Hello, I am using PyBullet SDK for reinforcement learning and I was wondering if it is possible to use Choreonoid for reinforcement learning too? Does it support resetting of environment and robot, as well as step simulation? Thanks in advance.
Sorry I have not been able to reply to you regarding this matter.
Choreonoid has a Python scripting function, and it would be possible to use it for machine learning.
There are sample Python scripts in the “sample/python” directory that may be helpful.
For example, assuming that Choreonoid is built in the “build” directory, the following command will repeat the simulation of the robot’s gait while changing the acceleration of gravity.
./build/bin/choreonoid sample/SimpleControlle/SR1Walk.cnoid sample/python/GravityChangeIteration.py