mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
6be7e34dd6
vr_kuka_control.py: control all joints, use analogue button to close gripper remove some debug warnings/prints pybullet, avoid crash in changeUserConstraint if not passing a [list] allow some gym environments (pybullet_pendulum and locomotors) to re-use an existing physics client connection.
121 lines
3.1 KiB
Python
121 lines
3.1 KiB
Python
import gym, gym.spaces, gym.utils, gym.utils.seeding
|
|
import numpy as np
|
|
import pybullet as p
|
|
|
|
|
|
class MJCFBaseBulletEnv(gym.Env):
|
|
"""
|
|
Base class for Bullet physics simulation loading MJCF (MuJoCo .xml) environments in a Scene.
|
|
These environments create single-player scenes and behave like normal Gym environments, if
|
|
you don't use multiplayer.
|
|
"""
|
|
|
|
metadata = {
|
|
'render.modes': ['human', 'rgb_array'],
|
|
'video.frames_per_second': 60
|
|
}
|
|
|
|
def __init__(self, robot, render=False):
|
|
self.scene = None
|
|
self.physicsClientId=-1
|
|
self.ownsPhysicsClient = 0
|
|
self.camera = Camera()
|
|
self.isRender = render
|
|
self.robot = robot
|
|
self._seed()
|
|
self._cam_dist = 3
|
|
self._cam_yaw = 0
|
|
self._cam_pitch = -30
|
|
self._render_width =320
|
|
self._render_height = 240
|
|
|
|
self.action_space = robot.action_space
|
|
self.observation_space = robot.observation_space
|
|
def configure(self, args):
|
|
self.robot.args = args
|
|
def _seed(self, seed=None):
|
|
self.np_random, seed = gym.utils.seeding.np_random(seed)
|
|
self.robot.np_random = self.np_random # use the same np_randomizer for robot as for env
|
|
return [seed]
|
|
|
|
def _reset(self):
|
|
if (self.physicsClientId<0):
|
|
conInfo = p.getConnectionInfo()
|
|
if (conInfo['isConnected']):
|
|
self.ownsPhysicsClient = False
|
|
|
|
self.physicsClientId = 0
|
|
else:
|
|
self.ownsPhysicsClient = True
|
|
self.physicsClientId = p.connect(p.SHARED_MEMORY)
|
|
if (self.physicsClientId<0):
|
|
if (self.isRender):
|
|
self.physicsClientId = p.connect(p.GUI)
|
|
else:
|
|
self.physicsClientId = p.connect(p.DIRECT)
|
|
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
|
|
|
|
if self.scene is None:
|
|
self.scene = self.create_single_player_scene()
|
|
if not self.scene.multiplayer and self.ownsPhysicsClient:
|
|
self.scene.episode_restart()
|
|
|
|
self.robot.scene = self.scene
|
|
|
|
self.frame = 0
|
|
self.done = 0
|
|
self.reward = 0
|
|
dump = 0
|
|
s = self.robot.reset()
|
|
self.potential = self.robot.calc_potential()
|
|
return s
|
|
|
|
def _render(self, mode, close):
|
|
if (mode=="human"):
|
|
self.isRender = True
|
|
if mode != "rgb_array":
|
|
return np.array([])
|
|
|
|
base_pos=[0,0,0]
|
|
if (hasattr(self,'robot')):
|
|
if (hasattr(self.robot,'body_xyz')):
|
|
base_pos = self.robot.body_xyz
|
|
|
|
view_matrix = p.computeViewMatrixFromYawPitchRoll(
|
|
cameraTargetPosition=base_pos,
|
|
distance=self._cam_dist,
|
|
yaw=self._cam_yaw,
|
|
pitch=self._cam_pitch,
|
|
roll=0,
|
|
upAxisIndex=2)
|
|
proj_matrix = p.computeProjectionMatrixFOV(
|
|
fov=60, aspect=float(self._render_width)/self._render_height,
|
|
nearVal=0.1, farVal=100.0)
|
|
(_, _, px, _, _) = p.getCameraImage(
|
|
width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
|
|
projectionMatrix=proj_matrix,
|
|
renderer=p.ER_BULLET_HARDWARE_OPENGL
|
|
)
|
|
rgb_array = np.array(px)
|
|
rgb_array = rgb_array[:, :, :3]
|
|
return rgb_array
|
|
|
|
def _close(self):
|
|
if (self.ownsPhysicsClient):
|
|
if (self.physicsClientId>=0):
|
|
p.disconnect(self.physicsClientId)
|
|
self.physicsClientId = -1
|
|
|
|
def HUD(self, state, a, done):
|
|
pass
|
|
|
|
class Camera:
|
|
def __init__(self):
|
|
pass
|
|
|
|
def move_and_look_at(self,i,j,k,x,y,z):
|
|
lookat = [x,y,z]
|
|
distance = 10
|
|
yaw = 10
|
|
p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
|