UPGRADE: get_sim is moved inside SimScene. We need to call SimScene.g…

…et_sim() now. Also cleaning a bunch of stale calls

robohive/envs/env_base.py

@@ -17,7 +17,7 @@
 from robohive.utils.prompt_utils import prompt, Prompt
 import skvideo.io
 from sys import platform
-from robohive.physics.sim_scene import get_sim
+from robohive.physics.sim_scene import SimScene
 
 # TODO
 # remove rwd_mode
@@ -53,8 +53,8 @@ def __init__(self,  model_path, obsd_model_path=None, seed=None, env_credits=DEF
         self.seed(seed)
 
         # sims
-        self.sim = get_sim(model_path)
-        self.sim_obsd = get_sim(obsd_model_path) if obsd_model_path else self.sim
+        self.sim = SimScene.get_sim(model_path)
+        self.sim_obsd = SimScene.get_sim(obsd_model_path) if obsd_model_path else self.sim
         self.sim.forward()
         self.sim_obsd.forward()
         ObsVecDict.__init__(self)

robohive/envs/fm/franka_ee_pose_v0.py

@@ -8,7 +8,7 @@
 import gym
 import numpy as np
 from robohive.envs import env_base
-from robohive.physics.sim_scene import get_sim
+from robohive.physics.sim_scene import SimScene
 from robohive.utils.xml_utils import reassign_parent
 import os
 import collections
@@ -28,7 +28,7 @@ def __init__(self, model_path, obsd_model_path=None, seed=None, **kwargs):
         curr_dir = os.path.dirname(os.path.abspath(__file__))
 
         # Process model to use DManus as end effector
-        raw_sim = get_sim(curr_dir+model_path)
+        raw_sim = SimScene.get_sim(curr_dir+model_path)
         raw_xml = raw_sim.model.get_xml()
         processed_xml = reassign_parent(xml_str=raw_xml, receiver_node="panda0_link7", donor_node="ee_mount")
         processed_model_path = curr_dir+model_path[:-4]+"_processed.xml"
@@ -39,7 +39,7 @@ def __init__(self, model_path, obsd_model_path=None, seed=None, **kwargs):
         if obsd_model_path == model_path:
             processed_obsd_model_path = processed_model_path
         elif obsd_model_path:
-            raw_sim = get_sim(curr_dir+obsd_model_path)
+            raw_sim = SimScene.get_sim(curr_dir+obsd_model_path)
             raw_xml = raw_sim.model.get_xml()
             processed_xml = reassign_parent(xml_str=raw_xml, receiver_node="panda0_link7", donor_node="ee_mount")
             processed_obsd_model_path = curr_dir+obsd_model_path[:-4]+"_processed.xml"

robohive/envs/fm/franka_robotiq_data_v0.py

@@ -8,7 +8,7 @@
 import gym
 import numpy as np
 from robohive.envs import env_base
-from robohive.physics.sim_scene import get_sim
+from robohive.physics.sim_scene import SimScene
 from robohive.utils.xml_utils import reassign_parent
 import os
 import collections
@@ -26,7 +26,7 @@ def __init__(self, model_path, obsd_model_path=None, seed=None, **kwargs):
         curr_dir = os.path.dirname(os.path.abspath(__file__))
 
         # Process model to use DManus as end effector
-        raw_sim = get_sim(curr_dir+model_path)
+        raw_sim = SimScene.get_sim(curr_dir+model_path)
         raw_xml = raw_sim.model.get_xml()
         processed_xml = reassign_parent(xml_str=raw_xml, receiver_node="panda0_link7", donor_node="ee_mount")
         processed_model_path = curr_dir+model_path[:-4]+"_processed.xml"
@@ -37,7 +37,7 @@ def __init__(self, model_path, obsd_model_path=None, seed=None, **kwargs):
         if obsd_model_path == model_path:
             processed_obsd_model_path = processed_model_path
         elif obsd_model_path:
-            raw_sim = get_sim(curr_dir+obsd_model_path)
+            raw_sim = SimScene.get_sim(curr_dir+obsd_model_path)
             raw_xml = raw_sim.model.get_xml()
             processed_xml = reassign_parent(xml_str=raw_xml, receiver_node="panda0_link7", donor_node="ee_mount")
             processed_obsd_model_path = curr_dir+obsd_model_path[:-4]+"_processed.xml"

robohive/envs/myo/pen_v0.py

@@ -8,7 +8,6 @@
 import gym
 
 from robohive.envs.myo.base_v0 import BaseV0
-from robohive.envs.env_base import get_sim
 from robohive.utils.quat_math import euler2quat
 from robohive.utils.vector_math import calculate_cosine
 from os import sendfile

robohive/envs/myo/pose_v0.py

@@ -8,7 +8,6 @@
 import numpy as np
 
 from robohive.envs.myo.base_v0 import BaseV0
-from robohive.envs.env_base import get_sim
 
 class PoseEnvV0(BaseV0):
 

robohive/physics/sim_scene.py

@@ -15,15 +15,6 @@
 import os
 from robohive.renderer.renderer import Renderer
 
-# resolve  backend and return the sim
-def get_sim(model_handle: Any):
-    sim_backend = os.getenv('sim_backend')
-    if sim_backend == 'MUJOCO_PY' or sim_backend == None:
-        return SimScene.create(model_handle=model_handle, backend=SimBackend.MUJOCO_PY)
-    elif sim_backend == 'MUJOCO':
-        return SimScene.create(model_handle=model_handle, backend=SimBackend.DM_CONTROL)
-    else:
-        raise ValueError("Unknown sim_backend: {}. Available choices: MUJOCO_PY, MUJOCO")
 
 class SimBackend(enum.Enum):
     """Simulation library types."""
@@ -56,6 +47,19 @@ def create(*args, backend: Union[SimBackend, int], **kwargs) -> 'SimScene':
         else:
             raise NotImplementedError(backend)
 
+
+    # resolve  backend and return the sim
+    @staticmethod
+    def get_sim(model_handle: Any) -> 'SimScene':
+        sim_backend = os.getenv('sim_backend')
+        if sim_backend == 'MUJOCO_PY' or sim_backend == None:
+            return SimScene.create(model_handle=model_handle, backend=SimBackend.MUJOCO_PY)
+        elif sim_backend == 'MUJOCO':
+            return SimScene.create(model_handle=model_handle, backend=SimBackend.DM_CONTROL)
+        else:
+            raise ValueError("Unknown sim_backend: {}. Available choices: MUJOCO_PY, MUJOCO")
+
+
     def __init__(
             self,
             model_handle: Any,

robohive/robot/robot.py

@@ -5,7 +5,7 @@
 License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
 ================================================= """
 
-from robohive.physics.sim_scene import get_sim
+from robohive.physics.sim_scene import SimScene
 from robohive.utils.quat_math import quat2euler
 from robohive.utils.prompt_utils import prompt
 import time
@@ -71,7 +71,7 @@ def __init__(self,
         if mj_sim is None:
             # (creates new robot everytime to facilitate parallelization)
             prompt("Preparing robot-sim from %s" % model_path)
-            self.sim =get_sim(model_path=model_path)
+            self.sim =SimScene.get_sim(model_path=model_path)
         else:
             # use provided sim
             self.sim = mj_sim

robohive/sandbox/dmanus_pickplace_script.py

@@ -11,7 +11,7 @@
     - python tutorials/get_ik_minjerk_trajectory.py --sim_path envs/arms/franka/assets/franka_busbin_v0.xml\n
 """
 
-from robohive.physics.sim_scene import get_sim
+from robohive.physics.sim_scene import SimScene
 from robohive.utils.inverse_kinematics import IKResult, qpos_from_site_pose
 from robohive.utils.min_jerk import *
 from robohive.utils.quat_math import euler2quat, euler2mat
@@ -39,15 +39,15 @@ def main(sim_path, horizon, frame_skip):
 
     # Process model to use DManus as end effector
     curr_dir = os.path.dirname(os.path.abspath(__file__))
-    raw_sim = get_sim(curr_dir+sim_path)
+    raw_sim = SimScene.get_sim(curr_dir+sim_path)
     raw_xml = raw_sim.model.get_xml()
     processed_xml = reassign_parent(xml_str=raw_xml, receiver_node="panda0_link7", donor_node="ee_mount")
     processed_model_path = curr_dir+sim_path[:-4]+"_processed.xml"
     with open(processed_model_path, 'w') as file:
         file.write(processed_xml)
 
     # Prep
-    sim = get_sim(processed_model_path)
+    sim = SimScene.get_sim(processed_model_path)
     time_horizon = horizon * frame_skip * sim.model.opt.timestep
     dt = sim.model.opt.timestep*frame_skip
     os.remove(processed_model_path)

robohive/tutorials/ik_minjerk_trajectory.py

@@ -11,7 +11,7 @@
     - python tutorials/ik_minjerk_trajectory.py --sim_path envs/arms/franka/assets/franka_busbin_v0.xml\n
 """
 
-from robohive.physics.sim_scene import get_sim
+from robohive.physics.sim_scene import SimScene
 from robohive.utils.inverse_kinematics import qpos_from_site_pose
 from robohive.utils.min_jerk import *
 from robohive.utils.quat_math import euler2quat
@@ -28,7 +28,7 @@
 @click.option('-h', '--horizon', type=int, help='time (s) to simulate', default=2)
 def main(sim_path, horizon):
     # Prep
-    sim = get_sim(model_handle=sim_path)
+    sim = SimScene.get_sim(model_handle=sim_path)
 
     # setup
     target_sid = sim.model.site_name2id("drop_target")