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hook up kuka grasping to OpenAI dqn

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erwincoumans
2017-06-14 23:42:14 -07:00
parent d2888f0884
commit a547c8f3fc
5 changed files with 179 additions and 33 deletions
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20
examples/pybullet/gym/kukaGymEnvTest.py
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@@ -7,18 +7,26 @@ environment = KukaGymEnv(renders=True)
motorsIds=[]
motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
#motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
#motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
dv = 0.001
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("yaw",-dv,dv,0))
motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
while (True):
done = False
while (not done):
action=[]
for motorId in motorsIds:
action.append(environment._p.readUserDebugParameter(motorId))
state, reward, done, info = environment.step(action)
state, reward, done, info = environment.step2(action)
obs = environment.getExtendedObservation()