7 Commits

Author	SHA1	Message	Date
Erwin Coumans	0abe4151e5	Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this.	2018-05-18 16:23:54 -07:00
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. ... 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	6be7e34dd6	pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered, ... 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
Benelot	2e8a86462f	Remove tweaks added by me but not part of roboschool.	2017-09-14 12:52:21 +02:00
Erwin Coumans	4f47a223ef	more fixes in Gym Ant to make reward the same as Roboschool, ... 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	3d702879c5	pybullet: improvements in Gym Ant environment (work-in-progress)	2017-09-07 11:06:42 -07:00
Erwin Coumans	21f9d1b816	refactor pybullet/gym to allow instantiating environments directly from a pybullet install: ... 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