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bullet3/examples/pybullet/gym/pybullet_envs/minitaur/envs
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Krishnan Srinivasan 0d4108f307 Fix call to convert_to_leg_model 
Fix call to convert_to_leg_model which is defined as a static method without an underscore in MinitaurExtendedEnv
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env_randomizers
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__init__.py
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bullet_client.py
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env_randomizer_base.py
first pass of updated minitaur quadruped environment
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minitaur_alternating_legs_env_example.py
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minitaur_alternating_legs_env.py
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minitaur_ball_gym_env_example.py
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minitaur_ball_gym_env.py
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minitaur_derpy.py
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minitaur_extended_env.py
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minitaur_four_leg_stand_env_example.py
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minitaur_four_leg_stand_env.py
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minitaur_gym_env_example.py
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minitaur_gym_env.py
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minitaur_logging_pb2.py
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minitaur_logging.proto
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minitaur_logging.py
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minitaur_proto_dump_example.py
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minitaur_raibert_controller_example.py
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minitaur_raibert_controller.py
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minitaur_rainbow_dash.py
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minitaur_randomize_terrain_gym_env_example.py
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minitaur_randomize_terrain_gym_env.py
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minitaur_reactive_env_example.py
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minitaur_reactive_env.py
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minitaur_stand_gym_env_example.py
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minitaur_stand_gym_env.py
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minitaur_trotting_env_example.py
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minitaur_trotting_env.py
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minitaur.py
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motor.py
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README.md
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simple_ppo_agent_example.py
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simple_ppo_agent.py
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timestamp_pb2.py
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timestamp.proto
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vector_pb2.py
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vector.proto
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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