diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_envs/scene_abstract.py')
| -rw-r--r-- | examples/pybullet/gym/pybullet_envs/scene_abstract.py | 103 |
1 files changed, 52 insertions, 51 deletions
diff --git a/examples/pybullet/gym/pybullet_envs/scene_abstract.py b/examples/pybullet/gym/pybullet_envs/scene_abstract.py index b50dd524b..f4bbfae0c 100644 --- a/examples/pybullet/gym/pybullet_envs/scene_abstract.py +++ b/examples/pybullet/gym/pybullet_envs/scene_abstract.py @@ -1,78 +1,79 @@ import sys, os sys.path.append(os.path.dirname(__file__)) -import pybullet +import pybullet import gym class Scene: - "A base class for single- and multiplayer scenes" + "A base class for single- and multiplayer scenes" - def __init__(self, bullet_client, gravity, timestep, frame_skip): - self._p = bullet_client - self.np_random, seed = gym.utils.seeding.np_random(None) - self.timestep = timestep - self.frame_skip = frame_skip + def __init__(self, bullet_client, gravity, timestep, frame_skip): + self._p = bullet_client + self.np_random, seed = gym.utils.seeding.np_random(None) + self.timestep = timestep + self.frame_skip = frame_skip - self.dt = self.timestep * self.frame_skip - self.cpp_world = World(self._p, gravity, timestep, frame_skip) + self.dt = self.timestep * self.frame_skip + self.cpp_world = World(self._p, gravity, timestep, frame_skip) - self.test_window_still_open = True # or never opened - self.human_render_detected = False # if user wants render("human"), we open test window + self.test_window_still_open = True # or never opened + self.human_render_detected = False # if user wants render("human"), we open test window - self.multiplayer_robots = {} + self.multiplayer_robots = {} - def test_window(self): - "Call this function every frame, to see what's going on. Not necessary in learning." - self.human_render_detected = True - return self.test_window_still_open + def test_window(self): + "Call this function every frame, to see what's going on. Not necessary in learning." + self.human_render_detected = True + return self.test_window_still_open - def actor_introduce(self, robot): - "Usually after scene reset" - if not self.multiplayer: return - self.multiplayer_robots[robot.player_n] = robot + def actor_introduce(self, robot): + "Usually after scene reset" + if not self.multiplayer: return + self.multiplayer_robots[robot.player_n] = robot - def actor_is_active(self, robot): - """ + def actor_is_active(self, robot): + """ Used by robots to see if they are free to exclusiveley put their HUD on the test window. Later can be used for click-focus robots. """ - return not self.multiplayer + return not self.multiplayer - def episode_restart(self, bullet_client): - "This function gets overridden by specific scene, to reset specific objects into their start positions" - self.cpp_world.clean_everything() - #self.cpp_world.test_window_history_reset() + def episode_restart(self, bullet_client): + "This function gets overridden by specific scene, to reset specific objects into their start positions" + self.cpp_world.clean_everything() + #self.cpp_world.test_window_history_reset() - def global_step(self): - """ + def global_step(self): + """ The idea is: apply motor torques for all robots, then call global_step(), then collect observations from robots using step() with the same action. """ - self.cpp_world.step(self.frame_skip) + self.cpp_world.step(self.frame_skip) -class SingleRobotEmptyScene(Scene): - multiplayer = False # this class is used "as is" for InvertedPendulum, Reacher -class World: +class SingleRobotEmptyScene(Scene): + multiplayer = False # this class is used "as is" for InvertedPendulum, Reacher - def __init__(self, bullet_client, gravity, timestep, frame_skip): - self._p = bullet_client - self.gravity = gravity - self.timestep = timestep - self.frame_skip = frame_skip - self.numSolverIterations = 5 - self.clean_everything() - - - def clean_everything(self): - #p.resetSimulation() - self._p.setGravity(0, 0, -self.gravity) - self._p.setDefaultContactERP(0.9) - #print("self.numSolverIterations=",self.numSolverIterations) - self._p.setPhysicsEngineParameter(fixedTimeStep=self.timestep*self.frame_skip, numSolverIterations=self.numSolverIterations, numSubSteps=self.frame_skip) - - def step(self, frame_skip): - self._p.stepSimulation() +class World: + def __init__(self, bullet_client, gravity, timestep, frame_skip): + self._p = bullet_client + self.gravity = gravity + self.timestep = timestep + self.frame_skip = frame_skip + self.numSolverIterations = 5 + self.clean_everything() + + def clean_everything(self): + #p.resetSimulation() + self._p.setGravity(0, 0, -self.gravity) + self._p.setDefaultContactERP(0.9) + #print("self.numSolverIterations=",self.numSolverIterations) + self._p.setPhysicsEngineParameter(fixedTimeStep=self.timestep * self.frame_skip, + numSolverIterations=self.numSolverIterations, + numSubSteps=self.frame_skip) + + def step(self, frame_skip): + self._p.stepSimulation() |