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PyBullet: improve examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py

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(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.
This commit is contained in:
erwincoumans
2018-01-24 18:21:59 -08:00
parent 72ec3effe6
commit 4ea406c73c
1 changed files with 6 additions and 2 deletions
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8
examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
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@@ -21,7 +21,7 @@ class KukaDiverseObjectEnv(KukaGymEnv):
def __init__(self, def __init__(self,
urdfRoot=pybullet_data.getDataPath(), urdfRoot=pybullet_data.getDataPath(),
actionRepeat=50, actionRepeat=80,
isEnableSelfCollision=True, isEnableSelfCollision=True,
renders=False, renders=False,
isDiscrete=False, isDiscrete=False,
@@ -117,7 +117,7 @@ class KukaDiverseObjectEnv(KukaGymEnv):
look, distance, yaw, pitch, roll, 2) look, distance, yaw, pitch, roll, 2)
fov = 20. + self._cameraRandom*np.random.uniform(-2, 2) fov = 20. + self._cameraRandom*np.random.uniform(-2, 2)
aspect = self._width / self._height aspect = self._width / self._height
near = 0.1 near = 0.01
far = 10 far = 10
self._proj_matrix = p.computeProjectionMatrixFOV( self._proj_matrix = p.computeProjectionMatrixFOV(
fov, aspect, near, far) fov, aspect, near, far)
@@ -254,6 +254,8 @@ class KukaDiverseObjectEnv(KukaGymEnv):
grasp_action = [0, 0, 0, 0, finger_angle] grasp_action = [0, 0, 0, 0, finger_angle]
self._kuka.applyAction(grasp_action) self._kuka.applyAction(grasp_action)
p.stepSimulation() p.stepSimulation()
#if self._renders:
# time.sleep(self._timeStep)
finger_angle -= 0.3/100. finger_angle -= 0.3/100.
if finger_angle < 0: if finger_angle < 0:
finger_angle = 0 finger_angle = 0
@@ -261,6 +263,8 @@ class KukaDiverseObjectEnv(KukaGymEnv):
grasp_action = [0, 0, 0.001, 0, finger_angle] grasp_action = [0, 0, 0.001, 0, finger_angle]
self._kuka.applyAction(grasp_action) self._kuka.applyAction(grasp_action)
p.stepSimulation() p.stepSimulation()
if self._renders:
time.sleep(self._timeStep)
finger_angle -= 0.3/100. finger_angle -= 0.3/100.
if finger_angle < 0: if finger_angle < 0:
finger_angle = 0 finger_angle = 0