Erwin Coumans
|
659e869b86
|
pybullet a bit more refactoring, moving around files.
pybullet: move data to pybullet_data package, with getDataPath() method
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2017-08-27 18:08:46 -07:00 |
|
Erwin Coumans
|
e267f5c3d2
|
move pybullet.connect into the Gym environment.
If you like to enable rendering, call the env.render(mode="human") before calling the first env.reset
|
2017-08-26 14:58:48 -07:00 |
|
Erwin Coumans
|
51b7e1040f
|
more fixes in the pybullet gym environments: use main instead of demo_run,
add missing main to some eaxmples.
pip install pybullet
train:
python -m pybullet_envs.examples.train_pybullet_cartpole
enjoy:
python -m pybullet_envs.examples.enjoy_pybullet_cartpole
enjoy pretrained environments:
python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HalfCheetahBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HopperBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HumanoidBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_Walker2DBulletEnv_v0_2017may
Run some gym environment test:
python -m pybullet_envs.examples.racecarGymEnvTest
Create/Import a specific Gym environment:
python
import pybullet_envs
env = gym.make("AntBulletEnv-v0")
env = gym.make("HalfCheetahBulletEnv-v0")
env = gym.make("HopperBulletEnv-v0")
env = gym.make("HumanoidBulletEnv-v0")
env = gym.make("Walker2DBulletEnv-v0")
env = gym.make("InvertedDoublePendulumBulletEnv-v0")
env = gym.make("InvertedPendulumBulletEnv-v0")
env = gym.make("MinitaurBulletEnv-v0")
env = gym.make("RacecarBulletEnv-v0")
env = gym.make("KukaBulletEnv-v0")
env = gym.make("CartPoleBulletEnv-v0")
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2017-08-26 13:13:53 -07:00 |
|
Erwin Coumans
|
bcc60224f0
|
all methods (except connect, obviously) have the physicsClientId argument, even if they don't use it. This makes it easier to create a wrapper API to store the physics client. This allows easier multi-threaded versions with multiple Bullet DIRECT instances (or SHARED_MEMORY, TCP, UDP etc).
See for example https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py and https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
|
2017-08-25 14:04:45 -07:00 |
|
Erwin Coumans
|
0d0caa7cbc
|
Merge branch 'master' of https://github.com/erwincoumans/bullet3
|
2017-08-24 22:02:34 -07:00 |
|
Erwin Coumans
|
1fc148d5d0
|
fixes in racecarGymEnv: implement 'render' rgb image, fix in naming,
fix in observation bounds.
|
2017-08-24 22:01:45 -07:00 |
|
Jonathan Tompson
|
29acd99d25
|
changed exit(0) to exit(EXIT_FAILURE) for OpenGLWindow functions, and changed printf to fprintf(stderr for error string printing.
|
2017-08-24 15:18:43 -07:00 |
|
Erwin Coumans
|
a975d094c3
|
Merge branch 'master' of https://github.com/erwincoumans/bullet3
|
2017-08-24 13:33:58 -07:00 |
|
Erwin Coumans
|
cb6914fa4c
|
use better defauls values for minitaur
|
2017-08-24 13:33:45 -07:00 |
|
Erwin Coumans
|
5c5993edcb
|
fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1)
|
2017-08-24 09:16:11 -07:00 |
|
Erwin Coumans
|
f0c32b84c0
|
allow continuous control for MIT racecar gym environment, use differential drive version
|
2017-08-23 23:12:26 -07:00 |
|
Erwin Coumans
|
8a4f51baa4
|
Merge branch 'master' of https://github.com/erwincoumans/bullet3
|
2017-08-23 21:45:05 -07:00 |
|
Erwin Coumans
|
ff4270a517
|
fix pybullet racecarGymEnv to use thread-safe pybullet
|
2017-08-23 18:22:20 -07:00 |
|
Erwin Coumans
|
75231d63e8
|
use name MinitaurBulletEnv
|
2017-08-23 17:45:41 -07:00 |
|
Erwin Coumans
|
0851b45f39
|
update minitaur gym env
|
2017-08-23 17:41:34 -07:00 |
|
Erwin Coumans
|
8866840712
|
Clarify in naming that the environment uses MJCF xml files with Bullet, it doesn't use MuJoCo.
|
2017-08-23 15:03:57 -07:00 |
|
Erwin Coumans
|
f19f28b5ed
|
more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder.
|
2017-08-22 10:07:47 -07:00 |
|
Erwin Coumans
|
21ca6a90f0
|
more fixes for pybullet
|
2017-08-22 09:32:16 -07:00 |
|
Erwin Coumans
|
dd4cc5f4ef
|
add minitaur quadruped
|
2017-08-22 09:00:46 -07:00 |
|
Erwin Coumans
|
e064d4b837
|
more fixes in pybullet_envs: fix path, add missing data resources
|
2017-08-22 08:59:39 -07:00 |
|
Erwin Coumans
|
21f9d1b816
|
refactor pybullet/gym to allow instantiating environments directly from a pybullet install:
work-in-progress (need to add missing data files, fix paths etc)
example:
pip install pybullet
pip install gym
python
import gym
import pybullet
import pybullet_envs
env = gym.make("HumanoidBulletEnv-v0")
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2017-08-22 00:42:02 -07:00 |
|
Erwin Coumans
|
c06ea72a4c
|
improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster)
disable vsync on Mac
fix setup.py file
|
2017-08-20 18:11:53 -07:00 |
|
Erwin Coumans
|
c4112ec5cc
|
Merge remote-tracking branch 'bp/master'
|
2017-08-19 16:16:56 -07:00 |
|
Erwin Coumans
|
b80a387a1e
|
upgrade to latest OpenVR 1.0.9 (https://github.com/ValveSoftware/openvr)
enable experimental Mac OSX OpenVR, tested using Apple External Graphics Development Kit.
|
2017-08-19 09:48:32 -07:00 |
|
erwincoumans
|
a4f28e1589
|
Merge pull request #1219 from lunkhound/pr-nncg
NNCG solver: apply rolling friction consistently
|
2017-08-18 13:31:54 -07:00 |
|
erwincoumans
|
b940a83797
|
Merge pull request #1257 from erwincoumans/master
bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK defaul…
|
2017-08-18 13:30:03 -07:00 |
|
erwincoumans
|
c0984b80e5
|
Merge pull request #1231 from benelot/bullet-gym
Add nearly all gym environments using pybullet together with the…
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2017-08-18 13:29:43 -07:00 |
|
Erwin Coumans
|
226aaedc46
|
bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK default on Mac
minor fixes (arg name in header/cpp the same)
|
2017-08-18 08:53:46 -07:00 |
|
Benelot
|
3191291748
|
Split pendula robot from the pendula envs due to changes in the underlying mujoco xml base env.
|
2017-08-17 00:25:16 +02:00 |
|
Benelot
|
9f20e40541
|
Rename old humanoid gym to simple humanoid gym.
|
2017-08-17 00:06:01 +02:00 |
|
Benelot
|
f74a9299a8
|
Unversion manipulators for now. They come back as they are ready.
|
2017-08-16 22:43:40 +02:00 |
|
Erwin Coumans
|
a66576f034
|
revert API to be backward compatible, add b3CreateInProcessPhysicsServerAndConnectSharedMemory
same for BulletURDFImporter constructor
|
2017-08-16 12:33:25 -07:00 |
|
Benelot
|
68106d66dd
|
Split locomotion environments.
|
2017-08-16 08:08:24 +02:00 |
|
erwincoumans
|
2e0a987750
|
pybullet only allow one GUI/GUI_SERVER instance.
Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
|
2017-08-15 14:15:30 -07:00 |
|
Erwin Coumans
|
99beb44625
|
fix build issues in previous commit
|
2017-08-15 10:46:09 -07:00 |
|
erwincoumans
|
9d0f875c5b
|
fix compile issues due to API change (additional argument)
|
2017-08-15 09:34:44 -07:00 |
|
Benelot
|
cab3de35e4
|
Remove duplicate assets and use other assets. Rename classes appropriately for robot-scene-env split refactoring.
|
2017-08-15 15:31:24 +02:00 |
|
Erwin Coumans
|
60b60ef9fd
|
add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER.
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2017-08-14 17:02:20 -07:00 |
|
Erwin Coumans
|
aafaa7e33e
|
Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations.
Fix two_cubes.sdf (was lacking collision shape for second cube)
|
2017-08-14 14:59:41 -07:00 |
|
erwincoumans
|
dfaa717fed
|
Merge pull request #1252 from erwincoumans/master
fix pybullet GUI performance issue on Mac OSX, fix potential memory leak in loadSDF when visuals have the same name.
|
2017-08-11 18:11:53 -07:00 |
|
erwincoumans
|
457312f94f
|
fix leak in loadSDF in case of visuals with duplicate/identical names that have a material.
fix GUI performance issue on Mac OSX
fix issue introduced in previous commit (in btConvexHullComputer.cpp)
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2017-08-11 17:14:52 -07:00 |
|
Benelot
|
4771bae9fa
|
Merge branch 'master' into bullet-gym
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2017-08-10 22:50:12 +02:00 |
|
erwincoumans
|
0eb3898c76
|
Merge pull request #1244 from erwincoumans/master
add 'createObstacleCourse.py' example, helps reproducing
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2017-07-29 13:20:14 +02:00 |
|
Erwin Coumans
|
d28dd2f80a
|
add 'createObstacleCourse.py' example, helps reproducing
Parkour paper: https://arxiv.org/abs/1707.02286
|
2017-07-29 13:18:49 +02:00 |
|
yunfeibai
|
cfc7917586
|
Add init function and module for pybullet with EGL.
|
2017-07-18 13:52:29 -07:00 |
|
Erwin Coumans
|
c9b41737c0
|
add example of faster URDF/SDF loading in VR/GUI mode,
by temporary disabling rendering
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2017-07-14 23:32:53 +01:00 |
|
Erwin Coumans
|
0df8887990
|
improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY,
use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards
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2017-07-14 23:12:16 +01:00 |
|
Benjamin Ellenberger
|
a6aade2e21
|
Add nearly all gym environments using pybullet together with the latest tf model from the roboschool model zoo.
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2017-07-14 23:38:15 +02:00 |
|
Lunkhound
|
e85e2ee127
|
MultiThreadedDemo: make it possible to dial in a single large island, and
tilt the ground and adjust rolling friction
|
2017-07-02 21:05:51 -07:00 |
|
Erwin Coumans
|
5178ad4abc
|
add proper pointer casts
|
2017-07-01 10:28:28 -07:00 |
|