Husky camera live driving mode

examples/demo/play_husky_camera.py

@@ -0,0 +1,9 @@
+from realenv.envs.husky_env import HuskyCameraEnv
+from realenv.utils.play import play
+
+timestep = 1.0/(4 * 18)
+frame_skip = 4
+
+if __name__ == '__main__':
+    env = HuskyCameraEnv(human=True, timestep=timestep, frame_skip=frame_skip, enable_sensors=False, is_discrete = True)
+    play(env, zoom=4, fps=int( 1.0/(timestep * frame_skip)))

realenv/core/physics/robot_locomotors.py

@@ -237,7 +237,7 @@ class Husky(WalkerBase):
 		self.eye_offset_orn = euler2quat(np.pi/2, 0, np.pi/2, axes='sxyz')
 
 		self.torque = 0.1
-		self.action_list = [[0, 0,self.torque,self.torque], [0,0,-self.torque,-self.torque], [self.torque,-self.torque,self.torque,-self.torque],[-self.torque,self.torque,-self.torque,self.torque], [0, 0, 0, 0]]
+		self.action_list = [[0, 0, 0.9 *self.torque, 0.9*self.torque], [- 1.5* self.torque,- 1.5* self.torque, 0, 0], [self.torque,-self.torque,self.torque,-self.torque],[-self.torque,self.torque,-self.torque,self.torque], [0, 0, 0, 0]]
 		self.setup_keys_to_action()
         
 	def apply_action(self, action):

realenv/data/datasets.py

@@ -19,6 +19,7 @@ import pickle
 
 HIGH_RES_MONITOR = False
 MAKE_VIDEO = False
+LIVE_DEMO = True
 
 ## Small model: 11HB6XZSh1Q
 ## Gates Huang: BbxejD15Etk

realenv/envs/husky_env.py

@@ -27,15 +27,16 @@ class HuskyCameraEnv(HuskyEnv, CameraRobotEnv):
         HuskyEnv.__init__(self, is_discrete)
         CameraRobotEnv.__init__(self)
 
-        self.tracking_camera['pitch'] = -45 ## stairs
+        #self.tracking_camera['pitch'] = -45 ## stairs
         #yaw = 0     ## demo: living room
         #yaw = 30    ## demo: kitchen
-        self.tracking_camera['yaw'] = 90     ## demo: stairs
+        
+        #self.tracking_camera['yaw'] = 90     ## demo: stairs
 
-        '''
-        self.tracking_camera['yaw'] = 80
+        
+        self.tracking_camera['yaw'] = 90   ## living roon
         self.tracking_camera['pitch'] = -10
-        '''
+        
         self.tracking_camera['distance'] = 1.2
         self.tracking_camera['z_offset'] = 0.5
 

realenv/utils/play.py

@@ -98,7 +98,7 @@ def play(env, transpose=True, fps=30, zoom=None, callback=None, keys_to_action=N
         #    assert False, env.spec.id + " does not have explicit key to action mapping, " + \
         #                  "please specify one manually"
     relevant_keys = set(sum(map(list, keys_to_action.keys()),[]))
-
+    relevant_keys.add(ord('r'))
     '''
     if transpose:
         video_size = env.observation_space.shape[1], env.observation_space.shape[0]
@@ -116,11 +116,13 @@ def play(env, transpose=True, fps=30, zoom=None, callback=None, keys_to_action=N
     print("keys to actions", keys_to_action)
 
     obs = env.reset()
+
+    do_restart = False
     while running:
-        #if env_done:
-        #    env_done = False
-        #    obs = env.reset()
-        #else:
+        if do_restart:
+            do_restart = False
+            env.reset()
+            continue
         if len(pressed_keys) == 0:
             action = keys_to_action[()]
             obs, rew, env_done, info = env.step(action)
@@ -145,7 +147,6 @@ def play(env, transpose=True, fps=30, zoom=None, callback=None, keys_to_action=N
         print(events)
         key_codes = events.keys()
         for key in key_codes:
-            print(key, events[key], p.KEY_IS_DOWN, p.KEY_WAS_RELEASED)
             if key not in relevant_keys:
                 continue
             # test events, set key states
@@ -158,6 +159,11 @@ def play(env, transpose=True, fps=30, zoom=None, callback=None, keys_to_action=N
                 #if event.key in relevant_keys:
                 if key in pressed_keys:
                     pressed_keys.remove(key)
+
+            print(ord('r') in key_codes)
+            if ord('r') in key_codes and events[ord('r')] == p.KEY_IS_DOWN:
+                do_restart = True
+                pressed_keys = []
             #print(pressed_keys)
             '''
             elif event.type == pygame.QUIT: