From 26cebc9aa5d21ba00951d87f38ec0ad6daee0cb4 Mon Sep 17 00:00:00 2001 From: Jie Tan Date: Thu, 26 Apr 2018 21:19:10 -0700 Subject: [PATCH 1/2] rewrite the README file. --- .../gym/pybullet_envs/minitaur/envs/README | 11 ----- .../gym/pybullet_envs/minitaur/envs/README.md | 49 +++++++++++++++++++ 2 files changed, 49 insertions(+), 11 deletions(-) delete mode 100644 examples/pybullet/gym/pybullet_envs/minitaur/envs/README create mode 100644 examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README b/examples/pybullet/gym/pybullet_envs/minitaur/envs/README deleted file mode 100644 index 88347a0e1..000000000 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README +++ /dev/null @@ -1,11 +0,0 @@ -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": -1) Galloping example: minitaur_reactive_env.py -python minitaur_reactive_env_example.py runs a pre-trained PPO agent that performs galloping gait. - -2) Trotting example: minitaur_trotting_env.py -python minitaur_trotting_env_example.py runs a pre-trained PPO agent that performs trotting gait. - -The rest are experimental environments. - - diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md b/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md new file mode 100644 index 000000000..0a1cff5ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md @@ -0,0 +1,49 @@ +# 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](https://www.tensorflow.org/install/) + +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 + + + + + + + From 20dd3d265b686bcc1cc5ef1c2a7cab576bea0211 Mon Sep 17 00:00:00 2001 From: Jie Tan Date: Mon, 30 Apr 2018 11:09:59 -0700 Subject: [PATCH 2/2] update README.md to include paper link in Arxiv. --- examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md b/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md index 0a1cff5ee..bcdb8d0f6 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md @@ -2,7 +2,7 @@ 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": +The following two environments are used in the RSS paper "[Sim-to-Real: Learning Agile Locomotion For Quadruped Robots](https://arxiv.org/abs/1804.10332)": * Galloping environment: minitaur_reactive_env.py * Trotting environment: minitaur_trotting_env.py