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| author | erwincoumans <erwin.coumans@gmail.com> | 2019-03-26 19:22:23 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2019-03-26 19:22:23 -0700 |
| commit | 4912f728867612321aea6ed0d14891c61f8f068a (patch) | |
| tree | 83c758d3da7eea7a1e8aa1bb88f491d5a5b372cc | |
| parent | 922b27fb87c91084f76f0f37171ed3395b53943b (diff) | |
| parent | c033c8b22f864bec523a0790f1dce08d2e7bf83d (diff) | |
| download | bullet3-4912f728867612321aea6ed0d14891c61f8f068a.tar.gz | |
Merge pull request #2178 from erwincoumans/master
add actuatornet code, temporary disable experimental BulletRobotics examples
29 files changed, 32427 insertions, 25 deletions
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 15080e4dc..a299893f4 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -3,11 +3,6 @@ #include "../BlockSolver/BlockSolverExample.h" #include "LinearMath/btAlignedObjectArray.h" #include "EmptyExample.h" -#include "../BulletRobotics/BoxStack.h" -#include "../BulletRobotics/FixJointBoxes.h" -#include "../BulletRobotics/JointLimit.h" -// #include "../BulletRobotics/GraspBox.h" -#include "../BulletRobotics/FixJointBoxes.h" #include "../RenderingExamples/RenderInstancingDemo.h" #include "../RenderingExamples/CoordinateSystemDemo.h" #include "../RenderingExamples/RaytracerSetup.h" @@ -135,11 +130,6 @@ static ExampleEntry gDefaultExamples[] = ExampleEntry(1, "Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", RigidBodySoftContactCreateFunc), - ExampleEntry(0, "Bullet Robotics"), - ExampleEntry(1, "Box Stack", "Create a stack of boxes of large mass ratio.", BoxStackExampleCreateFunc), - ExampleEntry(1, "Joint Limit", "Create three objects joint together", JointLimitCreateFunc), - // ExampleEntry(1, "Grasp Box", "A robot arm of large mass tries to grasp a box of small mass", GraspBoxCreateFunc), - ExampleEntry(1, "FixJoint Boxes", "FixJoint Boxes", FixJointBoxesCreateFunc), ExampleEntry(0, "MultiBody"), ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc), diff --git a/examples/SharedMemory/BodyJointInfoUtility.h b/examples/SharedMemory/BodyJointInfoUtility.h index fc688b443..0be4814b2 100644 --- a/examples/SharedMemory/BodyJointInfoUtility.h +++ b/examples/SharedMemory/BodyJointInfoUtility.h @@ -21,6 +21,12 @@ inline char* strDup(const char* const str) template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutput) { + int numDofs = 0; + if (mb->m_baseMass>0) + { + numDofs = 6; + } + if (mb->m_baseName) { if (verboseOutput) @@ -107,7 +113,9 @@ void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutpu } qOffset += mb->m_links[link].m_posVarCount; uOffset += mb->m_links[link].m_dofCount; + numDofs += mb->m_links[link].m_dofCount; } + bodyJoints->m_numDofs = numDofs; } #endif //BODY_JOINT_INFO_UTILITY_H diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h index 052f8f100..c09dce2be 100644 --- a/examples/SharedMemory/PhysicsClient.h +++ b/examples/SharedMemory/PhysicsClient.h @@ -33,6 +33,8 @@ public: virtual int getNumJoints(int bodyUniqueId) const = 0; + virtual int getNumDofs(int bodyUniqueId) const = 0; + virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0; virtual int getNumUserConstraints() const = 0; diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 945ddc552..59285ad68 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -2526,6 +2526,12 @@ B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyUniqu return cl->getNumJoints(bodyUniqueId); } +B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId) +{ + PhysicsClient* cl = (PhysicsClient*)physClient; + return cl->getNumDofs(bodyUniqueId); +} + B3_SHARED_API int b3ComputeDofCount(b3PhysicsClientHandle physClient, int bodyUniqueId) { int nj = b3GetNumJoints(physClient, bodyUniqueId); @@ -4642,8 +4648,9 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3Physi command->m_calculateJacobianArguments.m_localPosition[0] = localPosition[0]; command->m_calculateJacobianArguments.m_localPosition[1] = localPosition[1]; command->m_calculateJacobianArguments.m_localPosition[2] = localPosition[2]; - int numJoints = cl->getNumJoints(bodyUniqueId); - for (int i = 0; i < numJoints; i++) + + int numDofs = cl->getNumDofs(bodyUniqueId); + for (int i = 0; i < numDofs; i++) { command->m_calculateJacobianArguments.m_jointPositionsQ[i] = jointPositionsQ[i]; command->m_calculateJacobianArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i]; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 2b67887f0..6286233a9 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -118,7 +118,9 @@ extern "C" ///give a unique body index (after loading the body) return the number of joints. B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyUniqueId); - + ///give a unique body index (after loading the body) return the number of degrees of freedom (DoF). + B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId); + ///compute the number of degrees of freedom for this body. ///Return -1 for unsupported spherical joint, -2 for unsupported planar joint. B3_SHARED_API int b3ComputeDofCount(b3PhysicsClientHandle physClient, int bodyUniqueId); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 168d862da..1990cc1fd 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -20,7 +20,7 @@ struct BodyJointInfoCache b3AlignedObjectArray<b3JointInfo> m_jointInfo; std::string m_bodyName; btAlignedObjectArray<int> m_userDataIds; - + int m_numDofs; ~BodyJointInfoCache() { } @@ -144,6 +144,17 @@ int PhysicsClientSharedMemory::getNumJoints(int bodyUniqueId) const return 0; } +int PhysicsClientSharedMemory::getNumDofs(int bodyUniqueId) const +{ + BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId]; + if (bodyJointsPtr && *bodyJointsPtr) + { + BodyJointInfoCache* bodyJoints = *bodyJointsPtr; + return bodyJoints->m_numDofs; + } + return 0; +} + bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo& info) const { BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId]; diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h index 1ff437603..2b45ababc 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.h +++ b/examples/SharedMemory/PhysicsClientSharedMemory.h @@ -45,6 +45,8 @@ public: virtual int getNumJoints(int bodyUniqueId) const; + virtual int getNumDofs(int bodyUniqueId) const; + virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const; virtual int getNumUserConstraints() const; diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index fb5cc81e1..336f61804 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -22,6 +22,7 @@ struct BodyJointInfoCache2 btAlignedObjectArray<b3JointInfo> m_jointInfo; std::string m_bodyName; btAlignedObjectArray<int> m_userDataIds; + int m_numDofs; ~BodyJointInfoCache2() { @@ -1275,9 +1276,9 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const return false; } -int PhysicsDirect::getNumJoints(int bodyIndex) const +int PhysicsDirect::getNumJoints(int bodyUniqueId) const { - BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex]; + BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId]; if (bodyJointsPtr && *bodyJointsPtr) { BodyJointInfoCache2* bodyJoints = *bodyJointsPtr; @@ -1287,6 +1288,18 @@ int PhysicsDirect::getNumJoints(int bodyIndex) const return 0; } +int PhysicsDirect::getNumDofs(int bodyUniqueId) const +{ + BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId]; + if (bodyJointsPtr && *bodyJointsPtr) + { + BodyJointInfoCache2* bodyJoints = *bodyJointsPtr; + return bodyJoints->m_numDofs; + } + btAssert(0); + return 0; +} + bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const { BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex]; diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h index 128f0570a..9f5680b4d 100644 --- a/examples/SharedMemory/PhysicsDirect.h +++ b/examples/SharedMemory/PhysicsDirect.h @@ -61,7 +61,9 @@ public: virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const; - virtual int getNumJoints(int bodyIndex) const; + virtual int getNumJoints(int bodyUniqueId) const; + + virtual int getNumDofs(int bodyUniqueId) const; virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp index 1ad8d43eb..5b9d251df 100644 --- a/examples/SharedMemory/PhysicsLoopBack.cpp +++ b/examples/SharedMemory/PhysicsLoopBack.cpp @@ -107,9 +107,14 @@ bool PhysicsLoopBack::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) con return m_data->m_physicsClient->getBodyInfo(bodyUniqueId, info); } -int PhysicsLoopBack::getNumJoints(int bodyIndex) const +int PhysicsLoopBack::getNumJoints(int bodyUniqueId) const { - return m_data->m_physicsClient->getNumJoints(bodyIndex); + return m_data->m_physicsClient->getNumJoints(bodyUniqueId); +} + +int PhysicsLoopBack::getNumDofs(int bodyUniqueId) const +{ + return m_data->m_physicsClient->getNumDofs(bodyUniqueId); } bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h index cfa9a57ed..293e440bc 100644 --- a/examples/SharedMemory/PhysicsLoopBack.h +++ b/examples/SharedMemory/PhysicsLoopBack.h @@ -42,7 +42,9 @@ public: virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const; - virtual int getNumJoints(int bodyIndex) const; + virtual int getNumJoints(int bodyUniqueId) const; + + virtual int getNumDofs(int bodyUniqueId) const; virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; diff --git a/examples/pybullet/gym/pybullet_data/__init__.py b/examples/pybullet/gym/pybullet_data/__init__.py index 0b74964f0..90f6f6b05 100644 --- a/examples/pybullet/gym/pybullet_data/__init__.py +++ b/examples/pybullet/gym/pybullet_data/__init__.py @@ -1,4 +1,3 @@ -import pybullet as p import os def getDataPath(): diff --git a/examples/pybullet/gym/pybullet_envs/agents/utility.py b/examples/pybullet/gym/pybullet_envs/agents/utility.py index 9e45fc127..0836a2ed2 100644 --- a/examples/pybullet/gym/pybullet_envs/agents/utility.py +++ b/examples/pybullet/gym/pybullet_envs/agents/utility.py @@ -149,7 +149,7 @@ def save_config(config, logdir=None): tf.logging.info(message.format(config.logdir)) tf.gfile.MakeDirs(config.logdir) config_path = os.path.join(config.logdir, 'config.yaml') - with tf.gfile.FastGFile(config_path, 'w') as file_: + with tf.gfile.GFile(config_path, 'w') as file_: yaml.dump(config, file_, default_flow_style=False) else: message = ( diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/__init__.py new file mode 100644 index 000000000..139597f9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/__init__.py @@ -0,0 +1,2 @@ + + diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras.py b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras.py new file mode 100644 index 000000000..016fee5ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras.py @@ -0,0 +1,70 @@ + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function +from absl import app +from absl import flags +from keras.callbacks import ModelCheckpoint +from keras.layers import Dense +from keras.models import Sequential +from keras import optimizers +import numpy + +FLAGS = flags.FLAGS + +flags.DEFINE_string( + "input_filename", "data/minitaur_log_latency_0.01.csv", "The name of the input CSV file." + "Each line in the CSV file will contain the motor position, the " + "motor speed, action and torques.") + + +def main(unused_argv): + # fix random seed for reproducibility + numpy.random.seed(7) + # load pima indians dataset + dataset = numpy.loadtxt( + FLAGS.input_filename, + delimiter=",") + # split into input (X) and output (Y) variables + x = dataset[:, 0:3] + y = dataset[:, 3] + print("x=", x) + print("y=", y) + + # create model + model = Sequential() + model.add(Dense(12, input_dim=3, activation="relu")) + model.add(Dense(8, activation="sigmoid")) + model.add(Dense(1, activation="linear")) + + # Compile model (use adam or sgd) + model.compile( + loss="mean_squared_error", + optimizer="adam", + metrics=["mean_squared_error"]) + + # checkpoint + filepath = "/tmp/keras/weights-improvement-{epoch:02d}-{val_loss:.2f}.hdf5" + checkpoint = ModelCheckpoint( + filepath, monitor="val_loss", verbose=1, save_best_only=True, mode="min") + callbacks_list = [checkpoint] + + # Fit the model + # model.fit(X, Y, epochs=150, batch_size=10) + # model.fit(X, Y, epochs=150, batch_size=10, callbacks=callbacks_list) + model.fit( + x, + y, + validation_split=0.34, + epochs=4500, + batch_size=1024, + callbacks=callbacks_list, + verbose=0) + + # evaluate the model + scores = model.evaluate(x, y) + print("\n%s: %.2f%%" % (model.metrics_names[1], scores[1] * 100)) + + +if __name__ == "__main__": + app.run(main) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras_lstm.py b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras_lstm.py new file mode 100644 index 000000000..f3a45a1dd --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/actuatornet_keras_lstm.py @@ -0,0 +1,166 @@ +"""see https://machinelearningmastery.com/multivariate-time-series-forecasting-lstms-keras/""" + +import matplotlib +matplotlib.use('TkAgg') +import numpy as np +from matplotlib import pyplot +from pandas import read_csv +from pandas import DataFrame +from pandas import concat +from sklearn.preprocessing import MinMaxScaler +from sklearn.preprocessing import LabelEncoder +from sklearn.metrics import mean_squared_error +from keras.models import Sequential +from keras.layers import Dropout +from keras.layers import Dense +from keras.layers import LSTM +from keras.callbacks import ModelCheckpoint +from matplotlib import pyplot + +from pandas import read_csv + + +# convert series to supervised learning +def series_to_supervised(data, n_in=1, n_out=1, dropnan=True): + n_vars = 1 if type(data) is list else data.shape[1] + df = DataFrame(data) + cols, names = list(), list() + # input sequence (t-n, ... t-1) + for i in range(n_in, 0, -1): + cols.append(df.shift(i)) + names += [('var%d(t-%d)' % (j + 1, i)) for j in range(n_vars)] + # forecast sequence (t, t+1, ... t+n) + for i in range(0, n_out): + cols.append(df.shift(-i)) + if i == 0: + names += [('var%d(t)' % (j + 1)) for j in range(n_vars)] + else: + names += [('var%d(t+%d)' % (j + 1, i)) for j in range(n_vars)] + # put it all together + agg = concat(cols, axis=1) + agg.columns = names + # drop rows with NaN values + if dropnan: + agg.dropna(inplace=True) + return agg + + +values = [x for x in range(10)] +data = series_to_supervised(values, 2) +print(data) + +# load dataset +#dataset = read_csv('./data/minitaur_log_latency_0.01.csv') +#dataset = read_csv('./data/minitaur_log_latency_0.003.csv') +dataset = read_csv('./data/minitaur_log_latency_0.006.csv') + +values = dataset.values +# integer encode direction +#encoder = LabelEncoder() +#values[:,3] = encoder.fit_transform(values[:,3]) +# ensure all data is float +values = values.astype('float32') + +# normalize features +useNormalization = False +if useNormalization: + scaler = MinMaxScaler(feature_range=(0, 1)) + scaled = scaler.fit_transform(values) +else: + scaled = values + +# frame as supervised learning +lag_steps = 5 +reframed = series_to_supervised(scaled, lag_steps, 1) +print("reframed before drop=", reframed) + +# drop columns we don't want to predict +reframed.drop(reframed.columns[[3,7,11,15,19]], axis=1, inplace=True) +print("after drop=",reframed.head()) + +#dummy = scaler.inverse_transform(reframed) +#print(dummy) + +groups = [0, 1, 2, 3] + +i = 1 +# plot each column +doPlot = False +if doPlot: + pyplot.figure() + for group in groups: + pyplot.subplot(len(groups), 1, i) + pyplot.plot(values[0:25, group]) + pyplot.title(dataset.columns[group], y=0.5, loc='right') + i += 1 + pyplot.show() + +# split into train and test sets +values = reframed.values +n_train_hours = 6000 +train = values[:n_train_hours, :] +test = values[n_train_hours:, :] +# split into input and outputs +train_X, train_y = train[:, :-1], train[:, -1] +test_X, test_y = test[:, :-1], test[:, -1] + +print("train_X.shape[1]=",train_X.shape[1]) + + +# design network +useLSTM=True +if useLSTM: + # reshape input to be 3D [samples, timesteps, features] + train_X = train_X.reshape((train_X.shape[0], lag_steps+1, int(train_X.shape[1]/(lag_steps+1)))) + test_X = test_X.reshape((test_X.shape[0], lag_steps+1, int(test_X.shape[1]/(lag_steps+1)))) + model = Sequential() + model.add(LSTM(40, input_shape=(train_X.shape[1], train_X.shape[2]))) + model.add(Dropout(0.05)) + model.add(Dense(8, activation='sigmoid')) + model.add(Dense(8, activation='sigmoid')) + model.add(Dropout(0.05)) + model.add(Dense(1, activation='linear')) +else: + # create model + model = Sequential() + model.add(Dense(12, input_dim=train_X.shape[1], activation="relu")) + model.add(Dense(8, activation="sigmoid")) + model.add(Dense(1, activation="linear")) + +#model.compile(loss='mae', optimizer='adam') +model.compile( + loss='mean_squared_error', optimizer='adam', metrics=['mean_squared_error']) + +# checkpoint +filepath = '/tmp/keras/weights-improvement-{epoch:02d}-{val_loss:.2f}.hdf5' +checkpoint = ModelCheckpoint( + filepath, monitor='val_loss', verbose=1, save_best_only=True, mode='min') +callbacks_list = [checkpoint] + +# fit network +history = model.fit( + train_X, + train_y, + epochs=1500, + batch_size=32, + callbacks=callbacks_list, + validation_data=(test_X, test_y), + verbose=2, + shuffle=False) +# plot history + + +data = np.array([[[1.513535008329887299,3.234624992847829894e-01,1.731481043119239782,1.741165415165205399, +1.534267104753672228e+00,1.071354965017878635e+00,1.712386127673626302e+00]]]) + + +#prediction = model.predict(data) +#print("prediction=",prediction) + + +pyplot.plot(history.history['loss'], label='train') +pyplot.plot(history.history['val_loss'], label='test') +pyplot.legend() +pyplot.show() + + diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.csv b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.csv new file mode 100644 index 000000000..95cbf3a77 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_latency_0.003.csv @@ -0,0 +1,8000 @@ +1.516990031153642171e+00,5.508031114735183476e-01,1.516802113068208335e+00,-6.940407682802332556e-02 +1.503603938894253256e+00,-2.880428090493099003e-01,1.509260800889107745e+00,7.232167005643835855e-02 +1.524768959644871913e+00,1.408206938629985805e+00,1.725734963765236607e+00,1.502083541398388178e+00 +1.515057793609410952e+00,5.783093074347149809e-01,1.718132207027629477e+00,1.612365981550620608e+00 +1.507074763118099181e+00,1.070736608487258490e+00,1.718132207027629477e+00,1.617171327728280206e+00 +1.520485621619238614e+00,1.895482440403262636e+00,1.725734963765236607e+00,1.477106120908212805e+00 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+1.683311850976575652e+00,1.811565261612822830e+00,1.841269099015953925e+00,1.087650060334635516e+00 diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.proto b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.proto Binary files differnew file mode 100644 index 000000000..1fc56b0b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/data/minitaur_log_no_latency.proto diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py new file mode 100644 index 000000000..0be299a75 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/minitaur_raibert_controller_example.py @@ -0,0 +1,67 @@ +#The example to run the raibert controller in a Minitaur gym env. + +#blaze run :minitaur_raibert_controller_example -- --log_path=/tmp/logs + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import tensorflow as tf +from pybullet_envs.minitaur.envs import minitaur_raibert_controller +from pybullet_envs.minitaur.envs import minitaur_gym_env + +flags = tf.app.flags +FLAGS = tf.app.flags.FLAGS + +flags.DEFINE_float("motor_kp", 1.0, "The position gain of the motor.") +flags.DEFINE_float("motor_kd", 0.015, "The speed gain of the motor.") +flags.DEFINE_float( + "control_latency", 0.006, "The latency between sensor measurement and action" + " execution the robot.") +flags.DEFINE_string("log_path", ".", "The directory to write the log file.") + + +def speed(t): + max_speed = 0.35 + t1 = 3 + if t < t1: + return t / t1 * max_speed + else: + return -max_speed + + +def main(argv): + del argv + env = minitaur_gym_env.MinitaurGymEnv( + urdf_version=minitaur_gym_env.RAINBOW_DASH_V0_URDF_VERSION, + control_time_step=0.006, + action_repeat=6, + pd_latency=0.0, + control_latency=FLAGS.control_latency, + motor_kp=FLAGS.motor_kp, + motor_kd=FLAGS.motor_kd, + remove_default_joint_damping=True, + leg_model_enabled=False, + render=True, + on_rack=False, + accurate_motor_model_enabled=True, + log_path=FLAGS.log_path) + env.reset() + + controller = minitaur_raibert_controller.MinitaurRaibertTrottingController( + env.minitaur) + + tstart = env.minitaur.GetTimeSinceReset() + for _ in range(1000): + t = env.minitaur.GetTimeSinceReset() - tstart + controller.behavior_parameters = ( + minitaur_raibert_controller.BehaviorParameters( + desired_forward_speed=speed(t))) + controller.update(t) + env.step(controller.get_action()) + + #env.close() + +if __name__ == "__main__": + tf.app.run(main) + diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py new file mode 100644 index 000000000..893c831e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/proto2csv.py @@ -0,0 +1,46 @@ +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +#python proto2csv.py --proto_file=/tmp/logs/minitaur_log_2019-01-27-12-59-31 --csv_file=/tmp/logs/out.csv +#each line in csv contains: angle, velocity, action, torque + +import tensorflow as tf +import argparse +import numpy +from pybullet_envs.minitaur.envs import minitaur_logging + +flags = tf.app.flags +FLAGS = tf.app.flags.FLAGS + +flags.DEFINE_string("proto_file", "logs", "path to protobuf input file") +flags.DEFINE_string("csv_file", "file.csv", "poth to csv output file") + + +def main(argv): + del argv + + logging = minitaur_logging.MinitaurLogging() + episode = logging.restore_episode(FLAGS.proto_file) + #print(dir (episode)) + #print("episode=",episode) + fields = episode.ListFields() + + recs = [] + + for rec in fields[0][1]: + #print(rec.time) + for motorState in rec.motor_states: + #print("motorState.angle=",motorState.angle) + #print("motorState.velocity=",motorState.velocity) + #print("motorState.action=",motorState.action) + #print("motorState.torque=",motorState.torque) + recs.append([motorState.angle,motorState.velocity,motorState.action,motorState.torque]) + + a = numpy.array(recs) + numpy.savetxt(FLAGS.csv_file, a, delimiter=",") + +if __name__ == "__main__": + tf.app.run(main) + + diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt new file mode 100644 index 000000000..3304e50c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/actuatornet/requirements.txt @@ -0,0 +1,6 @@ +pybullet +tensorflow +gym +pandas +matplotlib + diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py index 201ea8988..1342977c7 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py @@ -172,7 +172,7 @@ def save_config(config, logdir=None): tf.logging.info(message.format(config.logdir)) tf.gfile.MakeDirs(config.logdir) config_path = os.path.join(config.logdir, 'config.yaml') - with tf.gfile.FastGFile(config_path, 'w') as file_: + with tf.gfile.GFile(config_path, 'w') as file_: yaml.dump(config, file_, default_flow_style=False) else: message = ( diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py index 70943c538..7553c33fa 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py @@ -249,7 +249,8 @@ class MinitaurGymEnv(gym.Env): self._hard_reset = hard_reset # This assignment need to be after reset() def close(self): - self.logging.save_episode(self._episode_proto) + if self._env_step_counter>0: + self.logging.save_episode(self._episode_proto) self.minitaur.Terminate() def add_env_randomizer(self, env_randomizer): @@ -258,7 +259,8 @@ class MinitaurGymEnv(gym.Env): def reset(self, initial_motor_angles=None, reset_duration=1.0): self._pybullet_client.configureDebugVisualizer( self._pybullet_client.COV_ENABLE_RENDERING, 0) - self.logging.save_episode(self._episode_proto) + if self._env_step_counter>0: + self.logging.save_episode(self._episode_proto) self._episode_proto = minitaur_logging_pb2.MinitaurEpisode() minitaur_logging.preallocate_episode_proto(self._episode_proto, self._num_steps_to_log) |