bullet3/examples/pybullet/gym/pybullet_envs/robot_bases.py
Erwin Coumans 1569f3845c more fixes in pybullet_gym envs/data.
implement pybullet.setAdditionalSearchPath
2017-08-27 19:34:00 -07:00

213 lines
6.9 KiB
Python

import pybullet as p
import gym, gym.spaces, gym.utils
import numpy as np
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
os.sys.path.insert(0,parentdir)
import pybullet_data
class MJCFBasedRobot:
"""
Base class for mujoco .xml based agents.
"""
self_collision = False
def __init__(self, model_xml, robot_name, action_dim, obs_dim):
self.parts = None
self.jdict = None
self.ordered_joints = None
self.robot_body = None
high = np.ones([action_dim])
self.action_space = gym.spaces.Box(-high, high)
high = np.inf * np.ones([obs_dim])
self.observation_space = gym.spaces.Box(-high, high)
self.model_xml = model_xml
self.robot_name = robot_name
def addToScene(self, bodies):
if self.parts is not None:
parts = self.parts
else:
parts = {}
if self.jdict is not None:
joints = self.jdict
else:
joints = {}
if self.ordered_joints is not None:
ordered_joints = self.ordered_joints
else:
ordered_joints = []
dump = 0
for i in range(len(bodies)):
if p.getNumJoints(bodies[i]) == 0:
part_name, robot_name = p.getBodyInfo(bodies[i], 0)
robot_name = robot_name.decode("utf8")
part_name = part_name.decode("utf8")
parts[part_name] = BodyPart(part_name, bodies, i, -1)
for j in range(p.getNumJoints(bodies[i])):
_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
joint_name = joint_name.decode("utf8")
part_name = part_name.decode("utf8")
if dump: print("ROBOT PART '%s'" % part_name)
if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
parts[part_name] = BodyPart(part_name, bodies, i, j)
if part_name == self.robot_name:
self.robot_body = parts[part_name]
if i == 0 and j == 0 and self.robot_body is None: # if nothing else works, we take this as robot_body
parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1)
self.robot_body = parts[self.robot_name]
if joint_name[:6] == "ignore":
Joint(joint_name, bodies, i, j).disable_motor()
continue
if joint_name[:8] != "jointfix":
joints[joint_name] = Joint(joint_name, bodies, i, j)
ordered_joints.append(joints[joint_name])
joints[joint_name].power_coef = 100.0
return parts, joints, ordered_joints, self.robot_body
def reset(self):
self.ordered_joints = []
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
else:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml)))
self.robot_specific_reset()
s = self.calc_state() # optimization: calc_state() can calculate something in self.* for calc_potential() to use
return s
def calc_potential(self):
return 0
class Pose_Helper: # dummy class to comply to original interface
def __init__(self, body_part):
self.body_part = body_part
def xyz(self):
return self.body_part.current_position()
def rpy(self):
return p.getEulerFromQuaternion(self.body_part.current_orientation())
def orientation(self):
return self.body_part.current_orientation()
class BodyPart:
def __init__(self, body_name, bodies, bodyIndex, bodyPartIndex):
self.bodies = bodies
self.bodyIndex = bodyIndex
self.bodyPartIndex = bodyPartIndex
self.initialPosition = self.current_position()
self.initialOrientation = self.current_orientation()
self.bp_pose = Pose_Helper(self)
def state_fields_of_pose_of(self, body_id, link_id=-1): # a method you will most probably need a lot to get pose and orientation
if link_id == -1:
(x, y, z), (a, b, c, d) = p.getBasePositionAndOrientation(body_id)
else:
(x, y, z), (a, b, c, d), _, _, _, _ = p.getLinkState(body_id, link_id)
return np.array([x, y, z, a, b, c, d])
def get_pose(self):
return self.state_fields_of_pose_of(self.bodies[self.bodyIndex], self.bodyPartIndex)
def speed(self):
if self.bodyPartIndex == -1:
(vx, vy, vz), _ = p.getBaseVelocity(self.bodies[self.bodyIndex])
else:
(x,y,z), (a,b,c,d), _,_,_,_, (vx, vy, vz), (vr,vp,vy) = p.getLinkState(self.bodies[self.bodyIndex], self.bodyPartIndex, computeLinkVelocity=1)
return np.array([vx, vy, vz])
def current_position(self):
return self.get_pose()[:3]
def current_orientation(self):
return self.get_pose()[3:]
def reset_position(self, position):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
def reset_orientation(self, orientation):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
def reset_pose(self, position, orientation):
p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
def pose(self):
return self.bp_pose
def contact_list(self):
return p.getContactPoints(self.bodies[self.bodyIndex], -1, self.bodyPartIndex, -1)
class Joint:
def __init__(self, joint_name, bodies, bodyIndex, jointIndex):
self.bodies = bodies
self.bodyIndex = bodyIndex
self.jointIndex = jointIndex
self.joint_name = joint_name
_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
self.power_coeff = 0
def set_state(self, x, vx):
p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)
def current_position(self): # just some synonyme method
return self.get_state()
def current_relative_position(self):
pos, vel = self.get_state()
pos_mid = 0.5 * (self.lowerLimit + self.upperLimit);
return (
2 * (pos - pos_mid) / (self.upperLimit - self.lowerLimit),
0.1 * vel
)
def get_state(self):
x, vx,_,_ = p.getJointState(self.bodies[self.bodyIndex],self.jointIndex)
return x, vx
def set_position(self, position):
p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.POSITION_CONTROL, targetPosition=position)
def set_velocity(self, velocity):
p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.VELOCITY_CONTROL, targetVelocity=velocity)
def set_motor_torque(self, torque): # just some synonyme method
self.set_torque(torque)
def set_torque(self, torque):
p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex], jointIndex=self.jointIndex, controlMode=p.TORQUE_CONTROL, force=torque) #, positionGain=0.1, velocityGain=0.1)
def reset_current_position(self, position, velocity): # just some synonyme method
self.reset_position(position, velocity)
def reset_position(self, position, velocity):
p.resetJointState(self.bodies[self.bodyIndex],self.jointIndex,targetValue=position, targetVelocity=velocity)
self.disable_motor()
def disable_motor(self):
p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)