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6,152 Commits 19 Branches 27 Tags 326 MiB
beb71f75bf
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1769 Commits

Author SHA1 Message Date
Erwin Coumans
beb71f75bf fix urdfEditor.py (needs URDF_USE_IMPLICIT_CYLINDER) 2018-01-28 17:07:07 -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
Erwin Coumans
bddbb3f9dd TinyRenderer color pick: fix out-of-bounds issue 2018-01-25 16:02:47 -08:00
erwincoumans
0ce40b70c0
Merge pull request #1523 from kimhc6028/master 
[fixed] gym_manipulator_envs typo
 2018-01-25 13:36:42 -08:00
Erwin Coumans
c6fefb1018 remove useless gym env 2018-01-25 12:11:22 -08:00
Erwin Coumans
c4a046f16c remove baselines dependency (not needed, since it is a random policy) 2018-01-25 07:34:00 -08:00
erwincoumans
5d45fd5ca5 PyBullet: register KukaDiverseObjectGrasping-v0 to Gym. 2018-01-24 18:27:03 -08:00
erwincoumans
4ea406c73c PyBullet: improve examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py 
(thanks to Deirdre Quillen for the environment)
Extend repeat, so gripper reaches the tray bottom.
Fix near plane so Z-Buffer is visible. Add sleep in return motion, in gui mode.
 2018-01-24 18:21:59 -08:00
erwincoumans
72ec3effe6 Merge remote-tracking branch 'bp/master' 2018-01-24 18:11:33 -08:00
erwincoumans
1ec0543deb add random urdf zipfile for KUKA grasping env, thanks to Deirdre Quillen 2018-01-24 18:10:55 -08:00
erwincoumans
583b23ea40 PyBullet Humanoid Flagrun Harder: disable collision on target red sphere 2018-01-24 18:02:24 -08:00
erwincoumans
aba4671358 Humanoid Flagrun Harder, PyBullet version (request from Danijar) 
Fix duplicate ground in all Roboschool converted scenes.
Fix bug in all PyBullet-Roboschool converted Humanoid environments (action needs to be clipped to [-1,1] range)
 2018-01-24 17:53:40 -08:00
Erwin Coumans
b8362fff94 PyBullet pybullet_envs: fix issue with Humanoid environments (excessive forces, due to lack of action clamping) 
PyBullet pybullet_envs: use 1./60 sleep, add enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
 2018-01-24 16:02:19 -08:00
kimhc6028
0d07ae03b7 [fixed] gym_manipulator_envs typo 2018-01-23 18:22:53 +09:00
erwincoumans
a92423b6f7 minor clarification in UrdfRenderingInterface 2018-01-21 11:15:35 -08:00
Erwin Coumans
69007dcc61 fix MJCF loading (use self-collision) 2018-01-20 12:07:35 -08:00
deq2
e30f2624f9 Added kuka environment with multiple diverse objects. (#1508) 
* Added new diverse object environment
 2018-01-18 08:49:00 -08:00
erwincoumans
1661f25fd8 minor indentation fix 2018-01-17 13:11:02 -08:00
erwincoumans
ccde28eb9f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-17 13:07:05 -08:00
erwincoumans
c781e98de4 add a little bit of documentation to the UrdfRenderingInterface 2018-01-17 13:06:44 -08:00
erwincoumans
3073d60845
Update tinyRendererPlugin.cpp 2018-01-17 12:53:00 -08:00
erwincoumans
585f858842 PyBullet: bump up API version due to move of tinyrenderer into a plugin 2018-01-17 12:51:19 -08:00
erwincoumans
012f4534fd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-17 12:49:27 -08:00
erwincoumans
329a1f5a74 PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin. 2018-01-17 12:48:48 -08:00
Erwin Coumans
c6a350b807 BulletInverseDynaimcs: re-applied fix 
PyBullet: increase humanoid training from 30 to 300M (need to figure out the right hyperparameters...)
 2018-01-16 21:54:46 -08:00
erwincoumans
df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. 2018-01-16 17:58:19 -08:00
erwincoumans
32d615565d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-16 13:39:54 -08:00
erwincoumans
68c2253f82 reduce dependency: PhysicsServerCommandProcessor -> PhysicsCommandProcessorInterface 2018-01-16 13:39:37 -08:00
erwincoumans
055930817e apply a maximum velocity for the KUKA arm, otherwise motion can become very unrealistic 2018-01-16 10:17:57 -08:00
Erwin Coumans
af43e6465d fix wrong enum type 2018-01-15 15:13:11 -08:00
erwincoumans
851ca5bfb3 Improve PyBullet ports of Roboschool envs: fix reset (it kept adding stadium objects, causing slowdown), now reset uses saveState/restoreState and reset becomes a few orders of magnitude faster. 
Use python -m pybullet_envs.examples.testEnv --env AntBulletEnv-v0 --render=1 --steps 1000 --resetbenchmark=1

Added environments: HumanoidFlagrunBulletEnv-v0, HumanoidFlagrunHarderBulletEnv-v0, StrikerBulletEnv-v0, ThrowerBulletEnv-v0, PusherBulletEnv-v0, ReacherBulletEnv-v0, CartPoleBulletEnv-v0 and register them to OpenAI Gym.
Allow numpy/humanoid_running.py to use abtch or non-batch update (setJointMotorControl2/setJointMotorControlArray)
 2018-01-15 12:48:32 -08:00
erwincoumans
9ffb05eb3b fix double->float issue by cast, fixes issue #1510 
fix possible out-of-bounds access in btMultiBody
 2018-01-15 11:59:00 -08:00
erwincoumans
9d405fde67 PyBullet: free cached textures 
PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects
 2018-01-15 08:36:08 -08:00
erwincoumans
387d3f16db PyBullet: fix memory leak in case connection to shared memory cannot be made 
PyBullet: allow setJointMotorControl2 to use maxVelocity in combination with obsolete 'bodyIndex'
 2018-01-15 08:33:19 -08:00
erwincoumans
3c770e56fb PyBullet/C-API: only free handle if we found it 2018-01-14 12:35:40 -08:00
erwincoumans
0919ce0f30 PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody 2018-01-14 11:01:57 -08:00
erwincoumans
ed890f23e6 add implicit plane_implicit.urdf and use it in humanoid_running.py (numpy version) 2018-01-13 13:47:28 -08:00
erwincoumans
e961800278 parse plane geom for URDF files (not just SDF) 2018-01-13 13:41:46 -08:00
erwincoumans
1b569c0701 Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing 2018-01-13 13:39:57 -08:00
Erwin Coumans
79051b7611 allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE 
fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
 2018-01-11 21:04:08 -08:00
erwincoumans
22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
erwincoumans
c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
Erwin Coumans
164d3e62c3 remove testing getToeForces 2018-01-09 18:13:34 -08:00
erwincoumans
616d3358bd update MinitaurSetup.cpp/h to allow switching between different minitaurs. add getToeForces, thanks to Avik (requires 8 toes!) 2018-01-09 17:38:51 -08:00
erwincoumans
15a429f1bf premake build system fixes 2018-01-09 12:23:25 -08:00
erwincoumans
e138e85bca allow to enable/disable implicit cylinder conversion through an API 
p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
 2018-01-09 10:10:36 -08:00