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Author SHA1 Message Date
Erwin Coumans
ec18adbf0a fix MJCF visual shape capsule conversion code (fromto case) 2017-09-10 07:48:43 -07:00
Erwin Coumans
125380ce15 revert feet related reward in ant 2017-09-09 22:35:48 -07:00
Erwin Coumans
de28334a70 tweak to testEnv.py, sample usage: 
python testEnv.py --rgb=1 --render=1 --step=100000 --env="HumanoidBulletEnv-v0"
 2017-09-09 16:36:42 -07:00
Erwin Coumans
ce64aff7af ant env, fix feet_collision reward issue 2017-09-09 16:00:03 -07:00
Erwin Coumans
666c824b81 enable pybullet_env Ant Gym rendering, tinyRenderer has some issue with the ant.xml file though 2017-09-09 15:27:10 -07:00
Erwin Coumans
c895bd244f track down DL/dl issue 2017-09-09 13:05:45 -07:00
Erwin Coumans
4f47a223ef more fixes in Gym Ant to make reward the same as Roboschool, 
apparently feet_collision_cost is not properly updated in Roboschool,
for now, disable it in pybullet too: see https://github.com/openai/roboschool/issues/63
 2017-09-09 12:36:53 -07:00
Erwin Coumans
c144d9c045 add simple script to test some of the pybullet gym environments (work-in-progress/experimental) 2017-09-08 15:25:16 -07:00
Erwin Coumans
67eb59901a trigger travis again 2017-09-08 08:22:40 -07:00
Erwin Coumans
52c58a8886 turn off compiling pybullet using cmake, 
cmake's lack of finding python is broken beyond repair,
let's just use pip/setuptools instead.
See also: https://travis-ci.org/bulletphysics/bullet3/jobs/273121440
 2017-09-07 18:39:59 -07:00
Erwin Coumans
86840bf50d trigger travis 2017-09-07 17:24:17 -07:00
erwincoumans
514afc6ca3 Merge pull request #1299 from erwincoumans/master 
pybullet: improvements in Gym Ant environment, backwards compatibility fixes
 2017-09-07 14:41:45 -07:00
Erwin Coumans
03cde2ee9b fix build? (pybullet shouldn't be build by default) 2017-09-07 14:40:46 -07:00
Erwin Coumans
6671156652 tweak pybullet title and bump up version 2017-09-07 14:34:37 -07:00
Erwin Coumans
2d3b1e8eaa bump up pybullet version 2017-09-07 14:27:23 -07:00
Erwin Coumans
cbe0d0aff2 pybullet fix: accidently enable self-collision 2017-09-07 14:27:00 -07:00
Erwin Coumans
2d0d285377 Merge remote-tracking branch 'bp/master' 2017-09-07 12:26:02 -07:00
Erwin Coumans
09ddd17339 don't build pybullet unless asked for it, see this: 
https://travis-ci.org/bulletphysics/bullet3/jobs/273018723
 2017-09-07 12:22:35 -07:00
Erwin Coumans
9ecd345783 backwards compatibility... 2017-09-07 11:40:11 -07:00
Erwin Coumans
c30e9aea92 revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version. 2017-09-07 11:23:41 -07:00
Erwin Coumans
b0e50d0d5a pybullet Gym envs: add more sleep in the enjoy functions to see what's happening. 2017-09-07 11:17:38 -07:00
Erwin Coumans
3d702879c5 pybullet: improvements in Gym Ant environment (work-in-progress) 2017-09-07 11:06:42 -07:00
erwincoumans
920031c488 Merge pull request #1297 from erwincoumans/master 
Add Extras/BulletRobotics library for Roboschool, 	Re-enable Physics Server (Logging) and Physics Server (Replay Log), small fixes
 2017-09-06 23:01:15 -07:00
Erwin Coumans
7a2de3ea08 fix cmake logic for BUILD_EXTRA_LIBS 2017-09-06 15:59:34 -07:00
Erwin Coumans
cfc07565ac fix dumpLog.py 2017-09-06 14:34:10 -07:00
Erwin Coumans
c82131d16e cmake fixes 2017-09-06 14:18:35 -07:00
Erwin Coumans
7878f7ace9 Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake 
Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
 2017-09-06 13:18:39 -07:00
Erwin Coumans
adafcce830 compile fixes 2017-09-06 10:39:45 -07:00
Erwin Coumans
ff0cd65346 fix __init__.py, add stadium without collision for testing 2017-09-05 21:47:35 -07:00
Erwin Coumans
a985d441bd Re-enable Physics Server (Logging) and Physics Server (Replay Log) 2017-09-04 19:00:50 -07:00
erwincoumans
db8c0853b3 Merge pull request #1290 from lolengine/fix-const-removal 
Make btHashString const-correct by changing a target pointer type.
 2017-09-02 13:24:38 -07:00
erwincoumans
ee64a39c7b Merge pull request #1291 from erwincoumans/master 
improve minitaur urdf and quadruped.py test
 2017-09-02 13:23:59 -07:00
Erwin Coumans
a47e342ec4 bump up pybullet version 2017-09-02 11:42:58 -07:00
Erwin Coumans
3f21e528f0 revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't' 
make vr_kuka_setup.py load faster, by disabling rendering during loading
allow to setRealTimeSimulation(0) in VR
 2017-09-02 11:35:54 -07:00
erwincoumans
8319fa0380 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-02 01:06:47 -07:00
erwincoumans
1221c6d91d quadruped.py test, use generalized coordinates (not maximal coordinates) by default 2017-09-02 01:06:33 -07:00
erwincoumans
eb97e06280 fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping) 
fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates)
modify quadruped.py to test maximal coordinates
wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint
add 'j' key to show body frames in wireframe/debug mode
 2017-09-02 01:05:42 -07:00
Sam Hocevar
d8b5ebd818 Make btHashString const-correct by changing a target pointer type. 2017-09-01 20:02:58 +02:00
Sam Hocevar
903cc96c1a Fix one-sided soft bodies. 
A coding mistake in btSoftBody::addAeroForceToNode() was applying forces
in the wrong direction for one-sided soft bodies.
 2017-09-01 18:47:46 +02:00
Erwin Coumans
6d940d7a02 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-31 10:00:24 -07:00
Erwin Coumans
6d0e2cd527 update pybullet docs, add getList to pybullet_envs 2017-08-31 09:59:40 -07:00
erwincoumans
29271c53eb Merge pull request #1288 from erwincoumans/master 
add option to log joint torques (due to user applied torques and/or m…
 2017-08-30 20:45:56 -07:00
erwincoumans
ee30479a28 add option to log joint torques (due to user applied torques and/or motor torques) 
See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
 2017-08-30 19:41:15 -07:00
erwincoumans
c4c3bc6473 Merge pull request #1287 from erwincoumans/master 
implement pybullet.createUserConstraint for maximalCoordinates, bump up pybullet version to 1.3.0
 2017-08-30 12:14:58 -07:00
erwincoumans
8dfa76e924 implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear) 
maximalCoordinates, make sure parent is bodyA, child is BodyB
 2017-08-30 09:54:38 -07:00
Erwin Coumans
9d404f5316 bump up pybullet version, pre-sort visual shapes 2017-08-29 21:36:56 -07:00
erwincoumans
22658da02a Merge pull request #1285 from erwincoumans/master 
enable motor control for maximal coordinates robots (btRigidBody, btT…
 2017-08-29 21:34:17 -07:00
erwincoumans
1f7db4519e enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control. 2017-08-29 19:14:27 -07:00
erwincoumans
dc38ec5c99 Merge pull request #1284 from erwincoumans/master 
avoid flickering in visualizer window, when doing pybullet.getCameraI…
 2017-08-29 13:28:21 -07:00
erwincoumans
4ff6befc6d avoid flickering in visualizer window, when doing pybullet.getCameraImage 2017-08-29 12:13:21 -07:00