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update to the latest agent and environment.

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This commit is contained in:
Jie Tan
2017-05-24 11:20:42 -07:00
parent 18fd1a003f
commit 1d0db4ec2e
9 changed files with 24 additions and 12 deletions
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6
examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
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@@ -16,10 +16,14 @@ class MinitaurGymEnv(gym.Env):
def __init__(self,
urdfRoot="",
actionRepeat=1,
isEnableSelfCollision=True,
motorVelocityLimit=10.0,
render=False):
self._timeStep = 0.01
self._urdfRoot = urdfRoot
self._actionRepeat = actionRepeat
self._motorVelocityLimit = motorVelocityLimit
self._isEnableSelfCollision = isEnableSelfCollision
self._observation = []
self._envStepCounter = 0
self._render = render
@@ -44,7 +48,7 @@ class MinitaurGymEnv(gym.Env):
p.setTimeStep(self._timeStep)
p.loadURDF("%splane.urdf" % self._urdfRoot)
p.setGravity(0,0,-10)
self._minitaur = minitaur_new.Minitaur(self._urdfRoot)
self._minitaur = minitaur_new.Minitaur(urdfRootPath=self._urdfRoot, timeStep=self._timeStep, isEnableSelfCollision=self._isEnableSelfCollision, motorVelocityLimit=self._motorVelocityLimit)
self._envStepCounter = 0
self._lastBasePosition = [0, 0, 0]
for i in range(100):

18
examples/pybullet/gym/envs/bullet/minitaur_new.py
View File

@@ -4,8 +4,12 @@ import copy
import math
class Minitaur:
def __init__(self, urdfRootPath=''):
def __init__(self, urdfRootPath='', timeStep=0.01, isEnableSelfCollision=True, motorVelocityLimit=10.0):
self.urdfRootPath = urdfRootPath
self.isEnableSelfCollision = isEnableSelfCollision
self.motorVelocityLimit = motorVelocityLimit
self.timeStep = timeStep
self.reset()
def buildJointNameToIdDict(self):
@@ -27,8 +31,10 @@ class Minitaur:
self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
def reset(self):
# self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2], flags=p.URDF_USE_SELF_COLLISION)
self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2])
if self.isEnableSelfCollision:
self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2], flags=p.URDF_USE_SELF_COLLISION)
else:
self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2])
self.kp = 1
self.kd = 1
self.maxForce = 3.5
@@ -116,11 +122,15 @@ class Minitaur:
observation.extend(self.getMotorVelocities().tolist())
observation.extend(self.getMotorTorques().tolist())
observation.extend(list(self.getBaseOrientation()))
observation.extend(list(self.getBasePosition()))
return observation
def applyAction(self, motorCommands):
if self.motorVelocityLimit < np.inf:
currentMotorAngle = self.getMotorAngles()
motorCommandsMax = currentMotorAngle + self.timeStep * self.motorVelocityLimit
motorCommandsMin = currentMotorAngle - self.timeStep * self.motorVelocityLimit
motorCommands = np.clip(motorCommands, motorCommandsMin, motorCommandsMax)
motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
# print('action: {}'.format(motorCommands))
# print('motor: {}'.format(motorCommandsWithDir))