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416 Commits

Author SHA1 Message Date
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
Yuxiang Yang
82182e1ba7
Add <inertia> for missing links in a1.urdf 
Currently a few collision frames in a1.urdf ("{FL/FR/RL/RR}_upper_shoulder") do not have <inertia> defined, and pybullet loads as if they have 1kg mass. This leads to inaccurate simulation results.
 2020-10-06 00:28:24 -07:00
tfederico
be27283a8e add pretrained policies and remove extra motion file 2020-09-25 12:16:51 +01:00
Erwin Coumans
3d220888fa disable cone friction 2020-09-24 09:19:51 -07:00
tfederico
91cb40c5ba add plotting utility 2020-09-23 16:18:51 +01:00
tfederico
61df6d2ff4 remove comments and unused code 2020-09-23 16:15:30 +01:00
Erwin Coumans
cfd3c99f0e add spirit40 urdf file, compatible with 
https://github.com/google-research/motion_imitation/pull/26
 2020-09-21 17:44:07 -07:00
Erwin Coumans
2e1b84487b Add a soccerball obj/urdf, hand-modeled in Blender, using guidance from https://www.youtube.com/watch?v=N93n6hPsqkI (but using texture mapping so the export to OBJ works in PyBullet) 2020-09-21 16:11:52 -07:00
tfederico
ab8d927845 Add files for multiclip reward 2020-09-17 18:04:41 +01:00
Erwin Coumans
3ba9f6c395 Add rudimentary Gazebo world parser, loading sdf files and shifting objects based on the world file pose. 
See an example here:
https://github.com/erwincoumans/aws-robomaker-racetrack-world
https://twitter.com/erwincoumans/status/1303084517263994880
 2020-09-07 17:30:34 -07:00
Erwin Coumans
caf671890a Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-04 14:22:21 -07:00
Erwin Coumans
67061cf98c update a1 urdf to match naming for our software 
update test a1.py script
 2020-09-04 14:21:53 -07:00
Erwin Coumans
224eceb75b add test script for spirit40 2020-09-03 21:16:39 -07:00
Erwin Coumans
c4f4692b68 add xiURDF for Ghost Robotics Spirit40 and Unitree A1 quadruped 2020-09-03 17:30:07 -07:00
erwincoumans
bb1da5b5f5
try to fix travis, update inertia for Laikago, reset camera at the right time (#3021) 
* laikago_toes_zup.urdf: fill in inertia values, computed as PyBullet does internally (from mass and collision volumes)

* reset camera in the rendering thread to avoid artifacts

* reset camera in the rendering thread to avoid artifacts

* try to fix travis error
 2020-08-31 13:35:03 -07:00
erwincoumans
0ebc43b21e
Update deep_mimic_env.py 
fix errors
 2020-08-31 11:36:15 -07:00
erwincoumans
76a9b51993
Merge pull request #2931 from AiRuiChen/fix-minitaur-logging 
Fix minitaur_logging proto and import
 2020-08-13 19:35:11 -07:00
erwincoumans
15041841a5
Merge pull request #2933 from AiRuiChen/fix-pybullet-gym-envs 
Fix pybullet gym envs
 2020-08-13 19:33:21 -07:00
Erwin Coumans
51aed38377 fix import 2020-07-31 15:30:53 -07:00
Eric Yihan Chen
3a6a279b9a Fix pybullet gym envs 2020-07-14 21:08:51 -07:00
Eric Yihan Chen
6b38a4cfdb Fix minitaur logging proto and import 2020-07-14 17:16:29 -07:00
Erwin Coumans
c9ca9cb6c6 disable Center of Mass tracking reward by default, since resulting policies don't work well. 
See also https://github.com/bulletphysics/bullet3/issues/2928#issuecomment-658349531
 2020-07-14 12:10:15 -07:00
ManifoldFR
1f6ae38040 DeepMimic: add retrained walk motion with COM 2020-07-08 17:03:46 +02:00
ManifoldFR
a3810d15ef fix setting useComReward=false 2020-07-06 16:56:24 +02:00
ManifoldFR
2fe3fe945d DeepMimic: Make COM reward optional 2020-07-06 16:47:22 +02:00
ManifoldFR
53a3af8918 Merge branch 'master' into deepmimic-gym-fixes 2020-07-02 10:12:06 +02:00
ManifoldFR
b200bf59e0 DeepMimic: add COM reward 2020-07-01 19:15:21 +02:00
erwincoumans
63e1d7d840
Merge pull request #2888 from AiRuiChen/change-env-name 
Ensure naming consistency in gym registry
 2020-06-30 19:06:53 -07:00
Eric Yihan Chen
0f05cdba18 Add missing names in pybullet_envs.getList() 2020-06-29 11:29:43 -07:00
ManifoldFR
45b061c879 variable timestep for deepmimic env 2020-06-29 10:30:09 +02:00
ManifoldFR
d0838d3bcb variable timestep for deepmimic env 2020-06-29 10:26:08 +02:00
Eric Yihan Chen
6cdebabd2b rename bullet envs for consistency 2020-06-27 15:10:20 -07:00
ManifoldFR
04350bc9ab add COM reward to DeepMimic 2020-06-25 15:59:13 +02:00
ManifoldFR
b925988821 DeepMimic Gym enhancements 
* fix render() camera up axis
* make render() camera track character
* increase render resolution
* add option to restart mocap clip at t=0 at reset (default=random time)
* Gym env: option for "test mode" (episode starts at mocap clip start)
* Gym env: option to offset/rescale actions and obs (like original code)
 2020-06-25 12:03:30 +02:00
Erwin Coumans
b4624ad237 fix pybullet_utils import 2020-06-23 16:14:18 -07:00
U-CAMELTRAIN\home
828020c91c fix render racecar 
fix render racecar

fix render racecar
 2020-06-02 18:26:36 -04:00
Erwin Coumans
d1ded7d704 use pybullet.URDF_GOOGLEY_UNDEFINED_COLORS for standard gym envs 2020-06-01 23:38:59 -07:00
erwincoumans
a1522b3891
Merge pull request #2822 from ManifoldFR/patch-1 
Modify DeepMimic Gym env step() to query policy at 30Hz
 2020-06-01 17:23:25 -07:00
Daniele Reda
409b0eaa39 fix double humanoid instantiation 2020-05-31 21:38:38 -07:00
Wilson
829475c38a
Set DeepMimic Gym env to query policy at 30Hz 
Addresses issue #2821
 2020-05-24 16:30:47 +02:00
Erwin Coumans
847eeda76d fix pybullet_envs locomotion camera issues: camera lagging behind over time, also follow cam in 'GUI' mode, allow user to change disance/yaw/pitch 2020-04-25 22:32:01 -07:00
sgillen
3563509b27 Revert "Revert "Bugfix for camera_adjust and move_and_look_at"" 
oh boy..

This reverts commit a6e0f752b9.
 2020-04-24 20:48:54 -07:00
sgillen
a6e0f752b9 Revert "Bugfix for camera_adjust and move_and_look_at" 
... To do a sanity check that my changes are what's causing the travis build to fail.

This reverts commit e5d1cb768c.
 2020-04-24 19:50:23 -07:00