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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
Download Patch File Download Diff File Expand all files Collapse all files

7
examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
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@@ -1,3 +1,4 @@
import os
import math import math
import gym import gym
from gym import spaces from gym import spaces
@@ -52,15 +53,15 @@ class KukaGymEnv(gym.Env):
p.resetSimulation() p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150) p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep) p.setTimeStep(self._timeStep)
p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1]) p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"),[0,0,-1])
p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0) p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.5 +0.05*random.random() xpos = 0.5 +0.05*random.random()
ypos = 0 +0.05*random.random() ypos = 0 +0.05*random.random()
ang = 3.1415925438*random.random() ang = 3.1415925438*random.random()
orn = p.getQuaternionFromEuler([0,0,ang]) orn = p.getQuaternionFromEuler([0,0,ang])
self.blockUid =p.loadURDF("block.urdf", xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3]) self.blockUid =p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
p.setGravity(0,0,-10) p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep) self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)

23
examples/pybullet/gym/pybullet_envs/examples/__init__.py
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@@ -0,0 +1,23 @@
from . import enjoy_TF_AntBulletEnv_v0_2017may
from . import enjoy_TF_HalfCheetahBulletEnv_v0_2017may
from . import enjoy_TF_AntBulletEnv_v0_2017may
from . import enjoy_TF_HopperBulletEnv_v0_2017may
from . import enjoy_TF_HumanoidBulletEnv_v0_2017may
from . import enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may
from . import enjoy_TF_InvertedPendulumBulletEnv_v0_2017may
from . import enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may
from . import enjoy_TF_Walker2DBulletEnv_v0_2017may
from . import enjoy_kuka_grasping
from . import enjoy_pybullet_cartpole
from . import enjoy_pybullet_racecar
from . import enjoy_pybullet_zed_racecar
from . import kukaGymEnvTest
from . import racecarGymEnvTest
from . import racecarZEDGymEnvTest
from . import simpleHumanoidGymEnvTest
from . import train_kuka_cam_grasping
from . import train_kuka_grasping
from . import train_pybullet_cartpole
from . import train_pybullet_racecar
from . import train_pybullet_zed_racecar

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
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@@ -28,7 +28,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
env = gym.make("AntBulletEnv-v0") env = gym.make("AntBulletEnv-v0")
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
@@ -311,4 +311,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ -0.0680, +0.1401, -0.0628, -0.1317, +0.1489, +0.1844, -0.1147, +0.0137]) weights_final_b = np.array([ -0.0680, +0.1401, -0.0628, -0.1317, +0.1489, +0.1844, -0.1147, +0.0137])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
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@@ -27,7 +27,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
env = gym.make("HalfCheetahBulletEnv-v0") env = gym.make("HalfCheetahBulletEnv-v0")
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
@@ -311,4 +311,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ +0.1367, +0.1107, -0.0148, +0.1158, -0.0820, +0.3047]) weights_final_b = np.array([ +0.1367, +0.1107, -0.0148, +0.1158, -0.0820, +0.3047])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py
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@@ -30,7 +30,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
env = gym.make("HopperBulletEnv-v0") env = gym.make("HopperBulletEnv-v0")
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
@@ -301,4 +301,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ +0.4868, -0.0987, -0.0946]) weights_final_b = np.array([ +0.4868, -0.0987, -0.0946])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
View File

@@ -28,7 +28,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
env = gym.make("HumanoidBulletEnv-v0") env = gym.make("HumanoidBulletEnv-v0")
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
@@ -517,4 +517,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ -0.0356, +0.0776, -0.0344, +0.1375, +0.1048, +0.3648, +0.3240, +0.1319, +0.1161, +0.3373, +0.3193, +0.0120, +0.0253, -0.2434, -0.1291, +0.1042, -0.2448]) weights_final_b = np.array([ -0.0356, +0.0776, -0.0344, +0.1375, +0.1048, +0.3648, +0.3240, +0.1319, +0.1161, +0.3373, +0.3193, +0.0120, +0.0253, -0.2434, -0.1291, +0.1042, -0.2448])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
View File

@@ -27,7 +27,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
env = gym.make("InvertedDoublePendulumBulletEnv-v0") env = gym.make("InvertedDoublePendulumBulletEnv-v0")
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
@@ -179,4 +179,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ +0.0190]) weights_final_b = np.array([ +0.0190])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
View File

@@ -27,7 +27,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
print("create env") print("create env")
env = gym.make("InvertedPendulumBulletEnv-v0") env = gym.make("InvertedPendulumBulletEnv-v0")
print("connecting") print("connecting")
@@ -174,4 +174,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ +0.0352]) weights_final_b = np.array([ +0.0352])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
View File

@@ -27,7 +27,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
env = gym.make("InvertedPendulumSwingupBulletEnv-v0") env = gym.make("InvertedPendulumSwingupBulletEnv-v0")
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
@@ -175,4 +175,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ +0.2753]) weights_final_b = np.array([ +0.2753])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

4
examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
View File

@@ -27,7 +27,7 @@ class SmallReactivePolicy:
x = np.dot(x, weights_final_w) + weights_final_b x = np.dot(x, weights_final_w) + weights_final_b
return x return x
def demo_run(): def main():
env = gym.make("Walker2DBulletEnv-v0") env = gym.make("Walker2DBulletEnv-v0")
cid = p.connect(p.GUI) cid = p.connect(p.GUI)
@@ -305,4 +305,4 @@ weights_final_w = np.array([
weights_final_b = np.array([ +0.0090, +0.2404, +0.1022, +0.1035, +0.0621, -0.0160]) weights_final_b = np.array([ +0.0090, +0.2404, +0.1022, +0.1035, +0.0621, -0.0160])
if __name__=="__main__": if __name__=="__main__":
demo_run() main()

43
examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py
View File

@@ -7,31 +7,34 @@ os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
import time import time
def main():
environment = KukaGymEnv(renders=True) environment = KukaGymEnv(renders=True)
motorsIds=[] motorsIds=[]
#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537)) #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("posY",-.22,.3,0.0))
#motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2)) #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("yaw",-3.14,3.14,0))
#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3)) #motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
dv = 0.001 dv = 0.001
motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0)) motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("posY",-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("posZ",-dv,dv,-dv))
motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0)) motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3)) motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
done = False done = False
while (not done): while (not done):
action=[] action=[]
for motorId in motorsIds: for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId)) action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step2(action) state, reward, done, info = environment.step2(action)
obs = environment.getExtendedObservation() obs = environment.getExtendedObservation()
if __name__=="__main__":
main()

61
examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py
View File

@@ -7,33 +7,38 @@ os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
isDiscrete = False isDiscrete = False
environment = RacecarGymEnv(renders=True, isDiscrete=isDiscrete) def main():
environment.reset()
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0) environment = RacecarGymEnv(renders=True, isDiscrete=isDiscrete)
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0) environment.reset()
while (True): targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider) steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
if (isDiscrete): while (True):
discreteAction = 0 targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
if (targetVelocity<-0.33): steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
discreteAction=0 if (isDiscrete):
else: discreteAction = 0
if (targetVelocity>0.33): if (targetVelocity<-0.33):
discreteAction=6 discreteAction=0
else: else:
discreteAction=3 if (targetVelocity>0.33):
if (steeringAngle>-0.17): discreteAction=6
if (steeringAngle>0.17): else:
discreteAction=discreteAction+2 discreteAction=3
else: if (steeringAngle>-0.17):
discreteAction=discreteAction+1 if (steeringAngle>0.17):
action=discreteAction discreteAction=discreteAction+2
else: else:
action=[targetVelocity,steeringAngle] discreteAction=discreteAction+1
state, reward, done, info = environment.step(action) action=discreteAction
obs = environment.getExtendedObservation() else:
print("obs") action=[targetVelocity,steeringAngle]
print(obs) state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")
print(obs)
if __name__=="__main__":
main()

55
examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py
View File

@@ -5,31 +5,36 @@ parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir) os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
print ("hello")
environment = RacecarZEDGymEnv(renders=True)
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0) def main():
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
while (True): environment = RacecarZEDGymEnv(renders=True)
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
discreteAction = 0
if (targetVelocity<-0.33):
discreteAction=0
else:
if (targetVelocity>0.33):
discreteAction=6
else:
discreteAction=3
if (steeringAngle>-0.17):
if (steeringAngle>0.17):
discreteAction=discreteAction+2
else:
discreteAction=discreteAction+1
action=discreteAction
state, reward, done, info = environment.step(action) targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
obs = environment.getExtendedObservation() steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
print("obs")
print(obs) while (True):
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
discreteAction = 0
if (targetVelocity<-0.33):
discreteAction=0
else:
if (targetVelocity>0.33):
discreteAction=6
else:
discreteAction=3
if (steeringAngle>-0.17):
if (steeringAngle>0.17):
discreteAction=discreteAction+2
else:
discreteAction=discreteAction+1
action=discreteAction
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")
print(obs)
if __name__=="__main__":
main()

33
examples/pybullet/gym/pybullet_envs/examples/simpleHumanoidGymEnvTest.py
View File

@@ -5,22 +5,27 @@ parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir) os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
print ("hello")
environment = SimpleHumanoidGymEnv(renders=True)
environment._p.setGravity(0,0,0) def main():
motorsIds=[] environment = SimpleHumanoidGymEnv(renders=True)
for motor in environment._humanoid.motor_names:
motorsIds.append(environment._p.addUserDebugParameter(motor,-1,1,0))
while (True): environment._p.setGravity(0,0,0)
action=[] motorsIds=[]
for motorId in motorsIds: for motor in environment._humanoid.motor_names:
action.append(environment._p.readUserDebugParameter(motorId)) motorsIds.append(environment._p.addUserDebugParameter(motor,-1,1,0))
state, reward, done, info = environment.step(action) while (True):
obs = environment.getExtendedObservation()
print("obs") action=[]
print(obs) for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")
print(obs)
if __name__=="__main__":
main()