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b200bf59e0
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378 Commits

Author SHA1 Message Date
ManifoldFR
b200bf59e0 DeepMimic: add COM reward 2020-07-01 19:15:21 +02:00
ManifoldFR
d0838d3bcb variable timestep for deepmimic env 2020-06-29 10:26:08 +02:00
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
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
sgillen
e5d1cb768c Bugfix for camera_adjust and move_and_look_at 2020-04-24 17:59:27 -07:00
erwincoumans
f13629bf48
Update __init__.py 2020-04-22 21:02:49 -07:00
Erwin Coumans
89a7907f45 add vesion of laikago with limits. 2020-04-14 13:39:43 -07:00
Erwin Coumans
e20b858a28 add pybullet_utils.transformations from ROS geometry: 
https://github.com/ros/geometry/blob/melodic-devel/tf/src/tf/transformations.py
 2020-03-24 10:34:02 -07:00
erwincoumans
eab851635e
Merge pull request #2679 from erwincoumans/master 
Embed TCP remote graphics server in PyBullet (enable WFH), fixes for compilation on Visual C++ for Python 9.0
 2020-03-22 14:04:35 -07:00
Erwin Coumans
0b6457d318 fix cmake/premake builds 2020-03-22 11:58:39 -07:00
Erwin Coumans
377069bfa5 add laikago/xarm in pybullet_robots 2020-03-22 11:37:08 -07:00
Antonin RAFFIN
a6314958a6 Add CheckpointCallback and load best automatically 2020-03-22 13:44:05 +01:00
Erwin Coumans
344bd629ee embed TCP graphics server in PyBullet for easier working-from-home 
This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default.
You can use ssh port forwarding to get this working:
ssh -R 6667:localhost:6667 username@remotehost.com -v

python3 -m pybullet_utils.graphicsServer
python3 -m pybullet_utils.graphicsClient

Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
 2020-03-20 15:43:52 -07:00
Erwin Coumans
2d5e8ea1f3 convert upper/lower limits in urdfEditor.py 2020-03-13 20:49:39 -07:00
Erwin Coumans
1f3c0057e5 increase the number of steps from 1000 to 2000, to mimic multiple cycles 2020-03-02 12:52:14 -08:00
Erwin Coumans
6b393dffca set correct reward for deep_mimic gymenv (max episode = 1000 steps, 1 reward at each step) 
terminate testrl.py at 1000, show reward
 2020-03-01 21:27:30 -08:00
Erwin Coumans
81c1daacbb Connect deep_mimic_env.py to internal pybullet_deep_mimic_env.py 
This adds two untested Gym environments to pybullet_envs. todo: train using PPO2 etc
HumanoidDeepMimicBackflipBulletEnv-v1
HumanoidDeepMimicWalkBulletEnv-v1
 2020-03-01 21:13:10 -08:00
Erwin Coumans
7c5073d3ab prepare towards HumanoidDeepMimicBackflipBulletEnv-v1 and HumanoidDeepMimicWalkBulletEnv-v1 
remove unused SubprocVecEnv from stable_baselines/enjoy.py
 2020-03-01 13:11:47 -08:00
Erwin Coumans
7ecb769a9c add flag to assure deterministicOverlappingPairs 2020-03-01 12:22:47 -08:00
Erwin Coumans
da5ac61baa use PyBullet's own visualizer for enjoy script, + add a time.sleep since it is way too fast (1000FPS for cart pole) 2020-02-29 22:02:01 -08:00
Erwin Coumans
8e8955571f workaround for Tensorflow 2.x breaking API: 
try:
  import tensorflow.compat.v1 as tf
except Exception:
  import tensorflow as tf
 2020-02-29 20:35:05 -08:00
erwincoumans
e78eb2706d
Merge pull request #2627 from araffin/feat/sb-enjoy 
Add enjoy script for Stable Baselines
 2020-02-21 17:25:39 -08:00
erwincoumans
bfba4ac2b6
Merge pull request #2637 from drigz/tf-compat 
Replace tensorflow with tf.compat.v1
 2020-02-20 10:56:21 -08:00
Rodrigo Queiro
d18531cc6a Replace tensorflow with tf.compat.v1 
This means they won't break when using TensorFlow 2.0.
 2020-02-19 17:35:48 +01:00
Antonin RAFFIN
21efd84c18 Add enjoy script for Stable Baselines 2020-02-15 21:06:10 +01:00
Erwin Coumans
b3ff3ebcb1 add pendulum of 5 links 2020-02-12 13:05:51 -08:00
Erwin Coumans
e7ad8a9d67 add urdf file for testing 2020-02-11 15:10:22 -08:00
Erwin Coumans
1be6a1d16b fix loadpanda video generation 
remove duplicate code (formerly Windows ffpmeg needed different settings?)
 2020-01-12 08:07:54 -08:00
Erwin Coumans
84e2ea918c add xarm, modify loadpanda to work with pybullet_robots module 2020-01-12 07:20:32 -08:00
Erwin Coumans
fb15aea414 add example robots in pybullet_robots module 2020-01-12 07:11:57 -08:00
Erwin Coumans
3ca233193f : 2020-01-12 07:03:38 -08:00
Erwin Coumans
2f08938110 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-01-11 16:52:01 -08:00
Erwin Coumans
3f11b03255 add friction anchors for Panda gripper (prevents/reduces sliding objects out of gripper) 2020-01-11 13:13:28 -08:00
erwincoumans
2dcb372080
Merge pull request #2565 from araffin/feat/sb-example 
Add Stable-Baselines example with SAC and TD3
 2020-01-08 11:51:35 -08:00
Erwin Coumans
3cdbc4cc29 fix CartPoleBulletEnv-v1 and add CartPoleContinuousBulletEnv-v0 (continuous version) 2020-01-02 19:33:57 -08:00
Erwin Coumans
3c8cf390d4 one more fix in previous commit related to bullet_client.py 2020-01-02 14:45:42 -08:00
Antonin RAFFIN
adad4dc402 Update buffer size 2020-01-02 14:47:30 +01:00
Antonin RAFFIN
59c61a46bb Simplify imports 2020-01-02 11:12:45 +01:00
Antonin RAFFIN
da0483b03a Add colab notebook 2020-01-02 11:06:39 +01:00
Antonin RAFFIN
9c969614bc Add Stable-Baselines example with SAC and TD3 2020-01-02 11:00:45 +01:00
Erwin Coumans
c39afa61cb revert bullet_client.py 2020-01-01 20:27:27 -08:00
Erwin Coumans
a9455ce891 add 'runServer.py' script in pybullet_utils, this will run a GUI server 
that accepts SHARED_MEMORY connections. Handy if you run a pybullet_envs Gym environment
and want to visualize it. By default, bullet_client will try to connect to a shared memory connection first.
 2020-01-01 18:53:32 -08:00