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Rebase gym gazebo #176

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Oct 4, 2018
Merged

Rebase gym gazebo #176

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7c7daa5
Fixes in the envs and installation
vmayoral Oct 9, 2017
0f8a855
Update process in 16.04
vmayoral Oct 9, 2017
9a03d0b
Comment monitor for now, update killing process
vmayoral Oct 9, 2017
fc429fd
Deprecate 14.04
vmayoral Oct 9, 2017
af891b7
README fix
vmayoral Oct 10, 2017
e902a31
Add modular scara worlds and first approach to launch
vmayoral Oct 10, 2017
8c95c67
Add scara setup script
vmayoral Oct 10, 2017
95b3b25
Rename Scara launch file
vmayoral Oct 10, 2017
6b4b9c5
Template for modular scara laid out
vmayoral Oct 10, 2017
16501a7
gazebo_modular_scara: advance with overall structure
vmayoral Oct 18, 2017
d37c801
Update SCARA env, _step()
Oct 18, 2017
ef31d2b
Add take_observation method, modularize it
vmayoral Oct 19, 2017
73ebfc4
rename file to include dofs
Oct 20, 2017
d2fec10
minor adjustments into the code before discussion
Oct 20, 2017
40a657b
fix non-implemented primitive, monitor
vmayoral Oct 20, 2017
4b505ca
reorganize envs, create turtlebot folder
vmayoral Oct 20, 2017
b5bac45
separate envs in folders
vmayoral Oct 20, 2017
792cc79
Peer coding session with Risto to address issues
vmayoral Oct 20, 2017
948f36b
Deprecate Docker container
Oct 23, 2017
6cc020c
Add gym as pre-requirement
Oct 23, 2017
e3116b4
Fix dependencies
vmayoral Oct 23, 2017
95146c9
hardcode variables for testing purposes
vmayoral Oct 24, 2017
b470f1b
first working prototype
vmayoral Oct 24, 2017
425474b
Update SCARA3DOF env and sample code
vmayoral Oct 24, 2017
d661284
apparently render was already implemented
vmayoral Oct 24, 2017
2abe9ab
Organize scara examples
vmayoral Oct 24, 2017
095f25b
add AKCTR instance for SCARA 3DoF env
vmayoral Oct 24, 2017
da7b731
simplify the acktr script for scara 3dof
vmayoral Oct 24, 2017
0e754af
optimize environment
vmayoral Oct 25, 2017
dcb42dc
Refurbish README, add INSTALL file
vmayoral Oct 25, 2017
6a15034
Add INSTALL.md hyperlink
vmayoral Oct 25, 2017
92b92bf
Risto's bright idea
vmayoral Oct 25, 2017
bdcb770
Add notice for newcomers
vmayoral Oct 25, 2017
fae020a
Update README.md
Oct 25, 2017
cf11cf7
Update README.md
Oct 25, 2017
1ba5ac1
Add new env., improve overall layout
vmayoral Oct 25, 2017
7ee623b
Update README.md
Oct 25, 2017
d2a7e23
Reorganize scripts, add more info to README
vmayoral Oct 25, 2017
ef90347
Update README.md
Oct 25, 2017
e1aeb5b
Add v2 env. for SCARA, match slowness and delays
vmayoral Oct 25, 2017
89626c5
update description
vmayoral Oct 25, 2017
c3c0e76
fix syntax
vmayoral Oct 25, 2017
d3957bf
Fix bug in code
vmayoral Oct 26, 2017
f3e30bc
Add new script, fix rewards of v2 SCARA
vmayoral Oct 26, 2017
3c83dcf
Update Reward for env. 2
vmayoral Oct 26, 2017
f687d32
Fix bugs in v2, get a proper env.
vmayoral Oct 26, 2017
1ed8a49
first steps towards qlearning example
vmayoral Oct 26, 2017
4828e69
adding examples of trpo and ppo1 in the gym
rkojcev Oct 30, 2017
4591560
hardcode to debug
vmayoral Oct 31, 2017
bc16ed9
Nora's example commit
vmayoral Nov 2, 2017
c360e19
first discrete impl.
vmayoral Nov 6, 2017
ae51a25
Fix bugs
noraetxezarreta Nov 8, 2017
309c391
Update v2, implement offset actions
vmayoral Nov 8, 2017
c405654
adding scara enviroment 3.
rkojcev Nov 13, 2017
7069707
adding to save network in trpo, ppo1 and acktr.
rkojcev Nov 13, 2017
97aadde
adding scripts to run saved networks.
rkojcev Nov 13, 2017
c14e282
adding readme file.
rkojcev Nov 13, 2017
668e0a0
adding more details in readme.
rkojcev Nov 13, 2017
81de552
adding photo of the modular scara 3dof v3.
rkojcev Nov 13, 2017
72bc337
Moving the run scripts to ros_rl/examples
rkojcev Nov 13, 2017
b2ba5cc
Add new hyperparams, tensorboard logging
vmayoral Nov 13, 2017
65b6b3d
Adapt q-learning example to new naming convention
vmayoral Nov 14, 2017
11ee5b3
README, update table describing envs.
vmayoral Nov 15, 2017
b0764f1
Update README.md
Nov 15, 2017
db2e493
adding the scara 4 dof enviroment.
rkojcev Nov 15, 2017
ab57d63
init file of scara 4 dof enviroment.
rkojcev Nov 15, 2017
2c55e86
changes of enviroment from seconds to nanosec for training.
rkojcev Nov 16, 2017
5bb1cb6
Fix modular scara env ver. 2, update reset
vmayoral Nov 16, 2017
2a83fe0
env3 3 dof in ns time.
rkojcev Nov 17, 2017
269f897
Modify slowness to nanoseconds
noraetxezarreta Nov 24, 2017
5c00e0e
adding ns in enviroment 3 4dof.
rkojcev Nov 24, 2017
2744f55
Change roscore roslaunch commands for different port numbers
noraetxezarreta Nov 27, 2017
9489702
changing enviroment 4dof v3 to be in sec.
rkojcev Dec 5, 2017
d59f278
adding randomizeCorrect.
rkojcev Dec 5, 2017
4bd3ec6
adding randomize correct.
rkojcev Dec 12, 2017
68fb4e9
adding randomize correct to the 3 dof.
rkojcev Dec 15, 2017
1381973
changes of the reset function for 3DoF. Robot goes to init position a…
rkojcev Dec 20, 2017
5b1401c
remove hardcoded joint number.
rkojcev Dec 21, 2017
31bded8
Adding articulated arm first approach
ahcorde Dec 22, 2017
cd28a09
Fix img path in README.md
ahcorde Dec 22, 2017
ce400f3
adding max steps_episode.
rkojcev Dec 27, 2017
7e55697
update the enviroments 3dof and 4dof v3, setting max_episode_steps.
rkojcev Dec 27, 2017
9cec911
adopting articulated arm for gym gazebo.
rkojcev Dec 29, 2017
4beaa72
adding max_episode_steps.
rkojcev Dec 29, 2017
1a55399
commenting out some irrelevant stuff.
rkojcev Dec 29, 2017
83b6fea
changes for the articulated arm.
rkojcev Dec 29, 2017
1a54df4
Update README.md
Dec 30, 2017
b49d6e0
Update README.md
Dec 30, 2017
afb4329
changes to the 4 dof to match other envs.
rkojcev Jan 3, 2018
20e7b89
Add clear note about non-supported envs
Jan 5, 2018
f8622c0
Update citation
Jan 5, 2018
3edc506
add change of time from args for 3 dof scara
rkojcev Jan 8, 2018
e6ef439
adding simulation time to 4dof scara.
rkojcev Jan 8, 2018
dec32f4
Fix typo
Jan 11, 2018
0c5f968
Progress towards an updated docker container
vmayoral Jan 14, 2018
03eff59
more progress, still not there
vmayoral Jan 14, 2018
490ffd6
Finish ROS, move forward with ROS 2 from source
vmayoral Jan 16, 2018
3a7bdec
Add ROS 2 to the dockerfile
vmayoral Jan 17, 2018
7c3494d
two robot enviroment.
rkojcev Jan 18, 2018
0967944
two robot env changes to have same lenght of observations.
rkojcev Jan 18, 2018
e9f929d
Adding cart pole in Gazebo
ahcorde Jan 19, 2018
dde07fe
Adding 3dof enviroment with collisions
ahcorde Jan 19, 2018
9126abf
Fixing model path
ahcorde Jan 19, 2018
914ddee
Improving cartpole env
ahcorde Jan 19, 2018
15488da
improving cartpole env
ahcorde Jan 19, 2018
d090666
Add ROS 2 and fix env-related dependencies
vmayoral Jan 21, 2018
645ed81
Update container, now compiles
vmayoral Jan 21, 2018
5506f05
Modify dual environment
noraetxezarreta Jan 22, 2018
190bbcf
Adding ARIAC pick
ahcorde Jan 22, 2018
8d23cee
Fix issue with kobuki_desktop
vmayoral Jan 22, 2018
7372776
GYM_GAZEBO_WORLD_CIRCUIT enviroment vars
ahcorde Jan 23, 2018
3f1f7d1
Fixing paths to worlds
ahcorde Jan 23, 2018
c298b8a
adding randomizeTaret and changed randomizeCorrect to randomizeRobot.
rkojcev Jan 23, 2018
bbe3f39
naming consistency.
rkojcev Jan 23, 2018
901fa1d
Changing default physics engine - Cartpole
ahcorde Jan 24, 2018
2ab819e
Updating 4_and_3 dof scara modular robto
ahcorde Jan 24, 2018
f574e3c
Improving cartpole env
ahcorde Jan 24, 2018
98a5990
Example ARIAC
ahcorde Jan 24, 2018
8be4a8f
Including new envs in README.md
ahcorde Jan 24, 2018
8f3e0dc
fixing README.md
ahcorde Jan 24, 2018
cabb200
fixes in dual robot
rkojcev Jan 24, 2018
02060e4
Modify scara dual env
noraetxezarreta Jan 25, 2018
01659cf
clean up code.
rkojcev Jan 25, 2018
ab4ffea
using rospkg to find urdf
ahcorde Jan 25, 2018
98bf8c4
clean up, fix some small stuff in the code.
rkojcev Jan 25, 2018
06579b4
Improving cartpole env
ahcorde Jan 26, 2018
2bbb341
initial test for 6 targets
rkojcev Jan 26, 2018
136f592
random target between boundry box of the h-ros letters.
rkojcev Jan 26, 2018
a9735c5
copy paste fix.
rkojcev Jan 26, 2018
4aed923
Add gazebo_modular_scara_3dof env with static obstacle
noraetxezarreta Jan 26, 2018
a508a9e
Add scara basic world with physics settiings changed
noraetxezarreta Jan 26, 2018
3966d29
Add Gazebo3DOFStaticObstacle env to __init__ file
noraetxezarreta Jan 29, 2018
2af0b60
Add Gazebo3DOFSTatic obstacle import statement to init file
noraetxezarreta Jan 29, 2018
4c8c03d
adding randomizing half of the hros logo.
rkojcev Jan 29, 2018
d3c68a5
random one target from the h-ros logo area.
rkojcev Jan 31, 2018
eaaab47
Add GazeboModularScara3DOF env with static obstacle and single target…
ahcorde Jan 31, 2018
96bcc37
Modify init files
ahcorde Jan 31, 2018
c670bc7
random 2 targets.
rkojcev Feb 1, 2018
6d91b2f
small fix in the env1 with obstacle
rkojcev Feb 1, 2018
9f7b465
Add collision callback
noraetxezarreta Feb 5, 2018
f82ccd4
new launch file to load the obstacles plugin.
rkojcev Feb 6, 2018
8c0a919
fix bug in note spawning
rkojcev Feb 6, 2018
c90260f
Add screeen output for gazebo_contact plugin
noraetxezarreta Feb 6, 2018
b410a24
Add normals callback in env
noraetxezarreta Feb 6, 2018
259b2dc
remove redundant 'git cone' command on line 361 which caused build fa…
AustinDeric Feb 12, 2018
1c4981e
changes for the new contact plugin.
rkojcev Feb 15, 2018
4f9fccb
script to run obstacles with simplified urdf and reward shaping.
rkojcev Feb 19, 2018
495646d
Modify env: bigger obstacle, correct error with contact_depth
noraetxezarreta Feb 19, 2018
572ffe5
changes for other enviroments.
rkojcev Feb 19, 2018
31e4509
Modify env
noraetxezarreta Feb 19, 2018
8773a32
Add set function for modulator in env
noraetxezarreta Feb 19, 2018
1c979e5
adding the torque info from motor3
rkojcev Feb 20, 2018
6262fee
Fix name of xacro model of 3dof
noraetxezarreta Feb 20, 2018
20bb87a
Add reward shaping based on torque
noraetxezarreta Feb 20, 2018
9c2fd18
typo in sophus branch for ros-kinetic installation.
buckleytoby Feb 22, 2018
7a5df04
[fix] IndexErr in py3
xueeinstein Feb 25, 2018
4021f51
adding draft environment for HER algo.
rkojcev Feb 27, 2018
373892c
Add modular scara 3dof with vision
noraetxezarreta Feb 27, 2018
537c569
Add launch file for ModularScara3DOF with VIsion
noraetxezarreta Feb 27, 2018
4bb2973
Add launch file for simple environment for pose detector
noraetxezarreta Feb 28, 2018
2c51aff
Add simplified environments for pose detection
noraetxezarreta Feb 28, 2018
9812dba
Add simplified environment for box
noraetxezarreta Feb 28, 2018
8600096
some changes for HER to work
rkojcev Feb 28, 2018
389f249
Adding a new articulated robot
rkojcev Apr 9, 2018
8fa6f27
small changes in structure
rkojcev Apr 9, 2018
aa8e244
minor update
rkojcev Apr 9, 2018
c2e6494
fix
rkojcev Apr 10, 2018
5c15557
Improving cartpole gazebo env
ahcorde Apr 12, 2018
d273deb
Adding MAIRA modular robot
ahcorde Apr 12, 2018
2558b85
Adding MAIRA robot random examples
ahcorde Apr 12, 2018
f5e1100
code clean up
rkojcev Apr 12, 2018
e8d23d1
Fix monitor start bug #120
Apr 4, 2018
7955f8c
Fix monitor start bug #120
Apr 4, 2018
5319dd2
Fix monitor start bug #120
Apr 4, 2018
4146af8
Fix monitor start bug #120
Apr 4, 2018
6c1632b
Fix monitor start bug #120
Apr 4, 2018
b55651e
Fix monitor start bug #120
Apr 4, 2018
29cf7e2
Fix monitor start bug #120
Apr 5, 2018
4dfdf3b
Fix monitor start bug #120
Apr 5, 2018
c1f383d
Fix monitor start bug #120
Apr 5, 2018
ca79e7d
Fix monitor start bug #120
Apr 5, 2018
0b0b3e7
Refactor liveplot out of maze example
Apr 12, 2018
770dc6c
Refactor liveplot out of circuit example
Apr 12, 2018
521852d
Fix liveplot monitor bug
Apr 13, 2018
4f9d8ae
fix liveplot in turtlebot maze example
Apr 13, 2018
ee94175
fix liveplot in turtlebot circuit2 example
Apr 13, 2018
f47cc37
fix liveplot in turtlebot round example
Apr 13, 2018
b11b420
fix liveplot in turtlebot sarsa example
Apr 13, 2018
6ee0283
fix liveplot in turtlebot circuit example
Apr 13, 2018
4caaa17
adding target.
rkojcev Apr 16, 2018
bd8a2e4
Fixing paths with the modifications in the description
ahcorde Apr 16, 2018
958f52a
adding quart to the env.
rkojcev Apr 17, 2018
d32c9c7
Fix Reading From File
Mostafa95 Mar 21, 2018
c4865d8
Update README.md
Mostafa95 Mar 21, 2018
f2a4247
updates
rkojcev Apr 18, 2018
6effe32
adding new test
rkojcev Apr 19, 2018
3eedc85
fix some bugs in new enviroment
rkojcev Apr 19, 2018
91ec01c
add some code for optimization of orient, needs to be tested
rkojcev Apr 19, 2018
e7c2253
updates
rkojcev Apr 24, 2018
4da2bd6
Fix monitor env.reset() issue #135
Apr 24, 2018
4d54e9a
Refactor Qlearn class out of maze example
Apr 12, 2018
f6aaca6
Refactor Qlearn class out of circuit example
Apr 12, 2018
4e0a4c4
added max_episode_steps to registration for DQN
Apr 26, 2018
9647265
Fix circuit2 dqn: nb_epoch to epochs
Apr 25, 2018
f9225a0
Added liveplot to circuit2 DQN example
Apr 16, 2018
b867232
DQN changed to one path variable for save
Apr 25, 2018
4b91b65
Refactor lidar example DeepQ class into deepq.py
Apr 12, 2018
1f42819
Fixed Keras2 Dense() api warning
May 11, 2018
3ad4c91
gazebo maira top 3dof v0 default nsec 1000000
ahcorde May 17, 2018
e3ec9c1
Create a env to run in the real robot
ahcorde May 23, 2018
0aca4bc
Remove imports
ahcorde May 23, 2018
a969c84
changing MAIRA to MARA
ahcorde Jul 2, 2018
9afc7e3
updates for target point
rkojcev Jul 16, 2018
e5607ed
towards vision
rkojcev Jul 23, 2018
67e40e9
model for object detection
rkojcev Jul 23, 2018
b69ed3a
Adding enviroment to run in the real robot
ahcorde Aug 2, 2018
0c75ad7
allow normal install of package
rhaschke Aug 16, 2018
7bfcbd6
fix python3 incompatibility
rhaschke Aug 17, 2018
abed7ea
cleanup launching of gazebo environment
rhaschke Aug 17, 2018
6d03b30
Adding some utils
ahcorde Aug 22, 2018
b081b9c
Update script to move real mara
ahcorde Aug 22, 2018
5227ee3
parameter changes, clean up...
rkojcev Aug 22, 2018
2260538
Increasing the size of the rubik cube
ahcorde Aug 23, 2018
070e290
ROS 2 navite environment
ahcorde Aug 23, 2018
a61eaa4
ROS 2 navite environment
ahcorde Aug 23, 2018
aebc61b
ading fixes
rkojcev Aug 29, 2018
d4d3333
reset simulation
rkojcev Aug 29, 2018
84cfb0b
collision env
rkojcev Aug 29, 2018
271eae6
fix bug in calculating orient rew
YueErro Aug 30, 2018
2701464
changed params
rkojcev Aug 30, 2018
68742cd
go back to the previous state before the collision
YueErro Sep 5, 2018
013bd22
fixes rew
rkojcev Sep 10, 2018
e1c7e7f
tests collision
rkojcev Sep 17, 2018
36bacc0
changes in reward calculation
rkojcev Sep 18, 2018
079ebc2
new point
rkojcev Sep 18, 2018
b060981
changes in env reward
rkojcev Sep 20, 2018
1e73839
Merge branch 'rebase_gym_gazebo' of https://github.com/erlerobot/gym-…
rkojcev Oct 2, 2018
dbe357e
rebase rebase rebase
rkojcev Oct 3, 2018
ed7d1f6
resolve conflicts
rkojcev Oct 3, 2018
96c560f
add experimental files missing in gym_gazebo
rkojcev Oct 3, 2018
ae3798f
remove unecessary files
rkojcev Oct 3, 2018
3e43457
moving files around
rkojcev Oct 3, 2018
d80e06e
remove Sophus
rkojcev Oct 3, 2018
0aade43
fix conflicts
rkojcev Oct 3, 2018
7dbb53d
Merge branch 'rebase_gym_gazebo' of https://github.com/erlerobot/gym-…
rkojcev Oct 3, 2018
980103f
deploy on tags
pzhokhov Oct 2, 2018
f06e9e4
use binary wheels for atari-py and box2d (#1183)
pzhokhov Oct 2, 2018
67ae62c
bump version to 0.10.8, autodeploy
pzhokhov Oct 2, 2018
d678e85
rename reset and step
rkojcev Oct 4, 2018
c5a23c0
fix travis
rkojcev Oct 4, 2018
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8 changes: 4 additions & 4 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -301,11 +301,11 @@ WORKDIR /root
#--------------------
# Install Sophus
#--------------------
RUN git clone https://github.com/stonier/sophus -b indigo && \
cd sophus && mkdir build && cd build && cmake .. && make
# RUN git clone https://github.com/stonier/sophus -b indigo && \
# cd sophus && mkdir build && cd build && cmake .. && make
# RUN ls -l
RUN cd sophus/build && make install
#RUN echo "## Sophus installed ##\n"
# RUN cd sophus/build && make install
# RUN echo "## Sophus installed ##\n"

# # FROM pip
# RUN pip3 install opencv-python
Expand Down