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Author SHA1 Message Date
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
bdd19d619c
Merge pull request #1524 from erwincoumans/master 
PyBullet Humanoid Flagrun Harder + KUKA diverse objects + fix regression in ExampleBrowser (bus error)
 2018-01-24 20:43:27 -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
Erwin Coumans
c7314dad31 fix bug, causing bus-error in ExampleBrowser 2018-01-24 05:50:44 -08:00
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
3e873feac0
Merge pull request #1518 from erwincoumans/master 
small refactor of LinkVisualShapesConverter / TinyRendererVisualShape…
 2018-01-17 14:30:17 -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
023ec7ce9e
Merge pull request #1515 from erwincoumans/master 
apply a maximum velocity for the KUKA arm
 2018-01-16 17:28:46 -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
603d674e74 Merge remote-tracking branch 'bp/master' 2018-01-16 10:20:37 -08:00
erwincoumans
173eec93fc
Merge pull request #1513 from erwincoumans/master 
fix wrong enum type
 2018-01-16 10:20:14 -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
19ecca396a
Merge pull request #1512 from erwincoumans/master 
Various  PyBullet fixes: slowdown of Roboschool ported Gym envs (reset), fix leaks, add more ported envs, thanks to Benjamin Ellenberger
 2018-01-15 14:55:45 -08:00
Erwin Coumans
18c83592f3 bump up PyBullet to version 1.8.2 2018-01-15 12:53:41 -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
d83cf58731
Merge pull request #1509 from erwincoumans/master 
Add humanoid_running.py using just numpy (no tensorflow, no gym) for testing
 2018-01-13 18:14:52 -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
erwincoumans
c7a4222b58
Merge pull request #1506 from erwincoumans/master 
allow to use colors from MJCF file as option (default to random Googl…
 2018-01-12 09:02:51 -08:00
Erwin Coumans
1875652d8f add cup example, generated using vhacd 2018-01-12 09:01:16 -08:00
Erwin Coumans
0e41cc65c9 bump up pybullet version 2018-01-11 21:11:27 -08:00
Erwin Coumans
f4cc95c0d8 Merge remote-tracking branch 'bp/master' 2018-01-11 21:10:48 -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
cdbd93e519
Merge pull request #1503 from erwincoumans/master 
update MinitaurSetup.cpp/h to allow switching between different minit…
 2018-01-10 12:22:01 -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