Merge pull request #275 from maxspahn/ft-windows-compatibility

## Summary

Makes this repository easily accessible for windows users, by making pybullet an optional dependency.

## Rationale

When working on windows, the installation of this repository is complicated, because it requires C++ compilers which are not installed by default on windows, see #137.
By making pybullet an optional dependency, it is possible to use this repo without pybullet and rely fully on mujoco. The idea was mentioned in #264.

Author: maxspahn

.github/workflows/create_release.yml

@@ -24,7 +24,7 @@ jobs:
         id: setup-python
         uses: actions/setup-python@v2
         with:
-          python-version: 3.8
+          python-version: "3.10"
       - name: Install poetry
         uses: snok/install-poetry@v1
         with:
@@ -72,7 +72,7 @@ jobs:
       - name: Publish to pypi
         uses: JRubics/[email protected]
         with:
-          python_version: "3.8"
+          python_version: "3.10"
           pypi_token: ${{ secrets.PYPI_TOKEN }}
       - name: Update develop branch
         run: |

.github/workflows/docs_pages.yaml

@@ -18,7 +18,7 @@ jobs:
         id: setup-python
         uses: actions/setup-python@v2
         with:
-          python-version: 3.8
+          python-version: 3.10
       #----------------------------------------------
       #  -----  install & configure poetry  -----
       #----------------------------------------------

.github/workflows/pylint.yml

@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.8"]
+        python-version: ["3.10"]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}

.github/workflows/unitTest.yml

@@ -23,7 +23,7 @@ jobs:
         id: setup-python
         uses: actions/setup-python@v2
         with:
-          python-version: 3.8
+          python-version: "3.10"
       #----------------------------------------------
       #  -----  install & configure poetry  -----
       #----------------------------------------------
@@ -48,7 +48,7 @@ jobs:
       #----------------------------------------------
       - name: Install dependencies
         if: steps.cached-poetry-dependencies.outputs.cache-hit != 'true'
-        run: poetry install --no-interaction --no-root --with dev --with mujoco
+        run: poetry install --no-interaction --no-root --with dev --with mujoco --with pybullet
       #----------------------------------------------
       # install your root project, if required
       #----------------------------------------------

examples/mujoco_example.py

@@ -5,10 +5,10 @@
 from robotmodels.utils.robotmodel import RobotModel, LocalRobotModel
 from urdfenvs.generic_mujoco.generic_mujoco_env import GenericMujocoEnv
 from urdfenvs.generic_mujoco.generic_mujoco_robot import GenericMujocoRobot
-from urdfenvs.sensors.free_space_decomposition import FreeSpaceDecompositionSensor
+from urdfenvs.sensors.mujoco.free_space_decomposition import FreeSpaceDecompositionSensorMujoco as FreeSpaceDecompositionSensor
 from urdfenvs.sensors.free_space_occupancy import FreeSpaceOccupancySensor
 from urdfenvs.sensors.full_sensor import FullSensor
-from urdfenvs.sensors.lidar import Lidar
+from urdfenvs.sensors.mujoco.lidar import LidarMujoco as Lidar
 from urdfenvs.sensors.sdf_sensor import SDFSensor
 from urdfenvs.scene_examples.obstacles import sphereObst1, sphereObst2, wall_obstacles, cylinder_obstacle, dynamicSphereObst1, movable_obstacle
 from urdfenvs.scene_examples.goal import goal1

examples/multi_robot.py

@@ -1,9 +1,10 @@
 import os
+
 import numpy as np
 
+from urdfenvs.robots.generic_urdf import GenericDiffDriveRobot, GenericUrdfReacher
 from urdfenvs.urdf_common.urdf_env import UrdfEnv
-from urdfenvs.robots.generic_urdf import GenericUrdfReacher
-from urdfenvs.robots.generic_urdf import GenericDiffDriveRobot
+
 
 def run_multi_robot(n_steps=1000, render=False, obstacles=False, goal=False):
     jackal_1 = GenericDiffDriveRobot(
@@ -16,8 +17,8 @@ def run_multi_robot(n_steps=1000, render=False, obstacles=False, goal=False):
             "front_left_wheel",
         ],
         castor_wheels=[],
-        wheel_radius = 0.098,
-        wheel_distance = 2 * 0.187795 + 0.08,
+        wheel_radius=0.098,
+        wheel_distance=2 * 0.187795 + 0.08,
     )
     jackal_2 = GenericDiffDriveRobot(
         urdf="jackal.urdf",
@@ -29,16 +30,16 @@ def run_multi_robot(n_steps=1000, render=False, obstacles=False, goal=False):
             "front_left_wheel",
         ],
         castor_wheels=[],
-        wheel_radius = 0.098,
-        wheel_distance = 2 * 0.187795 + 0.08,
+        wheel_radius=0.098,
+        wheel_distance=2 * 0.187795 + 0.08,
     )
     boxer = GenericDiffDriveRobot(
         urdf="boxer.urdf",
         mode="vel",
         actuated_wheels=["wheel_right_joint", "wheel_left_joint"],
         castor_wheels=["rotacastor_right_joint", "rotacastor_left_joint"],
-        wheel_radius = 0.08,
-        wheel_distance = 0.494,
+        wheel_radius=0.08,
+        wheel_distance=0.494,
     )
     ur5_urdf_file = os.path.dirname(os.path.abspath(__file__)) + "/ur5.urdf"
     robots = [
@@ -49,32 +50,43 @@ def run_multi_robot(n_steps=1000, render=False, obstacles=False, goal=False):
         boxer,
     ]
 
-    env: UrdfEnv = UrdfEnv(
-        dt=0.01, robots=robots, render=render
-    )
+    env: UrdfEnv = UrdfEnv(dt=0.01, robots=robots, render=render)
     n = env.n()
     action = np.ones(n) * -0.2
     pos0 = np.zeros(n)
     pos0[1] = -0.0
     ns_per_robot = env.ns_per_robot()
     n_per_robot = env.n_per_robot()
-    initial_positions = np.array([np.zeros(n) for n in ns_per_robot])
+    initial_positions = [np.zeros(n) for n in ns_per_robot]
+    max_len = max([len(arr) for arr in initial_positions])
+    padded_initial_positions = np.array(
+        [
+            np.pad(
+                arr,
+                (0, max_len - len(arr)),
+                mode="constant",
+                constant_values=np.nan,
+            )
+            for arr in initial_positions
+        ]
+    )
+
     for i in range(len(initial_positions)):
         if ns_per_robot[i] != n_per_robot[i]:
-            initial_positions[i][0:2] = np.array([0.0, i])
+            padded_initial_positions[i][0:2] = np.array([0.0, i])
     mount_positions = np.array(
-        [
-            np.array([0.0, i, 0.0]) for i in range(len(ns_per_robot))
-        ]
+        [np.array([0.0, i, 0.0]) for i in range(len(ns_per_robot))]
     )
-    ob = env.reset(pos=initial_positions,mount_positions=mount_positions)
+    ob = env.reset(pos=padded_initial_positions, mount_positions=mount_positions)
     print(f"Initial observation : {ob}")
     if goal:
         from urdfenvs.scene_examples.goal import dynamicGoal
+
         env.add_goal(dynamicGoal)
 
     if obstacles:
         from urdfenvs.scene_examples.obstacles import dynamicSphereObst2
+
         env.add_obstacle(dynamicSphereObst2)
 
     print("Starting episode")

examples/point_robot_free_space_decomp.py

@@ -1,17 +1,15 @@
-import gymnasium as gym
 import pprint
+
+import gymnasium as gym
 import numpy as np
-from urdfenvs.scene_examples.obstacles import (
-    sphereObst1,
-    sphereObst2,
-    urdfObst1,
-    dynamicSphereObst3,
-    dynamicSphereObst1,
-    wall_obstacles,
-)
 
 from urdfenvs.robots.generic_urdf import GenericUrdfReacher
-from urdfenvs.sensors.free_space_decomposition import FreeSpaceDecompositionSensor
+from urdfenvs.scene_examples.obstacles import (dynamicSphereObst1,
+                                               dynamicSphereObst3, sphereObst1,
+                                               sphereObst2, urdfObst1,
+                                               wall_obstacles)
+from urdfenvs.sensors.pybullet.free_space_decomposition import \
+    FreeSpaceDecompositionSensorPybullet as FreeSpaceDecompositionSensor
 from urdfenvs.urdf_common.urdf_env import UrdfEnv
 
 

examples/point_robot_occupancy_sensor.py

@@ -1,35 +1,36 @@
 import gymnasium as gym
 import numpy as np
 
-from urdfenvs.urdf_common.urdf_env import UrdfEnv
 from urdfenvs.robots.generic_urdf import GenericUrdfReacher
-from urdfenvs.sensors.occupancy_sensor import OccupancySensor
 from urdfenvs.scene_examples.obstacles import (
     cylinder_obstacle,
-    sphereObst2,
-    sphereObst1,
     dynamicSphereObst1,
+    sphereObst1,
+    sphereObst2,
+)
+from urdfenvs.sensors.pybullet.occupancy_sensor import (
+    OccupancySensorPybullet as OccupancySensor,
 )
+from urdfenvs.urdf_common.urdf_env import UrdfEnv
 
 
 def get_index_from_coordinates(point, mesh) -> tuple:
     distances = np.linalg.norm(mesh - point, axis=3)
     return np.unravel_index(np.argmin(distances), mesh.shape[:-1])
 
+
 def evaluate_occupancy(point, mesh, occupancy, resolution) -> int:
     index = list(get_index_from_coordinates(point, mesh))
     return occupancy[tuple(index)]
 
 
-
-
-def run_point_robot_with_occupancy_sensor(n_steps=10, render=False, obstacles=True, goal=True):
+def run_point_robot_with_occupancy_sensor(
+    n_steps=10, render=False, obstacles=True, goal=True
+):
     robots = [
         GenericUrdfReacher(urdf="pointRobot.urdf", mode="vel"),
     ]
-    env: UrdfEnv = UrdfEnv(
-        dt=0.01, robots=robots, render=render
-    )
+    env: UrdfEnv = UrdfEnv(dt=0.01, robots=robots, render=render)
     env.add_obstacle(sphereObst2)
     env.add_obstacle(cylinder_obstacle)
     env.add_obstacle(sphereObst1)
@@ -38,8 +39,8 @@ def run_point_robot_with_occupancy_sensor(n_steps=10, render=False, obstacles=Tr
     # add sensor
     val = 40
     sensor = OccupancySensor(
-        limits =  np.array([[-5, 5], [-5, 5], [0, 50/val]]),
-        resolution = np.array([val + 1, val + 1, 5], dtype=int),
+        limits=np.array([[-5, 5], [-5, 5], [0, 50 / val]]),
+        resolution=np.array([val + 1, val + 1, 5], dtype=int),
         interval=100,
         plotting_interval=100,
     )
@@ -64,9 +65,11 @@ def run_point_robot_with_occupancy_sensor(n_steps=10, render=False, obstacles=Tr
     for _ in range(n_steps):
         action = defaultAction
         ob, *_ = env.step(action)
-        point = np.append(ob['robot_0']['joint_state']['position'][0:2], 0.0)
-        occupancy = ob['robot_0']['Occupancy']
-        occupancy_eval = evaluate_occupancy(point, sensor.mesh(), occupancy, [0.2, 0.2, 1])
+        point = np.append(ob["robot_0"]["joint_state"]["position"][0:2], 0.0)
+        occupancy = ob["robot_0"]["Occupancy"]
+        occupancy_eval = evaluate_occupancy(
+            point, sensor.mesh(), occupancy, [0.2, 0.2, 1]
+        )
         print(occupancy_eval)
         history.append(ob)
     env.close()