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https://github.com/bulletphysics/bullet3
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213 lines
6.9 KiB
Python
213 lines
6.9 KiB
Python
import pybullet as p
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import gym, gym.spaces, gym.utils
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import numpy as np
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(currentdir)
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os.sys.path.insert(0,parentdir)
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import pybullet_data
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class MJCFBasedRobot:
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"""
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Base class for mujoco .xml based agents.
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"""
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self_collision = False
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def __init__(self, model_xml, robot_name, action_dim, obs_dim):
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self.parts = None
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self.jdict = None
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self.ordered_joints = None
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self.robot_body = None
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high = np.ones([action_dim])
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self.action_space = gym.spaces.Box(-high, high)
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high = np.inf * np.ones([obs_dim])
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self.observation_space = gym.spaces.Box(-high, high)
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self.model_xml = model_xml
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self.robot_name = robot_name
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def addToScene(self, bodies):
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if self.parts is not None:
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parts = self.parts
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else:
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parts = {}
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if self.jdict is not None:
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joints = self.jdict
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else:
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joints = {}
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if self.ordered_joints is not None:
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ordered_joints = self.ordered_joints
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else:
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ordered_joints = []
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dump = 0
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for i in range(len(bodies)):
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if p.getNumJoints(bodies[i]) == 0:
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part_name, robot_name = p.getBodyInfo(bodies[i], 0)
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robot_name = robot_name.decode("utf8")
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part_name = part_name.decode("utf8")
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parts[part_name] = BodyPart(part_name, bodies, i, -1)
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for j in range(p.getNumJoints(bodies[i])):
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_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
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joint_name = joint_name.decode("utf8")
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part_name = part_name.decode("utf8")
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if dump: print("ROBOT PART '%s'" % part_name)
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if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
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parts[part_name] = BodyPart(part_name, bodies, i, j)
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if part_name == self.robot_name:
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self.robot_body = parts[part_name]
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if i == 0 and j == 0 and self.robot_body is None: # if nothing else works, we take this as robot_body
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parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1)
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self.robot_body = parts[self.robot_name]
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if joint_name[:6] == "ignore":
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Joint(joint_name, bodies, i, j).disable_motor()
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continue
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if joint_name[:8] != "jointfix":
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joints[joint_name] = Joint(joint_name, bodies, i, j)
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ordered_joints.append(joints[joint_name])
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joints[joint_name].power_coef = 100.0
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return parts, joints, ordered_joints, self.robot_body
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def reset(self):
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self.ordered_joints = []
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if self.self_collision:
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
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p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
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else:
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self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
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p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml)))
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self.robot_specific_reset()
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s = self.calc_state() # optimization: calc_state() can calculate something in self.* for calc_potential() to use
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return s
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def calc_potential(self):
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return 0
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class Pose_Helper: # dummy class to comply to original interface
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def __init__(self, body_part):
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self.body_part = body_part
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def xyz(self):
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return self.body_part.current_position()
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def rpy(self):
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return p.getEulerFromQuaternion(self.body_part.current_orientation())
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def orientation(self):
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return self.body_part.current_orientation()
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class BodyPart:
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def __init__(self, body_name, bodies, bodyIndex, bodyPartIndex):
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self.bodies = bodies
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self.bodyIndex = bodyIndex
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self.bodyPartIndex = bodyPartIndex
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self.initialPosition = self.current_position()
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self.initialOrientation = self.current_orientation()
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self.bp_pose = Pose_Helper(self)
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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
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if link_id == -1:
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(x, y, z), (a, b, c, d) = p.getBasePositionAndOrientation(body_id)
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else:
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(x, y, z), (a, b, c, d), _, _, _, _ = p.getLinkState(body_id, link_id)
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return np.array([x, y, z, a, b, c, d])
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def get_pose(self):
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return self.state_fields_of_pose_of(self.bodies[self.bodyIndex], self.bodyPartIndex)
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def speed(self):
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if self.bodyPartIndex == -1:
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(vx, vy, vz), _ = p.getBaseVelocity(self.bodies[self.bodyIndex])
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else:
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(x,y,z), (a,b,c,d), _,_,_,_, (vx, vy, vz), (vr,vp,vy) = p.getLinkState(self.bodies[self.bodyIndex], self.bodyPartIndex, computeLinkVelocity=1)
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return np.array([vx, vy, vz])
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def current_position(self):
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return self.get_pose()[:3]
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def current_orientation(self):
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return self.get_pose()[3:]
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def reset_position(self, position):
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p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
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def reset_orientation(self, orientation):
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p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
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def reset_pose(self, position, orientation):
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p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
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def pose(self):
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return self.bp_pose
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def contact_list(self):
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return p.getContactPoints(self.bodies[self.bodyIndex], -1, self.bodyPartIndex, -1)
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class Joint:
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def __init__(self, joint_name, bodies, bodyIndex, jointIndex):
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self.bodies = bodies
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self.bodyIndex = bodyIndex
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self.jointIndex = jointIndex
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self.joint_name = joint_name
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_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
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self.power_coeff = 0
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def set_state(self, x, vx):
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p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)
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def current_position(self): # just some synonyme method
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return self.get_state()
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def current_relative_position(self):
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pos, vel = self.get_state()
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pos_mid = 0.5 * (self.lowerLimit + self.upperLimit);
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return (
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2 * (pos - pos_mid) / (self.upperLimit - self.lowerLimit),
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0.1 * vel
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)
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def get_state(self):
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x, vx,_,_ = p.getJointState(self.bodies[self.bodyIndex],self.jointIndex)
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return x, vx
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def set_position(self, position):
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p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.POSITION_CONTROL, targetPosition=position)
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def set_velocity(self, velocity):
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p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.VELOCITY_CONTROL, targetVelocity=velocity)
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def set_motor_torque(self, torque): # just some synonyme method
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self.set_torque(torque)
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def set_torque(self, torque):
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p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex], jointIndex=self.jointIndex, controlMode=p.TORQUE_CONTROL, force=torque) #, positionGain=0.1, velocityGain=0.1)
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def reset_current_position(self, position, velocity): # just some synonyme method
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self.reset_position(position, velocity)
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def reset_position(self, position, velocity):
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p.resetJointState(self.bodies[self.bodyIndex],self.jointIndex,targetValue=position, targetVelocity=velocity)
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self.disable_motor()
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def disable_motor(self):
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p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)
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