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fix pybullet gym environments: InvertedDoublePendulumBulletEnv-v0,

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InvertedPendulumBulletEnv-v0, InvertedPendulumSwingupBulletEnv-v0

motors were not disabled, extra gains applied etc.
This commit is contained in:
Erwin Coumans
2017-09-15 13:09:05 -07:00
parent c220513757
commit 3d7ee317db
2 changed files with 5 additions and 7 deletions
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3
examples/pybullet/gym/pybullet_envs/robot_bases.py
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@@ -53,6 +53,7 @@ class MJCFBasedRobot:
part_name = part_name.decode("utf8") part_name = part_name.decode("utf8")
parts[part_name] = BodyPart(part_name, bodies, i, -1) parts[part_name] = BodyPart(part_name, bodies, i, -1)
for j in range(p.getNumJoints(bodies[i])): for j in range(p.getNumJoints(bodies[i])):
p.setJointMotorControl2(bodies[i],j,p.POSITION_CONTROL,positionGain=0.1,velocityGain=0.1,force=0)
_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j) _,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
joint_name = joint_name.decode("utf8") joint_name = joint_name.decode("utf8")
@@ -209,4 +210,4 @@ class Joint:
self.disable_motor() self.disable_motor()
def disable_motor(self): def disable_motor(self):
p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0) p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.POSITION_CONTROL, targetPosition=0, targetVelocity=0, positionGain=0.1, velocityGain=0.1, force=0)

7
examples/pybullet/gym/pybullet_envs/robot_pendula.py
View File

@@ -3,7 +3,6 @@ import numpy as np
class InvertedPendulum(MJCFBasedRobot): class InvertedPendulum(MJCFBasedRobot):
swingup = False swingup = False
force_gain = 12 # TODO: Try to find out why we need to scale the force
def __init__(self): def __init__(self):
MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5) MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
@@ -20,7 +19,7 @@ class InvertedPendulum(MJCFBasedRobot):
if not np.isfinite(a).all(): if not np.isfinite(a).all():
print("a is inf") print("a is inf")
a[0] = 0 a[0] = 0
self.slider.set_motor_torque( self.force_gain * 100*float(np.clip(a[0], -1, +1)) ) self.slider.set_motor_torque( 100*float(np.clip(a[0], -1, +1)) )
def calc_state(self): def calc_state(self):
self.theta, theta_dot = self.j1.current_position() self.theta, theta_dot = self.j1.current_position()
@@ -50,7 +49,6 @@ class InvertedPendulum(MJCFBasedRobot):
class InvertedPendulumSwingup(InvertedPendulum): class InvertedPendulumSwingup(InvertedPendulum):
swingup = True swingup = True
force_gain = 2.2 # TODO: Try to find out why we need to scale the force
class InvertedDoublePendulum(MJCFBasedRobot): class InvertedDoublePendulum(MJCFBasedRobot):
@@ -70,8 +68,7 @@ class InvertedDoublePendulum(MJCFBasedRobot):
def apply_action(self, a): def apply_action(self, a):
assert( np.isfinite(a).all() ) assert( np.isfinite(a).all() )
force_gain = 0.78 # TODO: Try to find out why we need to scale the force self.slider.set_motor_torque( 200*float(np.clip(a[0], -1, +1)) )
self.slider.set_motor_torque( force_gain *200*float(np.clip(a[0], -1, +1)) )
def calc_state(self): def calc_state(self):
theta, theta_dot = self.j1.current_position() theta, theta_dot = self.j1.current_position()