155 lines
4.9 KiB
Python
155 lines
4.9 KiB
Python
import math
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import gym
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from gym import spaces
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from gym.utils import seeding
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import numpy as np
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import time
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import pybullet as p
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from . import racecar
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import random
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class RacecarZEDGymEnv(gym.Env):
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metadata = {
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'render.modes': ['human', 'rgb_array'],
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'video.frames_per_second' : 50
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}
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def __init__(self,
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urdfRoot="",
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actionRepeat=50,
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isEnableSelfCollision=True,
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renders=True):
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print("init")
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self._timeStep = 0.01
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self._urdfRoot = urdfRoot
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self._actionRepeat = actionRepeat
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self._isEnableSelfCollision = isEnableSelfCollision
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self._observation = []
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self._ballUniqueId = -1
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self._envStepCounter = 0
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self._renders = renders
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self._p = p
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if self._renders:
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p.connect(p.GUI)
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else:
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p.connect(p.DIRECT)
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self._seed()
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self.reset()
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observationDim = len(self.getExtendedObservation())
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#print("observationDim")
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#print(observationDim)
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observation_high = np.array([np.finfo(np.float32).max] * observationDim)
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self.action_space = spaces.Discrete(6)
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self.observation_space = spaces.Box(-observation_high, observation_high)
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self.viewer = None
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def _reset(self):
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p.resetSimulation()
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#p.setPhysicsEngineParameter(numSolverIterations=300)
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p.setTimeStep(self._timeStep)
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#p.loadURDF("%splane.urdf" % self._urdfRoot)
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stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
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#move the stadium objects slightly above 0
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for i in stadiumobjects:
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pos,orn = p.getBasePositionAndOrientation(i)
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newpos = [pos[0],pos[1],pos[2]+0.1]
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p.resetBasePositionAndOrientation(i,newpos,orn)
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dist = 5 +2.*random.random()
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ang = 2.*3.1415925438*random.random()
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ballx = dist * math.sin(ang)
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bally = dist * math.cos(ang)
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ballz = 1
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self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
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p.setGravity(0,0,-10)
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self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
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self._envStepCounter = 0
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for i in range(100):
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p.stepSimulation()
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self._observation = self.getExtendedObservation()
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return np.array(self._observation)
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def __del__(self):
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p.disconnect()
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def _seed(self, seed=None):
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self.np_random, seed = seeding.np_random(seed)
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return [seed]
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def getExtendedObservation(self):
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self._observation = [] #self._racecar.getObservation()
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carpos,carorn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
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carmat = p.getMatrixFromQuaternion(carorn)
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ballpos,ballorn = p.getBasePositionAndOrientation(self._ballUniqueId)
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invCarPos,invCarOrn = p.invertTransform(carpos,carorn)
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ballPosInCar,ballOrnInCar = p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
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dist0 = 0.3
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dist1 = 1.
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if self._renders:
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print("carpos")
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print(carpos)
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eyePos = carpos
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print("carmat012")
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print(carmat[0],carmat[1],carmat[2])
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print("carmat345")
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print(carmat[3],carmat[4],carmat[5])
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print("carmat678")
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print(carmat[6],carmat[7],carmat[8])
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eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
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targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]
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up = [0,0,1]
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viewMat = p.computeViewMatrix(eyePos,targetPos,up)
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#viewMat = p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
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p.getCameraImage(width=320,height=240,viewMatrix=viewMat,projectionMatrix=p.getDebugVisualizerCamera()[3],renderer=p.ER_BULLET_HARDWARE_OPENGL)
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self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
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return self._observation
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def _step(self, action):
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if (self._renders):
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basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
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#p.resetDebugVisualizerCamera(1, 30, -40, basePos)
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fwd = [5,0,5,10,10,10]
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steerings = [-0.5,0,0.5,-0.3,0,0.3]
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forward = fwd[action]
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steer = steerings[action]
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realaction = [forward,steer]
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self._racecar.applyAction(realaction)
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for i in range(self._actionRepeat):
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p.stepSimulation()
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if self._renders:
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time.sleep(self._timeStep)
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self._observation = self.getExtendedObservation()
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if self._termination():
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break
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self._envStepCounter += 1
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reward = self._reward()
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done = self._termination()
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#print("len=%r" % len(self._observation))
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return np.array(self._observation), reward, done, {}
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def _render(self, mode='human', close=False):
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return
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def _termination(self):
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return self._envStepCounter>1000
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def _reward(self):
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closestPoints = p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
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numPt = len(closestPoints)
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reward=-1000
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#print(numPt)
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if (numPt>0):
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#print("reward:")
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reward = -closestPoints[0][8]
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#print(reward)
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return reward
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