def __init__(self, rand_init=True):
'''
Initialize the robot.
:param rand_init: If True, randomly initialize the robot starting position.
'''
self.robot = Reacher(rand_init)
BaseBulletEnv.__init__(self, self.robot)
def __init__(self, robot, render=False):
print("WalkerBase::__init__")
BaseBulletEnv.__init__(self, robot, render)
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId = -1
def __init__(self, render=False):
self.camera_x = 0
self.target_position_xy = (3, 0)
self.saved_state_id = None
self.robot = Biped(target_position_xy=self.target_position_xy)
BaseBulletEnv.__init__(self, self.robot, render)
self.action_space = self.robot.action_space
self.observation_space = self.robot.observation_space
def __init__(self):
self.robot = ReacherColours()
BaseBulletEnv.__init__(self, self.robot)
self._cam_dist = 5
self._cam_yaw = 0
self._cam_pitch = -45
self._render_width = 240
self._render_height = 240
def __init__(self, robot, render=False):
# self._p = bullet_client.BulletClient()
print("WalkerBase::__init__")
BaseBulletEnv.__init__(self, robot, render)
# if self.isRender:
# self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
# else:
self.camera_x = 0
self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0
self.stateId = -1
def __init__(self):
self.robot = Gripper2D(add_feature='force_window', window_size=5)
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
self._cam_dist = 0.5
self._cam_yaw = 0
self._cam_pitch = -90
self._render_width = RENDER_WIDTH
self._render_height = RENDER_HEIGHT
self.action_space = self.robot.action_space
self.observation_space = self.robot.observation_space
def __init__(self):
self.robot = Gripper2D()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
## self.render(mode='human')
self._cam_dist = 0.4
self._cam_yaw = 0
self._cam_pitch = -90
self._render_width = RENDER_WIDTH
self._render_height = RENDER_HEIGHT
self.action_space = self.robot.action_space
self.observation_space = self.robot.observation_space
def initialize(self):
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
## self.render(mode='human')
self._cam_dist = 0.4
self._cam_yaw = 0
self._cam_pitch = -90
self._render_width = RENDER_WIDTH
self._render_height = RENDER_HEIGHT
self.robot.body_xyz = [0, -0.03, 0]
self.action_space = self.robot.action_space
def __init__(self):
self.robot = ReacherSequential()
BaseBulletEnv.__init__(self, self.robot)
self._cam_dist = 3.55 # tuned to just crop border
self._cam_yaw = 0
self._cam_pitch = -90
# self._cam_dist = 5
# self._cam_yaw = 0
# self._cam_pitch = -45
self._render_width = 240
self._render_height = 240
self.task_specific_values = self.robot.goal_positions
self.task_specific_obs_indices = np.r_[0:2]
def __init__(self, robot=Humanoid(), render=False, vision=False, max_steps=6000):
self.robot = robot
BaseBulletEnv.__init__(self, self.robot, render)
self.saved_state_id = None
self.vision = vision
# self.action_space = Dict()
if vision:
self.observation_space = spaces.Dict({
'robot_state': self.robot.observation_space,
'camera': spaces.Box(low=0, high=255, shape=(30, 30, 1)),
})
else:
self.observation_space = self.robot.observation_space
self.action_space = self.robot.action_space
self.max_steps = max_steps
self.current_step = 0
def reset(self):
if self.stateId >= 0:
self._p.restoreState(self.stateId)
r = BaseBulletEnv._reset(self)
if self.stateId < 0:
self.stateId = self._p.saveState()
return r
def reset(self):
if self.stateId >= 0:
# print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
self._p.restoreState(self.stateId)
r = BaseBulletEnv._reset(self)
if self.stateId < 0:
self.stateId = self._p.saveState()
# print("InvertedPendulumBulletEnv reset self.stateId=",self.stateId)
return r
def reset(self):
print('RESETTING')
if self.saved_state_id is not None:
# print("restoreState self.stateId:",self.stateId)
self._p.restoreState(self.saved_state_id)
else:
BaseBulletEnv._reset(self)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(self._p,
self.scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in
self.foot_ground_object_names])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
self.saved_state_id = self._p.saveState()
state = self.robot.calc_state(self.target_position_xy)
self.last_position = self.robot.body_xyz
return state
def reset(self):
if self.saved_state_id is not None:
# restore state of pybullet with saved state from first reset
self._p.restoreState(self.saved_state_id)
else:
BaseBulletEnv._reset(self)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(self._p,
self.scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in
self.foot_ground_object_names])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
fname = os.path.join(os.path.dirname(__file__), "assets", "target_marker.urdf")
print(fname)
self.target_marker_id = self._p.loadURDF(fname)
self.saved_state_id = self._p.saveState()
self.set_target()
self.last_distance_to_target = np.linalg.norm(
np.array(self.robot.get_pos_xyz()[0:2]) - np.array(self.target_pos))
self.current_step = 0
return self.get_obs()
def reset(self):
## if self.stateId >= 0:
## print("CuboidPegBulletEnv reset p.restoreState(",self.stateId,")")
## self._p.restoreState(self.stateId)
r = BaseBulletEnv._reset(self)
# for manipulation arena
if self.robot.doneLoading == 0:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(self.robot._p, self.robot.arena)
## if self.stateId < 0:
## self.stateId = self._p.saveState()
## print("CuboidPegBulletEnv reset self.stateId=",self.stateId)
return r
def reset(self):
if self.stateId >= 0:
# print("restoreState self.stateId:",self.stateId)
self._p.restoreState(self.stateId)
r = BaseBulletEnv._reset(self)
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING,0)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(self._p,
self.stadium_scene.ground_plane_mjcf)
self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in
self.foot_ground_object_names])
self._p.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
if self.stateId < 0:
self.stateId=self._p.saveState()
# print("saving state self.stateId:",self.stateId)
return r
def __init__(self):
self.robot = ReacherTerminate()
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = CuboidPeg2D()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def reset(self):
r = BaseBulletEnv._reset(self)
return r
def __init__(self):
self.robot = GraspBox()
BaseBulletEnv.__init__(self, self.robot)
self.camera = Camera(self)
def __init__(self, shelf=False):
self.robot = PandaReacher(shelf=shelf)
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = Thrower()
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = InvertedPendulum()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
self._timestep = 0
def reset(self):
r = BaseBulletEnv._reset(self)
return self.observation()
def __init__(self):
self.robot = PendulumNormal()
BaseBulletEnv.__init__(self, self.robot, render=False)
self.stateId = -1
self.recording = False
def __init__(self):
self.robot = InvertedPendulumSwingup()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def __init__(self, rand_init=True):
self.robot = Reacher(rand_init)
BaseBulletEnv.__init__(self, self.robot)
def __init__(self, target):
self.robot = ReacherRobot(target)
BaseBulletEnv.__init__(self, self.robot)
def __init__(self):
self.robot = InvertedDoublePendulum()
BaseBulletEnv.__init__(self, self.robot)
self.stateId = -1
def reset(self):
f = BaseBulletEnv._reset(self)[:-3]
state = self.observation()
state = np.reshape(state, CNN_IMG_WIDTH * CNN_IMG_HEIGHT)
return np.concatenate((state, f))
