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enable continuous action space for racecarZEDGymEnv

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disable SHARED_MEMORY connection (it was just some debug test)
This commit is contained in:
Erwin Coumans
2017-09-11 17:34:06 -07:00
parent b7e7415b46
commit 3891602784
5 changed files with 21 additions and 12 deletions
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2
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
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@@ -8,7 +8,7 @@ class BulletClient(object):
def __init__(self, connection_mode=pybullet.DIRECT): def __init__(self, connection_mode=pybullet.DIRECT):
"""Create a simulation and connect to it.""" """Create a simulation and connect to it."""
self._client = pybullet.connect(pybullet.SHARED_MEMORY) self._client = -1 #pybullet.connect(pybullet.SHARED_MEMORY)
if(self._client<0): if(self._client<0):
self._client = pybullet.connect(connection_mode) self._client = pybullet.connect(connection_mode)
self._shapes = {} self._shapes = {}

2
examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
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@@ -37,7 +37,7 @@ class KukaGymEnv(gym.Env):
self.terminated = 0 self.terminated = 0
self._p = p self._p = p
if self._renders: if self._renders:
cid = p.connect(p.SHARED_MEMORY) cid = -1 #p.connect(p.SHARED_MEMORY)
if (cid<0): if (cid<0):
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33]) p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])

23
examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py
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@@ -25,7 +25,7 @@ class RacecarZEDGymEnv(gym.Env):
urdfRoot=pybullet_data.getDataPath(), urdfRoot=pybullet_data.getDataPath(),
actionRepeat=10, actionRepeat=10,
isEnableSelfCollision=True, isEnableSelfCollision=True,
isDiscrete=True, isDiscrete=False,
renders=True): renders=True):
print("init") print("init")
self._timeStep = 0.01 self._timeStep = 0.01
@@ -52,7 +52,13 @@ class RacecarZEDGymEnv(gym.Env):
#print(observationDim) #print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim) observation_high = np.array([np.finfo(np.float32).max] * observationDim)
self.action_space = spaces.Discrete(9) if (isDiscrete):
self.action_space = spaces.Discrete(9)
else:
action_dim = 2
self._action_bound = 1
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4)) self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
self.viewer = None self.viewer = None
@@ -119,11 +125,14 @@ class RacecarZEDGymEnv(gym.Env):
basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId) basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#self._p.resetDebugVisualizerCamera(1, 30, -40, basePos) #self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
fwd = [-1,-1,-1,0,0,0,1,1,1] if (self._isDiscrete):
steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6] fwd = [-1,-1,-1,0,0,0,1,1,1]
forward = fwd[action] steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
steer = steerings[action] forward = fwd[action]
realaction = [forward,steer] steer = steerings[action]
realaction = [forward,steer]
else:
realaction = action
self._racecar.applyAction(realaction) self._racecar.applyAction(realaction)
for i in range(self._actionRepeat): for i in range(self._actionRepeat):

2
examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -39,7 +39,7 @@ class MJCFBaseBulletEnv(gym.Env):
def _reset(self): def _reset(self):
if (self.physicsClientId<0): if (self.physicsClientId<0):
self.physicsClientId = p.connect(p.SHARED_MEMORY) self.physicsClientId = -1 #p.connect(p.SHARED_MEMORY)
if (self.physicsClientId<0): if (self.physicsClientId<0):
if (self.isRender): if (self.isRender):
self.physicsClientId = p.connect(p.GUI) self.physicsClientId = p.connect(p.GUI)

4
examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py
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@@ -8,7 +8,7 @@ from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
def main(): def main():
environment = RacecarZEDGymEnv(renders=True) environment = RacecarZEDGymEnv(renders=True, isDiscrete=True)
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0) targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0) steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
@@ -37,4 +37,4 @@ def main():
print(obs) print(obs)
if __name__=="__main__": if __name__=="__main__":
main() main()