From 4ea406c73c14a3bdb049b179dea6244818a32b1a Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 24 Jan 2018 18:21:59 -0800 Subject: [PATCH] PyBullet: improve examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py (thanks to Deirdre Quillen for the environment) Extend repeat, so gripper reaches the tray bottom. Fix near plane so Z-Buffer is visible. Add sleep in return motion, in gui mode. --- .../pybullet_envs/bullet/kuka_diverse_object_gym_env.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py b/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py index ac9829e60..b49e0d006 100644 --- a/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py @@ -21,7 +21,7 @@ class KukaDiverseObjectEnv(KukaGymEnv): def __init__(self, urdfRoot=pybullet_data.getDataPath(), - actionRepeat=50, + actionRepeat=80, isEnableSelfCollision=True, renders=False, isDiscrete=False, @@ -117,7 +117,7 @@ class KukaDiverseObjectEnv(KukaGymEnv): look, distance, yaw, pitch, roll, 2) fov = 20. + self._cameraRandom*np.random.uniform(-2, 2) aspect = self._width / self._height - near = 0.1 + near = 0.01 far = 10 self._proj_matrix = p.computeProjectionMatrixFOV( fov, aspect, near, far) @@ -254,6 +254,8 @@ class KukaDiverseObjectEnv(KukaGymEnv): grasp_action = [0, 0, 0, 0, finger_angle] self._kuka.applyAction(grasp_action) p.stepSimulation() + #if self._renders: + # time.sleep(self._timeStep) finger_angle -= 0.3/100. if finger_angle < 0: finger_angle = 0 @@ -261,6 +263,8 @@ class KukaDiverseObjectEnv(KukaGymEnv): grasp_action = [0, 0, 0.001, 0, finger_angle] self._kuka.applyAction(grasp_action) p.stepSimulation() + if self._renders: + time.sleep(self._timeStep) finger_angle -= 0.3/100. if finger_angle < 0: finger_angle = 0