Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

train_pybullet_racecar.py works, self-driving car drives towards the ball using OpenAI baselines DQN :-)

Browse Source 
See https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.
This commit is contained in:
erwincoumans
2017-06-10 18:46:36 -07:00
parent 4a7469a1ba
commit 1752aa55ca
5 changed files with 50 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/pybullet/gym/envs/bullet/racecar.py
View File

@@ -12,7 +12,7 @@ class Racecar:
def reset(self):
self.racecarUniqueId = p.loadURDF("racecar/racecar.urdf", [0,0,.2])
self.maxForce = 10
self.maxForce = 20
self.nMotors = 2
self.motorizedwheels=[2]
self.inactiveWheels = [3,5,7]
@@ -21,7 +21,7 @@ class Racecar:
self.motorizedWheels = [2]
self.steeringLinks=[4,6]
self.speedMultiplier = 10.
self.speedMultiplier = 4.
def getActionDimension(self):

35
examples/pybullet/gym/envs/bullet/racecarGymEnv.py
View File

@@ -16,9 +16,9 @@ class RacecarGymEnv(gym.Env):
def __init__(self,
urdfRoot="",
actionRepeat=1,
actionRepeat=50,
isEnableSelfCollision=True,
render=True):
renders=True):
print("init")
self._timeStep = 0.01
self._urdfRoot = urdfRoot
@@ -27,9 +27,9 @@ class RacecarGymEnv(gym.Env):
self._observation = []
self._ballUniqueId = -1
self._envStepCounter = 0
self._render = render
self._renders = renders
self._p = p
if self._render:
if self._renders:
p.connect(p.GUI)
else:
p.connect(p.DIRECT)
@@ -49,9 +49,14 @@ class RacecarGymEnv(gym.Env):
#p.setPhysicsEngineParameter(numSolverIterations=300)
p.setTimeStep(self._timeStep)
#p.loadURDF("%splane.urdf" % self._urdfRoot)
p.loadSDF("%sstadium.sdf" % self._urdfRoot)
stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
#move the stadium objects slightly above 0
for i in stadiumobjects:
pos,orn = p.getBasePositionAndOrientation(i)
newpos = [pos[0],pos[1],pos[2]+0.1]
p.resetBasePositionAndOrientation(i,newpos,orn)
dist = 1.+10.*random.random()
dist = 5 +2.*random.random()
ang = 2.*3.1415925438*random.random()
ballx = dist * math.sin(ang)
@@ -75,25 +80,29 @@ class RacecarGymEnv(gym.Env):
return [seed]
def getExtendedObservation(self):
self._observation = self._racecar.getObservation()
pos,orn = p.getBasePositionAndOrientation(self._ballUniqueId)
self._observation.extend(list(pos))
self._observation = [] #self._racecar.getObservation()
carpos,carorn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
ballpos,ballorn = p.getBasePositionAndOrientation(self._ballUniqueId)
invCarPos,invCarOrn = p.invertTransform(carpos,carorn)
ballPosInCar,ballOrnInCar = p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
return self._observation
def _step(self, action):
if (self._render):
if (self._renders):
basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#p.resetDebugVisualizerCamera(1, 30, -40, basePos)
fwd = [-1,-1,-1,0,0,0,1,1,1]
steerings = [-0.5,0,0.5,-0.5,0,0.5,-0.5,0,0.5]
fwd = [-5,-5,-5,0,0,0,5,5,5]
steerings = [-0.3,0,0.3,-0.3,0,0.3,-0.3,0,0.3]
forward = fwd[action]
steer = steerings[action]
realaction = [forward,steer]
self._racecar.applyAction(realaction)
for i in range(self._actionRepeat):
p.stepSimulation()
if self._render:
if self._renders:
time.sleep(self._timeStep)
self._observation = self.getExtendedObservation()