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
aba4671358
Humanoid Flagrun Harder, PyBullet version (request from Danijar)
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Fix duplicate ground in all Roboschool converted scenes.
Fix bug in all PyBullet-Roboschool converted Humanoid environments (action needs to be clipped to [-1,1] range)
2018-01-24 17:53:40 -08:00
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.
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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
Erwin Coumans
125380ce15
revert feet related reward in ant
2017-09-09 22:35:48 -07:00
Erwin Coumans
ce64aff7af
ant env, fix feet_collision reward issue
2017-09-09 16:00:03 -07:00
Erwin Coumans
4f47a223ef
more fixes in Gym Ant to make reward the same as Roboschool,
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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
e267f5c3d2
move pybullet.connect into the Gym environment.
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If you like to enable rendering, call the env.render(mode="human") before calling the first env.reset
2017-08-26 14:58:48 -07:00
Erwin Coumans
8866840712
Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo.
2017-08-23 15:03:57 -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
