From 3709e68645d24a26b074f8699f0b081cda228c99 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 31 Oct 2017 16:14:20 -0700 Subject: [PATCH] fix discrete versions of kuka grasping environment should fix issue 1386 --- .../pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py | 2 +- .../gym/pybullet_envs/baselines/train_kuka_cam_grasping.py | 2 +- .../pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py b/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py index 5950a593e..1a5b7c2a8 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py +++ b/examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_grasping.py @@ -12,7 +12,7 @@ from baselines import deepq def main(): - env = KukaGymEnv(renders=True) + env = KukaGymEnv(renders=True, isDiscrete=True) act = deepq.load("kuka_model.pkl") print(act) while True: diff --git a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py b/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py index 053bc2ab2..4fd9f5a48 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py +++ b/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_cam_grasping.py @@ -25,7 +25,7 @@ def callback(lcl, glb): def main(): - env = KukaCamGymEnv(renders=True) + env = KukaCamGymEnv(renders=False, isDiscrete=True) model = deepq.models.cnn_to_mlp( convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)], hiddens=[256], diff --git a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py b/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py index 4de8130cb..932a08e77 100644 --- a/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py +++ b/examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py @@ -25,7 +25,7 @@ def callback(lcl, glb): def main(): - env = KukaGymEnv(renders=False) + env = KukaGymEnv(renders=False, isDiscrete=True) model = deepq.models.mlp([64]) act = deepq.learn( env,