erwincoumans
4ea406c73c
PyBullet: improve examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
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(thanks to Deirdre Quillen for the environment)
Extend repeat, so gripper reaches the tray bottom.
Fix near plane so Z-Buffer is visible. Add sleep in return motion, in gui mode.
2018-01-24 18:21:59 -08:00
deq2
e30f2624f9
Added kuka environment with multiple diverse objects. ( #1508 )
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* Added new diverse object environment
2018-01-18 08:49:00 -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
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
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
91d164d886
remove obsolete CartPoleBulletEnv
2017-10-09 09:44:54 -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
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
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
f38b2cf14d
use SHARED_MEMORY as first connection attempt, to make visualization/OpenGL rendering easier
2017-09-11 09:23:14 -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
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
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
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
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
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
