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reduce stack usage (cause some crashes in low-stack tests)

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fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
This commit is contained in:
Erwin Coumans
2017-06-20 20:22:14 -07:00
parent 61f27a5c72
commit 71170d6384
7 changed files with 857 additions and 33 deletions
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3
examples/pybullet/gym/envs/bullet/kuka.py
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@@ -72,9 +72,10 @@ class Kuka:
state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
pos = state[0]
orn = state[1]
euler = p.getEulerFromQuaternion(orn)
observation.extend(list(pos))
observation.extend(list(orn))
observation.extend(list(euler))
return observation

21
examples/pybullet/gym/envs/bullet/kukaGymEnv.py
View File

@@ -31,6 +31,7 @@ class KukaGymEnv(gym.Env):
self._p = p
if self._renders:
p.connect(p.GUI)
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
else:
p.connect(p.DIRECT)
#timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
@@ -52,8 +53,7 @@ class KukaGymEnv(gym.Env):
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
if self._renders:
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.5 +0.05*random.random()
@@ -78,14 +78,21 @@ class KukaGymEnv(gym.Env):
def getExtendedObservation(self):
self._observation = self._kuka.getObservation()
pos,orn = p.getBasePositionAndOrientation(self.blockUid)
self._observation.extend(list(pos))
self._observation.extend(list(orn))
eeState = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
endEffectorPos = eeState[0]
endEffectorOrn = eeState[1]
blockPos,blockOrn = p.getBasePositionAndOrientation(self.blockUid)
invEEPos,invEEOrn = p.invertTransform(endEffectorPos,endEffectorOrn)
blockPosInEE,blockOrnInEE = p.multiplyTransforms(invEEPos,invEEOrn,blockPos,blockOrn)
blockEulerInEE = p.getEulerFromQuaternion(blockOrnInEE)
self._observation.extend(list(blockPosInEE))
self._observation.extend(list(blockEulerInEE))
return self._observation
def _step(self, action):
dv = 0.002
dv = 0.01
dx = [0,-dv,dv,0,0,0,0][action]
dy = [0,0,0,-dv,dv,0,0][action]
da = [0,0,0,0,0,-0.1,0.1][action]