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964f52f62d
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166 Commits

Author SHA1 Message Date
Erwin Coumans
964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans
0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -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) 
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 
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 
# 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
3a4d1799d8 remove "DO NOT SUBMIT" comments, it blocks commits in google3 2018-05-07 17:35:55 -07:00
Jie Tan
20dd3d265b update README.md to include paper link in Arxiv. 2018-04-30 11:09:59 -07:00
Jie Tan
26cebc9aa5 rewrite the README file. 2018-04-26 21:26:08 -07:00
Jie
a375a349ce make sure that the pre-trained galloping and trotting policies work for the minitaur_reactive_env and minitaur_trotting_env environments. 2018-04-24 21:48:27 -07:00
Erwin Coumans
fcce77fe49 fix spaces/tab issue in urdfEditor.py 2018-04-12 14:01:17 -07:00
Erwin Coumans
bd0aed3e36 add ARS to train/eval Minitaur 2018-04-11 18:14:56 -07:00
Erwin Coumans
40b285ebfd fixes in minitaur leg mapping 2018-04-11 18:13:46 -07:00
erwincoumans
2bc246b0b1 fixes in relative imports 2018-04-11 18:00:43 -07:00
Erwin Coumans
ad75ea35b3 fix new minitaur envs for newer Gym (_step -> step etc), 
add extra sleep to sync Minitaur walk with RTC clock
 2018-04-11 13:22:25 -07:00
erwincoumans
ac945df07a remote 'render' arg 2018-04-11 10:14:24 -07:00
erwincoumans
698b20938f fix a number of issues in a series of new Minitaur environments 
add them to pybullet_envs through __init__.py
    id='MinitaurReactiveEnv-v0',
    id='MinitaurTrottingEnv-v0',
    id='MinitaurBallGymEnv-v0',
    id='MinitaurStandGymEnv-v0',
    id='MinitaurAlternatingLegsEnv-v0',
    id='MinitaurFourLegStandEnv-v0',

disable reflection of minitaur_four_leg_stand_env, since the floor changes orientation (reflection is a fixed plane with [0,0,1] normal)

from pybullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv
from pybullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv
from pybullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv
from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv
from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv
from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv
from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv
 2018-04-11 10:09:03 -07:00
erwincoumans
c2869e0a3c enable planar reflection in minitaur_gym_env.py and locomotion scenes 2018-04-11 08:50:29 -07:00
erwincoumans
39edcf699c bump up pybullet version, add missing sdf file 2018-04-10 22:59:53 -07:00
Erwin Coumans
7fa5e91cbd replace green stadium with blue checkered Bullet plane 
add missing files to pybullet setup.pu
 2018-04-10 19:55:26 -07:00
erwincoumans
5ff2a1d6c8
Update env_bases.py 2018-04-02 22:31:22 -07:00
erwincoumans
14d37ecb43 first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -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
erwincoumans
d69fefd7e9
Merge pull request #1559 from shubhtuls/patch-1 
minor bugfix in image reshaping in kukaGymEnv.py
 2018-03-08 15:16:30 -08:00
Erwin Coumans
283d646e57 add random_urfs individually 2018-03-04 12:33:31 -08:00
Erwin Coumans
5688477bfb fix sdf warning 2018-02-23 18:56:11 -08:00
Erwin Coumans
15c46a0237 bump up pybullet version, add missing glad file(s) to MANIFEST.in 2018-02-21 11:46:53 -08:00
Erwin Coumans
8ba9644e78 fix __init__.py 2018-02-21 10:47:24 -08:00
Erwin Coumans
67318f3323 fix __init__.py 2018-02-21 10:45:06 -08:00
Erwin Coumans
a3c2ce1cef add __init__.py for pybullet_envs.prediction 2018-02-21 10:06:46 -08:00
erwincoumans
d3fe21ef17 Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default. 
Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread
 2018-02-14 16:49:44 -08:00
erwincoumans
5e08d6d334 small test to create / simulate random box stacks 2018-02-14 15:37:50 -08:00
Shubham Tulsiani
5fdd7ed3b4
minor bugfix in image reshaping in kukaGymEnv 
Reshaped image array should be of size (RENDER_HEIGHT, RENDER_WIDTH, 4) instead of (RENDER_WIDTH, RENDER_HEIGHT, 4).
 2018-02-11 21:47:57 -08:00
erwincoumans
19231434c2 gym env backward compatibility due to gym 0.9.6 breaking changes 2018-02-06 10:20:41 -08:00
Sam Wenke
ad3c236bfd pybullet support for gym.Env, including v0.9.x 2018-02-04 11:35:47 -05:00
erwincoumans
13d67e8fc3 add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) 
center shadow around camera target
 2018-01-31 22:17:15 -08:00
Erwin Coumans
cb0e740422 fix error in __init__.py 2018-01-27 10:25:26 -08:00
Erwin Coumans
2b5be5ca8a Merge remote-tracking branch 'bp/master' 2018-01-26 17:36:45 -08:00
erwincoumans
688d750d8a
Merge pull request #1531 from AndreaIncertiDelmonte/issue-1525 
Override of the reset() public funciton in child classes
 2018-01-26 13:10:47 -08:00
cedspam
3011cf1130
avoid errors in some ide docs system 
there are some error linked to repeated import of this module in spyder, an env with the same id cannot be registered again
 2018-01-26 09:29:39 +00:00
AndreaIncertiDelmonte
b908b147a6 Overwrite of the reset() public funciton in child classes 2018-01-26 10:09:14 +01:00
erwincoumans
0ce40b70c0
Merge pull request #1523 from kimhc6028/master 
[fixed] gym_manipulator_envs typo
 2018-01-25 13:36:42 -08:00