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Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this.

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This commit is contained in:
Erwin Coumans
2018-05-18 16:23:54 -07:00
parent d17d496f97
commit 0abe4151e5
24 changed files with 163 additions and 403 deletions
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54
examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@@ -1,12 +1,12 @@
from robot_bases import XmlBasedRobot, MJCFBasedRobot, URDFBasedRobot
import numpy as np
import pybullet as p
import pybullet
import os
import pybullet_data
from robot_bases import BodyPart
class WalkerBase(MJCFBasedRobot):
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
MJCFBasedRobot.__init__(self, fn, robot_name, action_dim, obs_dim)
self.power = power
self.camera_x = 0
@@ -15,7 +15,8 @@ class WalkerBase(MJCFBasedRobot):
self.walk_target_y = 0
self.body_xyz=[0,0,0]
def robot_specific_reset(self):
def robot_specific_reset(self, bullet_client):
self._p = bullet_client
for j in self.ordered_joints:
j.reset_current_position(self.np_random.uniform(low=-0.1, high=0.1), 0)
@@ -94,13 +95,13 @@ class Walker2D(WalkerBase):
foot_list = ["foot", "foot_left"]
def __init__(self):
WalkerBase.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
WalkerBase.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
def alive_bonus(self, z, pitch):
return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
def robot_specific_reset(self):
WalkerBase.robot_specific_reset(self)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
for n in ["foot_joint", "foot_left_joint"]:
self.jdict[n].power_coef = 30.0
@@ -140,11 +141,11 @@ class Humanoid(WalkerBase):
foot_list = ["right_foot", "left_foot"] # "left_hand", "right_hand"
def __init__(self):
WalkerBase.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
WalkerBase.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
def robot_specific_reset(self):
WalkerBase.robot_specific_reset(self)
def robot_specific_reset(self, bullet_client):
WalkerBase.robot_specific_reset(self, bullet_client)
self.motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
self.motor_power = [100, 100, 100]
self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
@@ -192,29 +193,29 @@ class Humanoid(WalkerBase):
def get_cube(x, y, z):
body = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cube_small.urdf"), x, y, z)
p.changeDynamics(body,-1, mass=1.2)#match Roboschool
part_name, _ = p.getBodyInfo(body, 0)
def get_cube(_p, x, y, z):
body = _p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cube_small.urdf"), [x, y, z])
_p.changeDynamics(body,-1, mass=1.2)#match Roboschool
part_name, _ = _p.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(part_name, bodies, 0, -1)
return BodyPart(_p, part_name, bodies, 0, -1)
def get_sphere(x, y, z):
body = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"sphere2red_nocol.urdf"), x, y, z)
part_name, _ = p.getBodyInfo(body, 0)
def get_sphere(_p, x, y, z):
body = _p.loadURDF(os.path.join(pybullet_data.getDataPath(),"sphere2red_nocol.urdf"), [x, y, z])
part_name, _ = _p.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(part_name, bodies, 0, -1)
return BodyPart(_p, part_name, bodies, 0, -1)
class HumanoidFlagrun(Humanoid):
def __init__(self):
Humanoid.__init__(self)
self.flag = None
def robot_specific_reset(self):
Humanoid.robot_specific_reset(self)
def robot_specific_reset(self, bullet_client):
Humanoid.robot_specific_reset(self, bullet_client)
self.flag_reposition()
def flag_reposition(self):
@@ -228,9 +229,9 @@ class HumanoidFlagrun(Humanoid):
#for b in self.flag.bodies:
# print("remove body uid",b)
# p.removeBody(b)
p.resetBasePositionAndOrientation(self.flag.bodies[0],[self.walk_target_x, self.walk_target_y, 0.7],[0,0,0,1])
self._p.resetBasePositionAndOrientation(self.flag.bodies[0],[self.walk_target_x, self.walk_target_y, 0.7],[0,0,0,1])
else:
self.flag = get_sphere(self.walk_target_x, self.walk_target_y, 0.7)
self.flag = get_sphere(self._p, self.walk_target_x, self.walk_target_y, 0.7)
self.flag_timeout = 600/self.scene.frame_skip #match Roboschool
def calc_state(self):
@@ -250,14 +251,15 @@ class HumanoidFlagrunHarder(HumanoidFlagrun):
self.aggressive_cube = None
self.frame = 0
def robot_specific_reset(self):
HumanoidFlagrun.robot_specific_reset(self)
def robot_specific_reset(self, bullet_client):
HumanoidFlagrun.robot_specific_reset(self, bullet_client)
self.frame = 0
if (self.aggressive_cube):
p.resetBasePositionAndOrientation(self.aggressive_cube.bodies[0],[-1.5,0,0.05],[0,0,0,1])
self._p.resetBasePositionAndOrientation(self.aggressive_cube.bodies[0],[-1.5,0,0.05],[0,0,0,1])
else:
self.aggressive_cube = get_cube(-1.5,0,0.05)
self.aggressive_cube = get_cube(self._p, -1.5,0,0.05)
self.on_ground_frame_counter = 0
self.crawl_start_potential = None
self.crawl_ignored_potential = 0.0