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Improve PyBullet ports of Roboschool envs: fix reset (it kept adding stadium objects, causing slowdown), now reset uses saveState/restoreState and reset becomes a few orders of magnitude faster.

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Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1

Added environments: HumanoidFlagrunBulletEnv-v0, HumanoidFlagrunHarderBulletEnv-v0, StrikerBulletEnv-v0, ThrowerBulletEnv-v0, PusherBulletEnv-v0, ReacherBulletEnv-v0, CartPoleBulletEnv-v0 and register them to OpenAI Gym.
Allow numpy/humanoid_running.py to use abtch or non-batch update (setJointMotorControl2/setJointMotorControlArray)
This commit is contained in:
erwincoumans
2018-01-15 12:48:32 -08:00
parent 9ffb05eb3b
commit 851ca5bfb3
22 changed files with 2173 additions and 102 deletions
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38
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
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@@ -2,23 +2,28 @@ from .scene_stadium import SinglePlayerStadiumScene
from .env_bases import MJCFBaseBulletEnv
import numpy as np
import pybullet as p
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid, HumanoidFlagrun
class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
def __init__(self, robot, render=False):
print("WalkerBase::__init__")
print("WalkerBase::__init__ start")
MJCFBaseBulletEnv.__init__(self, robot, render)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId=-1
def create_single_player_scene(self):
self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165/4, frame_skip=4)
return self.stadium_scene
def _reset(self):
if (self.stateId>=0):
#print("restoreState self.stateId:",self.stateId)
p.restoreState(self.stateId)
r = MJCFBaseBulletEnv._reset(self)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
@@ -28,6 +33,11 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in
self.foot_ground_object_names])
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
if (self.stateId<0):
self.stateId=p.saveState()
#print("saving state self.stateId:",self.stateId)
return r
def move_robot(self, init_x, init_y, init_z):
@@ -132,8 +142,28 @@ class AntBulletEnv(WalkerBaseBulletEnv):
WalkerBaseBulletEnv.__init__(self, self.robot)
class HumanoidBulletEnv(WalkerBaseBulletEnv):
def __init__(self):
self.robot = Humanoid()
def __init__(self, robot=Humanoid()):
self.robot = robot
WalkerBaseBulletEnv.__init__(self, self.robot)
self.electricity_cost = 4.25*WalkerBaseBulletEnv.electricity_cost
self.stall_torque_cost = 4.25*WalkerBaseBulletEnv.stall_torque_cost
class HumanoidFlagrunBulletEnv(HumanoidBulletEnv):
random_yaw = True
def __init__(self):
self.robot = HumanoidFlagrun()
HumanoidBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
s = HumanoidBulletEnv.create_single_player_scene(self)
s.zero_at_running_strip_start_line = False
return s
class HumanoidFlagrunHarderBulletEnv(HumanoidFlagrunBulletEnv):
random_lean = True # can fall on start
def __init__(self):
HumanoidFlagrunBulletEnv.__init__(self)
self.electricity_cost /= 4 # don't care that much about electricity, just stand up!