Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add continuous versions of kukaGymEnv, kukaCamGymEnv, racecarZEDGymEnv etc.

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

15
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
View File

@@ -32,6 +32,9 @@ OBSERVATION_EPS = 0.01
RENDER_HEIGHT = 720
RENDER_WIDTH = 960
duckStartPos = [0,0,0.25]
duckStartOrn = [0.5,0.5,0.5,0.5]
class MinitaurBulletEnv(gym.Env):
"""The gym environment for the minitaur.
@@ -133,6 +136,7 @@ class MinitaurBulletEnv(gym.Env):
self._on_rack = on_rack
self._cam_dist = 1.0
self._cam_yaw = 0
self._duckId = -1
self._cam_pitch = -30
self._hard_reset = True
self._kd_for_pd_controllers = kd_for_pd_controllers
@@ -176,7 +180,8 @@ class MinitaurBulletEnv(gym.Env):
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=int(self._num_bullet_solver_iterations))
self._pybullet_client.setTimeStep(self._time_step)
self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root)
self._groundId = self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root)
self._duckId = self._pybullet_client.loadURDF("%s/duck_vhacd.urdf" % self._urdf_root,duckStartPos,duckStartOrn)
self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection
@@ -196,7 +201,7 @@ class MinitaurBulletEnv(gym.Env):
kd_for_pd_controllers=self._kd_for_pd_controllers))
else:
self.minitaur.Reset(reload_urdf=False)
self._pybullet_client.resetBasePositionAndOrientation(self._duckId,duckStartPos,duckStartOrn)
if self._env_randomizer is not None:
self._env_randomizer.randomize_env(self)
@@ -322,6 +327,10 @@ class MinitaurBulletEnv(gym.Env):
"""
return np.array(self._observation[BASE_ORIENTATION_OBSERVATION_INDEX:])
def lost_duck(self):
points = self._pybullet_client.getContactPoints(self._duckId, self._groundId);
return len(points)>0
def is_fallen(self):
"""Decide whether the minitaur has fallen.
@@ -342,7 +351,7 @@ class MinitaurBulletEnv(gym.Env):
def _termination(self):
position = self.minitaur.GetBasePosition()
distance = math.sqrt(position[0]**2 + position[1]**2)
return self.is_fallen() or distance > self._distance_limit
return self.lost_duck() or self.is_fallen() or distance > self._distance_limit
def _reward(self):
current_base_position = self.minitaur.GetBasePosition()