Erwin Coumans
f4b28dddce
fix rendering ("rgb_array") for pendulums/pendula
2017-09-15 16:33:22 -07:00
Erwin Coumans
81bf709ad7
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-15 13:12:06 -07:00
Erwin Coumans
3d7ee317db
fix pybullet gym environments: InvertedDoublePendulumBulletEnv-v0,
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InvertedPendulumBulletEnv-v0, InvertedPendulumSwingupBulletEnv-v0
motors were not disabled, extra gains applied etc.
2017-09-15 13:09:05 -07:00
erwincoumans
ffb05d74da
Merge pull request #1308 from benelot/fix-gyms
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Fix gyms to make them work just like robotschool
2017-09-14 07:40:51 -07:00
Benelot
3f57fb655a
Enable randomized reset for Humanoid.
2017-09-14 12:53:12 +02:00
Benelot
2e8a86462f
Remove tweaks added by me but not part of roboschool.
2017-09-14 12:52:21 +02:00
Erwin Coumans
340a8f4704
add sigaction handler to Example Browser, to always shutdown shared memory
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make GUI_SERVER more reliable
next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI
allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage
2017-09-13 13:30:16 -07:00
Erwin Coumans
c250a5f0b9
re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT)
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suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
2017-09-13 09:56:39 -07:00
Erwin Coumans
3891602784
enable continuous action space for racecarZEDGymEnv
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disable SHARED_MEMORY connection (it was just some debug test)
2017-09-11 17:34:06 -07:00
Erwin Coumans
105c2c948f
add simple 'runServer.py' script, that lets you run a GUI shared memory server to connect to
2017-09-11 09:38:55 -07:00
Erwin Coumans
f38b2cf14d
use SHARED_MEMORY as first connection attempt, to make visualization/OpenGL rendering easier
2017-09-11 09:23:14 -07:00
Erwin Coumans
ee082396d1
fixes in libdl/DL cmake
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minor tweaks in pybullet OpenAI gym locomotion envs (connect to shared memory before going GUI/DIRECT)
bump up pybullet version to 1.3.6
2017-09-10 16:22:45 -07:00
Erwin Coumans
466c853489
add testMJCF.py script, to visualize MJCF file
2017-09-10 10:45:38 -07:00
Erwin Coumans
125380ce15
revert feet related reward in ant
2017-09-09 22:35:48 -07:00
Erwin Coumans
de28334a70
tweak to testEnv.py, sample usage:
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python testEnv.py --rgb=1 --render=1 --step=100000 --env="HumanoidBulletEnv-v0"
2017-09-09 16:36:42 -07:00
Erwin Coumans
ce64aff7af
ant env, fix feet_collision reward issue
2017-09-09 16:00:03 -07:00
Erwin Coumans
666c824b81
enable pybullet_env Ant Gym rendering, tinyRenderer has some issue with the ant.xml file though
2017-09-09 15:27:10 -07:00
Erwin Coumans
4f47a223ef
more fixes in Gym Ant to make reward the same as Roboschool,
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apparently feet_collision_cost is not properly updated in Roboschool,
for now, disable it in pybullet too: see https://github.com/openai/roboschool/issues/63
2017-09-09 12:36:53 -07:00
Erwin Coumans
c144d9c045
add simple script to test some of the pybullet gym environments (work-in-progress/experimental)
2017-09-08 15:25:16 -07:00
Erwin Coumans
c30e9aea92
revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version.
2017-09-07 11:23:41 -07:00
Erwin Coumans
b0e50d0d5a
pybullet Gym envs: add more sleep in the enjoy functions to see what's happening.
2017-09-07 11:17:38 -07:00
Erwin Coumans
3d702879c5
pybullet: improvements in Gym Ant environment (work-in-progress)
2017-09-07 11:06:42 -07:00
Erwin Coumans
ff0cd65346
fix __init__.py, add stadium without collision for testing
2017-09-05 21:47:35 -07:00
Erwin Coumans
6d0e2cd527
update pybullet docs, add getList to pybullet_envs
2017-08-31 09:59:40 -07:00
Erwin Coumans
029b4debad
fix in minitaur.py and add render function in minitaur_gym_env.py
2017-08-28 19:28:20 -07:00
Erwin Coumans
1900966805
small rename
2017-08-27 19:54:20 -07:00
Erwin Coumans
3f00c7bd49
small tweak in vr_kuka_setup.py example
2017-08-27 19:53:38 -07:00
Erwin Coumans
c8cb0a5f42
add missing sphere_small.urdf, add vr_kuka_setup.py example.
2017-08-27 19:41:40 -07:00
Erwin Coumans
1569f3845c
more fixes in pybullet_gym envs/data.
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implement pybullet.setAdditionalSearchPath
2017-08-27 19:34:00 -07:00
Erwin Coumans
d9faea8c1c
add more URDF files to pybullet_data
2017-08-27 19:26:53 -07:00
Erwin Coumans
659e869b86
pybullet a bit more refactoring, moving around files.
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pybullet: move data to pybullet_data package, with getDataPath() method
2017-08-27 18:08:46 -07:00
Erwin Coumans
e267f5c3d2
move pybullet.connect into the Gym environment.
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If you like to enable rendering, call the env.render(mode="human") before calling the first env.reset
2017-08-26 14:58:48 -07:00
Erwin Coumans
51b7e1040f
more fixes in the pybullet gym environments: use main instead of demo_run,
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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")
2017-08-26 13:13:53 -07:00
Erwin Coumans
1fc148d5d0
fixes in racecarGymEnv: implement 'render' rgb image, fix in naming,
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fix in observation bounds.
2017-08-24 22:01:45 -07:00
Erwin Coumans
a975d094c3
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-08-24 13:33:58 -07:00
Erwin Coumans
cb6914fa4c
use better defauls values for minitaur
2017-08-24 13:33:45 -07:00
Erwin Coumans
f0c32b84c0
allow continuous control for MIT racecar gym environment, use differential drive version
2017-08-23 23:12:26 -07:00
Erwin Coumans
8a4f51baa4
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-08-23 21:45:05 -07:00
Erwin Coumans
ff4270a517
fix pybullet racecarGymEnv to use thread-safe pybullet
2017-08-23 18:22:20 -07:00
Erwin Coumans
75231d63e8
use name MinitaurBulletEnv
2017-08-23 17:45:41 -07:00
Erwin Coumans
0851b45f39
update minitaur gym env
2017-08-23 17:41:34 -07:00
Erwin Coumans
8866840712
Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo.
2017-08-23 15:03:57 -07:00
Erwin Coumans
f19f28b5ed
more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder.
2017-08-22 10:07:47 -07:00
Erwin Coumans
21ca6a90f0
more fixes for pybullet
2017-08-22 09:32:16 -07:00
Erwin Coumans
dd4cc5f4ef
add minitaur quadruped
2017-08-22 09:00:46 -07:00
Erwin Coumans
e064d4b837
more fixes in pybullet_envs: fix path, add missing data resources
2017-08-22 08:59:39 -07:00
Erwin Coumans
21f9d1b816
refactor pybullet/gym to allow instantiating environments directly from a pybullet install:
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work-in-progress (need to add missing data files, fix paths etc)
example:
pip install pybullet
pip install gym
python
import gym
import pybullet
import pybullet_envs
env = gym.make("HumanoidBulletEnv-v0")
2017-08-22 00:42:02 -07:00
Erwin Coumans
c06ea72a4c
improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster)
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disable vsync on Mac
fix setup.py file
2017-08-20 18:11:53 -07:00
Benelot
3191291748
Split pendula robot from the pendula envs due to changes in the underlying mujoco xml base env.
2017-08-17 00:25:16 +02:00
Benelot
9f20e40541
Rename old humanoid gym to simple humanoid gym.
2017-08-17 00:06:01 +02:00