Erwin Coumans
b8362fff94
PyBullet pybullet_envs: fix issue with Humanoid environments (excessive forces, due to lack of action clamping)
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PyBullet pybullet_envs: use 1./60 sleep, add enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
2018-01-24 16:02:19 -08:00
Erwin Coumans
69007dcc61
fix MJCF loading (use self-collision)
2018-01-20 12:07:35 -08:00
Erwin Coumans
c6a350b807
BulletInverseDynaimcs: re-applied fix
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PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...)
2018-01-16 21:54:46 -08:00
erwincoumans
055930817e
apply a maximum velocity for the KUKA arm, otherwise motion can become very unrealistic
2018-01-16 10:17:57 -08:00
erwincoumans
851ca5bfb3
Improve PyBullet ports of Roboschool envs: fix reset (it kept adding stadium objects, causing slowdown), now reset uses saveState/restoreState and reset becomes a few orders of magnitude faster.
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Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1
Added environments: HumanoidFlagrunBulletEnv-v0, HumanoidFlagrunHarderBulletEnv-v0, StrikerBulletEnv-v0, ThrowerBulletEnv-v0, PusherBulletEnv-v0, ReacherBulletEnv-v0, CartPoleBulletEnv-v0 and register them to OpenAI Gym.
Allow numpy/humanoid_running.py to use abtch or non-batch update (setJointMotorControl2/setJointMotorControlArray)
2018-01-15 12:48:32 -08:00
erwincoumans
22b4809891
leave m_useGlobalVelocities to false, until enabled, for backward compatibility
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use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
2018-01-10 11:16:50 -08:00
Erwin Coumans
c88132b80f
fix issue in pybullet_envs.agents
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bump up to pybullet 1.6.9
2017-11-18 17:07:27 -08:00
Erwin Coumans
f483ccd8ef
remote org configs
2017-11-16 16:49:25 +00:00
Erwin Coumans
7b030426c1
add a temp copy of TF agents (until the API stops changing or configs.py are included)
2017-11-16 16:47:14 +00:00
erwincoumans
6be7e34dd6
pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered,
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vr_kuka_control.py: control all joints, use analogue button to close gripper
remove some debug warnings/prints
pybullet, avoid crash in changeUserConstraint if not passing a [list]
allow some gym environments (pybullet_pendulum and locomotors) to re-use an existing physics client connection.
2017-11-12 10:36:30 -08:00
Erwin Coumans
4798d66f19
fixes in kuka/racecar environment. kuka still doesn't train well, work-in-progress
2017-11-01 18:06:47 -07:00
Erwin Coumans
e4f58ddc33
fix typo, add train_ppo kuka task
2017-10-31 16:33:13 -07:00
Erwin Coumans
3709e68645
fix discrete versions of kuka grasping environment
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should fix issue 1386
2017-10-31 16:14:20 -07:00
Erwin Coumans
33d32d7ab4
add continuous version of kuka cam gym env test
2017-10-31 16:10:02 -07:00
Erwin Coumans
4e2dfbe58e
add minitaur duck environment
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see also https://www.youtube.com/watch?v=SLwUCMZdKLo and
evolution strategies (hardmaru):
https://twitter.com/hardmaru/status/925074585984237568
2017-10-31 16:05:52 -07:00
Erwin Coumans
55f5e52ecd
add continuous versions of kukaGymEnv, kukaCamGymEnv, racecarZEDGymEnv etc.
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should be trainable with PPO or evolution strategies (ES) now
2017-10-31 15:50:34 -07:00
Erwin Coumans
9385f36505
add cartpole_bullet, should fix issue 1403
2017-10-25 08:37:01 -07:00
Erwin Coumans
d18bfec1a9
API changes in TensorFlow Agents
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See 164f620326 (diff-82bda908f176861c20aadc1d017c2527)
2017-10-20 20:32:49 -07:00
Erwin Coumans
91d164d886
remove obsolete CartPoleBulletEnv
2017-10-09 09:44:54 -07:00
Erwin Coumans
0948ce5984
import missing functools
2017-09-28 10:42:02 -07:00
Erwin Coumans
345836d670
revert to original agents train/visualize scripts, but using pybullet envs in configs.py (agents lacks a convenient way to extend environments)
2017-09-28 10:19:41 -07:00
yunfeibai
85be3b43dd
Merge remote-tracking branch 'upstream/master'
2017-09-27 15:20:11 -07:00
yunfeibai
113e103bc2
Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before.
2017-09-27 15:18:08 -07:00
Erwin Coumans
4dca5b3ef5
fix typos in agents config
2017-09-27 12:17:59 -07:00
Erwin Coumans
a716752915
add __init__.py file in agents folder
2017-09-27 10:30:05 -07:00
Erwin Coumans
5082d6af15
bump up pybullet version, instruction to visualize agents ppo:
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python -m pybullet_envs.agents.visualize_ppo -config=pybullet_pendulum --logdir=pendulum/20170927T101514-pybullet_pendulum/ --outdir=vid
tensorboard --logdir=20170927T101514-pybullet_pendulum --port=2222
2017-09-27 10:26:45 -07:00
Erwin Coumans
e4a3b3fe38
add TensorFlow Agents PPO training script for various pybullet environments:
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example:
python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
2017-09-27 10:20:38 -07:00
Erwin Coumans
c37919604f
add minitaur environment randomizer, enable it by default
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this improves PPO training ( more stable)
2017-09-27 09:07:21 -07:00
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
