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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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10
examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py
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@@ -9,7 +9,7 @@ import time
def main():
environment = KukaGymEnv(renders=True)
environment = KukaGymEnv(renders=True,isDiscrete=False)
motorsIds=[]
@@ -19,10 +19,10 @@ def main():
#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
dv = 0.001
dv = 1
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("posZ",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
@@ -33,8 +33,8 @@ def main():
for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step2(action)
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
if __name__=="__main__":
main()
main()