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bullet3/examples/pybullet/gym/pybullet_envs/minitaur/envs
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Erwin Coumans 0818112ede fix some gym envs
2019-01-28 16:21:52 -08:00
..
env_randomizers fixes in relative imports 2018-04-11 18:00:43 -07:00
__init__.py fix a number of issues in a series of new Minitaur environments 2018-04-11 10:09:03 -07:00
bullet_client.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
env_randomizer_base.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
minitaur_alternating_legs_env_example.py fixes in relative imports 2018-04-11 18:00:43 -07:00
minitaur_alternating_legs_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur_ball_gym_env_example.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
minitaur_ball_gym_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur_derpy.py fixes in relative imports 2018-04-11 18:00:43 -07:00
minitaur_four_leg_stand_env_example.py fix a number of issues in a series of new Minitaur environments 2018-04-11 10:09:03 -07:00
minitaur_four_leg_stand_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur_gym_env_example.py fix some gym envs 2019-01-28 16:21:52 -08:00
minitaur_gym_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur_logging_pb2.py fixes in relative imports 2018-04-11 18:00:43 -07:00
minitaur_logging.proto first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
minitaur_logging.py PyBullet Minitaur: Fix Minitaur logging (binary file) 2019-01-27 11:37:35 -08:00
minitaur_proto_dump_example.py proto2csv 2019-01-27 12:11:40 -08:00
minitaur_raibert_controller_example.py fix some gym envs 2019-01-28 16:21:52 -08:00
minitaur_raibert_controller.py PyBullet Minitaur: Fix Minitaur logging (binary file) 2019-01-27 11:37:35 -08:00
minitaur_rainbow_dash.py fixes in relative imports 2018-04-11 18:00:43 -07:00
minitaur_randomize_terrain_gym_env_example.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
minitaur_randomize_terrain_gym_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur_reactive_env_example.py fix some gym envs 2019-01-28 16:21:52 -08:00
minitaur_reactive_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur_stand_gym_env_example.py fix a number of issues in a series of new Minitaur environments 2018-04-11 10:09:03 -07:00
minitaur_stand_gym_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur_trotting_env_example.py allow to run minitaur environment examples from pip version, like this: 2018-05-29 09:28:31 -07:00
minitaur_trotting_env.py Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
minitaur.py fixes in relative imports 2018-04-11 18:00:43 -07:00
motor.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
README.md update README.md to include paper link in Arxiv. 2018-04-30 11:09:59 -07:00
simple_ppo_agent_example.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
simple_ppo_agent.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
timestamp_pb2.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
timestamp.proto first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
vector_pb2.py first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
vector.proto first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00

README.md

Simulated Minitaur Environments

This folder contains a number of simulated Minitaur environments implemented using pybullet.

The following two environments are used in the RSS paper "Sim-to-Real: Learning Agile Locomotion For Quadruped Robots":

  • Galloping environment: minitaur_reactive_env.py
  • Trotting environment: minitaur_trotting_env.py

The rest are experimental environments.

Prerequisites

Install TensorFlow

Install OpenAI gym

pip install gym

Install ruamel.yaml

pip install ruamel.yaml

Examples

To run a pre-trained PPO agent that performs the galloping gait

python minitaur_reactive_env_example.py

To run a pre-trained PPO agent that performs trotting gait

python minitaur_trotting_env_example.py

Authors

  • Jie Tan
  • Tingnan Zhang
  • Erwin Coumans
  • Atil Iscen
  • Yunfei Bai
  • Danijar Hafner
  • Steven Bohez
  • Vincent Vanhoucke