Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

allow continuous control for MIT racecar gym environment, use differential drive version

Browse Source
This commit is contained in:
Erwin Coumans
2017-08-23 23:12:26 -07:00
parent 8a4f51baa4
commit f0c32b84c0
26 changed files with 374 additions and 130 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
View File

@@ -8,7 +8,7 @@ import time
import pybullet
from . import racecar
import random
import bullet_client
from . import bullet_client
class RacecarGymEnv(gym.Env):
metadata = {
@@ -20,6 +20,7 @@ class RacecarGymEnv(gym.Env):
urdfRoot="",
actionRepeat=50,
isEnableSelfCollision=True,
isDiscrete=False,
renders=False):
print("init")
self._timeStep = 0.01
@@ -30,6 +31,7 @@ class RacecarGymEnv(gym.Env):
self._ballUniqueId = -1
self._envStepCounter = 0
self._renders = renders
self._isDiscrete = isDiscrete
if self._renders:
self._p = bullet_client.BulletClient(
connection_mode=pybullet.GUI)
@@ -42,7 +44,13 @@ class RacecarGymEnv(gym.Env):
#print("observationDim")
#print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
self.action_space = spaces.Discrete(9)
if (isDiscrete):
self.action_space = spaces.Discrete(9)
else:
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.observation_space = spaces.Box(-observation_high, observation_high)
self.viewer = None
@@ -53,10 +61,10 @@ class RacecarGymEnv(gym.Env):
#self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
stadiumobjects = self._p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
#move the stadium objects slightly above 0
for i in stadiumobjects:
pos,orn = self._p.getBasePositionAndOrientation(i)
newpos = [pos[0],pos[1],pos[2]+0.1]
self._p.resetBasePositionAndOrientation(i,newpos,orn)
#for i in stadiumobjects:
# 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()
@@ -96,11 +104,15 @@ class RacecarGymEnv(gym.Env):
basePos,orn = self._p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
#self._p.resetDebugVisualizerCamera(1, 30, -40, basePos)
fwd = [-5,-5,-5,0,0,0,5,5,5]
steerings = [-0.3,0,0.3,-0.3,0,0.3,-0.3,0,0.3]
forward = fwd[action]
steer = steerings[action]
realaction = [forward,steer]
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]
forward = fwd[action]
steer = steerings[action]
realaction = [forward,steer]
else:
realaction = action
self._racecar.applyAction(realaction)
for i in range(self._actionRepeat):
self._p.stepSimulation()