Skip to content
Permalink
Type Name Latest commit message Commit time
..
Failed to load latest commit information.
env_randomizers add yapf style and apply yapf to format all Python files Apr 27, 2019
README.md update README.md to include paper link in Arxiv. Apr 30, 2018
__init__.py add yapf style and apply yapf to format all Python files Apr 27, 2019
bullet_client.py add yapf style and apply yapf to format all Python files Apr 27, 2019
env_randomizer_base.py first pass of updated minitaur quadruped environment Apr 1, 2018
minitaur.py
minitaur_alternating_legs_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_alternating_legs_env_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_ball_gym_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_ball_gym_env_example.py
minitaur_derpy.py
minitaur_extended_env.py add minitaur extended to pybullet_envs May 8, 2019
minitaur_four_leg_stand_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_four_leg_stand_env_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_gym_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_gym_env_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_logging.proto
minitaur_logging.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_logging_pb2.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_proto_dump_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_raibert_controller.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_raibert_controller_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_rainbow_dash.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_randomize_terrain_gym_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_randomize_terrain_gym_env_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_reactive_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_reactive_env_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_stand_gym_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_stand_gym_env_example.py
minitaur_trotting_env.py add yapf style and apply yapf to format all Python files Apr 27, 2019
minitaur_trotting_env_example.py
motor.py add yapf style and apply yapf to format all Python files Apr 27, 2019
simple_ppo_agent.py add yapf style and apply yapf to format all Python files Apr 27, 2019
simple_ppo_agent_example.py add yapf style and apply yapf to format all Python files Apr 27, 2019
timestamp.proto first pass of updated minitaur quadruped environment Apr 1, 2018
timestamp_pb2.py add yapf style and apply yapf to format all Python files Apr 27, 2019
vector.proto first pass of updated minitaur quadruped environment Apr 1, 2018
vector_pb2.py add yapf style and apply yapf to format all Python files Apr 27, 2019

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
You can’t perform that action at this time.