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fixes in kuka/racecar environment. kuka still doesn't train well, work-in-progress

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This commit is contained in:
Erwin Coumans
2017-11-01 18:06:47 -07:00
parent e4f58ddc33
commit 4798d66f19
8 changed files with 218 additions and 65 deletions
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15
examples/pybullet/gym/pybullet_envs/bullet/kuka.py
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@@ -25,6 +25,7 @@ class Kuka:
self.useNullSpace =21
self.useOrientation = 1
self.kukaEndEffectorIndex = 6
self.kukaGripperIndex = 7
#lower limits for null space
self.ll=[-.967,-2 ,-2.96,0.19,-2.96,-2.09,-3.05]
#upper limits for null space
@@ -76,7 +77,7 @@ class Kuka:
def getObservation(self):
observation = []
state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
state = p.getLinkState(self.kukaUid,self.kukaGripperIndex)
pos = state[0]
orn = state[1]
euler = p.getEulerFromQuaternion(orn)
@@ -106,13 +107,13 @@ class Kuka:
self.endEffectorPos[0] = self.endEffectorPos[0]+dx
if (self.endEffectorPos[0]>0.75):
self.endEffectorPos[0]=0.75
if (self.endEffectorPos[0]<0.45):
self.endEffectorPos[0]=0.45
if (self.endEffectorPos[0]>0.65):
self.endEffectorPos[0]=0.65
if (self.endEffectorPos[0]<0.50):
self.endEffectorPos[0]=0.50
self.endEffectorPos[1] = self.endEffectorPos[1]+dy
if (self.endEffectorPos[1]<-0.22):
self.endEffectorPos[1]=-0.22
if (self.endEffectorPos[1]<-0.17):
self.endEffectorPos[1]=-0.17
if (self.endEffectorPos[1]>0.22):
self.endEffectorPos[1]=0.22