mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-05 15:21:06 +00:00
4f47a223ef
apparently feet_collision_cost is not properly updated in Roboschool, for now, disable it in pybullet too: see https://github.com/openai/roboschool/issues/63
79 lines
1.9 KiB
Python
79 lines
1.9 KiB
Python
import gym, gym.spaces, gym.utils, gym.utils.seeding
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import numpy as np
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import pybullet as p
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class MJCFBaseBulletEnv(gym.Env):
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"""
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Base class for Bullet physics simulation loading MJCF (MuJoCo .xml) environments in a Scene.
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These environments create single-player scenes and behave like normal Gym environments, if
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you don't use multiplayer.
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"""
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metadata = {
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'render.modes': ['human', 'rgb_array'],
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'video.frames_per_second': 60
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}
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def __init__(self, robot, render=False):
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self.scene = None
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self.physicsClientId=-1
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self.camera = Camera()
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self.isRender = render
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self.robot = robot
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self._seed()
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self.action_space = robot.action_space
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self.observation_space = robot.observation_space
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def configure(self, args):
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self.robot.args = args
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def _seed(self, seed=None):
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self.np_random, seed = gym.utils.seeding.np_random(seed)
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self.robot.np_random = self.np_random # use the same np_randomizer for robot as for env
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return [seed]
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def _reset(self):
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if (self.physicsClientId<0):
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if (self.isRender):
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self.physicsClientId = p.connect(p.GUI)
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else:
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self.physicsClientId = p.connect(p.DIRECT)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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if self.scene is None:
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self.scene = self.create_single_player_scene()
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if not self.scene.multiplayer:
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self.scene.episode_restart()
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self.robot.scene = self.scene
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self.frame = 0
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self.done = 0
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self.reward = 0
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dump = 0
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s = self.robot.reset()
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self.potential = self.robot.calc_potential()
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return s
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def _render(self, mode, close):
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if (mode=="human"):
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self.isRender = True
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def _close(self):
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if (self.physicsClientId>=0):
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p.disconnect(self.physicsClientId)
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self.physicsClientId = -1
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def HUD(self, state, a, done):
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pass
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class Camera:
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def __init__(self):
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pass
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def move_and_look_at(self,i,j,k,x,y,z):
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lookat = [x,y,z]
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distance = 10
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yaw = 10
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p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
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