Commit Graph

5935 Commits

Author SHA1 Message Date
erwincoumans
b44a67b530 Merge pull request #1345 from bingjeff/fix_bugs_in_jacobian
[pybullet] Fix bugs in calculateJacobian.
2017-09-27 23:25:14 -07:00
Jeffrey Bingham
cd231c030e more formatting. 2017-09-27 22:35:02 -07:00
Jeffrey Bingham
d49fade704 fix some formatting. 2017-09-27 22:30:32 -07:00
Jeffrey Bingham
d8b80bce40 Fix the translation jacobian. 2017-09-27 22:25:39 -07:00
Jeffrey Bingham
6da931d0bd Adjust jacobian.py to show mismatch between joint state and link state. 2017-09-27 22:25:39 -07:00
Jeffrey Bingham
0b239e8bc0 [pybullet] Add an example for jacobian. 2017-09-27 22:25:39 -07:00
erwincoumans
bab3b20e65 Merge pull request #1344 from YunfeiBai/master
Fix some IK related issues.
2017-09-27 17:40:16 -07:00
yunfeibai
54eada7579 Fix memory leak. 2017-09-27 16:42:29 -07:00
yunfeibai
85be3b43dd Merge remote-tracking branch 'upstream/master' 2017-09-27 15:20:11 -07:00
yunfeibai
113e103bc2 Modify the joint damping input check, and output error message when it doesn't pass the size check. Modify the kuka grasping example accordingly. Setting joint damping in this example was a no-op before. 2017-09-27 15:18:08 -07:00
yunfeibai
adcece7927 Adjust the IK setup to address the inverse kinematics issues mentioned in #1249. 2017-09-27 14:14:57 -07:00
erwincoumans
8e08a9ff16 Merge pull request #1343 from erwincoumans/master
fix typos in agents config
2017-09-27 13:53:50 -07:00
Andrew Hundt
96ee22eeaa Merge branch 'master' into cmake
* master: (35 commits)
  add __init__.py file in agents folder
  bump up pybullet version, instruction to visualize agents ppo:
  add TensorFlow Agents PPO training script for various pybullet environments:
  bump up pybullet version
  add minitaur environment randomizer, enable it by default this improves PPO training ( more stable)
  fix compile issue on MSVC
  expose gear erp/relative position target to C-API/pybullet finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
  return -1 for debugDrawItems in DIRECT mode, instead of failing the API
  bump up shared memory version number add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
  add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint) This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python. Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:
  fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array. May fix some internal texture mug bug.
  fix a compile error on Windows (variables need to be declared together at the start of a block in C)
  fix compile warnings
  Update b3PluginManager.cpp
  tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter, so it needs some 'ping' command bump up pybullet to version 1.4.6
  [sharedmemory] Fill-out calculateJacobian command.
  add some missing files for premake, thanks to Jeff Bingham for the report
  add a few more contributors (the list is far from complete though)
  manually apply pull request 457 PR #457 Thanks to aaronmjacobs!
  Update pybullet.c
  ...

# Conflicts:
#	CMakeLists.txt
2017-09-27 16:18:00 -04:00
Erwin Coumans
4dca5b3ef5 fix typos in agents config 2017-09-27 12:17:59 -07:00
erwincoumans
ca968916a1 Merge pull request #1342 from erwincoumans/master
add minitaur environment randomizer, enabled by default for Minitaur gym environment
2017-09-27 11:03:54 -07:00
Erwin Coumans
a716752915 add __init__.py file in agents folder 2017-09-27 10:30:05 -07:00
Erwin Coumans
5082d6af15 bump up pybullet version, instruction to visualize agents ppo:
python -m pybullet_envs.agents.visualize_ppo -config=pybullet_pendulum --logdir=pendulum/20170927T101514-pybullet_pendulum/ --outdir=vid

tensorboard --logdir=20170927T101514-pybullet_pendulum --port=2222
2017-09-27 10:26:45 -07:00
Erwin Coumans
8a071e9b7b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-27 10:22:10 -07:00
Erwin Coumans
e4a3b3fe38 add TensorFlow Agents PPO training script for various pybullet environments:
example:

python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
2017-09-27 10:20:38 -07:00
Erwin Coumans
36c9f2f93b bump up pybullet version 2017-09-27 09:09:43 -07:00
Erwin Coumans
c37919604f add minitaur environment randomizer, enable it by default
this improves PPO training ( more stable)
2017-09-27 09:07:21 -07:00
erwincoumans
6ae7b859ae Merge pull request #1341 from erwincoumans/master
improved custom C++ vrSyncPlugin, for pybullet/VR to sync controller at the same frequency as the physics loop (240Hz)
2017-09-26 22:56:47 -07:00
erwincoumans
12f28c5f76 fix compile issue on MSVC 2017-09-26 19:58:24 -07:00
erwincoumans
6644157815 Merge remote-tracking branch 'bp/master' 2017-09-26 19:55:36 -07:00
erwincoumans
e72ebc95de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-26 19:54:57 -07:00
erwincoumans
8a265b8af2 expose gear erp/relative position target to C-API/pybullet
finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
2017-09-26 19:54:36 -07:00
Andrew Hundt
1579b6a707 CMakeLists.txt search for any python version by default 2017-09-26 15:49:35 -04:00
erwincoumans
44fc48314e Merge pull request #1339 from erwincoumans/master
add experimental vrSyncPlugin, that syncs the position/orientation of…
2017-09-26 11:42:21 -07:00
Erwin Coumans
b03e5dec5f return -1 for debugDrawItems in DIRECT mode, instead of failing the API 2017-09-26 11:40:38 -07:00
erwincoumans
b1f8eb74a4 bump up shared memory version number
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
2017-09-26 10:05:17 -07:00
erwincoumans
270a036cd7 add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint)
This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:

plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
2017-09-25 18:14:50 -07:00
erwincoumans
4655e9d83c Merge pull request #1338 from erwincoumans/master
pybullet changeVisualShape texture fix, MSVC compile error
2017-09-25 12:21:45 -07:00
erwincoumans
6d68a67c79 fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array.
May fix some internal texture mug bug.
2017-09-25 11:11:48 -07:00
erwincoumans
3f68b2ebf7 Merge pull request #1337 from erwincoumans/master
tweak pybullet examples, fix a few warnings
2017-09-25 09:33:28 -07:00
erwincoumans
0f30c95734 fix a compile error on Windows (variables need to be declared together at the start of a block in C) 2017-09-25 07:38:00 -07:00
Erwin Coumans
d3d1b51c3a fix compile warnings 2017-09-24 23:26:06 -07:00
Erwin Coumans
705a59ea73 Merge remote-tracking branch 'bp/master' 2017-09-24 22:50:55 -07:00
Erwin Coumans
a3552e4931 tMerge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-24 22:50:37 -07:00
erwincoumans
27674e5289 Update b3PluginManager.cpp
pre/post tick were wrong order in initializer list
2017-09-24 22:39:20 -07:00
Erwin Coumans
2d91e13886 tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter,
so it needs some 'ping' command
bump up pybullet to version 1.4.6
2017-09-24 21:37:31 -07:00
erwincoumans
83805da531 Merge pull request #1336 from bingjeff/fix_bugs_in_jacobian
[sharedmemory] Fill-out calculateJacobian command.
2017-09-24 21:15:42 -07:00
erwincoumans
f88973f832 Merge pull request #1286 from mendsley/clean_vbt_allocations
Optimize Dbvt trees in place
2017-09-24 20:35:57 -07:00
Jeffrey Bingham
ee30ca93c5 [sharedmemory] Fill-out calculateJacobian command.
The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.

Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.
2017-09-24 18:57:48 -07:00
erwincoumans
8eb69552d1 Merge pull request #1335 from erwincoumans/master
manually apply pull request 457 PR #457
2017-09-24 16:38:23 -07:00
Erwin Coumans
97509dc9d0 add some missing files for premake, thanks to Jeff Bingham for the report 2017-09-24 16:10:14 -07:00
Erwin Coumans
27b02bfa78 Merge remote-tracking branch 'bp/master' 2017-09-24 16:01:50 -07:00
erwincoumans
4ff22a710c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-24 11:41:46 -07:00
erwincoumans
70974c76da add a few more contributors (the list is far from complete though) 2017-09-24 11:41:24 -07:00
Erwin Coumans
ebf78cb754 manually apply pull request 457 PR #457
Thanks to aaronmjacobs!
2017-09-24 10:45:08 -07:00
erwincoumans
fcc093ecae Merge pull request #1332 from erwincoumans/master
create a C/C++ plugin system for pybullet / C-API.
2017-09-24 10:28:14 -07:00