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fix new minitaur envs for newer Gym (_step -> step etc),

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add extra sleep to sync Minitaur walk with RTC clock
This commit is contained in:
Erwin Coumans
2018-04-11 13:22:25 -07:00
parent ac945df07a
commit ad75ea35b3
2 changed files with 16 additions and 0 deletions
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10
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
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@@ -17,6 +17,7 @@ import minitaur_logging
import minitaur_logging_pb2 import minitaur_logging_pb2
import minitaur_rainbow_dash import minitaur_rainbow_dash
import motor import motor
from pkg_resources import parse_version
NUM_MOTORS = 8 NUM_MOTORS = 8
MOTOR_ANGLE_OBSERVATION_INDEX = 0 MOTOR_ANGLE_OBSERVATION_INDEX = 0
@@ -563,6 +564,13 @@ class MinitaurGymEnv(gym.Env):
""" """
return len(self._get_observation()) return len(self._get_observation())
if parse_version(gym.__version__)>=parse_version('0.9.6'):
close = _close
render = _render
reset = _reset
seed = _seed
step = _step
def set_time_step(self, control_step, simulation_step=0.001): def set_time_step(self, control_step, simulation_step=0.001):
"""Sets the time step of the environment. """Sets the time step of the environment.
@@ -604,3 +612,5 @@ class MinitaurGymEnv(gym.Env):
@property @property
def env_step_counter(self): def env_step_counter(self):
return self._env_step_counter return self._env_step_counter

6
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env_example.py
View File

@@ -9,6 +9,7 @@ import argparse
import numpy as np import numpy as np
import tensorflow as tf import tensorflow as tf
import minitaur_gym_env import minitaur_gym_env
import time
#FLAGS = flags.FLAGS #FLAGS = flags.FLAGS
@@ -53,6 +54,7 @@ def ResetPoseExample(log_path=None):
action = [math.pi / 2] * 8 action = [math.pi / 2] * 8
for _ in range(steps): for _ in range(steps):
_, _, done, _ = environment.step(action) _, _, done, _ = environment.step(action)
time.sleep(1./100.)
if done: if done:
break break
@@ -96,6 +98,7 @@ def MotorOverheatExample(log_path=None):
observation, _, _, _ = environment.step(action) observation, _, _, _ = environment.step(action)
current_row.extend(observation.tolist()) current_row.extend(observation.tolist())
actions_and_observations.append(current_row) actions_and_observations.append(current_row)
time.sleep(1./100.)
if FLAGS.output_filename is not None: if FLAGS.output_filename is not None:
WriteToCSV(FLAGS.output_filename, actions_and_observations) WriteToCSV(FLAGS.output_filename, actions_and_observations)
@@ -142,6 +145,7 @@ def SineStandExample(log_path=None):
observation, _, _, _ = environment.step(action) observation, _, _, _ = environment.step(action)
current_row.extend(observation.tolist()) current_row.extend(observation.tolist())
actions_and_observations.append(current_row) actions_and_observations.append(current_row)
time.sleep(1./100.)
if FLAGS.output_filename is not None: if FLAGS.output_filename is not None:
WriteToCSV(FLAGS.output_filename, actions_and_observations) WriteToCSV(FLAGS.output_filename, actions_and_observations)
@@ -189,6 +193,8 @@ def SinePolicyExample(log_path=None):
a4 = math.sin(t * speed + math.pi) * amplitude2 a4 = math.sin(t * speed + math.pi) * amplitude2
action = [a1, a2, a2, a1, a3, a4, a4, a3] action = [a1, a2, a2, a1, a3, a4, a4, a3]
_, reward, done, _ = environment.step(action) _, reward, done, _ = environment.step(action)
time.sleep(1./100.)
sum_reward += reward sum_reward += reward
if done: if done:
tf.logging.info("Return is {}".format(sum_reward)) tf.logging.info("Return is {}".format(sum_reward))