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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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6
examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py
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@@ -9,7 +9,7 @@ import time
def main():
environment = KukaGymEnv(renders=True,isDiscrete=False)
environment = KukaGymEnv(renders=True,isDiscrete=False, maxSteps = 10000000)
motorsIds=[]
@@ -19,7 +19,7 @@ def main():
#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
dv = 1
dv = 0.01
motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("posY",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("posZ",-dv,dv,0))
@@ -33,7 +33,7 @@ def main():
for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step(action)
state, reward, done, info = environment.step2(action)
obs = environment.getExtendedObservation()
if __name__=="__main__":

38
examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest2.py Normal file
View File

@@ -0,0 +1,38 @@
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
import time
def main():
environment = KukaGymEnv(renders=True,isDiscrete=False, maxSteps = 10000000)
motorsIds=[]
#motorsIds.append(environment._p.addUserDebugParameter("posX",-1,1,0))
#motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
#motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
dv = 1
motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("posY",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
done = False
while (not done):
action=[]
for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
if __name__=="__main__":
main()