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 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