8 Commits

Author	SHA1	Message	Date
Erwin Coumans	a0a1c9347c	PyBullet: fix in Gym env	2018-05-23 00:18:17 +10:00
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