mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 22:20:12 +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.
74 lines
2.3 KiB
Python
74 lines
2.3 KiB
Python
import sys, os
|
|
sys.path.append(os.path.dirname(__file__))
|
|
import pybullet as p
|
|
|
|
import gym
|
|
|
|
|
|
class Scene:
|
|
"A base class for single- and multiplayer scenes"
|
|
|
|
def __init__(self, gravity, timestep, frame_skip):
|
|
self.np_random, seed = gym.utils.seeding.np_random(None)
|
|
self.timestep = timestep
|
|
self.frame_skip = frame_skip
|
|
|
|
self.dt = self.timestep * self.frame_skip
|
|
self.cpp_world = World(gravity, timestep, frame_skip)
|
|
|
|
self.test_window_still_open = True # or never opened
|
|
self.human_render_detected = False # if user wants render("human"), we open test window
|
|
|
|
self.multiplayer_robots = {}
|
|
|
|
def test_window(self):
|
|
"Call this function every frame, to see what's going on. Not necessary in learning."
|
|
self.human_render_detected = True
|
|
return self.test_window_still_open
|
|
|
|
def actor_introduce(self, robot):
|
|
"Usually after scene reset"
|
|
if not self.multiplayer: return
|
|
self.multiplayer_robots[robot.player_n] = robot
|
|
|
|
def actor_is_active(self, robot):
|
|
"""
|
|
Used by robots to see if they are free to exclusiveley put their HUD on the test window.
|
|
Later can be used for click-focus robots.
|
|
"""
|
|
return not self.multiplayer
|
|
|
|
def episode_restart(self):
|
|
"This function gets overridden by specific scene, to reset specific objects into their start positions"
|
|
self.cpp_world.clean_everything()
|
|
#self.cpp_world.test_window_history_reset()
|
|
|
|
def global_step(self):
|
|
"""
|
|
The idea is: apply motor torques for all robots, then call global_step(), then collect
|
|
observations from robots using step() with the same action.
|
|
"""
|
|
self.cpp_world.step(self.frame_skip)
|
|
|
|
class SingleRobotEmptyScene(Scene):
|
|
multiplayer = False # this class is used "as is" for InvertedPendulum, Reacher
|
|
|
|
class World:
|
|
|
|
def __init__(self, gravity, timestep, frame_skip):
|
|
self.gravity = gravity
|
|
self.timestep = timestep
|
|
self.frame_skip = frame_skip
|
|
self.clean_everything()
|
|
|
|
def clean_everything(self):
|
|
#p.resetSimulation()
|
|
p.setGravity(0, 0, -self.gravity)
|
|
p.setDefaultContactERP(0.9)
|
|
p.setPhysicsEngineParameter(fixedTimeStep=self.timestep*self.frame_skip, numSolverIterations=5, numSubSteps=self.frame_skip)
|
|
|
|
def step(self, frame_skip):
|
|
p.stepSimulation()
|
|
|
|
|