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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2018-02-15 14:31:34 -08:00
parent cf4a0a3503
commit 36dcabbaf5
50 changed files with 332 additions and 138 deletions
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71
examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
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@@ -13,6 +13,7 @@ import pybullet as p
from . import kuka
import random
import pybullet_data
from pkg_resources import parse_version
largeValObservation = 100
@@ -44,7 +45,7 @@ class KukaGymEnv(gym.Env):
self._maxSteps = maxSteps
self.terminated = 0
self._cam_dist = 1.3
self._cam_yaw = 180
self._cam_yaw = 180
self._cam_pitch = -40
self._p = p
@@ -61,8 +62,8 @@ class KukaGymEnv(gym.Env):
observationDim = len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
observation_high = np.array([largeValObservation] * observationDim)
observation_high = np.array([largeValObservation] * observationDim)
if (self._isDiscrete):
self.action_space = spaces.Discrete(7)
else:
@@ -80,15 +81,15 @@ class KukaGymEnv(gym.Env):
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.55 +0.12*random.random()
ypos = 0 +0.2*random.random()
ang = 3.14*0.5+3.1415925438*random.random()
orn = p.getQuaternionFromEuler([0,0,ang])
self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.15,orn[0],orn[1],orn[2],orn[3])
p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0
@@ -115,7 +116,7 @@ class KukaGymEnv(gym.Env):
dir0 = [gripperMat[0],gripperMat[3],gripperMat[6]]
dir1 = [gripperMat[1],gripperMat[4],gripperMat[7]]
dir2 = [gripperMat[2],gripperMat[5],gripperMat[8]]
gripperEul = p.getEulerFromQuaternion(gripperOrn)
#print("gripperEul")
#print(gripperEul)
@@ -126,17 +127,17 @@ class KukaGymEnv(gym.Env):
#print(projectedBlockPos2D)
#print("blockEulerInGripper")
#print(blockEulerInGripper)
#we return the relative x,y position and euler angle of block in gripper space
blockInGripperPosXYEulZ =[blockPosInGripper[0],blockPosInGripper[1],blockEulerInGripper[2]]
#p.addUserDebugLine(gripperPos,[gripperPos[0]+dir0[0],gripperPos[1]+dir0[1],gripperPos[2]+dir0[2]],[1,0,0],lifeTime=1)
#p.addUserDebugLine(gripperPos,[gripperPos[0]+dir1[0],gripperPos[1]+dir1[1],gripperPos[2]+dir1[2]],[0,1,0],lifeTime=1)
#p.addUserDebugLine(gripperPos,[gripperPos[0]+dir2[0],gripperPos[1]+dir2[1],gripperPos[2]+dir2[2]],[0,0,1],lifeTime=1)
self._observation.extend(list(blockInGripperPosXYEulZ))
return self._observation
def _step(self, action):
if (self._isDiscrete):
dv = 0.005
@@ -154,7 +155,7 @@ class KukaGymEnv(gym.Env):
f = 0.3
realAction = [dx,dy,-0.002,da,f]
return self.step2( realAction)
def step2(self, action):
for i in range(self._actionRepeat):
self._kuka.applyAction(action)
@@ -168,7 +169,7 @@ class KukaGymEnv(gym.Env):
#print("self._envStepCounter")
#print(self._envStepCounter)
done = self._termination()
npaction = np.array([action[3]]) #only penalize rotation until learning works well [action[0],action[1],action[3]])
actionCost = np.linalg.norm(npaction)*10.
@@ -177,14 +178,15 @@ class KukaGymEnv(gym.Env):
reward = self._reward()-actionCost
#print("reward")
#print(reward)
#print("len=%r" % len(self._observation))
return np.array(self._observation), reward, done, {}
def _render(self, mode="rgb_array", close=False):
if mode != "rgb_array":
return np.array([])
base_pos,orn = self._p.getBasePositionAndOrientation(self._kuka.kukaUid)
view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
cameraTargetPosition=base_pos,
@@ -199,7 +201,12 @@ class KukaGymEnv(gym.Env):
(_, _, px, _, _) = self._p.getCameraImage(
width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=self._p.ER_BULLET_HARDWARE_OPENGL)
rgb_array = np.array(px)
#renderer=self._p.ER_TINY_RENDERER)
rgb_array = np.array(px, dtype=np.uint8)
rgb_array = np.reshape(rgb_array, (RENDER_WIDTH, RENDER_HEIGHT, 4))
rgb_array = rgb_array[:, :, :3]
return rgb_array
@@ -208,18 +215,18 @@ class KukaGymEnv(gym.Env):
#print (self._kuka.endEffectorPos[2])
state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
actualEndEffectorPos = state[0]
#print("self._envStepCounter")
#print(self._envStepCounter)
if (self.terminated or self._envStepCounter>self._maxSteps):
self._observation = self.getExtendedObservation()
return True
maxDist = 0.005
maxDist = 0.005
closestPoints = p.getClosestPoints(self._kuka.trayUid, self._kuka.kukaUid,maxDist)
if (len(closestPoints)):#(actualEndEffectorPos[2] <= -0.43):
self.terminated = 1
#print("terminating, closing gripper, attempting grasp")
#start grasp and terminate
fingerAngle = 0.3
@@ -230,7 +237,7 @@ class KukaGymEnv(gym.Env):
fingerAngle = fingerAngle-(0.3/100.)
if (fingerAngle<0):
fingerAngle=0
for i in range (1000):
graspAction = [0,0,0.001,0,fingerAngle]
self._kuka.applyAction(graspAction)
@@ -245,19 +252,19 @@ class KukaGymEnv(gym.Env):
if (actualEndEffectorPos[2]>0.5):
break
self._observation = self.getExtendedObservation()
return True
return False
def _reward(self):
#rewards is height of target object
blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000, -1, self._kuka.kukaEndEffectorIndex)
reward = -1000
numPt = len(closestPoints)
#print(numPt)
if (numPt>0):
@@ -276,10 +283,8 @@ class KukaGymEnv(gym.Env):
#print(reward)
return reward
def reset(self):
"""Resets the state of the environment and returns an initial observation.
Returns: observation (object): the initial observation of the
space.
"""
return self._reset()
if parse_version(gym.__version__)>=parse_version('0.9.6'):
render = _render
reset = _reset
seed = _seed
step = _step