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")
40 lines
1.5 KiB
Python
40 lines
1.5 KiB
Python
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
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import time
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def main():
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environment = KukaGymEnv(renders=True)
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motorsIds=[]
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#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
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#motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
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#motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
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#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
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#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
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dv = 0.001
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motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0))
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motorsIds.append(environment._p.addUserDebugParameter("posY",-dv,dv,0))
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motorsIds.append(environment._p.addUserDebugParameter("posZ",-dv,dv,-dv))
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motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
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motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
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done = False
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while (not done):
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action=[]
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for motorId in motorsIds:
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action.append(environment._p.readUserDebugParameter(motorId))
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state, reward, done, info = environment.step2(action)
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obs = environment.getExtendedObservation()
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if __name__=="__main__":
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main() |