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
Benelot
f74a9299a8
Unversion manipulators for now. They come back as they are ready.
2017-08-16 22:43:40 +02:00
Benelot
68106d66dd
Split locomotion environments.
2017-08-16 08:08:24 +02:00
Benelot
cab3de35e4
Remove duplicate assets and use other assets. Rename classes appropriately for robot-scene-env split refactoring.
2017-08-15 15:31:24 +02:00
Benelot
4771bae9fa
Merge branch 'master' into bullet-gym
2017-08-10 22:50:12 +02:00
Benjamin Ellenberger
a6aade2e21
Add nearly all gym environments using pybullet together with the latest tf model from the roboschool model zoo.
2017-07-14 23:38:15 +02:00
Erwin Coumans
a136098120
add a few more discrete actions to cartpole_bullet.py so it trains faster + add option to train without rendering, enjoy with rendering.
2017-06-22 16:49:14 -07:00
Erwin Coumans
9213f944f1
add kukaCamGymEnv.py with camera observations (preliminary)
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show camera position in example browser
disable per-vertex and per-fragment profile timings
2017-06-21 09:33:46 -07:00
Erwin Coumans
71170d6384
reduce stack usage (cause some crashes in low-stack tests)
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fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
2017-06-20 20:22:14 -07:00
Erwin Coumans
40cb8006ee
fix gym/envs/bullet/cartpole_bullet.py (velocity hyperparameter still needs to be tuned)
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add enjoy_pybullet_cartpole.py
2017-06-16 17:06:11 -07:00
erwincoumans
c903bd8a49
tune kuka grasp gym env (make it a bit too easy)
2017-06-15 11:18:08 -07:00
erwincoumans
a547c8f3fc
hook up kuka grasping to OpenAI dqn
2017-06-14 23:42:14 -07:00
erwincoumans
d2888f0884
add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK
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fix tray/tray_textured4.obj and tray/tray.urdf
fix kuka_with_cube.py
allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter
bump up pybullet to 1.1.7
2017-06-14 19:34:33 -07:00
erwincoumans
cc34ebab25
add humanoid and kuka gym environments (experimental)
2017-06-14 00:54:41 -07:00
Erwin Coumans
a0ded43a69
use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines.
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add a red sphere to make training a bit easier for now.
2017-06-13 18:33:32 -07:00
Erwin Coumans
ee8fd56c5e
prepare to train racecar using ZED camera pixels (CNN+DQN)
2017-06-13 16:04:50 -07:00
Erwin Coumans
c84416d932
add debug view for getCameraImage (RGB, depth, segmentation mask)
2017-06-13 10:53:24 -07:00
erwincoumans
1752aa55ca
train_pybullet_racecar.py works, self-driving car drives towards the ball using OpenAI baselines DQN :-)
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See https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.
2017-06-10 18:46:36 -07:00
Erwin Coumans
b361722500
Implement train_pybullet_racecar.py and enjoy_pybullet_racecar.py using OpenAI baselines DQN for the RacecarGymEnv.
2017-06-09 19:26:07 -07:00
Erwin Coumans
0aeb4d5058
add RacecarGymEnv as a gym experimentation environment
2017-06-08 19:45:48 -07:00
Jie Tan
1d0db4ec2e
update to the latest agent and environment.
2017-05-24 11:20:42 -07:00
Jie Tan
18fd1a003f
remove redundant and potentially confusing data
2017-05-23 16:34:13 -07:00
Jie Tan
671c4bf10e
add back sonnet dependency. If sonnet is not installed, fall back to simpleAgent that does not need sonnet.
2017-05-22 20:57:18 -07:00
Jie Tan
8a6a46d180
remove sonnet dependency
2017-05-18 16:12:38 -07:00
Jie Tan
bf5915f44b
add a simple DDPG agent and a policy
2017-04-28 15:24:53 -07:00
Jie Tan
948b2b00fe
added a policy trained by DDPG
2017-04-28 14:34:03 -07:00
Jie Tan
8c27a62e04
remove the stub calls from rllab
2017-03-10 13:41:05 -08:00
Jie Tan
37a809f5d1
added the learning algorithm from RL-lab
2017-03-10 12:29:47 -08:00
Jie Tan
923fbe8588
add gym examples
2017-03-10 11:22:38 -08:00
