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1104 Commits

Author SHA1 Message Date
Somedaywilldo
59d58ce430 add Human3.6M support for deep_mimic env 2019-02-13 00:13:56 +08:00
bla
a94a24959f add deep_mimic pre-trained policies 2019-02-11 11:06:15 -08:00
Erwin Coumans
aaae366a21 towards python 2.x support for deep_mimic (still issue with Logger.print2) 2019-02-11 10:03:26 -08:00
Erwin Coumans
786ddec076 disable GUI in deep_mimic, it slows down too much on Mac OSX 2019-02-11 09:44:59 -08:00
Erwin Coumans
30290dfba1 add missing __init__.py for pip 2019-02-11 09:20:44 -08:00
Erwin Coumans
2728294c53 more fixes in deep_mimic env 2019-02-11 09:15:42 -08:00
Erwin Coumans
1bd201eb43 fixes in PyBullet deep_mimic to allow running in pip version 2019-02-11 08:51:07 -08:00
erwincoumans
12e6478689 Merge pull request #2103 from erwincoumans/master 
PyBullet deep_mimic backflip re-using original DeepMimic policy from Jason Peng
 2019-02-11 05:45:21 -08:00
erwincoumans
d4292fdac3 PyBullet deep_mimic fix computeAngVelRel 2019-02-10 21:37:34 -08:00
erwincoumans
bb15800964 add pre-trained backflip policy thanks to Jason Peng from https://github.com/xbpeng/DeepMimic 2019-02-10 21:06:00 -08:00
erwincoumans
be20ed6aa2 remove obsolete deep_mimic files (use the one in deep_mimic/env) 
add plane_implicit.urdf
 2019-02-10 21:04:28 -08:00
erwincoumans
9bddca873c allow pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt to perform a backflip. Can only backflip twice, then drops on ground. 
this deepmimic is still very slow, due to slow mass matrix/inverse dynamics computation. once spherical motor drive is enabled, it should be fast(er)
move pd_controller_stable to pybullet_utils for easier re-use
add plane_transparent.urdf to pybullet_data
allow spacebar in keyboardEvents (Windows for now)
 2019-02-10 20:56:31 -08:00
erwincoumans
b574a360f5 Merge pull request #2055 from xantares/pybullet 
Pybullet enhancements
 2019-02-10 20:25:47 -08:00
erwincoumans
28c9ea3aad PyBullet: add domino asset and example 2019-02-10 19:44:39 -08:00
erwincoumans
054c0b8e58 PyBullet+PhysX backend: expose getJointState reading link position/velocity 2019-02-05 10:24:41 -08:00
erwincoumans
42369aa47d PyBullet.changeDynamics: expose jointDamping 
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
 2019-02-04 21:06:43 -08:00
Erwin Coumans
2eace2f715 update mpi usage 2019-02-01 19:20:08 -08:00
Erwin Coumans
176edeff1e add mpi_run version (not working yet) 2019-02-01 17:57:31 -08:00
Erwin Coumans
6c42cd3e1b add policy 2019-02-01 17:45:50 -08:00
Erwin Coumans
1cef924973 deepmimic fix: reference initialization wasn't spread over all frames 2019-02-01 17:18:13 -08:00
Erwin Coumans
7cc2685faf enable deepmimic training on mac 2019-02-01 16:24:48 -08:00
erwincoumans
63e781b88b PyBullet env for DeepMimic (preliminary work-in-progress) 2019-01-31 21:32:51 -08:00
erwincoumans
5d871806eb enable stable PD plugin in premake4.lua PyBullet 
add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
 2019-01-31 21:31:26 -08:00
Erwin Coumans
b257bd731b PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture. 2019-01-29 12:03:11 -08:00
Erwin Coumans
63683e8f02 fix Issue 2039 2019-01-28 16:24:44 -08:00
Erwin Coumans
0818112ede fix some gym envs 2019-01-28 16:21:52 -08:00
erwincoumans
c97d1041ed Merge pull request #2037 from araffin/update-gym 
Update gym envs
 2019-01-28 10:14:09 -08:00
Erwin Coumans
0e4d6b0376 tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture 2019-01-28 07:35:57 -08:00
erwincoumans
505cb15600 proto2csv 2019-01-27 12:11:40 -08:00
erwincoumans
6c2568bf5e PyBullet Minitaur: Fix Minitaur logging (binary file) 
PyBullet Minitaur: Add minitaur_raibert_controller_example.py
 2019-01-27 11:37:35 -08:00
erwincoumans
a6244d714e more PyBullet PhysX preliminary work. 2019-01-25 10:14:54 -08:00
erwincoumans
03549ca7c6 pass force as array instead of value 2019-01-23 17:24:10 -08:00
erwincoumans
225db2e385 Merge remote-tracking branch 'bp/master' 2019-01-23 08:55:38 -08:00
erwincoumans
e02f82f172 fix some memory leaks in PyBullet.resetJointStateMultiDof and setJointMotorControlMultiDof 
Fixes Issue 2065
 2019-01-23 08:54:17 -08:00
Maxime Busy
b4eca192fb Parse physicsClientId before calling getPhysicsClient 2019-01-23 12:02:17 +01:00
erwincoumans
ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
xantares
e793bd22bb Cancel built time print changes 2019-01-15 10:24:11 +01:00
Michel Zou
fd40544637 On OSX link with dynamic_lookup 2019-01-12 11:36:28 +01:00
Michel Zou
46e2d280a8 Print build time only in debug mode 2019-01-11 21:57:41 +01:00
Michel Zou
ea515048e9 OSX Python extension is .so 2019-01-11 21:57:41 +01:00
Michel Zou
04d3b6aee7 Add pybullet install rule 2019-01-11 21:57:38 +01:00
erwincoumans
101429e6a3 Merge pull request #2041 from gsp-27/gsp-27-patch-1 
Added code for issue #2036
 2019-01-04 07:56:14 -08:00
Erwin Coumans
19aafd5221 PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero 2019-01-03 17:35:12 -08:00
Erwin Coumans
bf9efffa4b Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape 
See createMesh.py for an example.

The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:

#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
 2019-01-03 16:19:28 -08:00
gaurav pathak
7f73081a89 Added code for issue #2036 
Made necessary changes to ```humanoid_deep_mimic_env.py``` file, setting ```initial_frame``` to new position after simulation steps and setting ```SimTime``` using this new initial frame time
 2019-01-03 18:17:08 -05:00
Antonin RAFFIN
f9fdf89c06 Fix indentation 2018-12-31 12:52:43 +01:00
Antonin RAFFIN
1c61b629e3 Fix formating issues 2018-12-31 12:48:42 +01:00
Antonin RAFFIN
0df3527884 Fix gym deprecation warnings 2018-12-28 14:30:05 +01:00
erwincoumans
78de1f070f add example comparing explicit PD control (Python), explicit PD control (plugin), position constraint and stable PD control (Python) 2018-12-19 20:12:19 -08:00
erwincoumans
192d27743a enable pybullet.calculateInverseDynamics for floating bodies 
Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
 2018-11-27 08:49:56 -08:00