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

2
examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_racecar.py
View File

@@ -12,7 +12,7 @@ from baselines import deepq
def main():
env = RacecarGymEnv(renders=True)
env = RacecarGymEnv(renders=False,isDiscrete=True)
act = deepq.load("racecar_model.pkl")
print(act)
while True:

36
examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py
View File

@@ -5,30 +5,34 @@ parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0,parentdir)
from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
environment = RacecarGymEnv(renders=True)
isDiscrete = True
environment = RacecarGymEnv(renders=True, isDiscrete=isDiscrete)
environment.reset()
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
while (True):
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
discreteAction = 0
if (targetVelocity<-0.33):
discreteAction=0
if (isDiscrete):
discreteAction = 0
if (targetVelocity<-0.33):
discreteAction=0
else:
if (targetVelocity>0.33):
discreteAction=6
else:
discreteAction=3
if (steeringAngle>-0.17):
if (steeringAngle>0.17):
discreteAction=discreteAction+2
else:
discreteAction=discreteAction+1
action=discreteAction
else:
if (targetVelocity>0.33):
discreteAction=6
else:
discreteAction=3
if (steeringAngle>-0.17):
if (steeringAngle>0.17):
discreteAction=discreteAction+2
else:
discreteAction=discreteAction+1
action=discreteAction
action=[targetVelocity,steeringAngle]
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")

4
examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py
View File

@@ -9,7 +9,7 @@ print ("hello")
environment = RacecarZEDGymEnv(renders=True)
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
while (True):
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
@@ -27,8 +27,8 @@ while (True):
discreteAction=discreteAction+2
else:
discreteAction=discreteAction+1
action=discreteAction
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")

2
examples/pybullet/gym/pybullet_envs/examples/train_pybullet_racecar.py
View File

@@ -23,7 +23,7 @@ def callback(lcl, glb):
def main():
env = RacecarGymEnv(renders=False)
env = RacecarGymEnv(renders=False,isDiscrete=True)
model = deepq.models.mlp([64])
act = deepq.learn(
env,

2
examples/pybullet/gym/pybullet_envs/examples/train_pybullet_zed_racecar.py
View File

@@ -22,7 +22,7 @@ def callback(lcl, glb):
def main():
env = RacecarZEDGymEnv(renders=False)
env = RacecarZEDGymEnv(renders=False, isDiscrete=True)
model = deepq.models.cnn_to_mlp(
convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
hiddens=[256],