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Merge pull request #1308 from benelot/fix-gyms

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Fix gyms to make them work just like robotschool
This commit is contained in:
erwincoumans
2017-09-14 07:40:51 -07:00
committed by GitHub
parent d2d9e7750f 3f57fb655a
commit ffb05d74da
4 changed files with 24 additions and 31 deletions
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36
examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@@ -152,23 +152,25 @@ class Humanoid(WalkerBase):
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"] self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75] self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names] self.motors = [self.jdict[n] for n in self.motor_names]
# if self.random_yaw: # TODO: Make leaning work as soon as the rest works if self.random_yaw:
# cpose = cpp_household.Pose() position = [0,0,0]
# yaw = self.np_random.uniform(low=-3.14, high=3.14) orientation = [0,0,0]
# if self.random_lean and self.np_random.randint(2)==0: yaw = self.np_random.uniform(low=-3.14, high=3.14)
# cpose.set_xyz(0, 0, 1.4) if self.random_lean and self.np_random.randint(2)==0:
# if self.np_random.randint(2)==0: cpose.set_xyz(0, 0, 1.4)
# pitch = np.pi/2 if self.np_random.randint(2)==0:
# cpose.set_xyz(0, 0, 0.45) pitch = np.pi/2
# else: position = [0, 0, 0.45]
# pitch = np.pi*3/2 else:
# cpose.set_xyz(0, 0, 0.25) pitch = np.pi*3/2
# roll = 0 position = [0, 0, 0.25]
# cpose.set_rpy(roll, pitch, yaw) roll = 0
# else: orientation = [roll, pitch, yaw]
# cpose.set_xyz(0, 0, 1.4) else:
# cpose.set_rpy(0, 0, yaw) # just face random direction, but stay straight otherwise position = [0, 0, 1.4]
# self.cpp_robot.set_pose_and_speed(cpose, 0,0,0) orientation = [0, 0, yaw] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(orientation)
self.initial_z = 0.8 self.initial_z = 0.8
random_yaw = False random_yaw = False

11
examples/pybullet/gym/pybullet_envs/robot_pendula.py
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@@ -3,7 +3,6 @@ import numpy as np
class InvertedPendulum(MJCFBasedRobot): class InvertedPendulum(MJCFBasedRobot):
swingup = False swingup = False
force_gain = 12 # TODO: Try to find out why we need to scale the force
def __init__(self): def __init__(self):
MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5) MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
@@ -16,16 +15,16 @@ class InvertedPendulum(MJCFBasedRobot):
self.j1.set_motor_torque(0) self.j1.set_motor_torque(0)
def apply_action(self, a): def apply_action(self, a):
#assert( np.isfinite(a).all() ) assert( np.isfinite(a).all() )
if not np.isfinite(a).all(): if not np.isfinite(a).all():
print("a is inf") print("a is inf")
a[0] = 0 a[0] = 0
self.slider.set_motor_torque( self.force_gain * 100*float(np.clip(a[0], -1, +1)) ) self.slider.set_motor_torque( 100*float(np.clip(a[0], -1, +1)) )
def calc_state(self): def calc_state(self):
self.theta, theta_dot = self.j1.current_position() self.theta, theta_dot = self.j1.current_position()
x, vx = self.slider.current_position() x, vx = self.slider.current_position()
#assert( np.isfinite(x) ) assert( np.isfinite(x) )
if not np.isfinite(x): if not np.isfinite(x):
print("x is inf") print("x is inf")
@@ -50,7 +49,6 @@ class InvertedPendulum(MJCFBasedRobot):
class InvertedPendulumSwingup(InvertedPendulum): class InvertedPendulumSwingup(InvertedPendulum):
swingup = True swingup = True
force_gain = 2.2 # TODO: Try to find out why we need to scale the force
class InvertedDoublePendulum(MJCFBasedRobot): class InvertedDoublePendulum(MJCFBasedRobot):
@@ -70,8 +68,7 @@ class InvertedDoublePendulum(MJCFBasedRobot):
def apply_action(self, a): def apply_action(self, a):
assert( np.isfinite(a).all() ) assert( np.isfinite(a).all() )
force_gain = 0.78 # TODO: Try to find out why we need to scale the force self.slider.set_motor_torque( 200*float(np.clip(a[0], -1, +1)) )
self.slider.set_motor_torque( force_gain *200*float(np.clip(a[0], -1, +1)) )
def calc_state(self): def calc_state(self):
theta, theta_dot = self.j1.current_position() theta, theta_dot = self.j1.current_position()

6
examples/pybullet/gym/pybullet_envs/scene_abstract.py
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@@ -15,10 +15,6 @@ class Scene:
self.dt = self.timestep * self.frame_skip self.dt = self.timestep * self.frame_skip
self.cpp_world = World(gravity, timestep, frame_skip) self.cpp_world = World(gravity, timestep, frame_skip)
#self.cpp_world.set_glsl_path(os.path.join(os.path.dirname(__file__), "cpp-household/glsl"))
#self.big_caption = self.cpp_world.test_window_big_caption # that's a function you can call
#self.console_print = self.cpp_world.test_window_print # this too
self.test_window_still_open = True # or never opened self.test_window_still_open = True # or never opened
self.human_render_detected = False # if user wants render("human"), we open test window self.human_render_detected = False # if user wants render("human"), we open test window
@@ -52,8 +48,6 @@ class Scene:
The idea is: apply motor torques for all robots, then call global_step(), then collect The idea is: apply motor torques for all robots, then call global_step(), then collect
observations from robots using step() with the same action. observations from robots using step() with the same action.
""" """
#if self.human_render_detected:
# self.test_window_still_open = self.cpp_world.test_window()
self.cpp_world.step(self.frame_skip) self.cpp_world.step(self.frame_skip)
class SingleRobotEmptyScene(Scene): class SingleRobotEmptyScene(Scene):