Python pybullet.startStateLogging() Examples

The following are 4 code examples of pybullet.startStateLogging(). You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may also want to check out all available functions/classes of the module pybullet , or try the search function .
Example #1
Source File: train_dqn_batch_grasping.py    From chainerrl with MIT License 5 votes vote down vote up 
def reset(self):
        obs = self.env.reset()
        self._episode_idx += 1
        import pybullet
        pybullet.startStateLogging(
            pybullet.STATE_LOGGING_VIDEO_MP4,
            os.path.join(self._dirname, '{}.mp4'.format(self._episode_idx)))
        return obs
Example #2
Source File: bullet_world.py    From NTP-vat-release with MIT License 5 votes vote down vote up 
def log_video(self, task_name):
        """
        Logs video of each task being executed
        """
        if not os.path.exists("video_logs/"):
            os.makedirs("video_logs")
        try:
            p.stopStateLogging(self.curr_recording)
            self.video_log_key += 1
        except Exception:
            print("No Video Currently Being Logged")
        self.curr_recording = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,
                                                  "video_logs/task_vid_" +
                                                  str(task_name) + "_" + str(self.video_log_key) + ".mp4")
Example #3
Source File: kukaGymEnv.py    From soccer-matlab with BSD 2-Clause "Simplified" License 4 votes vote down vote up 
def __init__(self,
               urdfRoot=pybullet_data.getDataPath(),
               actionRepeat=1,
               isEnableSelfCollision=True,
               renders=False,
               isDiscrete=False,
               maxSteps = 1000):
    #print("KukaGymEnv __init__")
    self._isDiscrete = isDiscrete
    self._timeStep = 1./240.
    self._urdfRoot = urdfRoot
    self._actionRepeat = actionRepeat
    self._isEnableSelfCollision = isEnableSelfCollision
    self._observation = []
    self._envStepCounter = 0
    self._renders = renders
    self._maxSteps = maxSteps
    self.terminated = 0
    self._cam_dist = 1.3
    self._cam_yaw = 180
    self._cam_pitch = -40

    self._p = p
    if self._renders:
      cid = p.connect(p.SHARED_MEMORY)
      if (cid<0):
         cid = p.connect(p.GUI)
      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
    else:
      p.connect(p.DIRECT)
    #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
    self._seed()
    self.reset()
    observationDim = len(self.getExtendedObservation())
    #print("observationDim")
    #print(observationDim)

    observation_high = np.array([largeValObservation] * observationDim)
    if (self._isDiscrete):
      self.action_space = spaces.Discrete(7)
    else:
       action_dim = 3
       self._action_bound = 1
       action_high = np.array([self._action_bound] * action_dim)
       self.action_space = spaces.Box(-action_high, action_high)
    self.observation_space = spaces.Box(-observation_high, observation_high)
    self.viewer = None
Example #4
Source File: kukaCamGymEnv.py    From soccer-matlab with BSD 2-Clause "Simplified" License 4 votes vote down vote up 
def __init__(self,
               urdfRoot=pybullet_data.getDataPath(),
               actionRepeat=1,
               isEnableSelfCollision=True,
               renders=False,
               isDiscrete=False):
    self._timeStep = 1./240.
    self._urdfRoot = urdfRoot
    self._actionRepeat = actionRepeat
    self._isEnableSelfCollision = isEnableSelfCollision
    self._observation = []
    self._envStepCounter = 0
    self._renders = renders
    self._width = 341
    self._height = 256
    self._isDiscrete=isDiscrete
    self.terminated = 0
    self._p = p
    if self._renders:
      cid = p.connect(p.SHARED_MEMORY)
      if (cid<0):
         p.connect(p.GUI)
      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
    else:
      p.connect(p.DIRECT)
    #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
    self._seed()
    self.reset()
    observationDim = len(self.getExtendedObservation())
    #print("observationDim")
    #print(observationDim)

    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
    if (self._isDiscrete):
      self.action_space = spaces.Discrete(7)
    else:
      action_dim = 3
      self._action_bound = 1
      action_high = np.array([self._action_bound] * action_dim)
      self.action_space = spaces.Box(-action_high, action_high)
    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
    self.viewer = None