Merge branch 'master' of github.com:leggedrobotics/raisimGym into fea…

…ture/build_script

CMakeLists.txt

@@ -17,3 +17,11 @@ pybind11_add_module(_raisim_gym raisim_gym/env/raisim_gym.cpp)
 target_link_libraries(_raisim_gym PRIVATE raisim::raisim raisim::raisimOgre yaml-cpp)
 target_include_directories(_raisim_gym PUBLIC raisim_gym/env ${RSG_ENVIRONMENT_INCLUDE_PATH} ${EIGEN3_INCLUDE_DIRS})
 target_compile_options(_raisim_gym PRIVATE -mtune=native -fPIC -O3)
+
+if (CMAKE_BUILD_TYPE STREQUAL "DEBUG" OR CMAKE_BUILD_TYPE STREQUAL "Debug")
+    message("[RAISIM_GYM]BUILDING THE DEBUG APP")
+    add_executable(debug_app raisim_gym/env/debug_app.cpp)
+    target_link_libraries(debug_app PRIVATE raisim::raisim raisim::raisimOgre yaml-cpp)
+    target_include_directories(debug_app PUBLIC raisim_gym/env ${RSG_ENVIRONMENT_INCLUDE_PATH} ${EIGEN3_INCLUDE_DIRS})
+    target_compile_options(debug_app PRIVATE -mtune=native -fPIC -g -O0)
+endif()

raisim_gym/env/RaisimGymEnv.hpp

@@ -28,7 +28,6 @@
 #include <vector>
 #include <memory>
 #include <unordered_map>
-#include <pybind11/pybind11.h>
 #include <Eigen/Core>
 #include "raisim/World.hpp"
 #include "raisim/RaisimServer.hpp"

raisim_gym/env/VectorizedEnvironment.hpp

@@ -40,8 +40,7 @@ class VectorizedEnvironment {
       : resourceDir_(resourceDir) {
     cfg_ = YAML::Load(cfg);
     if(cfg_["render"])
-      render_ = cfg_["render"].as<bool>();
-
+      render_ = cfg_["render"].template as<bool>();
   }
 
   ~VectorizedEnvironment() {

raisim_gym/env/debug_app.cpp

@@ -0,0 +1,64 @@
+//
+// Created by jemin on 11/12/19.
+// MIT License
+//
+// Copyright (c) 2019-2019 Robotic Systems Lab, ETH Zurich
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#include "Environment.hpp"
+#include "VectorizedEnvironment.hpp"
+
+using namespace raisim;
+
+int main(int argc, char *argv[]) {
+  RSFATAL_IF(argc != 4, "got "<<argc<<" arguments. "<<"This executable takes three arguments: 1. resource directory, 2. configuration file, 3. render or no_render to control rendering")
+
+  std::string resourceDir(argv[1]), cfgFile(argv[2]);
+  YAML::Node config = YAML::LoadFile(cfgFile);
+  std::stringstream config_str;
+
+  if(std::string(argv[3]) == "no_render") {
+    config["environment"]["render"] = false;
+    std::cout<<argv[3]<<std::endl;
+  } else {
+    std::cout<<argv[3]<<std::endl;
+    config["environment"]["render"] = true;
+  }
+
+  config_str << config["environment"];
+
+  VectorizedEnvironment<ENVIRONMENT> vecEnv(resourceDir, config_str.str());
+  vecEnv.init();
+
+  EigenRowMajorMat observation(config["environment"]["num_envs"].as<int>(), vecEnv.getObDim());
+  EigenRowMajorMat action(config["environment"]["num_envs"].as<int>(), vecEnv.getActionDim());
+  EigenVec reward(config["environment"]["num_envs"].as<int>(), 1);
+  EigenBoolVec dones(config["environment"]["num_envs"].as<int>(), 1);
+  EigenRowMajorMat extra_info(config["environment"]["num_envs"].as<int>(), vecEnv.getExtraInfoDim());
+
+  Eigen::Ref<EigenRowMajorMat> ob_ref(observation), action_ref(action), extra_info_ref(extra_info);
+  Eigen::Ref<EigenVec> reward_ref(reward);
+  Eigen::Ref<EigenBoolVec> dones_ref(dones);
+
+  vecEnv.reset(ob_ref);
+  vecEnv.step(action_ref, ob_ref, reward_ref, dones_ref, extra_info_ref);
+
+  return 0;
+}

raisim_gym/env/env/ANYmal/ANYmal_bear2/default_cfg.yaml

@@ -2,12 +2,11 @@ seed: 1
 record_video: yes
 
 environment:
-  render: yes
+  render: True
   num_envs: 100
   num_threads: 40
   simulation_dt: 0.0025
   control_dt: 0.01
   max_time: 4.0
-
   forwardVelRewardCoeff: 0.3
-  torqueRewardCoeff: -2e-5
+  torqueRewardCoeff: -2e-5

setup.py

@@ -11,13 +11,19 @@
 
 __CMAKE_PREFIX_PATH__ = None
 __ENVIRONMENT_PATH__ = None
+__DEBUG__ = False
 
 if "--CMAKE_PREFIX_PATH" in sys.argv:
     index = sys.argv.index('--CMAKE_PREFIX_PATH')
     __CMAKE_PREFIX_PATH__ = sys.argv[index+1]
     sys.argv.remove("--CMAKE_PREFIX_PATH")
     sys.argv.remove(__CMAKE_PREFIX_PATH__)
 
+if "--Debug" in sys.argv:
+    index = sys.argv.index('--Debug')
+    sys.argv.remove("--Debug")
+    __DEBUG__ = True
+
 if "--env" in sys.argv:
     index = sys.argv.index('--env')
     environment = sys.argv[index+1]
@@ -66,16 +72,11 @@ def build_extension(self, ext):
 
         cmake_args.append('-DRSG_ENVIRONMENT_INCLUDE_PATH=' + __ENVIRONMENT_PATH__)
 
-        cfg = 'Debug' if self.debug else 'Release'
+        cfg = 'Debug' if __DEBUG__ else 'Release'
         build_args = ['--config', cfg]
-        if platform.system() == "Windows":
-            cmake_args += ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{}={}'.format(cfg.upper(), extdir)]
-            if sys.maxsize > 2**32:
-                cmake_args += ['-A', 'x64']
-            build_args += ['--', '/m']
-        else:
-            cmake_args += ['-DCMAKE_BUILD_TYPE=' + cfg]
-            build_args += ['--', '-j2']
+
+        cmake_args += ['-DCMAKE_BUILD_TYPE=' + cfg]
+        build_args += ['--', '-j2']
 
         env = os.environ.copy()
         env['CXXFLAGS'] = '{} -DVERSION_INFO=\\"{}\\"'.format(env.get('CXXFLAGS', ''),