Merge Aviv & Emily changes + Fixes to MuJoCo BADMM example

cbfinn commented 8 years ago

This PR includes a collection of various changes, has been a long time coming

Merging changes from Emily:

Add box2d BADMM example
Enable GUI trajectory plotting to work with box2d examples
Add option to turn off rendering for box2d

Merging changes from Aviv:

Images in mujoco
Support multiple conditions with different xml files

From me:

Mujoco badmm example works for all 4 conditions!
- change to RK4 integrator for mujoco (for stability)
- change hyperparameters to be more like old codebase
Set seed for caffe training (for random initial weights)
TF no longer "coming soon" on website
Remove "position" and "linear velocity" from proto (use ee points instead)

cbfinn commented 8 years ago

Merging this now

@bstadie FYI, this includes a lot of Aviv's changes that are in your PR. Sorry for not making this PR earlier. Merging your PR might be challenging.

bstadie commented 8 years ago

No worries! Most of the further Aviv changes in my pull request were built directly on top of the changes from this PR, so sorting it out took only a couple minutes.

cbfinn / gps

Merge Aviv & Emily changes + Fixes to MuJoCo BADMM example #16