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update simulators: add multiprocessing example with bullet + implement copy/deepcopy

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This commit is contained in:
Brian Delhaisse
2019-05-08 06:36:30 +02:00
parent 999466d6eb
commit 9e68606c9a
3 changed files with 210 additions and 29 deletions
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pyrobolearn/simulators/bullet.py
+170 -20
View File
@@ -89,7 +89,7 @@ class Bullet(Simulator):
render (bool): if True, it will open the GUI, otherwise, it will just run the server.
**kwargs (dict): optional arguments (this is not used here).
"""
super(Bullet, self).__init__()
super(Bullet, self).__init__(render=render, **kwargs)
# parse the kwargs
@@ -165,6 +165,68 @@ class Bullet(Simulator):
"""Return the gravity in the simulator."""
return self.get_physics_properties()['gravity']
@property
def camera(self):
"""Return the camera (yaw, pitch, distance, target_position) or None."""
return self._camera
#############
# Operators #
#############
def __copy__(self):
"""Return a shallow copy of the Bullet simulator.
Warnings:
- this returns a simulator in the DIRECT mode. PyBullet does not allow to have several instances of the
simulator in the GUI mode in the same process.
- this method does not copy the dynamic properties or load the 3D models in the returned simulator.
Returns:
Bullet: new simulator instance.
"""
return Bullet(render=False)
def __deepcopy__(self, memo={}):
"""Return a deep copy of the Bullet simulator.
Warnings:
- this returns a simulator in the DIRECT mode. PyBullet does not allow to have several instances of the
simulator in the GUI mode in the same process.
- this method does not change the connection mode of the simulator, this has to be done outside the method
because it could otherwise cause different errors (e.g. when using multiprocessing).
Args:
memo (dict): dictionary containing references about already instantiated objects and allowing to share
information. Notably, it can contain the following keys `copy_models` (bool) which specifies if we
should load the models that have been loaded into the simulator (by default, it is False), and
`copy_properties` which specifies if we should copy the dynamic properties that has been set such as
gravity, friction coefficients, and others (by default, it is False).
Returns:
Bullet: bullet simulator in DIRECT mode.
"""
# check if the memo has arguments that specify how to deep copy the simulator
copy_models = memo.get('copy_parameters', False)
copy_properties = memo.get('copy_properties', False)
# create new bullet simulator
sim = Bullet(render=False)
# load the models in the new simulator if specified
if copy_models:
pass
# copy the properties in the new simulator if specified
if copy_properties:
pass
# update the memodict (note that `copy.deepcopy` will automatically check this dictionary and return the
# reference if already present)
memo[self] = sim
return sim
###########
# Methods #
###########
@@ -257,7 +319,21 @@ class Bullet(Simulator):
self.sim.stepSimulation()
time.sleep(sleep_time)
def render(self, flag=True, mode='human'):
def reset_scene_camera(self, camera=None):
"""
Reinitialize/Reset the scene view camera to the previous one.
Args:
camera (tuple of 3 float and a 3d np.array): tuple containing the (yaw, pitch, distance, target_position).
The yaw and pitch angles are expressed in radians, the distance in meter, and the target position is
a 3D vector.
"""
if camera is None:
camera = self._camera if self._camera is not None else self.get_debug_visualizer()[-4:]
yaw, pitch, distance, target = camera
self.reset_debug_visualizer(distance=distance, yaw=yaw, pitch=pitch, target_position=target)
def render(self, enable=True, mode='human'):
"""Render the GUI.
Warnings: note that this operation can be time consuming with the pybullet simulator if we need to change the
@@ -267,7 +343,7 @@ class Bullet(Simulator):
do not call at a high frequency rate (depending on the picture size).
Args:
flag (bool): If True, it will render the simulator by enabling the GUI.
enable (bool): If True, it will render the simulator by enabling the GUI.
mode (str): specify the rendering mode. If mode=='human', it will render it in the simulator, if
mode=='rgb', it will return a picture taken with the main camera of the simulator.
@@ -277,7 +353,7 @@ class Bullet(Simulator):
if mode == 'rgb':
np.array[W,H,D]: RGB image
"""
if flag:
if enable:
if mode == 'human':
# self.sim.configureDebugVisualizer(self.sim.COV_ENABLE_RENDERING, 1)
if self.connection_mode == pybullet.DIRECT:
@@ -291,9 +367,7 @@ class Bullet(Simulator):
self.load(filename)
os.remove(filename)
# reset the camera
if self._camera is not None:
yaw, pitch, distance, target = self._camera
self.reset_debug_visualizer(distance=distance, yaw=yaw, pitch=pitch, target_position=target)
self.reset_scene_camera(camera=self._camera)
elif mode == 'rgb' or mode == 'rgba':
width, height, view_matrix, projection_matrix = self.sim.get_debug_visualizer()[:4]
img = np.array(self.sim.get_camera_image(width, height, view_matrix, projection_matrix)[2])
@@ -317,6 +391,9 @@ class Bullet(Simulator):
self.load(filename)
os.remove(filename)
# set the render variable (useful when calling the method `is_rendering`)
self._render = enable
def set_time_step(self, time_step):
"""Set the specified time step in the simulator.
@@ -3741,15 +3818,25 @@ class Bullet(Simulator):
# Tests
if __name__ == "__main__":
# The following snippet code will test the `multiprocessing` library with the `Bullet` simulator in the GUI mode.
# We spawn 2 other processes, thus counting the main process, there are 3 processes in total.
# In the main one, you will just see the world with only the floor. In the two others, you will see that a ball
# has been added. The main process communicates with the 2 slave processes via pipes; it notably ask them to
# start to drop the ball or to exit. Once the simulation is over, it will return if the ball has been in contact
# with the floor at the last time step via a queue.
import multiprocessing
# define variables
num_processes = 2
# create simulator
sim = Bullet()
sim = Bullet(render=True)
sim.configure_debug_visualizer(sim.COV_ENABLE_GUI, 0)
sim.set_gravity([0., 0., -9.81])
# load floor and sphere
sim.load_urdf('plane.urdf', use_fixed_base=True, scale=1.)
sim.load_urdf("sphere_small.urdf", position=[0, 0, 3])
# sim.load_urdf("sphere_small.urdf", position=[0, 0, 3])
# print info
print("Available URDFs: {}".format(sim.get_available_urdfs(fullpath=False)))
@@ -3757,15 +3844,78 @@ if __name__ == "__main__":
# print("Available MJCFs: {}".format(sim.get_available_mjcfs(fullpath=False)))
# print("Available OBJs: {}".format(sim.get_available_objs(fullpath=False)))
# perform few steps in the simulator
for t in range(1000):
if t == 60:
# hide the GUI
print("History: {}".format(sim.history))
sim.hide()
if t == 200:
# render the gui
sim.render()
# hide the simulator (i.e. switch to DIRECT mode)
sim.hide()
# target function for each process
def function(pipe, queue, simulator):
process = multiprocessing.current_process()
print("{}: start".format(process.name))
# get info fro previous simulator
class_ = simulator.__class__
kwargs = simulator.kwargs
# create simulator and world (with visualization)
print("{}: create simulator and world".format(process.name))
sim = class_(render=True)
sim.reset_scene_camera(simulator.camera)
sim.configure_debug_visualizer(sim.COV_ENABLE_GUI, 0)
sim.set_gravity([0., 0., -9.81])
floor = sim.load_urdf('plane.urdf', use_fixed_base=True, scale=1.)
sphere = sim.load_urdf("sphere_small.urdf", position=[0, 0, 3])
while True:
print("{}: waiting for message...".format(process.name))
msg = pipe.recv()
print("{}: received msg: {}".format(process.name, msg))
if msg == 'stop':
break
else:
print('{}: running simulator'.format(process.name))
in_contact = None
for t in range(4000):
in_contact = len(sim.get_contact_points(sphere, floor))
sim.step(1. / 254)
queue.put([process.name, in_contact])
print("{}: end process".format(process.name))
pipe.close()
# create queue, pipe, and processes
print('creating queue, pipe, and processes')
queue = multiprocessing.Queue()
pipes = [multiprocessing.Pipe() for _ in range(num_processes)]
processes = [multiprocessing.Process(target=function, args=(pipe[1], queue, sim)) for pipe in pipes]
# start the processes
time.sleep(1.)
print('Start the processes')
for process in processes:
process.start()
# render back the simulator
sim.render()
# send msgs to each process to run the simulation
time.sleep(5)
print('Run each process')
for pipe in pipes:
pipe[0].send('run')
# get results from queue
print('Get the results from each process')
for _ in range(num_processes):
result = queue.get()
print("Result: {}".format(result))
# send msgs to each process to end the simulation
print('Stop each process')
for pipe in pipes:
pipe[0].send('stop')
# join the processes
for process in processes:
process.join()
print('END')
# perform a step in the simulation
sim.step(1./20)
pyrobolearn/simulators/gazebo-ros.py → pyrobolearn/simulators/gazebo_ros.py
+2 -2
View File
@@ -150,9 +150,9 @@ class GazeboROS(ROS_RBDL):
# TODO apply stuffs in simulator
self.pause()
def render(self, flag=True):
def render(self, enable=True):
"""Render the simulation."""
if flag:
if enable:
if self.gzclient_proc is None:
pass
else:
pyrobolearn/simulators/simulator.py
+38 -7
View File
@@ -17,6 +17,7 @@ References:
[3] PEP8: https://www.python.org/dev/peps/pep-0008/
"""
__author__ = "Brian Delhaisse"
__copyright__ = "Copyright 2018, PyRoboLearn"
__credits__ = ["Brian Delhaisse"]
@@ -47,6 +48,7 @@ class Simulator(object):
def __init__(self, render=True, **kwargs):
self._render = render
self.real_time = False
self.kwargs = kwargs
# TODO: this is really bad to have attributes like that... It doesn't generalize well to other simulators...
@@ -197,10 +199,6 @@ class Simulator(object):
# Operators #
#############
def __repr__(self):
"""Return a string about the class for debugging and development."""
return self.__class__.__name__
def __str__(self):
"""Return a readable string about the class."""
return self.__class__.__name__
@@ -209,6 +207,26 @@ class Simulator(object):
"""Close/Delete the simulator."""
self.close()
def __copy__(self):
"""Return a shallow copy of the simulator. This can be overridden in the child class."""
return self.__class__(render=self._render, **self.kwargs)
def __deepcopy__(self, memo={}):
"""Return a deep copy of the simulator. This can be overridden in the child class.
Args:
memo (dict): memo dictionary of objects already copied during the current copying pass.
"""
# create a new copy of the simulator
sim = self.__class__(render=self._render, **self.kwargs)
# update the memodict (note that `copy.deepcopy` will automatically check this dictionary and return the
# reference if already present)
memo[self] = sim
# return the copy
return sim
###########
# Methods #
###########
@@ -235,13 +253,26 @@ class Simulator(object):
"""
pass
def render(self, flag=True):
def is_rendering(self):
"""Return True if the simulator is in the render mode."""
return self._render
def reset_scene_camera(self, camera=None):
"""
Reinitialize/Reset the scene view camera to the previous one.
Args:
camera (object): scene view camera. This is let to the user to decide what to do.
"""
pass
def render(self, enable=True):
"""Render the simulation.
Args:
flag (bool): If True, it will render the simulator by enabling the GUI.
enable (bool): If True, it will render the simulator by enabling the GUI.
"""
pass
self._render = enable
def hide(self):
"""Hide the GUI."""