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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-05-21 19:49:09 -07:00
parent 00a5956dc2 148716d0ff
commit 2939c7ae36
19 changed files with 226 additions and 102 deletions
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115
data/mjcf/humanoid_fixed.xml Normal file
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@@ -0,0 +1,115 @@
<mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
<!-- <flags solverstat="enable" energy="enable"/>-->
</option>
<size nkey="5" nuser_geom="1"/>
<visual>
<map fogend="5" fogstart="3"/>
</visual>
<asset>
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<body name="torso" pos="0 0 1.4">
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="fixed"/>
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
<body name="right_thigh" pos="0 -0.1 -0.04">
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
<body name="right_shin" pos="0 0.01 -0.403">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
<body name="right_foot" pos="0 0 -0.45">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 0.1 -0.04">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
<body name="left_shin" pos="0 -0.01 -0.403">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
<body name="left_foot" pos="0 0 -0.45">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y"/>
<joint coef="1" joint="left_knee"/>
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y"/>
<joint coef="1" joint="right_knee"/>
</fixed>
</tendon>
<actuator><!-- this section is not supported, same constants in code -->
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
<motor gear="200" joint="right_knee" name="right_knee"/>
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
<motor gear="200" joint="left_knee" name="left_knee"/>
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
<motor gear="25" joint="right_elbow" name="right_elbow"/>
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
<motor gear="25" joint="left_elbow" name="left_elbow"/>
</actuator>
</mujoco>

7
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -277,9 +277,10 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
#endif //USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",

13
examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
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@@ -588,6 +588,10 @@ public:
) :
btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, collisionConfiguration )
{
#if USE_PARALLEL_ISLAND_SOLVER
btSimulationIslandManagerMt* islandMgr = static_cast<btSimulationIslandManagerMt*>( m_islandManager );
islandMgr->setIslandDispatchFunction( parallelIslandDispatch );
#endif //#if USE_PARALLEL_ISLAND_SOLVER
}
};
@@ -762,14 +766,7 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
#endif //#if USE_PARALLEL_ISLAND_SOLVER
btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration );
m_dynamicsWorld = world;
#if USE_PARALLEL_ISLAND_SOLVER
if ( btSimulationIslandManagerMt* islandMgr = dynamic_cast<btSimulationIslandManagerMt*>( world->getSimulationIslandManager() ) )
{
islandMgr->setIslandDispatchFunction( parallelIslandDispatch );
m_multithreadedWorld = true;
}
#endif //#if USE_PARALLEL_ISLAND_SOLVER
m_multithreadedWorld = true;
}
else
{

3
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -290,6 +290,7 @@ void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
b3Warning("Not connected");
return;
}
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
@@ -1142,5 +1143,5 @@ void b3RobotSimulatorClientAPI::loadBunny(double scale, double mass, double coll
b3LoadBunnySetScale(command, scale);
b3LoadBunnySetMass(command, mass);
b3LoadBunnySetCollisionMargin(command, collisionMargin);
b3SubmitClientCommand(m_data->m_physicsClientHandle, command);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}

32
examples/SharedMemory/CMakeLists.txt
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@@ -62,7 +62,7 @@ SET(SharedMemory_SRCS
../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../Importers/ImportMJCFDemo/BulletMJCFImporter.h
../Utils/b3ResourcePath.cpp
../Utils/b3Clock.cpp
../Utils/b3Clock.cpp
../Utils/RobotLoggingUtil.cpp
../Utils/RobotLoggingUtil.h
../Utils/ChromeTraceUtil.cpp
@@ -75,13 +75,13 @@ SET(SharedMemory_SRCS
../Importers/ImportSTLDemo/LoadMeshFromSTL.h
../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../ThirdPartyLibs/stb_image/stb_image.cpp
../ThirdPartyLibs/stb_image/stb_image.cpp
../MultiThreading/b3ThreadSupportInterface.cpp
../MultiThreading/b3ThreadSupportInterface.h
)
@@ -95,6 +95,10 @@ LINK_LIBRARIES(
Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
)
IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
LINK_LIBRARIES(BulletSoftBody)
ENDIF()
IF (WIN32)
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
${SharedMemory_SRCS}
@@ -112,7 +116,7 @@ ELSE(WIN32)
../MultiThreading/b3PosixThreadSupport.h
main.cpp
)
ELSE(APPLE)
LINK_LIBRARIES( pthread ${DL} )
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
@@ -152,7 +156,7 @@ LINK_LIBRARIES(
IF (WIN32)
ADD_DEFINITIONS(-DGLEW_STATIC)
LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
@@ -169,23 +173,23 @@ ELSE(WIN32)
FIND_LIBRARY(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
../ExampleBrowser/OpenGLGuiHelper.cpp
../ExampleBrowser/GL_ShapeDrawer.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3PosixThreadSupport.h
)
ELSE(APPLE)
LINK_LIBRARIES( pthread ${DL} )
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
@@ -215,7 +219,7 @@ INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/headers
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
)
@@ -233,7 +237,7 @@ LINK_LIBRARIES(
LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win64)
ELSE(CMAKE_CL_64)
LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win32)
ENDIF(CMAKE_CL_64)
ENDIF(CMAKE_CL_64)
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
${SharedMemory_SRCS}
../StandaloneMain/hellovr_opengl_main.cpp
@@ -250,12 +254,12 @@ LINK_LIBRARIES(
../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
../ThirdPartyLibs/openvr/samples/shared/pathtools.h
../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
../ThirdPartyLibs/openvr/samples/shared/strtools.h
../ThirdPartyLibs/openvr/samples/shared/strtools.h
../ThirdPartyLibs/openvr/samples/shared/Vectors.h
../MultiThreading/b3Win32ThreadSupport.cpp
../MultiThreading/b3Win32ThreadSupport.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
@@ -272,7 +276,7 @@ IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll ${CMAKE_CURRENT_BINARY_DIR}/openvr_api.dll
)
ENDIF(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET App_PhysicsServer_SharedMemory_VR
POST_BUILD

3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3247,6 +3247,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_LOAD_BUNNY:
{
serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
hasStatus = true;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
double scale = 0.1;
double mass = 0.1;
@@ -3287,6 +3289,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
psb->getCollisionShape()->setMargin(collisionMargin);
m_data->m_dynamicsWorld->addSoftBody(psb);
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
#endif
break;
}

37
examples/pybullet/examples/humanoid_knee_position_control.py Normal file
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@@ -0,0 +1,37 @@
import pybullet as p
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
cid = p.connect(p.GUI)
p.resetSimulation()
useRealTime = 0
p.setRealTimeSimulation(useRealTime)
p.setGravity(0,0,0)
p.loadURDF("plane.urdf")
obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
human = obUids[0]
for i in range (p.getNumJoints(human)):
p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=50)
kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
maxForceId = p.addUserDebugParameter("maxForce",0,100,10)
kneeJointIndex=11
while (1):
time.sleep(0.01)
kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
if (useRealTime==0):
p.stepSimulation()

21
examples/pybullet/gym/agents/actor_net.py
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@@ -1,21 +0,0 @@
"""An actor network."""
import tensorflow as tf
import sonnet as snt
class ActorNetwork(snt.AbstractModule):
"""An actor network as a sonnet Module."""
def __init__(self, layer_sizes, action_size, name='target_actor'):
super(ActorNetwork, self).__init__(name=name)
self._layer_sizes = layer_sizes
self._action_size = action_size
def _build(self, inputs):
state = inputs
for output_size in self._layer_sizes:
state = snt.Linear(output_size)(state)
state = tf.nn.relu(state)
action = tf.tanh(
snt.Linear(self._action_size, name='action')(state))
return action

46
examples/pybullet/gym/agents/simpleAgent.py
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@@ -1,46 +0,0 @@
"""Loads a DDPG agent without too much external dependencies
"""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
import collections
import numpy as np
import tensorflow as tf
import sonnet as snt
from agents import actor_net
class SimpleAgent():
def __init__(
self,
session,
ckpt_path,
actor_layer_size,
observation_size=(31,),
action_size=8,
):
self._ckpt_path = ckpt_path
self._actor_layer_size = actor_layer_size
self._observation_size = observation_size
self._action_size = action_size
self._session = session
self._build()
def _build(self):
self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size)
self._obs = tf.placeholder(tf.float32, (31,))
with tf.name_scope('Act'):
batch_obs = snt.nest.pack_iterable_as(self._obs,
snt.nest.map(lambda x: tf.expand_dims(x, 0),
snt.nest.flatten_iterable(self._obs)))
self._action = self._agent_net(batch_obs)
saver = tf.train.Saver()
saver.restore(
sess=self._session,
save_path=self._ckpt_path)
def __call__(self, observation):
out_action = self._session.run(self._action, feed_dict={self._obs: observation})
return out_action[0]

36
examples/pybullet/gym/agents/simplerAgent.py Normal file
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@@ -0,0 +1,36 @@
"""Loads a DDPG agent without too much external dependencies
"""
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import os
import collections
import numpy as np
import tensorflow as tf
import pdb
class SimplerAgent():
def __init__(
self,
session,
ckpt_path,
observation_dim=31
):
self._ckpt_path = ckpt_path
self._session = session
self._observation_dim = observation_dim
self._build()
def _build(self):
saver = tf.train.import_meta_graph(self._ckpt_path + '.meta')
saver.restore(
sess=self._session,
save_path=self._ckpt_path)
self._action = tf.get_collection('action_op')[0]
self._obs = tf.get_collection('observation_placeholder')[0]
def __call__(self, observation):
feed_dict={self._obs: observation}
out_action = self._session.run(self._action, feed_dict=feed_dict)
return out_action[0]

4
examples/pybullet/gym/data/agent/tf_graph_data/checkpoint
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@@ -1,2 +1,2 @@
model_checkpoint_path: "/cns/ij-d/home/jietan/persistent/minitaur/minitaur_vizier_3_153645653/Bullet/MinitaurSimEnv/28158/0003600000/agent/tf_graph_data/tf_graph_data.ckpt"
all_model_checkpoint_paths: "/cns/ij-d/home/jietan/persistent/minitaur/minitaur_vizier_3_153645653/Bullet/MinitaurSimEnv/28158/0003600000/agent/tf_graph_data/tf_graph_data.ckpt"
model_checkpoint_path: "tf_graph_data_converted.ckpt-0"
all_model_checkpoint_paths: "tf_graph_data_converted.ckpt-0"

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9
examples/pybullet/gym/minitaurGymEnvTest.py
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@@ -10,7 +10,7 @@ import numpy as np
import tensorflow as tf
from envs.bullet.minitaurGymEnv import MinitaurGymEnv
from agents import simpleAgent
from agents import simplerAgent
def testSinePolicy():
"""Tests sine policy
@@ -53,17 +53,14 @@ def testDDPGPolicy():
environment = MinitaurGymEnv(render=True)
sum_reward = 0
steps = 1000
ckpt_path = 'data/agent/tf_graph_data/tf_graph_data.ckpt'
ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
observation_shape = (31,)
action_size = 8
actor_layer_sizes = (100, 181)
n_steps = 0
tf.reset_default_graph()
with tf.Session() as session:
agent = simpleAgent.SimpleAgent(session, ckpt_path,
actor_layer_sizes,
observation_size=observation_shape,
action_size=action_size)
agent = simplerAgent.SimplerAgent(session, ckpt_path)
state = environment.reset()
action = agent(state)
for _ in range(steps):

2
setup.py
View File

@@ -417,7 +417,7 @@ else:
setup(
name = 'pybullet',
version='1.0.6',
version='1.0.7',
description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',