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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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38
examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py
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@@ -3,12 +3,13 @@ import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir)
isDiscrete = False
from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
def main():
environment = RacecarZEDGymEnv(renders=True, isDiscrete=True)
environment = RacecarZEDGymEnv(renders=True, isDiscrete=isDiscrete)
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
@@ -16,25 +17,28 @@ def main():
while (True):
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
discreteAction = 0
if (targetVelocity<-0.33):
discreteAction=0
if (isDiscrete):
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
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
action=[targetVelocity,steeringAngle]
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")
print(obs)
#print("obs")
#print(obs)
if __name__=="__main__":
main()