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more fixes in the pybullet gym environments: use main instead of demo_run,

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add missing main to some eaxmples.

pip install pybullet
train:
python -m pybullet_envs.examples.train_pybullet_cartpole

enjoy:
python -m pybullet_envs.examples.enjoy_pybullet_cartpole

enjoy pretrained environments:

python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HalfCheetahBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HopperBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HumanoidBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_Walker2DBulletEnv_v0_2017may

Run some gym environment test:
python -m pybullet_envs.examples.racecarGymEnvTest

Create/Import a specific Gym environment:

python
import pybullet_envs
env = gym.make("AntBulletEnv-v0")
env = gym.make("HalfCheetahBulletEnv-v0")
env = gym.make("HopperBulletEnv-v0")
env = gym.make("HumanoidBulletEnv-v0")
env = gym.make("Walker2DBulletEnv-v0")
env = gym.make("InvertedDoublePendulumBulletEnv-v0")
env = gym.make("InvertedPendulumBulletEnv-v0")
env = gym.make("MinitaurBulletEnv-v0")
env = gym.make("RacecarBulletEnv-v0")
env = gym.make("KukaBulletEnv-v0")
env = gym.make("CartPoleBulletEnv-v0")
This commit is contained in:
Erwin Coumans
2017-08-26 13:13:53 -07:00
parent b1426322ed
commit 51b7e1040f
14 changed files with 159 additions and 117 deletions
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57
examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py
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@@ -7,31 +7,34 @@ os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
import time
def main():
environment = KukaGymEnv(renders=True)
motorsIds=[]
#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
#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 = 0.001
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,-dv))
motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
done = False
while (not done):
action=[]
for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step2(action)
obs = environment.getExtendedObservation()
environment = KukaGymEnv(renders=True)
motorsIds=[]
#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
#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 = 0.001
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,-dv))
motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
done = False
while (not done):
action=[]
for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step2(action)
obs = environment.getExtendedObservation()
if __name__=="__main__":
main()