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fix in minitaur.py and add render function in minitaur_gym_env.py

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Erwin Coumans
2017-08-28 19:28:20 -07:00
parent 04e7ebbe80
commit 029b4debad
2 changed files with 23 additions and 4 deletions
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2
examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
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@@ -467,7 +467,7 @@ class Minitaur(object):
motor_angle = copy.deepcopy(actions) motor_angle = copy.deepcopy(actions)
scale_for_singularity = 1 scale_for_singularity = 1
offset_for_singularity = 1.5 offset_for_singularity = 1.5
half_num_motors = self.num_motors / 2 half_num_motors = int(self.num_motors / 2)
quater_pi = math.pi / 4 quater_pi = math.pi / 4
for i in range(self.num_motors): for i in range(self.num_motors):
action_idx = i // 2 action_idx = i // 2

25
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
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@@ -28,7 +28,8 @@ MOTOR_TORQUE_OBSERVATION_INDEX = MOTOR_VELOCITY_OBSERVATION_INDEX + NUM_MOTORS
BASE_ORIENTATION_OBSERVATION_INDEX = MOTOR_TORQUE_OBSERVATION_INDEX + NUM_MOTORS BASE_ORIENTATION_OBSERVATION_INDEX = MOTOR_TORQUE_OBSERVATION_INDEX + NUM_MOTORS
ACTION_EPS = 0.01 ACTION_EPS = 0.01
OBSERVATION_EPS = 0.01 OBSERVATION_EPS = 0.01
RENDER_HEIGHT = 720
RENDER_WIDTH = 960
class MinitaurBulletEnv(gym.Env): class MinitaurBulletEnv(gym.Env):
"""The gym environment for the minitaur. """The gym environment for the minitaur.
@@ -258,8 +259,26 @@ class MinitaurBulletEnv(gym.Env):
done = self._termination() done = self._termination()
return np.array(self._noisy_observation()), reward, done, {} return np.array(self._noisy_observation()), reward, done, {}
def _render(self, mode="human", close=False): def _render(self, mode="rgb_array", close=False):
return if mode != "rgb_array":
return np.array([])
base_pos = self.minitaur.GetBasePosition()
view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
distance=self._cam_dist,
yaw=self._cam_yaw,
pitch=self._cam_pitch,
roll=0,
upAxisIndex=2)
proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(
fov=60, aspect=float(RENDER_WIDTH)/RENDER_HEIGHT,
nearVal=0.1, farVal=100.0)
(_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix)
rgb_array = np.array(px)
rgb_array = rgb_array[:, :, :3]
return rgb_array
def get_minitaur_motor_angles(self): def get_minitaur_motor_angles(self):
"""Get the minitaur's motor angles. """Get the minitaur's motor angles.