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496e614f77
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1417 Commits

Author SHA1 Message Date
Ariel Kwiatkowski
496e614f77
Explicitly state the datatypes in creating action/obs spaces 
This should get rid of the annoying warnings that pop up whenever an environment is created. Numpy's default datatype is float64, gym's is float32, the env is actually float32, but the initialization doesn't make it explicit so it causes redundant warnings.
```
/path/lib/python3.9/site-packages/gym/logger.py:34: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize("%s: %s" % ("WARN", msg % args), "yellow"))
```
 2021-09-29 23:10:18 +02:00
erwincoumans
9c37ca5185
Merge pull request #3950 from bttner/fix_external_force_command 
Fix: reference frame issue of external force command processor (Physics Server)
 2021-09-20 14:34:52 -07:00
Erwin Coumans
87605ca4c8 revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network. 2021-09-20 12:22:30 -07:00
erwincoumans
b638300fe4
Merge pull request #3951 from erwincoumans/master 
implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
 2021-09-02 18:03:23 -07:00
Erwin Coumans
b6df08b553 implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms. 2021-09-02 17:27:05 -07:00
Felix Büttner
4b6ec20b30 External force and torque frame fix 2021-09-02 17:40:18 +02:00
erwincoumans
31b8841efc
Merge pull request #3948 from erwincoumans/master 
add low-resolution Laikago (for faster rendering in CPU renderer) and cleanup sdf files
 2021-08-30 13:01:15 -07:00
Erwin Coumans
68424feb2d don't use empty frame for pose in sdf files 
use hint for clang that if (0) is intentional
 2021-08-30 19:40:20 +00:00
erwin coumans
7ac95be8cd add training and run/eval scripts to train envs_v2 Laikago pmtg 2021-08-17 08:56:30 -07:00
erwin coumans
e399944982 add simplified Laikago model for faster CPU rendering (getCameraImage in direct mode using TinyRenderer) 2021-08-03 13:26:39 -07:00
Antonin Raffin
13f3778c22 Fix SB3 comment 2021-07-29 15:24:46 +02:00
Antonin Raffin
2f8b44c702 Migrate to Stable-Baselines3 2021-07-29 15:21:49 +02:00
erwincoumans
a435fb7a41
Merge pull request #3819 from cadop/bullet-client-subprocess-safety 
Fix for bullet_client to be used from a class instance during multiprocessing
 2021-05-12 13:54:00 -07:00
erwin coumans
e952ac6f63 Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1]) 
This is an alternative to passing options="--background_color_red=red --background_color_green=green --background_color_blue=blue" in the connect method.
 2021-05-06 18:08:22 -07:00
erwin coumans
8e85dedaa9 PyUnicode_AsUTF8 breaks python 2.x compatibility 2021-05-06 10:19:15 -07:00
cadop
ace34c4d08 check the process id before disconnecting 2021-04-27 19:33:37 -04:00
Erwin Coumans
fc2992b75a Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 20:41:45 -07:00
Erwin Coumans
184b7816d0 LICENSE should have no txt extension 2021-04-22 16:45:29 -07:00
Erwin Coumans
c915e82d49 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 16:20:31 -07:00
Erwin Coumans
83a5fe2d31 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-21 22:14:38 -07:00
Erwin Coumans
9f91e6837a remove type annotations 
bump up pybullet version
 2021-04-20 15:50:12 -07:00
erwin coumans
e58e5bdf95 PyBullet: 
expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
 2021-04-20 11:29:27 -07:00
erwin coumans
84a63cf221 allow to use the useMultiBody argument for loadMJCF command 
note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
 2021-04-19 20:37:26 -07:00
Erwin Coumans
973d8c128f Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-07 22:13:18 -07:00
jaraujo98
dcf9c8d6a5
Replace xrange with range 
The xrange function was deprecated in Python 3. Removing it for compatibility.
 2021-04-06 11:26:39 -07:00
erwincoumans
21d1b8fc71
Merge pull request #3339 from erwincoumans/master 
add pybullet_examples, fix pybullet_envs.minitaur.envs_v2, bump up pybullet 3.1.2
 2021-04-05 19:53:38 -07:00
Erwin Coumans
5205dafcc2 add __init__.py 2021-04-05 19:51:38 -07:00
Erwin Coumans
29f388a5d8 add selected examples under pybullet_examples 2021-04-05 19:50:46 -07:00
Erwin Coumans
513e3a7db4 add more __init__.py files 2021-04-05 18:07:39 -07:00
Erwin Coumans
674c82db89 bump up pybullet version to 3.1.2 
add missing __init__.py files
 2021-04-05 17:58:25 -07:00
erwincoumans
2c3318f86d
Merge pull request #3331 from erwincoumans/master 
add performCollisionDetection (stepSimulation also calls this, but do…
 2021-04-05 12:54:39 -07:00
erwin coumans
8b8c1af6a4 Cleaned-up/fixed version of this Pull Request #3239, thanks to Wenlong Lu 2021-04-05 11:40:45 -07:00
erwin coumans
4d34ba7310 add updated Laikago envs_v2, with PMTG and MPC examples. 
python -m pybullet_envs.minitaur.envs_v2.locomotion_gym_env_test
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_mpc_wrapper_example
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_static_gait_example
python -m pybullet_envs.minitaur.agents.baseline_controller.locomotion_controller_example
PMTG example, not well tuned:
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_pmtg_example
 2021-04-05 11:35:19 -07:00
Erwin Coumans
58d47935a3 Merge remote-tracking branch 'bp/master' 2021-03-26 11:53:37 -07:00
erwin coumans
d1c4c41b9a add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration) 2021-03-26 10:31:13 -07:00
erwincoumans
93be7e6440
Merge pull request #3311 from erwincoumans/master 
allow to compile pybullet using btDiscreteDynamicsWorld (no btMultiBody, no btSoftBody, no btDeformableBody)
 2021-03-26 10:29:04 -07:00
erwin coumans
546212b158 add mug obj 2021-03-22 16:53:17 -07:00
erwincoumans
395e17c7bf
Merge pull request #3238 from yycho0108/add-link-names-to-createmultibody 
Add linkNames argument to CreateMultibody
 2021-03-15 22:48:33 -07:00
erwin coumans
5cf8ee3360 Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers 
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
 2021-03-15 22:44:55 -07:00
erwincoumans
0c7ea68709
Merge pull request #3246 from Danfoa/master 
Fix Stable-PD Control bug on First Order Taylor approximation of next `q` state
 2021-03-07 08:19:37 -08:00
Erwin Coumans
adcaa75777 enable v-hacd in cmake for BulletRobotics and pybullet build (use cmake -DENABLE_VHACD=OFF .. to disable) 
cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN)
btMultibody, make some args const in mulMatrix
 2021-03-01 14:03:48 -08:00
Erwin Coumans
97add36b9f update bullet_client.py to accept options 
p.connect(p.GUI, options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")

If you use bullet_client.py, you can use:
p = bc.BulletClient(connection_mode=pybullet.GUI,options="--background_color_red=1 --background_color_blue=1 --background_color_green=1")
--mouse_move_multiplier=0.4
--mouse_wheel_multiplier=0.01
--mp4=moviename.mp4
 2021-02-25 16:32:39 -08:00
daniel.ordonez
f719c27b04 Fix Stable PD bug on First Order Taylor approximation of next q state 2021-01-27 21:59:49 -05:00
yycho0108
c0d9553d65 add link names args to CreateMultibody 2021-01-20 15:53:24 +09:00
erwincoumans
de8f04f819
Update pybullet.c 2021-01-17 23:42:28 -08:00
Erwin Coumans
21bc93a084 disable cone friction in example 2021-01-15 14:42:12 -08:00
Erwin Coumans
10020baa71 fix memory leak in calculateInverseKinematics2, reported here: 
https://github.com/bulletphysics/bullet3/issues/3228
Thanks jcoholich for the report and repro case!
 2021-01-15 14:38:48 -08:00
Erwin Coumans
3f9d0197ec allow to specify hostName 2020-12-22 20:13:03 -08:00
erwincoumans
87b633bb76
Update pybullet.c 
send output to stderr (pybullet build message), helps towards Issue #3131
 2020-12-08 17:38:47 -08:00
Erwin Coumans
ec55878a82 remove some files, wheels are exceeding 100MB on pypi... 2020-11-26 15:06:51 -08:00