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2765 Commits
Author SHA1 Message Date
Erwin Coumans bb8cfe3c9a pybullet.getAABB and getAPIVersion 
fix btMultiBody::getLinkCollider
bump up Bullet C-API version
 2017-06-15 19:46:27 -07:00
erwincoumans c903bd8a49 tune kuka grasp gym env (make it a bit too easy) 2017-06-15 11:18:08 -07:00
erwincoumans 16f439d774 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-14 23:42:40 -07:00
erwincoumans a547c8f3fc hook up kuka grasping to OpenAI dqn 2017-06-14 23:42:14 -07:00
erwincoumans d2888f0884 add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK 
fix tray/tray_textured4.obj and tray/tray.urdf
fix kuka_with_cube.py
allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter
bump up pybullet to 1.1.7
 2017-06-14 19:34:33 -07:00
erwincoumans f8af33dc73 Merge pull request #1183 from lunkhound/pr-browser-gui 
example browser: GUI improvements for CommonRigidBodyMT based demos
 2017-06-14 08:12:37 -07:00
erwincoumans 3921ea88fa Merge pull request #1177 from YunfeiBai/master 
Bug fix. Only return friction coefficient when there is a valid link …
 2017-06-14 08:11:57 -07:00
erwincoumans ff7a2bbc3b Merge pull request #1180 from lunkhound/pr-remove-override 
fix a stray override keyword (C++11) that slipped in
 2017-06-14 08:11:15 -07:00
erwincoumans cc34ebab25 add humanoid and kuka gym environments (experimental) 2017-06-14 00:54:41 -07:00
Erwin Coumans a0ded43a69 use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines. 
add a red sphere to make training a bit easier for now.
 2017-06-13 18:33:32 -07:00
Erwin Coumans ee8fd56c5e prepare to train racecar using ZED camera pixels (CNN+DQN) 2017-06-13 16:04:50 -07:00
Erwin Coumans 0958e8f473 only show debug camera RGB pixels by default 2017-06-13 14:07:58 -07:00
Erwin Coumans ab6d5c9c53 Merge remote-tracking branch 'bp/master' 2017-06-13 11:06:12 -07:00
Erwin Coumans c84416d932 add debug view for getCameraImage (RGB, depth, segmentation mask) 2017-06-13 10:53:24 -07:00
Michel Breyer 0c7cf47eb9 fix uninitialized erp in pybullet_setPhysicsEngineParameter 2017-06-13 17:24:35 +02:00
Michel Breyer 6d84e5e159 fix memcpy of depth and segmentation images to numpy arrays 2017-06-12 16:28:21 +02:00
Lunkhound 79877116e7 CommonRigidBodyMTBase: replace 'stricmp' with 'strcmp' 2017-06-11 10:04:38 -07:00
Lunkhound f86b9b4fc4 example browser: GUI improvements for CommonRigidBodyMT based demos 2017-06-11 08:15:28 -07:00
erwincoumans 1752aa55ca train_pybullet_racecar.py works, self-driving car drives towards the ball using OpenAI baselines DQN :-) 
See https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.
 2017-06-10 18:46:36 -07:00
Erwin Coumans 4a7469a1ba fix uninitialized-variable issues (were unused initialized, but triggers some memory checking tools) 2017-06-09 21:19:02 -07:00
Erwin Coumans b361722500 Implement train_pybullet_racecar.py and enjoy_pybullet_racecar.py using OpenAI baselines DQN for the RacecarGymEnv. 2017-06-09 19:26:07 -07:00
Lunkhound 8b3f979c27 fix a stray override keyword that slipped in 2017-06-09 18:28:46 -07:00
erwincoumans b2a46a7edd mimicJointConstraint.py creates actual differential drive 
See https://www.youtube.com/watch?v=pK3PTPlRTGA  :-)
 2017-06-09 10:15:05 -07:00
Erwin Coumans 0aeb4d5058 add RacecarGymEnv as a gym experimentation environment 2017-06-08 19:45:48 -07:00
yunfeibai 037043467a Bug fix. Only return friction coefficient when there is a valid link collider. 2017-06-08 18:59:11 -07:00
erwincoumans c1f6b7e9b8 fix memory leak in case a Wavefront .obj file had multiple shapes (texture was loaded multiple times, while only releasing one) 2017-06-08 09:21:32 -07:00
Erwin Coumans c1e32e6428 fix potential memory leaks 2017-06-07 19:00:44 -07:00
Erwin Coumans 46f2f3db4e implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py 2017-06-07 16:22:02 -07:00
Erwin Coumans 60e3887456 enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. 
See examples\pybullet\examples\mimicJointConstraint.py
 2017-06-07 13:44:34 -07:00
Erwin Coumans d08f3e5f91 expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor 2017-06-07 09:37:28 -07:00
Erwin Coumans 0c3a3cc466 pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping 2017-06-07 08:37:42 -07:00
erwincoumans ae00c24a5c add MIT racecar URDF, meshes and racecar.py quick test 2017-06-06 09:23:40 -07:00
erwincoumans 7b56db9f97 fix compile issue/warning 2017-06-06 06:59:41 -07:00
Erwin Coumans 91735acc7c also revert those 2 files 2017-06-05 14:19:28 -07:00
Erwin Coumans b5962ab148 revert due to crashes on windows, when simulation speed is increased 2017-06-05 14:15:51 -07:00
erwincoumans 444f206c7c Merge pull request #849 from benelot/3D-NN-walkers-example 
Improvements to 3DNNWalkers example
 2017-06-05 13:31:07 -07:00
Erwin Coumans adb938f30f reduce memory usage 2017-06-05 08:01:11 -07:00
Erwin Coumans 351ea171c1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-04 22:53:23 -07:00
Erwin Coumans 704269afe1 don't pass second parameter, pybullet func 2017-06-04 22:24:14 -07:00
Erwin Coumans 88c743b5ce Merge remote-tracking branch 'bp/master' 2017-06-04 22:12:42 -07:00
Erwin Coumans a7aed37632 work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) 
pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
 2017-06-04 22:04:16 -07:00
Lunkhound 03aa178ca5 example browser: fix 'clamp-to-integer' on GUI-sliders 2017-06-04 17:34:21 -07:00
Benjamin Ellenberger 4a169d180e Call reset right before using the clock. 2017-06-04 20:47:31 +02:00
Benjamin Ellenberger b5a80a08aa Revert b3Clock changes and use reset method instead. 2017-06-04 20:39:10 +02:00
Erwin Coumans b23cb1dd2c pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
 2017-06-03 10:57:56 -07:00
yunfeibai bfcbb339cf Merge remote-tracking branch 'upstream/master' 2017-06-02 18:26:04 -07:00
yunfeibai 0a29c8d9af Get debug visualizer camera yaw, pitch, dist, and target. 2017-06-02 18:24:51 -07:00
yunfeibai e2a9fc33dc Remove debug code. 2017-06-02 17:40:50 -07:00
yunfeibai 3506603d60 Test conversion from view matrix to yaw pitch roll. 2017-06-02 16:56:05 -07:00
erwincoumans 518c7ec00e Merge pull request #1144 from lunkhound/pr-threading-refactor 
Bullet 2 threading refactor: moved parallel-for calls into core libs
 2017-06-02 16:18:12 -07:00