dm_control_env

Runtime error

Leeps Claude Opus 4.6 (1M context) commited on 6 days ago

Commit

376295f

1 Parent(s): 9c05e86

Simplify drone env: remove trees, static camera, close target

- Remove all 25 tree bodies from XML
- Static overhead camera (mode=fixed, height 15, fovy 70)
- Target placed 2-4m from spawn instead of 5-10m
- Remove obstacle_distances from observations
- Reward: +0.1 if drone moves closer, 0.0 otherwise
- Default render 512x512
- Collision check: ground only (no trees)

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Files changed (2) hide show

server/drone_forest.xml +4 -158
server/drone_forest_environment.py +22 -90

server/drone_forest.xml CHANGED Viewed

@@ -16,8 +16,6 @@
     <material name="drone_body_mat" rgba="0.2 0.2 0.2 1"/>
     <material name="drone_arm_mat" rgba="0.4 0.4 0.4 1"/>
     <material name="rotor_mat" rgba="0.1 0.1 0.8 1"/>
-    <material name="trunk_mat" rgba="0.45 0.3 0.15 1"/>
-    <material name="canopy_mat" rgba="0.1 0.5 0.1 0.8"/>
     <material name="target_mat" rgba="1.0 0.0 0.0 0.6"/>
   </asset>
@@ -65,166 +63,14 @@
     </body>
     <!-- Target (visual only) -->
-    <body name="target" pos="5 5 1.5">
       <geom name="target_geom" type="sphere" size="0.3" material="target_mat"
             contype="0" conaffinity="0"/>
     </body>
-    <!-- 25 tree bodies - positions set at runtime via Python -->
-    <body name="tree_0" pos="3 2 0">
-      <geom name="trunk_0" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_0" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_1" pos="5 -3 0">
-      <geom name="trunk_1" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_1" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_2" pos="-4 4 0">
-      <geom name="trunk_2" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_2" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_3" pos="7 1 0">
-      <geom name="trunk_3" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_3" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_4" pos="-2 -5 0">
-      <geom name="trunk_4" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_4" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_5" pos="1 6 0">
-      <geom name="trunk_5" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_5" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_6" pos="-6 -1 0">
-      <geom name="trunk_6" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_6" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_7" pos="4 -6 0">
-      <geom name="trunk_7" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_7" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_8" pos="-3 3 0">
-      <geom name="trunk_8" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_8" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_9" pos="6 4 0">
-      <geom name="trunk_9" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_9" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_10" pos="-5 -4 0">
-      <geom name="trunk_10" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_10" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_11" pos="2 -2 0">
-      <geom name="trunk_11" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_11" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_12" pos="-1 7 0">
-      <geom name="trunk_12" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_12" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_13" pos="8 -2 0">
-      <geom name="trunk_13" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_13" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_14" pos="-7 5 0">
-      <geom name="trunk_14" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_14" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_15" pos="3 7 0">
-      <geom name="trunk_15" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_15" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_16" pos="-4 -7 0">
-      <geom name="trunk_16" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_16" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_17" pos="7 -5 0">
-      <geom name="trunk_17" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_17" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_18" pos="-8 0 0">
-      <geom name="trunk_18" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_18" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_19" pos="0 -8 0">
-      <geom name="trunk_19" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_19" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_20" pos="5 8 0">
-      <geom name="trunk_20" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_20" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_21" pos="-6 6 0">
-      <geom name="trunk_21" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_21" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_22" pos="8 3 0">
-      <geom name="trunk_22" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_22" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_23" pos="-2 8 0">
-      <geom name="trunk_23" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_23" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <body name="tree_24" pos="1 -4 0">
-      <geom name="trunk_24" type="cylinder" size="0.15 1.5" pos="0 0 1.5"
-            material="trunk_mat" contype="1" conaffinity="1"/>
-      <geom name="canopy_24" type="sphere" size="0.6" pos="0 0 3.2"
-            material="canopy_mat" contype="0" conaffinity="0"/>
-    </body>
-    <!-- Overhead tracking camera -->
-    <camera name="tracking" pos="0 0 25" xyaxes="1 0 0 0 1 0" mode="trackcom"
-            fovy="60"/>
   </worldbody>
   <!-- Site-based thrust actuators: force applied in site-local z (tilts with drone) -->

     <material name="drone_body_mat" rgba="0.2 0.2 0.2 1"/>
     <material name="drone_arm_mat" rgba="0.4 0.4 0.4 1"/>
     <material name="rotor_mat" rgba="0.1 0.1 0.8 1"/>
     <material name="target_mat" rgba="1.0 0.0 0.0 0.6"/>
   </asset>
     </body>
     <!-- Target (visual only) -->
+    <body name="target" pos="3 0 1.5">
       <geom name="target_geom" type="sphere" size="0.3" material="target_mat"
             contype="0" conaffinity="0"/>
     </body>
+    <!-- Static overhead camera (does not track drone) -->
+    <camera name="tracking" pos="0 0 15" xyaxes="1 0 0 0 1 0" mode="fixed"
+            fovy="70"/>
   </worldbody>
   <!-- Site-based thrust actuators: force applied in site-local z (tilts with drone) -->

server/drone_forest_environment.py CHANGED Viewed

@@ -1,7 +1,7 @@
 """
-Drone Forest Navigation Environment.
-A quadrotor drone navigates through a forest of columns (trees) to reach a target.
 The RL policy commands velocity (forward/left/up/turn) while a built-in PD flight
 controller handles low-level motor mixing.
 """
@@ -52,14 +52,12 @@ except ImportError:
 # ---------------------------------------------------------------------------
 # Constants
 # ---------------------------------------------------------------------------
-NUM_TREES = 25
 ARENA_HALF = 10.0       # arena is 20x20 m
 MAX_ALTITUDE = 8.0
 MIN_ALTITUDE = 0.1
 TARGET_RADIUS = 0.5     # success if within this distance
-TREE_MIN_SPACING = 1.5  # min distance between tree centres
-SPAWN_CLEAR_RADIUS = 2.0  # keep trees away from spawn
-TARGET_MIN_DIST = 5.0   # target at least this far from spawn
 MAX_STEPS = 1000
 PHYSICS_DT = 0.002
 CONTROL_DT = 0.02       # 50 Hz control
@@ -85,7 +83,7 @@ XML_PATH = str(Path(__file__).parent / "drone_forest.xml")
 class DroneForestEnvironment(Environment):
-    """Drone navigates a randomised forest of columns to reach a target."""
     SUPPORTS_CONCURRENT_SESSIONS = True
@@ -98,15 +96,14 @@ class DroneForestEnvironment(Environment):
         self._model = None
         self._data = None
         self._render_height = render_height or int(
-            os.environ.get("DMCONTROL_RENDER_HEIGHT", "480")
         )
         self._render_width = render_width or int(
-            os.environ.get("DMCONTROL_RENDER_WIDTH", "640")
         )
         self._include_pixels = False
         self._step_count = 0
         self._prev_dist = None
-        self._tree_positions: List[np.ndarray] = []
         self._target_pos = np.zeros(3)
         self._done = False
         self._rng = np.random.RandomState()
@@ -135,14 +132,6 @@ class DroneForestEnvironment(Environment):
         self._target_body_id = mujoco.mj_name2id(
             self._model, mujoco.mjtObj.mjOBJ_BODY, "target"
         )
-        self._tree_body_ids = [
-            mujoco.mj_name2id(self._model, mujoco.mjtObj.mjOBJ_BODY, f"tree_{i}")
-            for i in range(NUM_TREES)
-        ]
-        self._trunk_geom_ids = [
-            mujoco.mj_name2id(self._model, mujoco.mjtObj.mjOBJ_GEOM, f"trunk_{i}")
-            for i in range(NUM_TREES)
-        ]
         self._drone_body_geom_id = mujoco.mj_name2id(
             self._model, mujoco.mjtObj.mjOBJ_GEOM, "drone_body"
         )
@@ -164,62 +153,22 @@ class DroneForestEnvironment(Environment):
             "orientation": {"shape": [3], "dtype": "float64"},
             "angular_velocity": {"shape": [3], "dtype": "float64"},
             "target_relative": {"shape": [3], "dtype": "float64"},
-            "obstacle_distances": {"shape": [8], "dtype": "float64"},
         }
         self._state.physics_timestep = PHYSICS_DT
         self._state.control_timestep = CONTROL_DT
     # ------------------------------------------------------------------
-    # Forest randomisation
     # ------------------------------------------------------------------
-    def _randomise_forest(self):
-        """Place trees and target using rejection sampling."""
         import mujoco
-        positions = []
-        attempts = 0
-        while len(positions) < NUM_TREES and attempts < 5000:
-            x = self._rng.uniform(-ARENA_HALF + 1, ARENA_HALF - 1)
-            y = self._rng.uniform(-ARENA_HALF + 1, ARENA_HALF - 1)
-            # Keep clear of spawn
-            if np.sqrt(x ** 2 + y ** 2) < SPAWN_CLEAR_RADIUS:
-                attempts += 1
-                continue
-            # Min spacing from existing trees
-            ok = True
-            for p in positions:
-                if np.sqrt((x - p[0]) ** 2 + (y - p[1]) ** 2) < TREE_MIN_SPACING:
-                    ok = False
-                    break
-            if ok:
-                positions.append(np.array([x, y]))
-            attempts += 1
-        # Pad with far-away positions if we didn't get enough
-        while len(positions) < NUM_TREES:
-            positions.append(np.array([100.0, 100.0]))
-        self._tree_positions = positions
-        # Set tree body positions in the model
-        for i, pos in enumerate(positions):
-            body_id = self._tree_body_ids[i]
-            self._model.body_pos[body_id] = [pos[0], pos[1], 0.0]
-        # Place target: at least TARGET_MIN_DIST from origin, away from trees
-        for _ in range(1000):
-            angle = self._rng.uniform(0, 2 * np.pi)
-            dist = self._rng.uniform(TARGET_MIN_DIST, ARENA_HALF - 2)
-            tx, ty = dist * np.cos(angle), dist * np.sin(angle)
-            tz = self._rng.uniform(1.0, 3.0)
-            # Check clearance from trees
-            clear = True
-            for p in positions[:NUM_TREES]:
-                if np.sqrt((tx - p[0]) ** 2 + (ty - p[1]) ** 2) < 1.5:
-                    clear = False
-                    break
-            if clear:
-                break
         self._target_pos = np.array([tx, ty, tz])
         self._model.body_pos[self._target_body_id] = self._target_pos.copy()
@@ -319,33 +268,19 @@ class DroneForestEnvironment(Environment):
         target_rel = self._target_pos - pos
-        # 8 nearest obstacle distances (XY plane, from drone position)
-        dists = []
-        for tp in self._tree_positions:
-            dx = tp[0] - pos[0]
-            dy = tp[1] - pos[1]
-            dists.append(np.sqrt(dx ** 2 + dy ** 2))
-        dists.sort()
-        obstacle_distances = dists[:8]
-        # Pad if fewer than 8
-        while len(obstacle_distances) < 8:
-            obstacle_distances.append(50.0)
         return {
             "position": pos.tolist(),
             "velocity": vel.tolist(),
             "orientation": [float(roll), float(pitch), float(yaw)],
             "angular_velocity": ang_vel.tolist(),
             "target_relative": target_rel.tolist(),
-            "obstacle_distances": obstacle_distances,
         }
     # ------------------------------------------------------------------
     # Collision detection
     # ------------------------------------------------------------------
     def _check_collisions(self) -> bool:
-        """Return True if drone collides with any tree trunk or ground."""
-        import mujoco
         for i in range(self._data.ncon):
             contact = self._data.contact[i]
             g1, g2 = contact.geom1, contact.geom2
@@ -353,7 +288,7 @@ class DroneForestEnvironment(Environment):
             if self._drone_body_geom_id not in pair:
                 continue
             other = (pair - {self._drone_body_geom_id}).pop()
-            if other == self._ground_geom_id or other in self._trunk_geom_ids:
                 return True
         return False
@@ -364,14 +299,11 @@ class DroneForestEnvironment(Environment):
         dist = np.linalg.norm(self._target_pos - pos)
         reward = 0.0
-        # Shaping: reward for getting closer
-        if self._prev_dist is not None:
-            reward += 1.0 * (self._prev_dist - dist)
         self._prev_dist = dist
-        # Time pressure
-        reward -= 0.01
         return float(reward)
     # ------------------------------------------------------------------
@@ -422,8 +354,8 @@ class DroneForestEnvironment(Environment):
         # Reset data to defaults
         mujoco.mj_resetData(self._model, self._data)
-        # Randomise forest layout
-        self._randomise_forest()
         # Place drone at origin, altitude 1.5
         self._data.qpos[:3] = [0.0, 0.0, 1.5]

 """
+Drone Navigation Environment (simplified — no trees).
+A quadrotor drone flies to a nearby target in an open arena.
 The RL policy commands velocity (forward/left/up/turn) while a built-in PD flight
 controller handles low-level motor mixing.
 """
 # ---------------------------------------------------------------------------
 # Constants
 # ---------------------------------------------------------------------------
 ARENA_HALF = 10.0       # arena is 20x20 m
 MAX_ALTITUDE = 8.0
 MIN_ALTITUDE = 0.1
 TARGET_RADIUS = 0.5     # success if within this distance
+TARGET_MIN_DIST = 2.0   # target at least this far from spawn
+TARGET_MAX_DIST = 4.0   # target at most this far from spawn
 MAX_STEPS = 1000
 PHYSICS_DT = 0.002
 CONTROL_DT = 0.02       # 50 Hz control
 class DroneForestEnvironment(Environment):
+    """Drone navigates to a nearby target in an open arena."""
     SUPPORTS_CONCURRENT_SESSIONS = True
         self._model = None
         self._data = None
         self._render_height = render_height or int(
+            os.environ.get("DMCONTROL_RENDER_HEIGHT", "512")
         )
         self._render_width = render_width or int(
+            os.environ.get("DMCONTROL_RENDER_WIDTH", "512")
         )
         self._include_pixels = False
         self._step_count = 0
         self._prev_dist = None
         self._target_pos = np.zeros(3)
         self._done = False
         self._rng = np.random.RandomState()
         self._target_body_id = mujoco.mj_name2id(
             self._model, mujoco.mjtObj.mjOBJ_BODY, "target"
         )
         self._drone_body_geom_id = mujoco.mj_name2id(
             self._model, mujoco.mjtObj.mjOBJ_GEOM, "drone_body"
         )
             "orientation": {"shape": [3], "dtype": "float64"},
             "angular_velocity": {"shape": [3], "dtype": "float64"},
             "target_relative": {"shape": [3], "dtype": "float64"},
         }
         self._state.physics_timestep = PHYSICS_DT
         self._state.control_timestep = CONTROL_DT
     # ------------------------------------------------------------------
+    # Target placement
     # ------------------------------------------------------------------
+    def _place_target(self):
+        """Place target close to spawn (2-4m away)."""
         import mujoco
+        angle = self._rng.uniform(0, 2 * np.pi)
+        dist = self._rng.uniform(TARGET_MIN_DIST, TARGET_MAX_DIST)
+        tx = dist * np.cos(angle)
+        ty = dist * np.sin(angle)
+        tz = self._rng.uniform(1.0, 2.5)
         self._target_pos = np.array([tx, ty, tz])
         self._model.body_pos[self._target_body_id] = self._target_pos.copy()
         target_rel = self._target_pos - pos
         return {
             "position": pos.tolist(),
             "velocity": vel.tolist(),
             "orientation": [float(roll), float(pitch), float(yaw)],
             "angular_velocity": ang_vel.tolist(),
             "target_relative": target_rel.tolist(),
         }
     # ------------------------------------------------------------------
     # Collision detection
     # ------------------------------------------------------------------
     def _check_collisions(self) -> bool:
+        """Return True if drone collides with ground."""
         for i in range(self._data.ncon):
             contact = self._data.contact[i]
             g1, g2 = contact.geom1, contact.geom2
             if self._drone_body_geom_id not in pair:
                 continue
             other = (pair - {self._drone_body_geom_id}).pop()
+            if other == self._ground_geom_id:
                 return True
         return False
         dist = np.linalg.norm(self._target_pos - pos)
         reward = 0.0
+        # +0.1 if drone moved closer to target this step, 0.0 otherwise
+        if self._prev_dist is not None and dist < self._prev_dist:
+            reward = 0.1
         self._prev_dist = dist
         return float(reward)
     # ------------------------------------------------------------------
         # Reset data to defaults
         mujoco.mj_resetData(self._model, self._data)
+        # Place target nearby
+        self._place_target()
         # Place drone at origin, altitude 1.5
         self._data.qpos[:3] = [0.0, 0.0, 1.5]