为熊猫准备的OpenAI健身房环境
gym-panda的Python项目详细描述
健身熊猫
用PyBullet实现OpenaAI健身房Franka-Emika熊猫机器人抓取环境
链接
- GitHub:https://github.com/mahyaret/gym-panda
- PyPI:https://pypi.org/project/gym-panda/
- 文档:https://www.etedal.net/2020/04/pybullet-panda_2.html
- 问题跟踪者:https://github.com/mahyaret/gym-panda/issues
- 下载:https://pypi.org/project/gym-panda/#files
安装
使用pip
安装:
pip install gym-panda
或者,从源安装:
^{pr2}$基本用法
运行环境:
importgymimportgym_pandaenv=gym.make('panda-v0')env.reset()for_inrange(100):env.render()obs,reward,done,info=env.step(env.action_space.sample())# take a random actionenv.close()
正在进行一次治安管理黑客攻击!在
importgymimportgym_pandaenv=gym.make('panda-v0')observation=env.reset()done=Falseerror=0.01fingers=1info=[0.7,0,0.1]k_p=10k_d=1dt=1./240.# the default timestep in pybullet is 240 Hz t=0fori_episodeinrange(20):observation=env.reset()fingers=1fortinrange(100):env.render()print(observation)dx=info[0]-observation[0]dy=info[1]-observation[1]target_z=info[2]ifabs(dx)<errorandabs(dy)<errorandabs(dz)<error:fingers=0if(observation[3]+observation[4])<error+0.02andfingers==0:target_z=0.5dz=target_z-observation[2]pd_x=k_p*dx+k_d*dx/dtpd_y=k_p*dy+k_d*dy/dtpd_z=k_p*dz+k_d*dz/dtaction=[pd_x,pd_y,pd_z,fingers]observation,reward,done,info=env.step(action)ifdone:print("Episode finished after {} timesteps".format(t+1))breakenv.close()
发展
- 克隆回购:
git clone https://github.com/mahyaret/gym-panda.git
cd gym-panda
- 创建/激活虚拟环境:
pipenv shell --python=python3.6
- 安装开发依赖项:
pipenv install --dev
- 项目
标签: