Erwin Coumans
39a4e8dcd9
Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof,
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Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
2019-07-21 13:08:22 -07:00
Erwin Coumans
dff277ad7b
add laikago urdf with toes (for inverse kinematics, and control over stiffness/damping to model rubber)
2019-07-17 12:30:49 -07:00
Erwin Coumans
16542aa740
tweak Mini Cheetah URDF/MTL
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use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
2019-06-19 12:07:26 -07:00
Erwin Coumans
8f9fac99bd
add kinematic version that also updates the base position/orientation from the base
2019-06-13 13:26:52 -07:00
bla
3e32cf94e7
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-06-06 21:54:47 +00:00
bla
6ab09fe06e
fix testlaikago and pd_controller_stable
2019-06-06 21:54:22 +00:00
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
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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
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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
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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
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See https://www.youtube.com/watch?v=UmGnLgpEVTE
2019-05-21 22:33:16 -04:00
Erwin Coumans
de8013ff75
add minitaur extended to pybullet_envs
2019-05-07 19:43:02 -07:00
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
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This recreates pull request #2192
2019-04-27 07:31:15 -07:00
erwincoumans
1da207efaa
Merge pull request #2209 from YungKC/patch-2
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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
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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
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Fix render issue in server render mode (e.g., docker)
2019-04-16 06:31:58 -07:00
YungKC
8f9ff5e674
Fix render issue in server render mode (e.g., docker)
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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
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
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Added testLaikago.py script to test this mocap data.
2019-04-04 19:40:21 -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
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
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
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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
b027bc92df
Fixing issue where mass of motors is uneven
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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
Erwin Coumans
03e897d1f5
replace deep_mimic policies by versions trained using PyBullet, backflip works better now.
2019-02-24 20:12:18 -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
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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.
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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
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(existing policies won't work with those motors, needs tuning and re-training)
2019-02-12 20:42:05 -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
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)
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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.
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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
28c9ea3aad
PyBullet: add domino asset and example
2019-02-10 19:44:39 -08:00