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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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29
examples/pybullet/gym/pybullet_envs/scene_stadium.py
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@@ -13,20 +13,25 @@ class StadiumScene(Scene):
zero_at_running_strip_start_line = True # if False, center of coordinates (0,0,0) will be at the middle of the stadium
stadium_halflen = 105*0.25 # FOOBALL_FIELD_HALFLEN
stadium_halfwidth = 50*0.25 # FOOBALL_FIELD_HALFWID
stadiumLoaded=0
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
self.stadium = p.loadSDF(filename)
planeName = os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadMJCF(planeName)
for i in self.ground_plane_mjcf:
p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
Scene.episode_restart(self) # contains cpp_world.clean_everything()
if (self.stadiumLoaded==0):
self.stadiumLoaded=1
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
self.stadium = p.loadSDF(filename)
planeName = os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadMJCF(planeName)
for i in self.ground_plane_mjcf:
p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
class SinglePlayerStadiumScene(StadiumScene):
"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
multiplayer = False