Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo.

Browse Source
This commit is contained in:
Erwin Coumans
2017-08-23 15:03:57 -07:00
parent a9fb0033a4
commit 8866840712
6 changed files with 20 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -3,7 +3,7 @@ import numpy as np
import pybullet as p
class MujocoXmlBaseBulletEnv(gym.Env):
class MJCFBaseBulletEnv(gym.Env):
"""
Base class for MuJoCo .xml environments in a Scene.
These environments create single-player scenes and behave like normal Gym environments, if

8
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
View File

@@ -1,12 +1,12 @@
from .scene_stadium import SinglePlayerStadiumScene
from .env_bases import MujocoXmlBaseBulletEnv
from .env_bases import MJCFBaseBulletEnv
import numpy as np
from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid
class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv):
class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
def __init__(self, robot):
MujocoXmlBaseBulletEnv.__init__(self, robot)
MJCFBaseBulletEnv.__init__(self, robot)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
@@ -16,7 +16,7 @@ class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv):
return self.stadium_scene
def _reset(self):
r = MujocoXmlBaseBulletEnv._reset(self)
r = MJCFBaseBulletEnv._reset(self)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
self.stadium_scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in

12
examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
View File

@@ -1,14 +1,14 @@
from .scene_abstract import SingleRobotEmptyScene
from .env_bases import MujocoXmlBaseBulletEnv
from .env_bases import MJCFBaseBulletEnv
from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
import gym, gym.spaces, gym.utils, gym.utils.seeding
import numpy as np
import os, sys
class InvertedPendulumBulletEnv(MujocoXmlBaseBulletEnv):
class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedPendulum()
MujocoXmlBaseBulletEnv.__init__(self, self.robot)
MJCFBaseBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
@@ -34,12 +34,12 @@ class InvertedPendulumBulletEnv(MujocoXmlBaseBulletEnv):
class InvertedPendulumSwingupBulletEnv(InvertedPendulumBulletEnv):
def __init__(self):
self.robot = InvertedPendulumSwingup()
MujocoXmlBaseBulletEnv.__init__(self, self.robot)
MJCFBaseBulletEnv.__init__(self, self.robot)
class InvertedDoublePendulumBulletEnv(MujocoXmlBaseBulletEnv):
class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
def __init__(self):
self.robot = InvertedDoublePendulum()
MujocoXmlBaseBulletEnv.__init__(self, self.robot)
MJCFBaseBulletEnv.__init__(self, self.robot)
def create_single_player_scene(self):
return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)

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

@@ -4,7 +4,7 @@ import numpy as np
import os
class MujocoXmlBasedRobot:
class MJCFBasedRobot:
"""
Base class for mujoco .xml based agents.
"""

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

@@ -1,10 +1,10 @@
from robot_bases import MujocoXmlBasedRobot
from robot_bases import MJCFBasedRobot
import numpy as np
class WalkerBase(MujocoXmlBasedRobot):
class WalkerBase(MJCFBasedRobot):
def __init__(self, fn, robot_name, action_dim, obs_dim, power):
MujocoXmlBasedRobot.__init__(self, fn, robot_name, action_dim, obs_dim)
MJCFBasedRobot.__init__(self, fn, robot_name, action_dim, obs_dim)
self.power = power
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away

10
examples/pybullet/gym/pybullet_envs/robot_pendula.py
View File

@@ -1,11 +1,11 @@
from robot_bases import MujocoXmlBasedRobot
from robot_bases import MJCFBasedRobot
import numpy as np
class InvertedPendulum(MujocoXmlBasedRobot):
class InvertedPendulum(MJCFBasedRobot):
swingup = False
force_gain = 12 # TODO: Try to find out why we need to scale the force
def __init__(self):
MujocoXmlBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
def robot_specific_reset(self):
self.pole = self.parts["pole"]
@@ -53,9 +53,9 @@ class InvertedPendulumSwingup(InvertedPendulum):
force_gain = 2.2 # TODO: Try to find out why we need to scale the force
class InvertedDoublePendulum(MujocoXmlBasedRobot):
class InvertedDoublePendulum(MJCFBasedRobot):
def __init__(self):
MujocoXmlBasedRobot.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
MJCFBasedRobot.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
def robot_specific_reset(self):
self.pole2 = self.parts["pole2"]