 + + # # 在 compute_reward 开头附近，添加高度变化率计算 + # if not hasattr(self, 'last_height'): + # self.last_height = height + # self.last_height_time = self.step_counter # 可选，用于时间间隔 + # height_rate = height - self.last_height # 正为上升，负为下降 + # self.last_height = height + + # 惩罚高度下降（负变化率） + # height_down_penalty = -5.0 * max(0, -height_rate) # 系数可调，-height_rate 为正表示下降幅度 + + # # 在 compute_reward 中 + # if self.step_counter > 50: + # avg_prev_action = np.mean(self.prev_action_history, axis=0) + # novelty = float(np.linalg.norm(action - avg_prev_action)) + # exploration_bonus = 0.05 * novelty + # else: + # exploration_bonus = 0 + + # self.prev_action_history[self.history_idx] = action + # self.history_idx = (self.history_idx + 1) % 50 + + + total = ( + # progress_reward + + alive_bonus + + head_toward_bonus + + heading_progress_reward + + # lateral_penalty + + # action_penalty + + smoothness_penalty + + posture_penalty + + ang_vel_penalty + + height_penalty + + ankle_roll_penalty + + ankle_roll_cross_penalty + + split_penalty + + inward_penalty + # + leg_proximity_penalty + + left_hip_yaw_penalty + + right_hip_yaw_penalty + + hip_yaw_cross_penalty + + position_penalty + # + linkage_reward + # + waist_only_turn_penalty + # + yaw_link_reward + # + stance_collapse_penalty + # + hip_yaw_yaw_cross_penalty + # + stance_collapse_penalty + # + cross_leg_penalty + # + exploration_bonus + # + height_down_penalty + ) + # print(height_error, height_penalty) + + now = time.time() + if self.reward_debug_interval_sec > 0 and now - self._reward_debug_last_time >= self.reward_debug_interval_sec: + self._reward_debug_last_time = now + self._reward_debug_steps_left = max(1, self.reward_debug_burst_steps) + + if self._reward_debug_steps_left > 0: + self._reward_debug_steps_left -= 1 + self.debug_log( + f"height_penalty:{height_penalty:.4f}," + f"smoothness_penalty:{smoothness_penalty:.4f}," + f"posture_penalty:{posture_penalty:.4f}," + f"heading_progress_reward:{heading_progress_reward:.4f}," + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"cross_leg_penalty:{cross_leg_penalty:.4f}," + f"ang_vel_penalty:{ang_vel_penalty:.4f}," + f"split_penalty:{split_penalty:.4f}," + f"ankle_roll_penalty:{ankle_roll_penalty:.4f}," + f"ankle_roll_cross_penalty:{ankle_roll_cross_penalty:.4f}," + f"left_hip_yaw_penalty:{left_hip_yaw_penalty:.4f}," + f"right_hip_yaw_penalty:{right_hip_yaw_penalty:.4f}," + f"hip_yaw_cross_penalty:{hip_yaw_cross_penalty:.4f}," + f"inward_penalty:{inward_penalty:.4f}," + f"position_penalty:{position_penalty:.4f}," + # f"linkage_reward:{linkage_reward:.4f}," + # f"waist_only_turn_penalty:{waist_only_turn_penalty:.4f}," + # f"yaw_link_reward:{yaw_link_reward:.4f}" + # f"leg_proximity_penalty:{leg_proximity_penalty:.4f}," + + # f"stance_collapse_penalty:{stance_collapse_penalty:.4f}," + # f"hip_yaw_yaw_cross_penalty:{hip_yaw_yaw_cross_penalty:.4f}," + # f"height_down_penalty:{height_down_penalty:.4f}", + # f"exploration_bonus:{exploration_bonus:.4f}" + f"alive_bonus:{alive_bonus:.4f}," + f"abs_yaw_error:{abs_yaw_error:.4f}" + f"total:{total:.4f}" + ) + + return total + + + + def step(self, action): + + r = self.Player.robot + max_action_delta = 0.5# Limit how much the action can change from the previous step to encourage smoother motions. + if self.previous_action is not None: + action = np.clip(action, self.previous_action - max_action_delta, self.previous_action + max_action_delta) + action[0:2] = 0 + action[3] = 4 + action[7] = -4 + action[2] = 0 + action[6] = 0 + action[4] = 0 + action[5] = -5 + action[8] = 0 + action[9] = 5 + action[10] = 0 + action[11] = np.clip(action[11], -0.1, 0.1) + action[17] = np.clip(action[17], -0.1, 0.1) + # action[12] = -1.0 + # action[18] = 1.0 + # action[13] = -1.0 + # action[19] = 1.0 + self.previous_action = action.copy() + + self.target_joint_positions = ( + # self.joint_nominal_position + + self.scaling_factor * action + ) + self.target_joint_positions *= self.train_sim_flip + + for idx, target in enumerate(self.target_joint_positions): + r.set_motor_target_position( + r.ROBOT_MOTORS[idx], target * 180 / math.pi, kp=110, kd=29.5 + ) + + self.previous_action = action.copy() + + self.sync() # run simulation step + self.step_counter += 1 + + if self.enable_debug_joint_status and self.step_counter % self.debug_every_n_steps == 0: + self.debug_joint_status() + + current_pos = np.array(self.Player.world.global_position[:2], dtype=np.float32) + + if self.step_counter % 10 == 0: + self.previous_pos = current_pos.copy() + + # Compute reward based on movement from previous step + reward = self.compute_reward(self.previous_pos, current_pos, action) + + self.last_action_for_reward = action.copy() + + # Fall detection and penalty + is_fallen = self.Player.world.global_position[2] < 0.55 + + # terminal state: the robot is falling or timeout + terminated = is_fallen or self.step_counter > 800 or self.route_completed + truncated = False + + return self.observe(), reward, terminated, truncated, {} + + +class Train(Train_Base): + def __init__(self, script) -> None: + super().__init__(script) + + def train(self, args): + + # --------------------------------------- Learning parameters + n_envs = int(os.environ.get("GYM_CPU_N_ENVS", "20")) + if n_envs < 1: + raise ValueError("GYM_CPU_N_ENVS must be >= 1") + server_warmup_sec = float(os.environ.get("GYM_CPU_SERVER_WARMUP_SEC", "3.0")) + n_steps_per_env = int(os.environ.get("GYM_CPU_TRAIN_STEPS_PER_ENV", "512")) # RolloutBuffer is of size (n_steps_per_env * n_envs) + minibatch_size = int(os.environ.get("GYM_CPU_TRAIN_BATCH_SIZE", "512")) # should be a factor of (n_steps_per_env * n_envs) + total_steps = 30000000 + learning_rate = float(os.environ.get("GYM_CPU_TRAIN_LR", "3e-4")) + folder_name = f'Turn_R{self.robot_type}' + model_path = f'./scripts/gyms/logs/{folder_name}/' + + print(f"Model path: {model_path}") + print(f"Using {n_envs} parallel environments") + + # --------------------------------------- Run algorithm + def init_env(i_env, monitor=False): + def thunk(): + env = WalkEnv(self.ip, self.server_p + i_env) + if monitor: + env = Monitor(env) + return env + + return thunk + + server_log_dir = os.path.join(model_path, "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + servers = Train_Server(self.server_p, self.monitor_p_1000, n_envs + 1, no_render=True, no_realtime=True) # include 1 extra server for testing + + # Wait for servers to start + print(f"Starting {n_envs + 1} rcssservermj servers...") + if server_warmup_sec > 0: + print(f"Waiting {server_warmup_sec:.1f}s for server warmup...") + sleep(server_warmup_sec) + print("Servers started, creating environments...") + + env = SubprocVecEnv([init_env(i, monitor=True) for i in range(n_envs)], start_method="spawn") + # Use single-process eval env to avoid extra subprocess fragility during callback evaluation. + eval_env = DummyVecEnv([init_env(n_envs, monitor=True)]) + + try: + # Custom policy network architecture + policy_kwargs = dict( + net_arch=dict( + pi=[512, 256, 128], # Policy network: 3 layers + vf=[512, 256, 128] # Value network: 3 layers + ), + activation_fn=__import__('torch.nn', fromlist=['ELU']).ELU, + ) + + if "model_file" in args: # retrain + model = PPO.load(args["model_file"], env=env, device="cpu", n_envs=n_envs, n_steps=n_steps_per_env, + batch_size=minibatch_size, learning_rate=learning_rate) + else: # train new model + model = PPO( + "MlpPolicy", + env=env, + verbose=1, + n_steps=n_steps_per_env, + batch_size=minibatch_size, + learning_rate=learning_rate, + device="cpu", + policy_kwargs=policy_kwargs, + ent_coef=float(os.environ.get("GYM_CPU_TRAIN_ENT_COEF", "0.05")), # Entropy coefficient for exploration + clip_range=float(os.environ.get("GYM_CPU_TRAIN_CLIP_RANGE", "0.2")), # PPO clipping parameter + gae_lambda=0.95, # GAE lambda + gamma=float(os.environ.get("GYM_CPU_TRAIN_GAMMA", "0.95")), # Discount factor + # target_kl=0.03, + n_epochs=int(os.environ.get("GYM_CPU_TRAIN_EPOCHS", "5")), + tensorboard_log=f"./scripts/gyms/logs/{folder_name}/tensorboard/" + ) + + model_path = self.learn_model(model, total_steps, model_path, eval_env=eval_env, + eval_freq=n_steps_per_env * 20, save_freq=n_steps_per_env * 20, eval_eps=7, + backup_env_file=__file__) + except KeyboardInterrupt: + sleep(1) # wait for child processes + print("\nctrl+c pressed, aborting...\n") + servers.kill() + return + + env.close() + eval_env.close() + servers.kill() + + def test(self, args): + + # Uses different server and monitor ports + server_log_dir = os.path.join(args["folder_dir"], "server_logs") + os.makedirs(server_log_dir, exist_ok=True) + test_no_render = os.environ.get("GYM_CPU_TEST_NO_RENDER", "0") == "1" + test_no_realtime = os.environ.get("GYM_CPU_TEST_NO_REALTIME", "0") == "1" + + server = Train_Server( + self.server_p - 1, + self.monitor_p, + 1, + no_render=test_no_render, + no_realtime=test_no_realtime, + ) + env = WalkEnv(self.ip, self.server_p - 1) + model = PPO.load(args["model_file"], env=env) + + try: + self.export_model(args["model_file"], args["model_file"] + ".pkl", + False) # Export to pkl to create custom behavior + self.test_model(model, env, log_path=args["folder_dir"], model_path=args["folder_dir"]) + except KeyboardInterrupt: + print() + + env.close() + server.kill() + + +if __name__ == "__main__": + from types import SimpleNamespace + + # 创建默认参数 + script_args = SimpleNamespace( + args=SimpleNamespace( + i='127.0.0.1', # Server IP + p=3100, # Server port + m=3200, # Monitor port + r=0, # Robot type + t='Gym', # Team name + u=1 # Uniform number + ) + ) + + trainer = Train(script_args) + + run_mode = os.environ.get("GYM_CPU_MODE", "train").strip().lower() + + if run_mode == "test": + test_model_file = os.environ.get("GYM_CPU_TEST_MODEL", "scripts/gyms/logs/Turn_R0_004/best_model.zip") + test_folder = os.environ.get("GYM_CPU_TEST_FOLDER", "scripts/gyms/logs/Turn_R0_004/") + trainer.test({"model_file": test_model_file, "folder_dir": test_folder}) + else: + retrain_model = os.environ.get("GYM_CPU_TRAIN_MODEL", "").strip() + if retrain_model: + trainer.train({"model_file": retrain_model}) + else: + trainer.train({}) \ No newline at end of file