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Author SHA1 Message Date
erwincoumans
33619893c7 fixed failed git merge 2019-02-18 18:34:11 -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
dc8a40f7dc PyBullet: fix issue with setCollisionFilterGroupMask 2019-02-17 12:02:52 -08:00
Erwin Coumans
10e559f7aa Merge branch 'physx' of https://github.com/erwincoumans/bullet3 into physx 2019-02-15 08:11:05 -08:00
Erwin Coumans
80ef56cfca add missing header 2019-02-15 08:10:24 -08:00
Erwin Coumans
43aafbe892 branch with experimental PyBullet support for PhysX 
see otherPhysicsEngine in examples/pybullet/examples folder for example usage
 2019-02-15 08:10:23 -08:00
Erwin Coumans
225d823e4d bump up pybullet version 2019-02-13 17:10:01 -08:00
Erwin Coumans
f166ca88ea Merge remote-tracking branch 'bp/master' 2019-02-13 17:09:27 -08:00
Erwin Coumans
d533f19d54 add missing header 2019-02-13 15:11:34 -08:00
Erwin Coumans
f6f9de12af branch with experimental PyBullet support for PhysX 
see otherPhysicsEngine in examples/pybullet/examples folder for example usage
 2019-02-13 14:57:11 -08:00
erwincoumans
a38093ad61 deal properly with resize/retina in eglPlugin/eglRendererVisualShapeConverter 2019-02-13 14:43:39 -08:00
erwincoumans
b410e44137 fix path issue with URDF2PhysX.cpp/h 2019-02-13 13:21:50 -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
e7e46154bb
Merge pull request #2106 from erwincoumans/master 
fast createMultiBody batch creation, more deep_mimic work
 2019-02-12 12:10:10 -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
erwincoumans
b5a707de1d
Merge pull request #2104 from RanTig/user-data-info-in-notification 
Adds extra information about the UserData in the notifications.
 2019-02-12 07:29:14 -08:00
Tigran Gasparian
d9e36935e6 Adds extra information about the UserData in the notifications. 
When using the USER_DATA_ADDED and USER_DATA_REMOVED notifications, some
more information is necessary than just the user data id, especially
when a user data entry has been removed.
 2019-02-12 12:02:20 +01:00
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
1118542d0e
Merge pull request #2098 from erwincoumans/master 
bit more work on deep_mimic env and physx backend
 2019-02-05 15:19:17 -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
erwincoumans
c5e6cbe2ed
Merge pull request #2087 from erwincoumans/master 
fix pybullet removeBody memleak, fix createVisualShape.py ray vertical/horizontal and retina scale, fi…
 2019-01-30 16:39:06 -08:00
erwincoumans
014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00
erwincoumans
c6cf5cb0c4
Merge pull request #2083 from erwincoumans/master 
some PyBullet gym env fixes
 2019-01-29 13:38:06 -08:00
Erwin Coumans
9392b05d53 bump up to PyBullet 2.4.3 2019-01-29 12:05:15 -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