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1104 Commits

Author SHA1 Message Date
Erwin Coumans
efe73670ef Merge remote-tracking branch 'bp/master' 2019-04-27 14:19:58 -07:00
Erwin Coumans
ef9570c315 add yapf style and apply yapf to format all Python files 
This recreates pull request #2192
 2019-04-27 07:31:15 -07:00
erwincoumans
1da207efaa Merge pull request #2209 from YungKC/patch-2 
Should sort best directions that gives the highest rewards
 2019-04-26 16:43:32 +02:00
Erwin Coumans
0d4392af58 rename laikago_walk.json -> txt 2019-04-18 14:18:34 -07:00
YungKC
61987dea85 Should sort best directions that gives the highest rewards 
Found bug where the sort order would incorporate the lowest N rewards, instead of the highest. With this fix, one can now use fewer best directions instead.
 2019-04-16 12:20:08 -07:00
erwincoumans
bf0eb4703d Merge pull request #2200 from YungKC/patch-1 
Fix render issue in server render mode (e.g., docker)
 2019-04-16 06:31:58 -07:00
erwincoumans
a929e8f2e5 Merge pull request #2203 from erwincoumans/master 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
 2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
YungKC
8f9ff5e674 Fix render issue in server render mode (e.g., docker) 
px is an 1D array, and cause a runtime error when trying to strip the color channels into RGB. I fixed this by first reshape the px array into am image compatible format first.
 2019-04-12 17:42:26 -07:00
erwincoumans
154c65ae4d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-04-11 22:19:12 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
Jannik Vogel
4ca8b997f9 Reduce visibility of Bullet symbols in PyBullet 
Avoids version conflicts in programs using PyBullet, which also link against Bullet libraries
 2019-04-08 02:59:24 +02:00
Erwin Coumans
4ae24083ee implement stablePD control version of testLaikago, in preparation for quadruped DeepMimic 2019-04-05 16:45:33 -07:00
erwincoumans
024af08320 Added laikago mocap data for a DeepMimic compatible walk cycle 
Added testLaikago.py script to test this mocap data.
 2019-04-04 19:40:21 -07:00
erwincoumans
76918ca26d Merge remote-tracking branch 'bp/master' 2019-04-03 20:08:05 -07:00
erwincoumans
6951aaf26a implement PyBullet removeState command. Fixes Issue #2163 
https://github.com/bulletphysics/bullet3/issues/2163
 2019-04-03 20:06:40 -07:00
erwincoumans
4d3f2e5b17 Merge branch 'master' into SIblock 2019-03-27 16:18:36 -07:00
Erwin Coumans
4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
Erwin Coumans
2ba8c22397 add actuatornet code 2019-03-26 10:05:45 -07:00
Chuyuan Fu
19f3ec8b80 fix conflut 2019-03-25 14:12:00 -07:00
iory
a8146024fd [pybullet/gym/pybullet_envs] Modified register's timestep_limit to max_episode_steps for gym 2019-03-24 03:32:20 +09:00
Erwin Coumans
94d8ee74f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-03-20 15:11:03 -07:00
Erwin Coumans
f725d1201d fix memory leak in PyBullet.calculateInverseKinematics when joint limits are provided 
Fixes Issue #2164
 2019-03-20 15:09:48 -07:00
erwincoumans
28148eb1ed Merge remote-tracking branch 'bp/master' 2019-03-18 10:12:55 -07:00
Erwin Coumans
3acac372da add vision 60 urdf (from Ghost Robotics) and zipped random urdfs 2019-03-15 13:19:59 -07:00
erwincoumans
9662ae4ba0 Update kuka_diverse_object_gym_env.py 
Fix issue in glob to separate training/test data pattern. See https://github.com/bulletphysics/bullet3/issues/2158
Thank to @TomoyaFukui
 2019-03-14 09:33:48 -07:00
Damian Bemben
2ca6172f1a Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-11 10:12:38 -07:00
erwincoumans
550f4c4785 expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-11 10:12:38 -07:00
erwincoumans
ce531e6015 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-11 10:12:38 -07:00
erwincoumans
a1f15ae01a Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-11 10:12:38 -07:00
Damian Bemben
b027bc92df Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-10 22:41:40 +00:00
erwincoumans
4ea907aacf expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-09 09:23:16 -08:00
erwincoumans
32e93d9f91 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-08 09:20:32 -08:00
erwincoumans
9408e4f2d0 Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-07 21:13:00 -08:00
Erwin Coumans
bd0501d3fc fix example meshScale 2019-03-02 12:11:59 -08:00
Erwin Coumans
3997ac2b61 fix issue with retina scale and picking in createVisualShape.py example 2019-03-02 12:08:25 -08:00
erwincoumans
4d711ed411 Merge remote-tracking branch 'origin/physx' into physx_clean 2019-02-28 17:52:59 -08:00
erwincoumans
2ae03f50b1 revert to original humanoidMotionCapture.py example. Add a showJointMotorTorques variable (false by default) 2019-02-27 10:01:54 -08:00
erwincoumans
8e1c1448ab Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof. 2019-02-27 09:54:12 -08:00
Erwin Coumans
03e897d1f5 replace deep_mimic policies by versions trained using PyBullet, backflip works better now. 2019-02-24 20:12:18 -08:00
erwincoumans
a9996088c8 Implement PyBullet.getCameraImage for PhysX backend. 
PhysX backend, allow arbitrary plane normal, a few other fixes.
 2019-02-24 14:09:42 -08:00
erwincoumans
9ecc1cc485 Implement CustomProfilerCallback, hooking up to Bullet profiling 
test dominoes
 2019-02-22 09:17:55 -08:00
erwincoumans
71b1191947 texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison. 
add command-line args for PhysX (numCores=..., solver=tgs, )
 2019-02-21 19:24:18 -08:00
erwincoumans
3bf27cf8f2 implement rudimentary contact callback. Does PhysX have a way to report ALL contact points, every frame, so we can update contact forces etc, and report all contacts? 2019-02-20 21:38:37 -08:00
erwincoumans
adf31c8f64 remove PhysXClient.*, it was not needed (use PhysicsDirect instead) 2019-02-20 19:57:10 -08:00
Erwin Coumans
6d2ed912f5 Merge remote-tracking branch 'bp/master' 2019-02-18 19:11:03 -08:00
erwincoumans
7e5ac33cf1 Merge pull request #2105 from Somedaywilldo/master 
Add Human3.6M Support for deep_mimic Environment
 2019-02-18 18:07:47 -08:00
erwincoumans
bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans
79a273f644 deep_mimic: add option for spherical joint drive motor, next to stable PD control 
(existing policies won't work with those motors, needs tuning and re-training)
 2019-02-12 20:42:05 -08:00
erwincoumans
85ee4c2934 allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. 
expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
 2019-02-12 10:36:01 -08:00