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pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered,

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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.
This commit is contained in:
erwincoumans
2017-11-12 10:36:30 -08:00
parent 99f9584a2c
commit 6be7e34dd6
10 changed files with 101 additions and 81 deletions
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31
examples/pybullet/gym/pybullet_envs/env_bases.py
View File

@@ -18,6 +18,7 @@ class MJCFBaseBulletEnv(gym.Env):
def __init__(self, robot, render=False):
self.scene = None
self.physicsClientId=-1
self.ownsPhysicsClient = 0
self.camera = Camera()
self.isRender = render
self.robot = robot
@@ -39,17 +40,24 @@ class MJCFBaseBulletEnv(gym.Env):
def _reset(self):
if (self.physicsClientId<0):
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)
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:
if not self.scene.multiplayer and self.ownsPhysicsClient:
self.scene.episode_restart()
self.robot.scene = self.scene
@@ -93,9 +101,10 @@ class MJCFBaseBulletEnv(gym.Env):
return rgb_array
def _close(self):
if (self.physicsClientId>=0):
p.disconnect(self.physicsClientId)
self.physicsClientId = -1
if (self.ownsPhysicsClient):
if (self.physicsClientId>=0):
p.disconnect(self.physicsClientId)
self.physicsClientId = -1
def HUD(self, state, a, done):
pass

13
examples/pybullet/gym/pybullet_envs/robot_bases.py
View File

@@ -17,6 +17,7 @@ class MJCFBasedRobot:
def __init__(self, model_xml, robot_name, action_dim, obs_dim):
self.parts = None
self.objects = []
self.jdict = None
self.ordered_joints = None
self.robot_body = None
@@ -85,13 +86,15 @@ class MJCFBasedRobot:
def reset(self):
self.ordered_joints = []
for ob in self.objects:
p.removeBody(ob)
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.objects )
else:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml)))
self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml))
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.objects)
self.robot_specific_reset()

2
examples/pybullet/gym/pybullet_envs/scene_abstract.py
View File

@@ -62,7 +62,7 @@ class World:
self.clean_everything()
def clean_everything(self):
p.resetSimulation()
#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)