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add continuous versions of kukaGymEnv, kukaCamGymEnv, racecarZEDGymEnv etc.

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should be trainable with PPO or evolution strategies (ES) now
This commit is contained in:
Erwin Coumans
2017-10-31 15:50:34 -07:00
parent 32312e60a8
commit 55f5e52ecd
8 changed files with 172 additions and 96 deletions
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16
examples/pybullet/gym/pybullet_envs/bullet/kuka.py
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@@ -17,12 +17,12 @@ class Kuka:
self.timeStep = timeStep
self.maxForce = 200.
self.fingerAForce = 6
self.fingerBForce = 5.5
self.fingerTipForce = 6
self.fingerAForce = 2
self.fingerBForce = 2.5
self.fingerTipForce = 2
self.useInverseKinematics = 1
self.useSimulation = 1
self.useNullSpace = 1
self.useNullSpace =21
self.useOrientation = 1
self.kukaEndEffectorIndex = 6
#lower limits for null space
@@ -120,10 +120,8 @@ class Kuka:
#print (self.endEffectorPos[2])
#print("actualEndEffectorPos[2]")
#print(actualEndEffectorPos[2])
if (dz>0 or actualEndEffectorPos[2]>0.10):
self.endEffectorPos[2] = self.endEffectorPos[2]+dz
if (actualEndEffectorPos[2]<0.10):
self.endEffectorPos[2] = self.endEffectorPos[2]+0.0001
#if (dz<0 or actualEndEffectorPos[2]<0.5):
self.endEffectorPos[2] = self.endEffectorPos[2]+dz
self.endEffectorAngle = self.endEffectorAngle + da
@@ -147,7 +145,7 @@ class Kuka:
if (self.useSimulation):
for i in range (self.kukaEndEffectorIndex+1):
#print(i)
p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.03,velocityGain=1)
p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.3,velocityGain=1)
else:
#reset the joint state (ignoring all dynamics, not recommended to use during simulation)
for i in range (self.numJoints):