mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
80 lines
2.6 KiB
Python
80 lines
2.6 KiB
Python
import sys, os
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sys.path.append(os.path.dirname(__file__))
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import pybullet
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import gym
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class Scene:
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"A base class for single- and multiplayer scenes"
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def __init__(self, bullet_client, gravity, timestep, frame_skip):
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self._p = bullet_client
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self.np_random, seed = gym.utils.seeding.np_random(None)
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self.timestep = timestep
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self.frame_skip = frame_skip
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self.dt = self.timestep * self.frame_skip
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self.cpp_world = World(self._p, gravity, timestep, frame_skip)
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self.test_window_still_open = True # or never opened
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self.human_render_detected = False # if user wants render("human"), we open test window
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self.multiplayer_robots = {}
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def test_window(self):
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"Call this function every frame, to see what's going on. Not necessary in learning."
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self.human_render_detected = True
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return self.test_window_still_open
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def actor_introduce(self, robot):
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"Usually after scene reset"
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if not self.multiplayer: return
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self.multiplayer_robots[robot.player_n] = robot
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def actor_is_active(self, robot):
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"""
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Used by robots to see if they are free to exclusiveley put their HUD on the test window.
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Later can be used for click-focus robots.
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"""
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return not self.multiplayer
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def episode_restart(self, bullet_client):
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"This function gets overridden by specific scene, to reset specific objects into their start positions"
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self.cpp_world.clean_everything()
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#self.cpp_world.test_window_history_reset()
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def global_step(self):
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"""
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The idea is: apply motor torques for all robots, then call global_step(), then collect
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observations from robots using step() with the same action.
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"""
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self.cpp_world.step(self.frame_skip)
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class SingleRobotEmptyScene(Scene):
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multiplayer = False # this class is used "as is" for InvertedPendulum, Reacher
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class World:
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def __init__(self, bullet_client, gravity, timestep, frame_skip):
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self._p = bullet_client
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self.gravity = gravity
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self.timestep = timestep
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self.frame_skip = frame_skip
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self.numSolverIterations = 5
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self.clean_everything()
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def clean_everything(self):
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#p.resetSimulation()
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self._p.setGravity(0, 0, -self.gravity)
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self._p.setDefaultContactERP(0.9)
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#print("self.numSolverIterations=",self.numSolverIterations)
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self._p.setPhysicsEngineParameter(fixedTimeStep=self.timestep * self.frame_skip,
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numSolverIterations=self.numSolverIterations,
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numSubSteps=self.frame_skip)
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def step(self, frame_skip):
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self._p.stepSimulation()
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