Erwin Coumans
0948ce5984
import missing functools
2017-09-28 10:42:02 -07:00
Erwin Coumans
345836d670
revert to original agents train/visualize scripts, but using pybullet envs in configs.py (agents lacks a convenient way to extend environments)
2017-09-28 10:19:41 -07:00
erwincoumans
b44a67b530
Merge pull request #1345 from bingjeff/fix_bugs_in_jacobian
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[pybullet] Fix bugs in calculateJacobian.
2017-09-27 23:25:14 -07:00
Jeffrey Bingham
cd231c030e
more formatting.
2017-09-27 22:35:02 -07:00
Jeffrey Bingham
d49fade704
fix some formatting.
2017-09-27 22:30:32 -07:00
Jeffrey Bingham
d8b80bce40
Fix the translation jacobian.
2017-09-27 22:25:39 -07:00
Jeffrey Bingham
6da931d0bd
Adjust jacobian.py to show mismatch between joint state and link state.
2017-09-27 22:25:39 -07:00
Jeffrey Bingham
0b239e8bc0
[pybullet] Add an example for jacobian.
2017-09-27 22:25:39 -07:00
erwincoumans
bab3b20e65
Merge pull request #1344 from YunfeiBai/master
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Fix some IK related issues.
2017-09-27 17:40:16 -07:00
yunfeibai
54eada7579
Fix memory leak.
2017-09-27 16:42:29 -07:00
yunfeibai
85be3b43dd
Merge remote-tracking branch 'upstream/master'
2017-09-27 15:20:11 -07:00
yunfeibai
113e103bc2
Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before.
2017-09-27 15:18:08 -07:00
yunfeibai
adcece7927
Adjust the IK setup to address the inverse kinematics issues mentioned in #1249 .
2017-09-27 14:14:57 -07:00
erwincoumans
8e08a9ff16
Merge pull request #1343 from erwincoumans/master
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fix typos in agents config
2017-09-27 13:53:50 -07:00
Erwin Coumans
4dca5b3ef5
fix typos in agents config
2017-09-27 12:17:59 -07:00
erwincoumans
ca968916a1
Merge pull request #1342 from erwincoumans/master
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add minitaur environment randomizer, enabled by default for Minitaur gym environment
2017-09-27 11:03:54 -07:00
Erwin Coumans
a716752915
add __init__.py file in agents folder
2017-09-27 10:30:05 -07:00
Erwin Coumans
5082d6af15
bump up pybullet version, instruction to visualize agents ppo:
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python -m pybullet_envs.agents.visualize_ppo -config=pybullet_pendulum --logdir=pendulum/20170927T101514-pybullet_pendulum/ --outdir=vid
tensorboard --logdir=20170927T101514-pybullet_pendulum --port=2222
2017-09-27 10:26:45 -07:00
Erwin Coumans
8a071e9b7b
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-27 10:22:10 -07:00
Erwin Coumans
e4a3b3fe38
add TensorFlow Agents PPO training script for various pybullet environments:
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example:
python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
2017-09-27 10:20:38 -07:00
Erwin Coumans
36c9f2f93b
bump up pybullet version
2017-09-27 09:09:43 -07:00
Erwin Coumans
c37919604f
add minitaur environment randomizer, enable it by default
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this improves PPO training ( more stable)
2017-09-27 09:07:21 -07:00
erwincoumans
6ae7b859ae
Merge pull request #1341 from erwincoumans/master
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improved custom C++ vrSyncPlugin, for pybullet/VR to sync controller at the same frequency as the physics loop (240Hz)
2017-09-26 22:56:47 -07:00
erwincoumans
12f28c5f76
fix compile issue on MSVC
2017-09-26 19:58:24 -07:00
erwincoumans
6644157815
Merge remote-tracking branch 'bp/master'
2017-09-26 19:55:36 -07:00
erwincoumans
e72ebc95de
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-26 19:54:57 -07:00
erwincoumans
8a265b8af2
expose gear erp/relative position target to C-API/pybullet
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finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
2017-09-26 19:54:36 -07:00
erwincoumans
44fc48314e
Merge pull request #1339 from erwincoumans/master
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add experimental vrSyncPlugin, that syncs the position/orientation of…
2017-09-26 11:42:21 -07:00
Erwin Coumans
b03e5dec5f
return -1 for debugDrawItems in DIRECT mode, instead of failing the API
2017-09-26 11:40:38 -07:00
erwincoumans
b1f8eb74a4
bump up shared memory version number
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add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
2017-09-26 10:05:17 -07:00
erwincoumans
270a036cd7
add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint)
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This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
2017-09-25 18:14:50 -07:00
erwincoumans
4655e9d83c
Merge pull request #1338 from erwincoumans/master
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pybullet changeVisualShape texture fix, MSVC compile error
2017-09-25 12:21:45 -07:00
erwincoumans
6d68a67c79
fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array.
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May fix some internal texture mug bug.
2017-09-25 11:11:48 -07:00
erwincoumans
3f68b2ebf7
Merge pull request #1337 from erwincoumans/master
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tweak pybullet examples, fix a few warnings
2017-09-25 09:33:28 -07:00
erwincoumans
0f30c95734
fix a compile error on Windows (variables need to be declared together at the start of a block in C)
2017-09-25 07:38:00 -07:00
Erwin Coumans
d3d1b51c3a
fix compile warnings
2017-09-24 23:26:06 -07:00
Erwin Coumans
705a59ea73
Merge remote-tracking branch 'bp/master'
2017-09-24 22:50:55 -07:00
Erwin Coumans
a3552e4931
tMerge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-24 22:50:37 -07:00
erwincoumans
27674e5289
Update b3PluginManager.cpp
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pre/post tick were wrong order in initializer list
2017-09-24 22:39:20 -07:00
Erwin Coumans
2d91e13886
tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter,
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so it needs some 'ping' command
bump up pybullet to version 1.4.6
2017-09-24 21:37:31 -07:00
erwincoumans
83805da531
Merge pull request #1336 from bingjeff/fix_bugs_in_jacobian
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[sharedmemory] Fill-out calculateJacobian command.
2017-09-24 21:15:42 -07:00
erwincoumans
f88973f832
Merge pull request #1286 from mendsley/clean_vbt_allocations
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Optimize Dbvt trees in place
2017-09-24 20:35:57 -07:00
Jeffrey Bingham
ee30ca93c5
[sharedmemory] Fill-out calculateJacobian command.
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The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.
Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.
2017-09-24 18:57:48 -07:00
erwincoumans
8eb69552d1
Merge pull request #1335 from erwincoumans/master
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manually apply pull request 457 PR #457
2017-09-24 16:38:23 -07:00
Erwin Coumans
97509dc9d0
add some missing files for premake, thanks to Jeff Bingham for the report
2017-09-24 16:10:14 -07:00
Erwin Coumans
27b02bfa78
Merge remote-tracking branch 'bp/master'
2017-09-24 16:01:50 -07:00
erwincoumans
4ff22a710c
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-24 11:41:46 -07:00
erwincoumans
70974c76da
add a few more contributors (the list is far from complete though)
2017-09-24 11:41:24 -07:00
Erwin Coumans
ebf78cb754
manually apply pull request 457 PR #457
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Thanks to aaronmjacobs!
2017-09-24 10:45:08 -07:00
erwincoumans
fcc093ecae
Merge pull request #1332 from erwincoumans/master
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create a C/C++ plugin system for pybullet / C-API.
2017-09-24 10:28:14 -07:00
