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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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Erwin Coumans
2017-09-15 13:12:06 -07:00
parent 3d7ee317db 2e7c0cef38
commit 81bf709ad7
11 changed files with 31 additions and 46 deletions
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2
examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -46,7 +46,7 @@ class MJCFBaseBulletEnv(gym.Env):
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:

36
examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@@ -152,23 +152,25 @@ class Humanoid(WalkerBase):
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names]
# if self.random_yaw: # TODO: Make leaning work as soon as the rest works
# cpose = cpp_household.Pose()
# yaw = self.np_random.uniform(low=-3.14, high=3.14)
# if self.random_lean and self.np_random.randint(2)==0:
# cpose.set_xyz(0, 0, 1.4)
# if self.np_random.randint(2)==0:
# pitch = np.pi/2
# cpose.set_xyz(0, 0, 0.45)
# else:
# pitch = np.pi*3/2
# cpose.set_xyz(0, 0, 0.25)
# roll = 0
# cpose.set_rpy(roll, pitch, yaw)
# else:
# cpose.set_xyz(0, 0, 1.4)
# cpose.set_rpy(0, 0, yaw) # just face random direction, but stay straight otherwise
# self.cpp_robot.set_pose_and_speed(cpose, 0,0,0)
if self.random_yaw:
position = [0,0,0]
orientation = [0,0,0]
yaw = self.np_random.uniform(low=-3.14, high=3.14)
if self.random_lean and self.np_random.randint(2)==0:
cpose.set_xyz(0, 0, 1.4)
if self.np_random.randint(2)==0:
pitch = np.pi/2
position = [0, 0, 0.45]
else:
pitch = np.pi*3/2
position = [0, 0, 0.25]
roll = 0
orientation = [roll, pitch, yaw]
else:
position = [0, 0, 1.4]
orientation = [0, 0, yaw] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(orientation)
self.initial_z = 0.8
random_yaw = False

4
examples/pybullet/gym/pybullet_envs/robot_pendula.py
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@@ -15,7 +15,7 @@ class InvertedPendulum(MJCFBasedRobot):
self.j1.set_motor_torque(0)
def apply_action(self, a):
#assert( np.isfinite(a).all() )
assert( np.isfinite(a).all() )
if not np.isfinite(a).all():
print("a is inf")
a[0] = 0
@@ -24,7 +24,7 @@ class InvertedPendulum(MJCFBasedRobot):
def calc_state(self):
self.theta, theta_dot = self.j1.current_position()
x, vx = self.slider.current_position()
#assert( np.isfinite(x) )
assert( np.isfinite(x) )
if not np.isfinite(x):
print("x is inf")

6
examples/pybullet/gym/pybullet_envs/scene_abstract.py
View File

@@ -15,10 +15,6 @@ class Scene:
self.dt = self.timestep * self.frame_skip
self.cpp_world = World(gravity, timestep, frame_skip)
#self.cpp_world.set_glsl_path(os.path.join(os.path.dirname(__file__), "cpp-household/glsl"))
#self.big_caption = self.cpp_world.test_window_big_caption # that's a function you can call
#self.console_print = self.cpp_world.test_window_print # this too
self.test_window_still_open = True # or never opened
self.human_render_detected = False # if user wants render("human"), we open test window
@@ -52,8 +48,6 @@ class Scene:
The idea is: apply motor torques for all robots, then call global_step(), then collect
observations from robots using step() with the same action.
"""
#if self.human_render_detected:
# self.test_window_still_open = self.cpp_world.test_window()
self.cpp_world.step(self.frame_skip)
class SingleRobotEmptyScene(Scene):