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
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
