Merge pull request #2564 from erwincoumans/master

fix a few pybullet Gym environments for rendering in stable_baselines

examples/pybullet/gym/pybullet_data/plane.urdf

@@ -12,7 +12,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="plane.obj" scale="1 1 1"/>
+				<mesh filename="plane100.obj" scale="1 1 1"/>
       </geometry>
        <material name="white">
         <color rgba="1 1 1 1"/>
@@ -21,7 +21,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -5"/>
       <geometry>
-	 	<box size="30 30 10"/>
+	 	<box size="200 200 10"/>
       </geometry>
     </collision>
   </link>

examples/pybullet/gym/pybullet_envs/agents/visualize_ppo.py

@@ -26,6 +26,7 @@ from __future__ import print_function
 import os
 
 import gym
+from gym import wrappers
 import tensorflow as tf
 
 from . import tools

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -1,10 +1,17 @@
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import pybullet
+import os
+
 from pybullet_utils import bullet_client
 
 from pkg_resources import parse_version
 
+try:
+  if os.environ["PYBULLET_EGL"]:
+    import pkgutil
+except:
+  pass
 
 class MJCFBaseBulletEnv(gym.Env):
   """
@@ -31,6 +38,7 @@ class MJCFBaseBulletEnv(gym.Env):
 
     self.action_space = robot.action_space
     self.observation_space = robot.observation_space
+    #self.reset()
 
   def configure(self, args):
     self.robot.args = args
@@ -48,7 +56,19 @@ class MJCFBaseBulletEnv(gym.Env):
         self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
       else:
         self._p = bullet_client.BulletClient()
-
+      self._p.resetSimulation()
+      #optionally enable EGL for faster headless rendering
+      try:
+        if os.environ["PYBULLET_EGL"]:
+          con_mode = self._p.getConnectionInfo()['connectionMethod']
+          if con_mode==self._p.DIRECT:
+            egl = pkgutil.get_loader('eglRenderer')
+            if (egl):
+              self._p.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
+            else:
+              self._p.loadPlugin("eglRendererPlugin")
+      except:
+        pass
       self.physicsClientId = self._p._client
       self._p.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
 
@@ -77,24 +97,35 @@ class MJCFBaseBulletEnv(gym.Env):
     if (hasattr(self, 'robot')):
       if (hasattr(self.robot, 'body_xyz')):
         base_pos = self.robot.body_xyz
-
+    if (self.physicsClientId>=0):
-    view_matrix = self._p.computeViewMatrixFromYawPitchRoll(cameraTargetPosition=base_pos,
+      view_matrix = self._p.computeViewMatrixFromYawPitchRoll(cameraTargetPosition=base_pos,
                                                             distance=self._cam_dist,
                                                             yaw=self._cam_yaw,
                                                             pitch=self._cam_pitch,
                                                             roll=0,
                                                             upAxisIndex=2)
-    proj_matrix = self._p.computeProjectionMatrixFOV(fov=60,
+      proj_matrix = self._p.computeProjectionMatrixFOV(fov=60,
                                                      aspect=float(self._render_width) /
                                                      self._render_height,
                                                      nearVal=0.1,
                                                      farVal=100.0)
-    (_, _, px, _, _) = self._p.getCameraImage(width=self._render_width,
+      (_, _, px, _, _) = self._p.getCameraImage(width=self._render_width,
                                               height=self._render_height,
                                               viewMatrix=view_matrix,
                                               projectionMatrix=proj_matrix,
                                               renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
-    rgb_array = np.array(px)
+      try:
+        # Keep the previous orientation of the camera set by the user.
+        con_mode = self._p.getConnectionInfo()['connectionMethod']
+        if con_mode==self._p.SHARED_MEMORY or con_mode == self._p.GUI:
+          [yaw, pitch, dist] = self._p.getDebugVisualizerCamera()[8:11]
+          self._p.resetDebugVisualizerCamera(dist, yaw, pitch, base_pos)
+      except:
+        pass
+
+    else:
+      px = np.array([[[255,255,255,255]]*self._render_width]*self._render_height, dtype=np.uint8)
+    rgb_array = np.array(px, dtype=np.uint8)
     rgb_array = np.reshape(np.array(px), (self._render_height, self._render_width, -1))
     rgb_array = rgb_array[:, :, :3]
     return rgb_array

examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py

@@ -9,12 +9,12 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
 
   def __init__(self, robot, render=False):
     # 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
+    MJCFBaseBulletEnv.__init__(self, robot, render)
+
 
   def create_single_player_scene(self, bullet_client):
     self.stadium_scene = SinglePlayerStadiumScene(bullet_client,

examples/pybullet/gym/pybullet_envs/scene_stadium.py

@@ -32,7 +32,7 @@ class StadiumScene(Scene):
       for i in self.ground_plane_mjcf:
         self._p.changeDynamics(i, -1, lateralFriction=0.8, restitution=0.5)
         self._p.changeVisualShape(i, -1, rgbaColor=[1, 1, 1, 0.8])
-        self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION, 1)
+        self._p.configureDebugVisualizer(pybullet.COV_ENABLE_PLANAR_REFLECTION,i)
 
       #	for j in range(p.getNumJoints(i)):
       #		self._p.changeDynamics(i,j,lateralFriction=0)

examples/pybullet/gym/pybullet_utils/bullet_client.py

@@ -41,18 +41,7 @@ class BulletClient(object):
   def __getattr__(self, name):
     """Inject the client id into Bullet functions."""
     attribute = getattr(pybullet, name)
-
+    attribute = functools.partial(attribute, physicsClientId=self._client)
-    if inspect.isbuiltin(attribute):
-      if name not in [
-          "invertTransform",
-          "multiplyTransforms",
-          "getMatrixFromQuaternion",
-          "getEulerFromQuaternion",
-          "computeViewMatrixFromYawPitchRoll",
-          "computeProjectionMatrixFOV",
-          "getQuaternionFromEuler",
-      ]:  # A temporary hack for now.
-        attribute = functools.partial(attribute, physicsClientId=self._client)
     if name=="disconnect":
       self._client = -1 
     return attribute

examples/pybullet/gym/pybullet_utils/runServer.py

@@ -0,0 +1,18 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0, parentdir)
+
+import pybullet_data
+import pybullet as p
+import time
+
+p.connect(p.GUI_SERVER)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+while (1):
+  #this is a no-op command, to allow GUI updates on Mac OSX (main thread)
+  p.setPhysicsEngineParameter()
+  time.sleep(0.01)

setup.py

@@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='2.6.1',
+    version='2.6.2',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=
@@ -505,6 +505,9 @@ setup(
         'game development', 'virtual reality', 'physics simulation', 'robotics',
         'collision detection', 'opengl'
     ],
+    install_requires=[
+          'numpy',
+    ],
     ext_modules=extensions,
     classifiers=[
         'Development Status :: 5 - Production/Stable',