Humanoid Flagrun Harder, PyBullet version (request from Danijar)

Fix duplicate ground in all Roboschool converted scenes.
Fix bug in all PyBullet-Roboschool converted Humanoid environments (action needs to be clipped to [-1,1] range)

examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf

@@ -32,10 +32,10 @@
 			 </visual>
 			 </link>
 			</model>
-		<model name='roboschool/models_outdoor/stadium/part1.obj'>
+		<model name='floor_obj'>
 			<static>1</static>
 			<pose frame=''>0 0 0 0 0 0</pose>
-			<link name='link_d1'>
+			<link name='floor'>
 			<inertial>
 			<mass>0</mass>
 			<inertia>

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py

@@ -73,7 +73,7 @@ def demo_run():
                 print("score=%0.2f in %i frames" % (score, frame))
                 if still_open!=True:      # not True in multiplayer or non-Roboschool environment
                     break
-                restart_delay = 123460*2  # 2 sec at 60 fps
+                restart_delay = 60*2  # 2 sec at 60 fps
             restart_delay -= 1
             if restart_delay==0: break
 

examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py

@@ -2,7 +2,7 @@ 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, HumanoidFlagrun
+from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid, HumanoidFlagrun, HumanoidFlagrunHarder
 
 
 class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
@@ -160,10 +160,16 @@ class HumanoidFlagrunBulletEnv(HumanoidBulletEnv):
 		s.zero_at_running_strip_start_line = False
 		return s
 
-class HumanoidFlagrunHarderBulletEnv(HumanoidFlagrunBulletEnv):
+class HumanoidFlagrunHarderBulletEnv(HumanoidBulletEnv):
 	random_lean = True  # can fall on start
 
 	def __init__(self):
-		HumanoidFlagrunBulletEnv.__init__(self)
+		self.robot = HumanoidFlagrunHarder()
 		self.electricity_cost /= 4   # don't care that much about electricity, just stand up!
+		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
 

examples/pybullet/gym/pybullet_envs/robot_bases.py

@@ -245,6 +245,9 @@ class BodyPart:
 	def current_orientation(self):
 		return self.get_pose()[3:]
 
+	def get_orientation(self):
+		return self.current_orientation()
+
 	def reset_position(self, position):
 		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
 
@@ -252,7 +255,7 @@ class BodyPart:
 		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
 
 	def reset_velocity(self, linearVelocity=[0,0,0], angularVelocity =[0,0,0]):
-		p.resetBaseVelocity(linearVelocity, angularVelocity)
+		p.resetBaseVelocity(self.bodies[self.bodyIndex], linearVelocity, angularVelocity)
 
 	def reset_pose(self, position, orientation):
 		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
@@ -299,6 +302,10 @@ class Joint:
 		x, _ = self.get_state()
 		return x
 
+	def get_orientation(self):
+		_,r = self.get_state()
+		return r
+
 	def get_velocity(self):
 		_, vx = self.get_state()
 		return vx

examples/pybullet/gym/pybullet_envs/robot_locomotors.py

@@ -194,6 +194,7 @@ class Humanoid(WalkerBase):
 
 def get_cube(x, y, z):	
 	body = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cube_small.urdf"), x, y, z)
+	p.changeDynamics(body,-1, mass=1.2)#match Roboschool
 	part_name, _ = p.getBodyInfo(body, 0)
 	part_name = part_name.decode("utf8")
 	bodies = [body]
@@ -244,10 +245,15 @@ class HumanoidFlagrun(Humanoid):
 
 class HumanoidFlagrunHarder(HumanoidFlagrun):
 	def __init__(self):
-		HumanoidFlagrun.__init__()
+		HumanoidFlagrun.__init__(self)
+		self.flag = None
+		self.aggressive_cube = None
+		self.frame = 0
 
 	def robot_specific_reset(self):
 		HumanoidFlagrun.robot_specific_reset(self)
+		
+		self.frame = 0
 		if (self.aggressive_cube):
 			p.resetBasePositionAndOrientation(self.aggressive_cube.bodies[0],[-1.5,0,0.05],[0,0,0,1])
 		else:
@@ -279,6 +285,7 @@ class HumanoidFlagrunHarder(HumanoidFlagrun):
 		elif self.on_ground_frame_counter > 0:
 			self.on_ground_frame_counter -= 1
 		# End episode if the robot can't get up in 170 frames, to save computation and decorrelate observations.
+		self.frame += 1
 		return self.potential_leak() if self.on_ground_frame_counter<170 else -1
 
 	def potential_leak(self):

examples/pybullet/gym/pybullet_envs/scene_stadium.py

@@ -25,12 +25,13 @@ class StadiumScene(Scene):
 			# 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)
+			self.ground_plane_mjcf = p.loadSDF(filename)
-			planeName = os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")
 			
-			self.ground_plane_mjcf = p.loadMJCF(planeName,  flags=p.URDF_USE_SELF_COLLISION|p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
 			for i in self.ground_plane_mjcf:
-				p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
+				p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
+				for j in range(p.getNumJoints(i)):
+					p.changeDynamics(i,j,lateralFriction=0)
+			#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
 		
 class SinglePlayerStadiumScene(StadiumScene):
 	"This scene created by environment, to work in a way as if there was no concept of scene visible to user."