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move pybullet.connect into the Gym environment.

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If you like to enable rendering, call the env.render(mode="human") before calling the first env.reset
This commit is contained in:
Erwin Coumans
2017-08-26 14:58:48 -07:00
parent 51b7e1040f
commit e267f5c3d2
10 changed files with 44 additions and 53 deletions
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12
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
View File

@@ -30,14 +30,10 @@ class SmallReactivePolicy:
def main():
env = gym.make("AntBulletEnv-v0")
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
env.render(mode="human")
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))
@@ -49,10 +45,8 @@ def main():
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(0.001)
a = pi.act(obs)

10
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
View File

@@ -29,15 +29,11 @@ class SmallReactivePolicy:
def main():
env = gym.make("HalfCheetahBulletEnv-v0")
cid = p.connect(p.GUI)
env.render(mode="human")
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))
@@ -52,10 +48,8 @@ def main():
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(0.001)
a = pi.act(obs)

11
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py
View File

@@ -32,13 +32,10 @@ class SmallReactivePolicy:
def main():
env = gym.make("HopperBulletEnv-v0")
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
env.render(mode="human")
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"):
@@ -52,10 +49,8 @@ def main():
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(0.001)
a = pi.act(obs)

10
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
View File

@@ -30,13 +30,9 @@ class SmallReactivePolicy:
def main():
env = gym.make("HumanoidBulletEnv-v0")
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
env.render(mode="human")
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))
@@ -47,10 +43,8 @@ def main():
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(0.001)
a = pi.act(obs)

5
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
View File

@@ -29,9 +29,8 @@ class SmallReactivePolicy:
def main():
env = gym.make("InvertedDoublePendulumBulletEnv-v0")
cid = p.connect(p.GUI)
env.render(mode="human")
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:

3
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
View File

@@ -30,8 +30,7 @@ class SmallReactivePolicy:
def main():
print("create env")
env = gym.make("InvertedPendulumBulletEnv-v0")
print("connecting")
cid = p.connect(p.GUI)
env.render(mode="human")
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:

5
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
View File

@@ -29,9 +29,8 @@ class SmallReactivePolicy:
def main():
env = gym.make("InvertedPendulumSwingupBulletEnv-v0")
cid = p.connect(p.GUI)
env.render(mode="human")
pi = SmallReactivePolicy(env.observation_space, env.action_space)
while 1:

7
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
View File

@@ -29,15 +29,10 @@ class SmallReactivePolicy:
def main():
env = gym.make("Walker2DBulletEnv-v0")
cid = p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
env.render(mode="human")
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))