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1070 Commits

Author SHA1 Message Date
Erwin Coumans
4247104050 add toes to Mini Cheetah 2019-05-31 15:04:53 -07:00
Erwin Coumans
3c74ae8366 Add approximate Mini Cheetah URDF and example in pybullet 
Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
 2019-05-31 14:21:10 -07:00
Erwin Coumans
1933661124 change quadruped, remove old files 2019-05-30 14:55:47 -07:00
erwincoumans
7a7652fd43
Merge pull request #2265 from akien-mga/dos2unix 
Convert DOS (CRLF) source files to Unix (LF) line endings
 2019-05-30 09:41:35 -07:00
Erwin Coumans
093986f1ee revert to previous leg style of Microtaur 2019-05-22 23:42:32 -04:00
Erwin Coumans
e13df4ce48 add toe endeffectors for IK of Microtaur 2019-05-22 22:08:45 -04:00
Erwin Coumans
d7e863e51a update microtaur URDF and example, to be compatible with minitaur_rainbow_dash 2019-05-22 10:59:20 -04:00
Rémi Verschelde
d85b800702 Convert DOS (CRLF) source files to Unix (LF) line endings 
Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
 2019-05-22 10:01:32 +02:00
Erwin Coumans
af5bfb4089 added Microtaur URDF file, with basic system identification 
See https://www.youtube.com/watch?v=UmGnLgpEVTE
 2019-05-21 22:33:16 -04:00
Erwin Coumans
36ed4419bf Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-05-07 19:43:33 -07:00
Erwin Coumans
de8013ff75 add minitaur extended to pybullet_envs 2019-05-07 19:43:02 -07:00
Chuyuan Fu
3be2ce0adf set softbody start position and orientation in pybullet 2019-05-03 11:56:13 -07:00
Chuyuan Fu
3fb0a7c19b add set starting position and orientation to softbody 2019-05-01 16:56:40 -07:00
Gustavo Goretkin
aff54a2397 Refactor C API part of pybullet out 2019-04-29 11:28:17 -04:00
Gustavo Goretkin
9009ca914e Run cmake-format 
cmake-format --command-case upper --dangle-parens true CMakeLists.txt
 2019-04-29 11:03:41 -04:00
Erwin Coumans
61c099460c apply yapf 2019-04-27 14:22:02 -07:00
Erwin Coumans
efe73670ef Merge remote-tracking branch 'bp/master' 2019-04-27 14:19:58 -07:00
Erwin Coumans
ef9570c315 add yapf style and apply yapf to format all Python files 
This recreates pull request #2192
 2019-04-27 07:31:15 -07:00
erwincoumans
1da207efaa
Merge pull request #2209 from YungKC/patch-2 
Should sort best directions that gives the highest rewards
 2019-04-26 16:43:32 +02:00
Erwin Coumans
0d4392af58 rename laikago_walk.json -> txt 2019-04-18 14:18:34 -07:00
YungKC
61987dea85
Should sort best directions that gives the highest rewards 
Found bug where the sort order would incorporate the lowest N rewards, instead of the highest. With this fix, one can now use fewer best directions instead.
 2019-04-16 12:20:08 -07:00
erwincoumans
bf0eb4703d
Merge pull request #2200 from YungKC/patch-1 
Fix render issue in server render mode (e.g., docker)
 2019-04-16 06:31:58 -07:00
erwincoumans
a929e8f2e5
Merge pull request #2203 from erwincoumans/master 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
 2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
YungKC
8f9ff5e674
Fix render issue in server render mode (e.g., docker) 
px is an 1D array, and cause a runtime error when trying to strip the color channels into RGB. I fixed this by first reshape the px array into am image compatible format first.
 2019-04-12 17:42:26 -07:00
erwincoumans
154c65ae4d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-04-11 22:19:12 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
Jannik Vogel
4ca8b997f9 Reduce visibility of Bullet symbols in PyBullet 
Avoids version conflicts in programs using PyBullet, which also link against Bullet libraries
 2019-04-08 02:59:24 +02:00
Erwin Coumans
4ae24083ee implement stablePD control version of testLaikago, in preparation for quadruped DeepMimic 2019-04-05 16:45:33 -07:00
erwincoumans
024af08320 Added laikago mocap data for a DeepMimic compatible walk cycle 
Added testLaikago.py script to test this mocap data.
 2019-04-04 19:40:21 -07:00
erwincoumans
76918ca26d Merge remote-tracking branch 'bp/master' 2019-04-03 20:08:05 -07:00
erwincoumans
6951aaf26a implement PyBullet removeState command. Fixes Issue #2163 
https://github.com/bulletphysics/bullet3/issues/2163
 2019-04-03 20:06:40 -07:00
erwincoumans
4d3f2e5b17
Merge branch 'master' into SIblock 2019-03-27 16:18:36 -07:00
Erwin Coumans
4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
Erwin Coumans
2ba8c22397 add actuatornet code 2019-03-26 10:05:45 -07:00
Chuyuan Fu
19f3ec8b80 fix conflut 2019-03-25 14:12:00 -07:00
iory
a8146024fd [pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym 2019-03-24 03:32:20 +09:00
Erwin Coumans
94d8ee74f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-03-20 15:11:03 -07:00
Erwin Coumans
f725d1201d fix memory leak in PyBullet.calculateInverseKinematics when joint limits are provided 
Fixes Issue #2164
 2019-03-20 15:09:48 -07:00
erwincoumans
28148eb1ed Merge remote-tracking branch 'bp/master' 2019-03-18 10:12:55 -07:00
Erwin Coumans
3acac372da add vision 60 urdf (from Ghost Robotics) and zipped random urdfs 2019-03-15 13:19:59 -07:00
erwincoumans
9662ae4ba0
Update kuka_diverse_object_gym_env.py 
Fix issue in glob to separate training/test data pattern. See https://github.com/bulletphysics/bullet3/issues/2158
Thank to @TomoyaFukui
 2019-03-14 09:33:48 -07:00
Damian Bemben
2ca6172f1a Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-11 10:12:38 -07:00
erwincoumans
550f4c4785 expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-11 10:12:38 -07:00
erwincoumans
ce531e6015 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-11 10:12:38 -07:00
erwincoumans
a1f15ae01a Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-11 10:12:38 -07:00
Damian Bemben
b027bc92df
Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-10 22:41:40 +00:00
erwincoumans
4ea907aacf expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-09 09:23:16 -08:00
erwincoumans
32e93d9f91 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-08 09:20:32 -08:00
erwincoumans
9408e4f2d0 Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-07 21:13:00 -08:00
Erwin Coumans
bd0501d3fc fix example meshScale 2019-03-02 12:11:59 -08:00
Erwin Coumans
3997ac2b61 fix issue with retina scale and picking in createVisualShape.py example 2019-03-02 12:08:25 -08:00
erwincoumans
4d711ed411 Merge remote-tracking branch 'origin/physx' into physx_clean 2019-02-28 17:52:59 -08:00
erwincoumans
2ae03f50b1 revert to original humanoidMotionCapture.py example. Add a showJointMotorTorques variable (false by default) 2019-02-27 10:01:54 -08:00
erwincoumans
8e1c1448ab Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof. 2019-02-27 09:54:12 -08:00
Erwin Coumans
03e897d1f5 replace deep_mimic policies by versions trained using PyBullet, backflip works better now. 2019-02-24 20:12:18 -08:00
erwincoumans
a9996088c8 Implement PyBullet.getCameraImage for PhysX backend. 
PhysX backend, allow arbitrary plane normal, a few other fixes.
 2019-02-24 14:09:42 -08:00
erwincoumans
9ecc1cc485 Implement CustomProfilerCallback, hooking up to Bullet profiling 
test dominoes
 2019-02-22 09:17:55 -08:00
erwincoumans
71b1191947 texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison. 
add command-line args for PhysX (numCores=..., solver=tgs, )
 2019-02-21 19:24:18 -08:00
erwincoumans
3bf27cf8f2 implement rudimentary contact callback. Does PhysX have a way to report ALL contact points, every frame, so we can update contact forces etc, and report all contacts? 2019-02-20 21:38:37 -08:00
erwincoumans
adf31c8f64 remove PhysXClient.*, it was not needed (use PhysicsDirect instead) 2019-02-20 19:57:10 -08:00
Erwin Coumans
6d2ed912f5 Merge remote-tracking branch 'bp/master' 2019-02-18 19:11:03 -08:00
erwincoumans
7e5ac33cf1
Merge pull request #2105 from Somedaywilldo/master 
Add Human3.6M Support for deep_mimic Environment
 2019-02-18 18:07:47 -08:00
erwincoumans
bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans
79a273f644 deep_mimic: add option for spherical joint drive motor, next to stable PD control 
(existing policies won't work with those motors, needs tuning and re-training)
 2019-02-12 20:42:05 -08:00
erwincoumans
85ee4c2934 allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. 
expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
 2019-02-12 10:36:01 -08:00
Somedaywilldo
59d58ce430 add Human3.6M support for deep_mimic env 2019-02-13 00:13:56 +08:00
bla
a94a24959f add deep_mimic pre-trained policies 2019-02-11 11:06:15 -08:00
Erwin Coumans
aaae366a21 towards python 2.x support for deep_mimic (still issue with Logger.print2) 2019-02-11 10:03:26 -08:00
Erwin Coumans
786ddec076 disable GUI in deep_mimic, it slows down too much on Mac OSX 2019-02-11 09:44:59 -08:00
Erwin Coumans
30290dfba1 add missing __init__.py for pip 2019-02-11 09:20:44 -08:00
Erwin Coumans
2728294c53 more fixes in deep_mimic env 2019-02-11 09:15:42 -08:00
Erwin Coumans
1bd201eb43 fixes in PyBullet deep_mimic to allow running in pip version 2019-02-11 08:51:07 -08:00
erwincoumans
12e6478689
Merge pull request #2103 from erwincoumans/master 
PyBullet deep_mimic backflip re-using original DeepMimic policy from Jason Peng
 2019-02-11 05:45:21 -08:00
erwincoumans
d4292fdac3 PyBullet deep_mimic fix computeAngVelRel 2019-02-10 21:37:34 -08:00
erwincoumans
bb15800964 add pre-trained backflip policy thanks to Jason Peng from https://github.com/xbpeng/DeepMimic 2019-02-10 21:06:00 -08:00
erwincoumans
be20ed6aa2 remove obsolete deep_mimic files (use the one in deep_mimic/env) 
add plane_implicit.urdf
 2019-02-10 21:04:28 -08:00
erwincoumans
9bddca873c allow pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt to perform a backflip. Can only backflip twice, then drops on ground. 
this deepmimic is still very slow, due to slow mass matrix/inverse dynamics computation. once spherical motor drive is enabled, it should be fast(er)
move pd_controller_stable to pybullet_utils for easier re-use
add plane_transparent.urdf to pybullet_data
allow spacebar in keyboardEvents (Windows for now)
 2019-02-10 20:56:31 -08:00
erwincoumans
b574a360f5
Merge pull request #2055 from xantares/pybullet 
Pybullet enhancements
 2019-02-10 20:25:47 -08:00
erwincoumans
28c9ea3aad PyBullet: add domino asset and example 2019-02-10 19:44:39 -08:00
erwincoumans
054c0b8e58 PyBullet+PhysX backend: expose getJointState reading link position/velocity 2019-02-05 10:24:41 -08:00
erwincoumans
42369aa47d PyBullet.changeDynamics: expose jointDamping 
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
 2019-02-04 21:06:43 -08:00
Erwin Coumans
2eace2f715 update mpi usage 2019-02-01 19:20:08 -08:00
Erwin Coumans
176edeff1e add mpi_run version (not working yet) 2019-02-01 17:57:31 -08:00
Erwin Coumans
6c42cd3e1b add policy 2019-02-01 17:45:50 -08:00
Erwin Coumans
1cef924973 deepmimic fix: reference initialization wasn't spread over all frames 2019-02-01 17:18:13 -08:00
Erwin Coumans
7cc2685faf enable deepmimic training on mac 2019-02-01 16:24:48 -08:00
erwincoumans
63e781b88b PyBullet env for DeepMimic (preliminary work-in-progress) 2019-01-31 21:32:51 -08:00
erwincoumans
5d871806eb enable stable PD plugin in premake4.lua PyBullet 
add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
 2019-01-31 21:31:26 -08:00
Erwin Coumans
b257bd731b PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture. 2019-01-29 12:03:11 -08:00
Erwin Coumans
63683e8f02 fix Issue 2039 2019-01-28 16:24:44 -08:00
Erwin Coumans
0818112ede fix some gym envs 2019-01-28 16:21:52 -08:00
erwincoumans
c97d1041ed
Merge pull request #2037 from araffin/update-gym 
Update gym envs
 2019-01-28 10:14:09 -08:00
Erwin Coumans
0e4d6b0376 tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture 2019-01-28 07:35:57 -08:00
erwincoumans
505cb15600 proto2csv 2019-01-27 12:11:40 -08:00
erwincoumans
6c2568bf5e PyBullet Minitaur: Fix Minitaur logging (binary file) 
PyBullet Minitaur: Add minitaur_raibert_controller_example.py
 2019-01-27 11:37:35 -08:00
erwincoumans
a6244d714e more PyBullet PhysX preliminary work. 2019-01-25 10:14:54 -08:00
erwincoumans
03549ca7c6 pass force as array instead of value 2019-01-23 17:24:10 -08:00
erwincoumans
225db2e385 Merge remote-tracking branch 'bp/master' 2019-01-23 08:55:38 -08:00
erwincoumans
e02f82f172 fix some memory leaks in PyBullet.resetJointStateMultiDof and setJointMotorControlMultiDof 
Fixes Issue 2065
 2019-01-23 08:54:17 -08:00
Maxime Busy
b4eca192fb Parse physicsClientId before calling getPhysicsClient 2019-01-23 12:02:17 +01:00
erwincoumans
ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
xantares
e793bd22bb
Cancel built time print changes 2019-01-15 10:24:11 +01:00
Michel Zou
fd40544637 On OSX link with dynamic_lookup 2019-01-12 11:36:28 +01:00
Michel Zou
46e2d280a8 Print build time only in debug mode 2019-01-11 21:57:41 +01:00
Michel Zou
ea515048e9 OSX Python extension is .so 2019-01-11 21:57:41 +01:00
Michel Zou
04d3b6aee7 Add pybullet install rule 2019-01-11 21:57:38 +01:00
erwincoumans
101429e6a3
Merge pull request #2041 from gsp-27/gsp-27-patch-1 
Added code for issue #2036
 2019-01-04 07:56:14 -08:00
Erwin Coumans
19aafd5221 PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero 2019-01-03 17:35:12 -08:00
Erwin Coumans
bf9efffa4b Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape 
See createMesh.py for an example.

The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:

#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
 2019-01-03 16:19:28 -08:00
gaurav pathak
7f73081a89
Added code for issue #2036 
Made necessary changes to ```humanoid_deep_mimic_env.py``` file, setting ```initial_frame``` to new position after simulation steps and setting ```SimTime``` using this new initial frame time
 2019-01-03 18:17:08 -05:00
Antonin RAFFIN
f9fdf89c06 Fix indentation 2018-12-31 12:52:43 +01:00
Antonin RAFFIN
1c61b629e3 Fix formating issues 2018-12-31 12:48:42 +01:00
Antonin RAFFIN
0df3527884 Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
erwincoumans
78de1f070f add example comparing explicit PD control (Python), explicit PD control (plugin), position constraint and stable PD control (Python) 2018-12-19 20:12:19 -08:00
erwincoumans
192d27743a enable pybullet.calculateInverseDynamics for floating bodies 
Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
 2018-11-27 08:49:56 -08:00
Erwin Coumans
2e30a9565b add humanoid_deepmimic_gym_env.py for HumanoidDeepMimicBulletEnv-v1 (still untested) 2018-11-25 15:33:28 -08:00
erwincoumans
bb6f4fb17c improve the ARS implementation: add multiprocessing Gym environment stepping, add command-line parameters to resume a policy, --render, --movie, --steps, --env 2018-11-24 11:54:36 -08:00
erwincoumans
ca36a82c62 add deepmimic args file (for testing) 
implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
 2018-11-23 18:32:23 -08:00
erwincoumans
5f0dcb575f add DeepMimic helper utils 2018-11-23 18:01:39 -08:00
erwincoumans
7669fc92c5 add shiftCenterOfMass.py example. 2018-11-23 18:01:00 -08:00
erwincoumans
121cdc91b0 more work on PyBullet implementation of DeepMimic humanoid mimic of motion capture. 
b3Quaternion, deal with zero-length axis (in axis,angle constructor)
 2018-11-21 11:09:10 -08:00
erwincoumans
f93e4e4553 fix mjcf2urdf.py for Python 3 (utf) and don't export visuals (let it auto-convert from collision element) 2018-11-21 11:07:05 -08:00
erwincoumans
41e28e3587 Add link/joint names for DeepMimic humanoid urdf 2018-11-20 21:40:20 -08:00
Erwin Coumans
bded2968ea add PyBullet.rotateVector method 
add missing walk humanoid3d_walk.txt
 2018-11-19 10:10:33 -08:00
erwincoumans
f9f8d0fbb0 example for fileIOPlugin.py loading SDF and its assets from a single zipfile, 
also show how to disable file caching (used in the fileIOPlugin)
 2018-11-17 14:11:01 -08:00
erwincoumans
9e99f5cdbc Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion 
Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic
Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py
Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
 2018-11-16 17:29:03 -08:00
erwincoumans
7dd524075c Implement btMultiBodySphericalJointMotor, able to track a quaternion position target. 
Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof
Expose PyBullet.getQuaternionSlerp
Improve PyBullet.setJointMotorControlMultiDof
Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof
Expose  btMultiBody::spatialTransform
Fix btMultiBody::setupPlanar from DeepMimic codebase
Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
 2018-11-13 14:32:18 -08:00
erwincoumans
a06b5de7b6 add converted humanoid from DeepMimic (https://github.com/xbpeng/DeepMimic, 
thanks to Jason Peng), and motion capture playback example.
See also https://www.youtube.com/watch?v=vw3EKnKrgqw
 2018-11-11 20:15:47 -08:00
erwincoumans
0b2142414d fix usage of btMultiBody::setJointPosMultiDof/setJointVelMultiDof 2018-11-11 19:04:07 -08:00
erwincoumans
17219f84c6 make setJointPosMultiDof and setJointVelMultiDof argument const. 
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
 2018-11-10 14:26:31 -08:00
erwincoumans
49b098854e PyBullet: avoid calling syncBodies for each DOF in pdControl. 
Allow PD_CONTROL in setJointMotorControlArray.
 2018-11-07 09:29:19 -08:00
Erwin Coumans
8b53e47fe8 add simpler ARS implementation, thanks to Alexis Jacq and Hadelin de Ponteves 
(will add save/restore of policy and rendering movies through command-line arguments soon)
 2018-11-02 11:19:46 -07:00
Erwin Coumans
f6ea2a7379 fix a potential data race condition. 
remove createObstacleCourse programmatic creation part until we can steam vertices/indices.
 2018-11-01 10:20:54 -07:00
Erwin Coumans
131535a99f remove debug stats 2018-10-31 21:24:44 -07:00
Erwin Coumans
8e82de1b00 add rudimentary MuJoCo mjcf xml to ROS URDF file, based on 
pybullet_utils.urdfEditor
 2018-10-31 11:02:19 -07:00
Erwin Coumans
47b8b98a64 PyBullet: call the right method (although equivalent at the moment) 2018-10-30 22:16:13 -07:00
Erwin Coumans
44976780fa remove ARS files 2018-10-29 19:23:54 -07:00
Erwin Coumans
c2b9dc9361 update to CartPoleBulletEnv-v1 and check with latest baselines v0.1.5, works fine. 
(make it more similar to classical control cartpole)
 2018-10-29 16:44:12 -07:00
erwincoumans
df9b4fb005 remove printf from demo 2018-10-27 11:56:04 -07:00
Erwin Coumans
bebe12d6d8 tweak tensorflow humanoid_running.py demo to be more robust against mouse dragging 
(mouse dragging adds energy in the system that can cause explosions/instability):
use solverResidualThreshold and increase number of sub steps, also clamp the max force.
 2018-10-27 11:48:21 -07:00
Erwin Coumans
0511a36a67 add Laikago quadruped model, thanks to Unitree for the cad meshes. 
If you use the Laikago URDF, please add a citation to PyBullet:

@MISC{coumans2018,
author =   {Erwin Coumans and Yunfei Bai},
title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
 2018-10-26 18:49:58 -07:00
erwincoumans
a44df2b0a6 PyBullet: allow to pass vertices (for convex) and vertices+indices (for concave) to createCollisionShape 
See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices.
Will be lifted once we implement the streaming version (soon).
 2018-10-26 10:18:51 -07:00
Erwin Coumans
2d224cf319 revert backward compabitility in API 2018-10-20 19:44:39 -07:00
erwincoumans
ed49edc1af PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture 
b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles
 2018-10-20 15:56:56 -07:00
erwincoumans
b5e475aec3 enable planar reflection in MinitaurGymEnv 
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
 2018-10-14 15:10:19 -07:00
erwincoumans
c1e20c448f Implement InMemoryFile for memory caching for fileIO plugin. 
Support SDF loading through fileIO plugin.
Replace strcspn by C code (not crossplatform)
Add flag for loadURDF to use color from MTL file (instead from URDF link material)
pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
 2018-10-14 12:54:34 -07:00
erwincoumans
a24c1436af state 2 of FileIO plugin: adding/removing FileIO types, search through all registered FileIO types. 
(not enabled by default yet)
Example:
fileIO = p.loadPlugin("fileIOPlugin")
print("fileIO=",fileIO)
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/plane.zip", [p.AddFileIOAction,p.ZipFileIO])
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/test2.zip", [p.AddFileIOAction,p.ZipFileIO])
planeId = p.loadURDF("plane.urdf")
duckId = p.loadURDF("duck_vhacd.urdf",[0,0,1])
 2018-10-11 14:39:31 -07:00
erwincoumans
bb305c6ebc allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject 
If parentObjectUniqueId provided, convert local from/to into world space coordinates
AddUserDebugLins: don't block when replacing an item
Fix examples/pybullet/examples/inverse_kinematics.py
 2018-10-10 23:31:50 -07:00
erwincoumans
a1543714f1
Merge pull request #1919 from erwincoumans/master 
btMultiBody: fix indexing issue causing wrong friction to be reported, remove obsolete BT_PYBULLET_GRPC and PYBULLET_EGL
 2018-10-06 19:02:09 -07:00