51b7e1040f
add missing main to some eaxmples.
pip install pybullet
train:
python -m pybullet_envs.examples.train_pybullet_cartpole
enjoy:
python -m pybullet_envs.examples.enjoy_pybullet_cartpole
enjoy pretrained environments:
python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HalfCheetahBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HopperBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HumanoidBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_Walker2DBulletEnv_v0_2017may
Run some gym environment test:
python -m pybullet_envs.examples.racecarGymEnvTest
Create/Import a specific Gym environment:
python
import pybullet_envs
env = gym.make("AntBulletEnv-v0")
env = gym.make("HalfCheetahBulletEnv-v0")
env = gym.make("HopperBulletEnv-v0")
env = gym.make("HumanoidBulletEnv-v0")
env = gym.make("Walker2DBulletEnv-v0")
env = gym.make("InvertedDoublePendulumBulletEnv-v0")
env = gym.make("InvertedPendulumBulletEnv-v0")
env = gym.make("MinitaurBulletEnv-v0")
env = gym.make("RacecarBulletEnv-v0")
env = gym.make("KukaBulletEnv-v0")
env = gym.make("CartPoleBulletEnv-v0")
44 lines
1.4 KiB
Python
44 lines
1.4 KiB
Python
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
|
|
import os, inspect
|
|
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
|
|
parentdir = os.path.dirname(os.path.dirname(currentdir))
|
|
os.sys.path.insert(0,parentdir)
|
|
|
|
from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
|
|
isDiscrete = False
|
|
|
|
def main():
|
|
|
|
environment = RacecarGymEnv(renders=True, isDiscrete=isDiscrete)
|
|
environment.reset()
|
|
|
|
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
|
|
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
|
|
|
|
while (True):
|
|
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
|
|
steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
|
|
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:
|
|
action=[targetVelocity,steeringAngle]
|
|
state, reward, done, info = environment.step(action)
|
|
obs = environment.getExtendedObservation()
|
|
print("obs")
|
|
print(obs)
|
|
|
|
if __name__=="__main__":
|
|
main() |