Erwin Coumans
4ae24083ee
implement stablePD control version of testLaikago, in preparation for quadruped DeepMimic
2019-04-05 16:45:33 -07:00
erwincoumans
d4292fdac3
PyBullet deep_mimic fix computeAngVelRel
2019-02-10 21:37:34 -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
ca36a82c62
add deepmimic args file (for testing)
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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fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp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
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
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
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pybullet_utils.urdfEditor
2018-10-31 11:02:19 -07:00
Erwin Coumans
e74cd05e37
add space
2018-05-31 21:21:50 -07:00
Erwin Coumans
e86d11f7b9
PyBullet combineUrdf, make createMultiBody much faster, by temporarily disabling rendering
2018-05-10 20:52:51 -07:00
erwincoumans
06a23ecd6d
PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed.
2018-05-10 18:37:48 -07:00
erwincoumans
e488603603
UrdfEditor: fix indentation, causing an issue when a link had no collision shape but visual shapes
2018-05-10 18:05:50 -07:00
erwincoumans
80bab22b9c
urdfEditor: add euler -> quaternion conversions (otherwise orientations get silently ignored)
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urdfEditor: move combine code into UrdfEditor.joinUrdf
urdfEditor: Fix geom_length
2018-05-10 15:08:00 -07:00
erwincoumans
3116cd82da
fix MSVC 2010 compile issue
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urdfEditor: fix scale incorrectly saved in urdfEditor.saveUrdf
urdfEditor: fix linkMeshScaleArray in wrong location
2018-05-10 12:04:13 -07:00
Erwin Coumans
a0e72b2ae3
Merge branch 'master' of https://github.com/erwincoumans/bullet3
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# Conflicts:
# examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
2018-05-09 10:29:20 -07:00
Erwin Coumans
414b3ef9bb
PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py
2018-05-09 10:28:12 -07:00
Erwin Coumans
be7c6ac967
PyBullet add getCameraImage to debug urdfEditor/createMultiBody
2018-05-08 23:23:53 -07:00
Erwin Coumans
1e51e2b859
tweaks in urdfEditor.py and combineUrdf.py, put KUKA on top of Husky as test.
2018-05-08 23:14:39 -07:00
Erwin Coumans
2d1689cba5
add example to joint two URDF files, using the urdfEditor (combineUrdf.py)
2018-05-08 17:18:58 -07:00
Erwin Coumans
d436be1d79
add __init__.py for pybullet_utils examples
2018-05-08 13:31:30 -07:00
Erwin Coumans
ad43de285c
add bullet_client.py to pybullet_utils, with simple example
2018-05-08 10:12:19 -07:00
Erwin Coumans
fcce77fe49
fix spaces/tab issue in urdfEditor.py
2018-04-12 14:01:17 -07:00
jietan
413be3547b
fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils.
2018-03-12 21:06:19 -07:00
