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Code Issues Releases Wiki Activity

improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster)

Browse Source 
disable vsync on Mac
fix setup.py file
This commit is contained in:
Erwin Coumans 2017-08-20 18:11:53 -07:00
parent c4112ec5cc
commit c06ea72a4c
14 changed files with 125 additions and 46 deletions
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6
examples/OpenGLWindow/MacOpenGLWindowObjC.m
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@ -470,6 +470,10 @@ int Mac_createWindow(struct MacOpenGLWindowInternalData* m_internalData,struct M
#else
m_internalData->m_retinaScaleFactor=1.f;
#endif
GLint sync = 0;
CGLContextObj ctx = CGLGetCurrentContext();
CGLSetParameter(ctx, kCGLCPSwapInterval, &sync);
[m_internalData->m_myApp finishLaunching];
[pool release];
@ -1226,4 +1230,4 @@ void Mac_setResizeCallback(struct MacOpenGLWindowInternalData* m_internalData, b
b3ResizeCallback Mac_getResizeCallback(struct MacOpenGLWindowInternalData* m_internalData)
{
return [m_internalData->m_myview getResizeCallback];
}
}

5
examples/pybullet/examples/inverse_kinematics.py
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@ -3,8 +3,9 @@ import time
import math
from datetime import datetime
#clid = p.connect(p.SHARED_MEMORY)
p.connect(p.GUI)
clid = p.connect(p.SHARED_MEMORY)
if (clid<0):
p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.3])
kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
p.resetBasePositionAndOrientation(kukaId,[0,0,0],[0,0,0,1])

25
examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py
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@ -24,24 +24,39 @@ class SmallReactivePolicy:
def demo_run():
env = gym.make("AntBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
torsoId = -1
for i in range (p.getNumBodies()):
print(p.getBodyInfo(i))
if (p.getBodyInfo(i)[0].decode() == "torso"):
torsoId=i
print("found torso")
while 1:
frame = 0
score = 0
restart_delay = 0
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
obs = env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
while 1:
time.sleep(0.01)
time.sleep(0.001)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
distance=5
yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
still_open = env.render("human")
if still_open==False:
return

26
examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
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@ -24,24 +24,42 @@ class SmallReactivePolicy:
def demo_run():
env = gym.make("HalfCheetahBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
cid = p.connect(p.GUI)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
#disable rendering during reset, makes loading much faster
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
torsoId = -1
for i in range (p.getNumBodies()):
print(p.getBodyInfo(i))
if (p.getBodyInfo(i)[1].decode() == "cheetah"):
torsoId=i
print("found torso")
print(p.getNumJoints(torsoId))
for j in range (p.getNumJoints(torsoId)):
print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
while 1:
frame = 0
score = 0
restart_delay = 0
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
obs = env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
while 1:
time.sleep(0.01)
time.sleep(0.001)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
distance=5
yaw = 0
humanPos = p.getLinkState(torsoId,4)[0]
p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
still_open = env.render("human")
if still_open==False:
return

28
examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
View File

@ -26,24 +26,40 @@ class SmallReactivePolicy:
def demo_run():
env = gym.make("HopperBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
for i in range (p.getNumBodies()):
print(p.getBodyInfo(i))
if (p.getBodyInfo(i)[1].decode() == "hopper"):
torsoId=i
print("found torso")
print(p.getNumJoints(torsoId))
for j in range (p.getNumJoints(torsoId)):
print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
while 1:
frame = 0
score = 0
restart_delay = 0
#disable rendering during reset, makes loading much faster
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
obs = env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
while 1:
time.sleep(0.01)
time.sleep(0.001)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
distance=5
yaw = 0
humanPos = p.getLinkState(torsoId,4)[0]
p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
still_open = env.render("human")
if still_open==False:
return

25
examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
View File

@ -25,24 +25,37 @@ class SmallReactivePolicy:
def demo_run():
env = gym.make("HumanoidBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
torsoId = -1
for i in range (p.getNumBodies()):
print(p.getBodyInfo(i))
if (p.getBodyInfo(i)[0].decode() == "torso"):
torsoId=i
print("found humanoid torso")
while 1:
frame = 0
score = 0
restart_delay = 0
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
obs = env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
while 1:
time.sleep(0.01)
time.sleep(0.001)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
distance=5
yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
still_open = env.render("human")
if still_open==False:
return

4
examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
View File

@ -24,9 +24,7 @@ class SmallReactivePolicy:
def demo_run():
env = gym.make("InvertedDoublePendulumBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
cid = p.connect(p.GUI)
pi = SmallReactivePolicy(env.observation_space, env.action_space)

10
examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
View File

@ -22,12 +22,10 @@ class SmallReactivePolicy:
return x
def demo_run():
print("create env")
env = gym.make("InvertedPendulumBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
print("connecting")
cid = p.connect(p.GUI)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:
@ -35,7 +33,7 @@ def demo_run():
score = 0
restart_delay = 0
obs = env.reset()
print("frame")
while 1:
time.sleep(0.05)
a = pi.act(obs)

4
examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
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@ -24,9 +24,7 @@ class SmallReactivePolicy:
def demo_run():
env = gym.make("InvertedPendulumSwingupBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
cid = p.connect(p.GUI)
pi = SmallReactivePolicy(env.observation_space, env.action_space)

26
examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
View File

@ -24,12 +24,24 @@ class SmallReactivePolicy:
def demo_run():
env = gym.make("Walker2DBulletEnv-v0")
cid = p.connect(p.SHARED_MEMORY) # only show graphics if the browser is already running....
if cid < 0:
cid = p.connect(p.DIRECT)
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
pi = SmallReactivePolicy(env.observation_space, env.action_space)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
env.reset()
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
torsoId = -1
for i in range (p.getNumBodies()):
print(p.getBodyInfo(i))
if (p.getBodyInfo(i)[1].decode() == "walker2d"):
torsoId=i
print("found torso")
print(p.getNumJoints(torsoId))
for j in range (p.getNumJoints(torsoId)):
print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
while 1:
frame = 0
score = 0
@ -37,11 +49,15 @@ def demo_run():
obs = env.reset()
while 1:
time.sleep(0.01)
time.sleep(0.001)
a = pi.act(obs)
obs, r, done, _ = env.step(a)
score += r
frame += 1
distance=5
yaw = 0
humanPos = p.getLinkState(torsoId,4)[0]
p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
still_open = env.render("human")
if still_open==False:
return

4
examples/pybullet/gym/envs/gym_locomotion_envs.py
View File

@ -1,5 +1,5 @@
from scene_stadium import SinglePlayerStadiumScene
from env_bases import MujocoXmlBaseBulletEnv
from .scene_stadium import SinglePlayerStadiumScene
from .env_bases import MujocoXmlBaseBulletEnv
import numpy as np
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid

4
examples/pybullet/gym/envs/gym_pendulum_envs.py
View File

@ -1,5 +1,5 @@
from scene_abstract import SingleRobotEmptyScene
from env_bases import MujocoXmlBaseBulletEnv
from .scene_abstract import SingleRobotEmptyScene
from .env_bases import MujocoXmlBaseBulletEnv
from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np

2
examples/pybullet/gym/envs/scene_stadium.py
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@ -14,6 +14,8 @@ class StadiumScene(Scene):
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
self.stadium = p.loadSDF("stadium.sdf")
self.ground_plane_mjcf = p.loadMJCF("mjcf/ground_plane.xml")
for i in self.ground_plane_mjcf:
p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
class SinglePlayerStadiumScene(StadiumScene):
"This scene created by environment, to work in a way as if there was no concept of scene visible to user."

2
setup.py
View File

@ -399,7 +399,7 @@ elif _platform == "win32":
elif _platform == "darwin":
print("darwin!")
os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
CXX_FLAFS += '-DB3_NO_PYTHON_FRAMEWORK '
CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-D_DARWIN '
# CXX_FLAGS += '-framework Cocoa '