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Code Issues Releases Wiki Activity

fix some gym envs

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This commit is contained in:
Erwin Coumans 2019-01-28 16:21:52 -08:00
parent c97d1041ed
commit 0818112ede
7 changed files with 65 additions and 48 deletions
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3
examples/pybullet/gym/pybullet_envs/env_bases.py
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@ -69,7 +69,7 @@ class MJCFBaseBulletEnv(gym.Env):
self.potential = self.robot.calc_potential()
return s
def render(self, mode='human'):
def render(self, mode='human', close=False):
if mode == "human":
self.isRender = True
if mode != "rgb_array":
@ -125,7 +125,6 @@ class MJCFBaseBulletEnv(gym.Env):
_render = render
_reset = reset
_seed = seed
_step = step
class Camera:
def __init__(self):

80
examples/pybullet/gym/pybullet_envs/examples/laikago.py
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@ -10,23 +10,23 @@ plane = p.loadURDF("plane.urdf")
p.setGravity(0,0,-9.8)
p.setTimeStep(1./500)
#p.setDefaultContactERP(0)
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
urdfFlags = p.URDF_USE_SELF_COLLISION
quadruped = p.loadURDF("laikago/laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
#enable collision between lower legs
for j in range (p.getNumJoints(quadruped)):
print(p.getJointInfo(quadruped,j))
print(p.getJointInfo(quadruped,j))
#2,5,8 and 11 are the lower legs
lower_legs = [2,5,8,11]
for l0 in lower_legs:
for l1 in lower_legs:
if (l1>l0):
enableCollision = 1
print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
for l1 in lower_legs:
if (l1>l0):
enableCollision = 1
print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
jointIds=[]
paramIds=[]
@ -35,9 +35,9 @@ jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
for i in range (4):
jointOffsets.append(0)
jointOffsets.append(-0.7)
jointOffsets.append(0.7)
jointOffsets.append(0)
jointOffsets.append(-0.7)
jointOffsets.append(0.7)
maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
@ -50,35 +50,35 @@ for j in range (p.getNumJoints(quadruped)):
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
jointIds.append(j)
p.getCameraImage(480,320)
p.setRealTimeSimulation(0)
joints=[]
with open(pd.getDataPath()+"/laikago/data1.txt","r") as filestream:
for line in filestream:
print("line=",line)
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
#print (currentline)
#print("-----")
frame = currentline[0]
t = currentline[1]
#print("frame[",frame,"]")
joints=currentline[2:14]
#print("joints=",joints)
for j in range (12):
targetPos = float(joints[j])
p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
p.stepSimulation()
for lower_leg in lower_legs:
#print("points for ", quadruped, " link: ", lower_leg)
pts = p.getContactPoints(quadruped,-1, lower_leg)
#print("num points=",len(pts))
#for pt in pts:
# print(pt[9])
time.sleep(1./500.)
for line in filestream:
print("line=",line)
maxForce = p.readUserDebugParameter(maxForceId)
currentline = line.split(",")
#print (currentline)
#print("-----")
frame = currentline[0]
t = currentline[1]
#print("frame[",frame,"]")
joints=currentline[2:14]
#print("joints=",joints)
for j in range (12):
targetPos = float(joints[j])
p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
p.stepSimulation()
for lower_leg in lower_legs:
#print("points for ", quadruped, " link: ", lower_leg)
pts = p.getContactPoints(quadruped,-1, lower_leg)
#print("num points=",len(pts))
#for pt in pts:
# print(pt[9])
time.sleep(1./500.)
for j in range (p.getNumJoints(quadruped)):
@ -95,10 +95,10 @@ for j in range (p.getNumJoints(quadruped)):
p.setRealTimeSimulation(1)
while (1):
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
for i in range(len(paramIds)):
c = paramIds[i]
targetPos = p.readUserDebugParameter(c)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)

2
examples/pybullet/gym/pybullet_envs/examples/testBike.py
View File

@ -24,7 +24,7 @@ for i in range (1):
p.setJointMotorControl2(bike,1,p.VELOCITY_CONTROL,targetVelocity=5, force=0)
p.setJointMotorControl2(bike,2,p.VELOCITY_CONTROL,targetVelocity=15, force=20)
p.changeDynamics(plane,-1, mass=20,lateralFriction=1, linearDamping=0, angularDamping=0)
p.changeDynamics(plane,-1, mass=0,lateralFriction=1, linearDamping=0, angularDamping=0)
p.changeDynamics(bike,1,lateralFriction=1,linearDamping=0, angularDamping=0)
p.changeDynamics(bike,2,lateralFriction=1,linearDamping=0, angularDamping=0)
#p.resetJointState(bike,1,0,100)

7
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py
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@ -4,10 +4,11 @@
import csv
import math
import os, inspect
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
parentdir = os.path.dirname(os.path.dirname(os.path.dirname(currentdir)))
print("parentdir=",parentdir)
os.sys.path.insert(0,parentdir)
import argparse

7
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_raibert_controller_example.py
View File

@ -5,6 +5,13 @@ from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(os.path.dirname(currentdir)))
os.sys.path.insert(0,parentdir)
import tensorflow as tf
from pybullet_envs.minitaur.envs import minitaur_raibert_controller
from pybullet_envs.minitaur.envs import minitaur_gym_env

10
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py
View File

@ -6,11 +6,21 @@ from __future__ import print_function
import os
import time
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(os.path.dirname(currentdir)))
print("parentdir=",parentdir)
os.sys.path.insert(0,parentdir)
import tensorflow as tf
from pybullet_envs.minitaur.agents.scripts import utility
import pybullet_data
from pybullet_envs.minitaur.envs import simple_ppo_agent
flags = tf.app.flags
FLAGS = tf.app.flags.FLAGS
LOG_DIR = os.path.join(pybullet_data.getDataPath(), "policies/ppo/minitaur_reactive_env")

4
examples/pybullet/gym/pybullet_envs/robot_bases.py
View File

@ -22,9 +22,9 @@ class XmlBasedRobot:
self.robot_body = None
high = np.ones([action_dim])
self.action_space = gym.spaces.Box(-high, high, dtype=np.float32)
self.action_space = gym.spaces.Box(-high, high)
high = np.inf * np.ones([obs_dim])
self.observation_space = gym.spaces.Box(-high, high, dtype=np.float32)
self.observation_space = gym.spaces.Box(-high, high)
#self.model_xml = model_xml
self.robot_name = robot_name