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fix gym/envs/bullet/cartpole_bullet.py (velocity hyperparameter still needs to be tuned)

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add enjoy_pybullet_cartpole.py
This commit is contained in:
Erwin Coumans
2017-06-16 17:06:11 -07:00
parent 37f5413a07
commit 40cb8006ee
2 changed files with 36 additions and 4 deletions
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11
examples/pybullet/gym/envs/bullet/cartpole_bullet.py
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@@ -25,7 +25,7 @@ class CartPoleBulletEnv(gym.Env):
def __init__(self):
# start the bullet physics server
p.connect(p.GUI)
# p.connect(p.DIRECT)
#p.connect(p.DIRECT)
observation_high = np.array([
np.finfo(np.float32).max,
np.finfo(np.float32).max,
@@ -33,7 +33,7 @@ class CartPoleBulletEnv(gym.Env):
np.finfo(np.float32).max])
action_high = np.array([0.1])
self.action_space = spaces.Box(-action_high, action_high)
self.action_space = spaces.Discrete(5)
self.observation_space = spaces.Box(-observation_high, observation_high)
self.theta_threshold_radians = 1
@@ -55,8 +55,11 @@ class CartPoleBulletEnv(gym.Env):
# time.sleep(self.timeStep)
self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
theta, theta_dot, x, x_dot = self.state
force = action
p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(action + self.state[3]))
dv = 0.4
deltav = [-2.*dv, -dv, 0, dv, 2.*dv][action]
p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
done = x < -self.x_threshold \
or x > self.x_threshold \