improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster)

disable vsync on Mac
fix setup.py file

examples/OpenGLWindow/MacOpenGLWindowObjC.m

@@ -470,6 +470,10 @@ int Mac_createWindow(struct MacOpenGLWindowInternalData* m_internalData,struct M
 #else
     m_internalData->m_retinaScaleFactor=1.f;
 #endif
+        GLint                       sync = 0;
+        CGLContextObj               ctx = CGLGetCurrentContext();
+        CGLSetParameter(ctx, kCGLCPSwapInterval, &sync);
+
     [m_internalData->m_myApp finishLaunching];
     [pool release];
     

examples/pybullet/examples/inverse_kinematics.py

@@ -3,7 +3,8 @@ import time
 import math
 from datetime import datetime
 
-#clid = p.connect(p.SHARED_MEMORY)
+clid = p.connect(p.SHARED_MEMORY)
+if (clid<0):
 	p.connect(p.GUI)
 p.loadURDF("plane.urdf",[0,0,-0.3])
 kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])

examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py

@@ -24,24 +24,39 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("AntBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[0].decode() == "torso"):
+           torsoId=i
+           print("found torso")
+
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py

@@ -24,24 +24,42 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HalfCheetahBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
+    #disable rendering during reset, makes loading much faster
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "cheetah"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
 
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py

@@ -26,24 +26,40 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HopperBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
-
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "hopper"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        #disable rendering during reset, makes loading much faster
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py

@@ -25,24 +25,37 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HumanoidBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
-
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[0].decode() == "torso"):
+           torsoId=i
+           print("found humanoid torso")
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py

@@ -24,9 +24,7 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("InvertedDoublePendulumBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 

examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py

@@ -22,12 +22,10 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
+    print("create env")
     env = gym.make("InvertedPendulumBulletEnv-v0")
-
+    print("connecting")
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
     while 1:
@@ -35,7 +33,7 @@ def demo_run():
         score = 0
         restart_delay = 0
         obs = env.reset()
-
+        print("frame")
         while 1:
             time.sleep(0.05)
             a = pi.act(obs)

examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py

@@ -24,9 +24,7 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("InvertedPendulumSwingupBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 

examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py

@@ -24,12 +24,24 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("Walker2DBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "walker2d"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
+
     while 1:
         frame = 0
         score = 0
@@ -37,11 +49,15 @@ def demo_run():
         obs = env.reset()
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/envs/gym_locomotion_envs.py

@@ -1,5 +1,5 @@
-from scene_stadium import SinglePlayerStadiumScene
+from .scene_stadium import SinglePlayerStadiumScene
-from env_bases import MujocoXmlBaseBulletEnv
+from .env_bases import MujocoXmlBaseBulletEnv
 import numpy as np
 from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid
 

examples/pybullet/gym/envs/gym_pendulum_envs.py

@@ -1,5 +1,5 @@
-from scene_abstract import SingleRobotEmptyScene
+from .scene_abstract import SingleRobotEmptyScene
-from env_bases import MujocoXmlBaseBulletEnv
+from .env_bases import MujocoXmlBaseBulletEnv
 from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np

examples/pybullet/gym/envs/scene_stadium.py

@@ -14,6 +14,8 @@ class StadiumScene(Scene):
 		#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
 		self.stadium = p.loadSDF("stadium.sdf")
 		self.ground_plane_mjcf = p.loadMJCF("mjcf/ground_plane.xml")
+		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."

setup.py

@@ -399,7 +399,7 @@ elif _platform == "win32":
 elif _platform == "darwin":
     print("darwin!")
     os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
-    CXX_FLAFS += '-DB3_NO_PYTHON_FRAMEWORK '
+    CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-D_DARWIN '
 #    CXX_FLAGS += '-framework Cocoa '