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pybullet support for gym.Env, including v0.9.x

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This commit is contained in:
Sam Wenke
2018-02-03 12:51:43 -05:00
parent d4b834b9f0
commit ad3c236bfd
9 changed files with 140 additions and 97 deletions
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37
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
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@@ -50,8 +50,8 @@ class RacecarGymEnv(gym.Env):
#self.reset()
observationDim = 2 #len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
# observation_high = np.array([np.finfo(np.float32).max] * observationDim)
#print(observationDim)
# observation_high = np.array([np.finfo(np.float32).max] * observationDim)
observation_high = np.ones(observationDim) * 1000 #np.inf
if (isDiscrete):
self.action_space = spaces.Discrete(9)
@@ -59,7 +59,7 @@ class RacecarGymEnv(gym.Env):
action_dim = 2
self._action_bound = 1
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high)
self.action_space = spaces.Box(-action_high, action_high)
self.observation_space = spaces.Box(-observation_high, observation_high)
self.viewer = None
@@ -74,14 +74,14 @@ class RacecarGymEnv(gym.Env):
# pos,orn = self._p.getBasePositionAndOrientation(i)
# newpos = [pos[0],pos[1],pos[2]-0.1]
# self._p.resetBasePositionAndOrientation(i,newpos,orn)
dist = 5 +2.*random.random()
ang = 2.*3.1415925438*random.random()
ballx = dist * math.sin(ang)
bally = dist * math.cos(ang)
ballz = 1
self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2.urdf"),[ballx,bally,ballz])
self._p.setGravity(0,0,-10)
self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
@@ -101,18 +101,18 @@ class RacecarGymEnv(gym.Env):
def getExtendedObservation(self):
self._observation = [] #self._racecar.getObservation()
carpos,carorn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
ballpos,ballorn = self._p.getBasePositionAndOrientation(self._ballUniqueId)
invCarPos,invCarOrn = self._p.invertTransform(carpos,carorn)
ballPosInCar,ballOrnInCar = self._p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
return self._observation
def _step(self, action):
if (self._renders):
basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
if (self._isDiscrete):
fwd = [-1,-1,-1,0,0,0,1,1,1]
steerings = [-0.6,0,0.6,-0.6,0,0.6,-0.6,0,0.6]
@@ -128,14 +128,14 @@ class RacecarGymEnv(gym.Env):
if self._renders:
time.sleep(self._timeStep)
self._observation = self.getExtendedObservation()
if self._termination():
break
self._envStepCounter += 1
reward = self._reward()
done = self._termination()
#print("len=%r" % len(self._observation))
return np.array(self._observation), reward, done, {}
def _render(self, mode='human', close=False):
@@ -159,13 +159,13 @@ class RacecarGymEnv(gym.Env):
rgb_array = rgb_array[:, :, :3]
return rgb_array
def _termination(self):
return self._envStepCounter>1000
def _reward(self):
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
closestPoints = self._p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000)
numPt = len(closestPoints)
reward=-1000
#print(numPt)
@@ -174,3 +174,8 @@ class RacecarGymEnv(gym.Env):
reward = -closestPoints[0][8]
#print(reward)
return reward
render = _render
reset = _reset
seed = _seed
step = _step