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458 Commits

Author SHA1 Message Date
erwincoumans
0c40b73b0e
Merge pull request #4167 from simjaecheol/master 
urdfEditor - handle joint limits
 2022-03-05 13:50:58 -08:00
Peng Xu
19d6304d8d Update push randomizer to use the new randomize_sub_step hook. This fixes issue that causes application of push force/torque is only valid for single simulation step. 2022-02-20 15:47:08 -08:00
Peng Xu
751fd3fb65 Adding new randomization hook for sim steps (sub steps). This is necessary for correctly implement force / torque randomization. 2022-02-20 15:35:06 -08:00
jaecheol.sim
7d7fb1e291 urdfEditor - handle joint limits 2022-02-15 15:30:10 +09:00
Erwin Coumans
b602045665 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:00:11 -08:00
Erwin Coumans
0ab3b9d9f7 fix texture coordinates for aliengo trunk 2021-12-10 17:25:39 -08:00
Erwin Coumans
610fb2c117 prettify aliengo trunk a bit 2021-12-10 16:12:41 -08:00
Erwin Coumans
0aecbb9cdc delete MPL licensed meshes, replace by manual textured meshes. 2021-12-10 15:51:25 -08:00
Chase Kew
adf75169d8 Import Aliengo URDF 
from github.com/unitreerobotics/unitree_pybullet. Reduced all meshes by
50% due to concerns about the size of pybullet_data. Also renamed some
links and joints in the URDF to match conventions and added an example
script.
 2021-11-24 10:30:13 -08:00
erwincoumans
10f72b9b5d
Merge pull request #3921 from ayzaan/patch-1 
Create URDF for white xarm
 2021-11-13 22:41:05 -08:00
erwincoumans
a9a103fc8c
Merge pull request #4010 from erwincoumans/master 
add missing bunny.obj to pybullet_data
 2021-11-12 05:38:24 +00:00
Erwin Coumans
1a670681f7 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-10-25 09:44:29 -07:00
Erwin Coumans
e1ac14b23d add missing bunny.obj 2021-10-25 09:44:10 -07:00
erwincoumans
33cceed500
Merge pull request #3982 from RedTachyon/patch-1 
Explicitly state the datatypes in creating action/obs spaces
 2021-10-25 09:09:47 -07:00
Wenhao Yu
af0bfc62ec
Merge branch 'bulletphysics:master' into master 2021-10-13 15:53:04 -07:00
Wenhao Yu
fd96062972 Add config for visual locomotion env with two cameras and random stepstone. 2021-10-13 15:48:47 -07:00
Erwin Coumans
a8f088d4d3 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-10-11 12:56:29 -07:00
Erwin Coumans
00567a5261 remote tensorflow requirement from envs_v2 2021-10-11 12:56:15 -07:00
erwincoumans
aa49e19385
Update README.md 
remote tensorflow requirement
 2021-10-11 12:14:45 -07:00
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
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
Ayzaan Wahid
83fbd60d5b
Create URDF for white xarm 2021-07-29 17:08:50 -04:00
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
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
erwincoumans
45d3ead747
Merge pull request #3356 from erwincoumans/master 
LICENSE should have no txt extension
 2021-04-22 16:46:07 -07:00
Erwin Coumans
184b7816d0 LICENSE should have no txt extension 2021-04-22 16:45:29 -07:00
Erwin Coumans
83a5fe2d31 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-21 22:14:38 -07:00
erwincoumans
00dcc77885
Merge pull request #3352 from erwincoumans/master 
getDynamicsInfo report local inertia diagonal for useMaxima… …
 2021-04-20 20:22:38 -07:00
Erwin Coumans
9f91e6837a remove type annotations 
bump up pybullet version
 2021-04-20 15:50:12 -07:00
erwincoumans
201e7159d6
Merge pull request #3351 from erwincoumans/master 
PyBullet: expose useMultiBody argument for loadMJCF command, expose sleeping threshold
 2021-04-20 14:42:42 -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
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
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
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
546212b158 add mug obj 2021-03-22 16:53:17 -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
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
Erwin Coumans
3f9d0197ec allow to specify hostName 2020-12-22 20:13:03 -08:00
Erwin Coumans
ec55878a82 remove some files, wheels are exceeding 100MB on pypi... 2020-11-26 15:06:51 -08:00
erwincoumans
a72ce295b4
Merge pull request #2840 from mahyaret/master 
KukaCamGymEnv
 2020-11-13 10:44:26 -08:00
erwincoumans
2a0f811c3b
Merge pull request #3076 from tfederico/master 
Add multiclip loading and reward
 2020-11-13 10:02:49 -08:00
Shayekh Bin Islam
91c002232f
Sutton's url shifted 
The site hosting the c code pole.c has been changed.
 2020-11-13 11:26:09 +06:00