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
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
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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
Erwin Coumans
b6dea7ba64
fix a few pybullet Gym environments for rendering in stable_baselines
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if PYBULLET_EGL environment is set, try to enable EGL for faster rendering
bump up pybullet to 2.6.2
2020-01-01 18:47:46 -08:00
Erwin Coumans
528bd28e34
increase plane from 30 to 200 (to allow quadrupeds to run further, not fall off cliff)
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fix issue with gym.wrappers in pybullet_envs.agents.visualize_ppo.py
2019-12-31 18:13:49 -08:00
Erwin Coumans
ffc76fbf6d
add xarm 6 example with inverse kinematics (IK) that runs about 150 microseconds (Ryzen 3900x)
2019-12-22 17:17:37 -08:00
Erwin Coumans
7241fe19b9
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-12-13 09:21:00 -08:00
Erwin Coumans
30b42a14f0
add single-link arm urdf files for debugging
2019-12-13 09:20:46 -08:00
Erwin Coumans
3668bc5e2a
tweak premake4 default batch file.
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add manual control for joint angles in XArm6 example.
2019-12-12 07:02:27 -08:00
Erwin Coumans
1a245f4e11
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-12-11 16:49:04 -08:00
Erwin Coumans
2f6eb59e16
add z-up version of Laikago, centered along the chassis center of mass
2019-12-11 16:47:52 -08:00
Erwin Coumans
202cf18995
allow to compile using clang-cl on visual studio (disable SSE)
2019-12-11 13:07:53 -08:00
Erwin Coumans
d254b65fee
Merge remote-tracking branch 'bp/master'
2019-12-10 15:48:24 -08:00
Erwin Coumans
e7778502e7
fix pybullet_envs path
2019-12-10 15:48:07 -08:00
erwincoumans
6c722f8f94
Merge pull request #2528 from jackson-waschura/master
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Actually use self collisions when specified
2019-12-09 09:35:06 -08:00
erwincoumans
880faef997
Merge pull request #2535 from erwincoumans/master
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Googley colors for xarm (debugging) and tweak example with table etc.…
2019-12-09 09:26:47 -08:00
Erwin Coumans
1a491dc700
Googley colors for xarm (debugging) and tweak example with table etc. Add missing link6_vhacd.obj
2019-12-09 09:25:15 -08:00
erwincoumans
e0a43fb116
Merge pull request #2534 from erwincoumans/master
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remove duplicate xarm6.urdf
2019-12-09 08:57:00 -08:00
Erwin Coumans
0a8ade5233
remove duplicate xarm6.urdf
2019-12-09 08:54:56 -08:00
erwincoumans
1b8d7be2b6
Merge pull request #2533 from erwincoumans/master
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also enable simplified convex decomposition collision meshes for xarm…
2019-12-09 08:53:27 -08:00
Erwin Coumans
67905efd0f
also enable simplified convex decomposition collision meshes for xarm6_robot.urdf
2019-12-09 08:51:02 -08:00
David Rusu
dd3bdf0da1
Use pybullet_utils.bullet_client for all our BulletClient needs
2019-12-08 20:10:12 -05:00
jackson-waschura
0b33d940e4
Actually use self collisions when specified
2019-12-08 13:54:38 +01:00
Erwin Coumans
70329ca2ad
added Apache 2 license for Panda Franka URDF
2019-12-08 00:40:10 -08:00
Erwin Coumans
4cfd30f19c
add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda)
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add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm
2019-12-08 00:38:49 -08:00
Erwin Coumans
146a751eb4
enable intermediate log for walk, so you can restart if stuck in local maximum
2019-12-05 08:34:34 -08:00
erwincoumans
c74b88b436
Merge pull request #2522 from erwincoumans/master
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update Laikago robot with textures, and a version with toes to enable…
2019-12-04 21:14:21 -08:00
Erwin Coumans
7c5796b67d
update Laikago robot with textures, and a version with toes to enable inverse kinematics.
2019-12-04 14:48:28 -08:00
erwincoumans
ef08e9b415
Merge pull request #2517 from erwincoumans/master
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enable self-collision for deep_mimic pybullet_envs, fix Mac Catalina pybullet pip build
2019-12-04 08:56:42 -08:00
erwincoumans
44f21e462a
Merge pull request #2509 from xhan0619/separate-bending-stiffness
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Separate in-plane and bending stiffness for mass spring model
2019-12-04 07:34:28 -08:00
Erwin Coumans
7f9f514b7e
enable self-collision for deep_mimic pybullet_envs and make it easier to try it out:
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python3 -m pybullet_envs.deep_mimic.testrl
2019-11-30 13:19:28 -08:00
Erwin Coumans
cf67e7af0a
Merge remote-tracking branch 'bp/master'
2019-11-29 08:06:53 -08:00
Erwin Coumans
56d0b7a09a
deep_mimic, read velocity from poseInterpolator, not kinematic model
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This fixes issue #2401
2019-11-29 08:05:54 -08:00
Xuchen Han
7bce5d61f4
separate in-plane and bending stiffness for mass spring model for easier parameter tuning
2019-11-27 11:40:10 -08:00
Xuchen Han
39df98465e
set a smaller dt for deformable_ball.py for stability and typo fix
2019-11-25 17:07:00 -08:00
Xuchen Han
f237a40621
add a pybullet example to compare the result of soft body and deformable body
2019-11-21 00:09:32 -08:00
Xuchen Han
fa7cb25c95
revert the default world to SOFT_MULTIBODY_WORLD
2019-11-20 23:47:15 -08:00
Xuchen Han
edffb0cc55
update pybullet examples
2019-11-19 23:10:13 -08:00
Erwin Coumans
66951ac102
fix Mac version of deformable_anchor.py
2019-11-19 19:35:28 -08:00
Erwin Coumans
96deb42aa5
pybullet.createSoftBodyAnchor
2019-11-19 19:20:08 -08:00
Erwin Coumans
1f6d504e44
fix memory issues in btSparseSDF.h
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(hash function on structure with uninitialized padding, and Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
2019-11-18 10:22:56 -08:00
Xuchen Han
bca87426f4
enable real time simulation
2019-11-15 22:38:47 -08:00
Xuchen Han
a86710c5b6
add python binding to allow loading deformable objects
2019-11-15 21:25:11 -08:00
Erwin Coumans
72e0e7c223
fix load_soft_body.py example.
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add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
2019-11-14 21:20:42 -08:00
Erwin Coumans
24a76614f8
PyBullet: fix memory leak in changeTexture command
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Fixes #2481
2019-11-14 17:07:08 -08:00
Erwin Coumans
9f44d76b67
fix issue in BulletClient (pybullet_utils.bullet_client) that may disconnect multiple times, causing issues when repeatedly creating a gym env
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bump up pybullet to version 2.5.7
2019-11-07 10:47:56 -08:00
Erwin Coumans
b5715c96cf
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2019-11-04 15:46:23 -08:00
Erwin Coumans
f1f04aef53
add simple sceneAABB example
2019-11-04 15:45:58 -08:00
Krishnan Srinivasan
0d4108f307
Fix call to convert_to_leg_model
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Fix call to convert_to_leg_model which is defined as a static method without an underscore in MinitaurExtendedEnv
2019-10-29 16:00:55 -07:00