to.set_default_dtype(to.double)
# Check if RcsPySim, Bullet, and Vortex are available
try:
import rcsenv
from pyrado.environments.rcspysim.ball_on_plate import BallOnPlate2DSim, BallOnPlate5DSim
from pyrado.environments.rcspysim.box_lifting import BoxLiftingPosMPsSim
from pyrado.environments.rcspysim.box_shelving import BoxShelvingVelMPsSim, BoxShelvingPosMPsSim
from pyrado.environments.rcspysim.mp_blending import MPBlendingSim
from pyrado.environments.rcspysim.planar_3_link import Planar3LinkIKSim, Planar3LinkTASim
from pyrado.environments.rcspysim.planar_insert import PlanarInsertTASim, PlanarInsertIKSim
from pyrado.environments.rcspysim.quanser_qube import QQubeRcsSim
from pyrado.environments.rcspysim.target_tracking import TargetTrackingSim
m_needs_vortex = pytest.mark.skipif(
not rcsenv.supportsPhysicsEngine('Vortex'),
reason='Vortex physics engine is not supported in this setup.'
)
m_needs_bullet = pytest.mark.skipif(
not rcsenv.supportsPhysicsEngine('Bullet'),
reason='Bullet physics engine is not supported in this setup.'
)
m_needs_rcs = pytest.mark.skipif(False, reason='rcsenv can be imported.')
m_needs_libtorch = pytest.mark.skipif(
'torch' not in rcsenv.ControlPolicy.types, reason='Requires RcsPySim compiled locally with libtorch!'
)
except (ImportError, ModuleNotFoundError):
m_needs_vortex = pytest.mark.skip
m_needs_bullet = pytest.mark.skip
return env, policy
if __name__ == '__main__':
# Initialize
fig, axs = plt.subplots(3,
figsize=(8, 12),
sharex='col',
tight_layout=True)
# Try to run several possible cases
for pe in ['Bullet', 'Vortex']:
print_cbt(f'Running with {pe} physics engine', 'c', bright=True)
if rcsenv.supportsPhysicsEngine(pe):
env, policy = create_setup(pe,
dt=0.01,
max_steps=1000,
max_dist_force=0.)
# Simulate
pyrado.set_seed(1)
ro = rollout(env, policy, render_mode=RenderMode(video=True))
# Render plots
axs[0].plot(ro.observations[:, 0], label=pe)
axs[1].plot(ro.observations[:, 1], label=pe)
axs[2].plot(ro.observations[:, 2], label=pe)
axs[0].legend()
axs[1].legend()
# Check if RcsPySim, Bullet, and Vortex are available
try:
import rcsenv
from pyrado.environments.rcspysim.ball_in_tube import BallInTubePosIKActivationSim, BallInTubeVelDSSim
from pyrado.environments.rcspysim.ball_on_plate import BallOnPlate2DSim, BallOnPlate5DSim
from pyrado.environments.rcspysim.box_lifting import BoxLiftingPosDSSim, BoxLiftingVelDSSim
from pyrado.environments.rcspysim.box_shelving import BoxShelvingPosDSSim, BoxShelvingVelDSSim
from pyrado.environments.rcspysim.mp_blending import MPBlendingSim
from pyrado.environments.rcspysim.planar_3_link import Planar3LinkIKActivationSim, Planar3LinkTASim
from pyrado.environments.rcspysim.planar_insert import PlanarInsertIKActivationSim, PlanarInsertTASim
from pyrado.environments.rcspysim.quanser_qube import QQubeRcsSim
m_needs_vortex = pytest.mark.skipif(
not rcsenv.supportsPhysicsEngine("Vortex"), reason="Vortex physics engine is not supported in this setup."
)
m_needs_bullet = pytest.mark.skipif(
not rcsenv.supportsPhysicsEngine("Bullet"), reason="Bullet physics engine is not supported in this setup."
)
m_needs_rcs = pytest.mark.skipif(False, reason="rcsenv can be imported.")
m_needs_libtorch = pytest.mark.skipif(
"torch" not in rcsenv.ControlPolicy.types, reason="Requires RcsPySim compiled locally with libtorch!"
)
except (ImportError, ModuleNotFoundError):
m_needs_vortex = pytest.mark.skip
m_needs_bullet = pytest.mark.skip
m_needs_rcs = pytest.mark.skip
m_needs_libtorch = pytest.mark.skip