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211 Commits

Author SHA1 Message Date
Erwin Coumans
56d0b7a09a deep_mimic, read velocity from poseInterpolator, not kinematic model 
This fixes issue #2401
 2019-11-29 08:05:54 -08:00
Krishnan Srinivasan
0d4108f307 Fix call to convert_to_leg_model 
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
erwincoumans
3ac4959e95 Update DeepMimic_Optimizer.py 2019-08-02 07:08:51 -07:00
erwincoumans
4a4c807381 Update DeepMimic_Optimizer.py 
remove timing
 2019-08-01 21:24:28 -07:00
erwincoumans
d2665d3d80 Merge pull request #2305 from BartMoyaers/parse_contact_bodies 
parse fall contact bodies
 2019-07-27 10:09:36 -07:00
Erwin Coumans
bd9fe7afc0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-23 07:27:55 -07:00
Erwin Coumans
2e85490b6b deep_mimic: replace retrained backflip policy 2019-07-23 07:27:17 -07:00
Erwin Coumans
bb962bdb6f remove some left-over debugging from deep_mimic 
pybullet bump up to 2.5.3
 2019-07-22 17:47:02 -07:00
Erwin Coumans
b433e07d33 pybullet_envs.deep_mimic: use getLinkStates for faster 'getReward' 
pybullet_envs.deep_mimic: add profile timers for each thread to optimize training
 2019-07-22 17:18:41 -07:00
Erwin Coumans
d82c2043f0 enable useArray for deep_mimic reward 2019-07-21 13:56:10 -07:00
Erwin Coumans
39a4e8dcd9 Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof, 
Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
 2019-07-21 13:08:22 -07:00
Bart Moyaers
2e2169690c parse fall contact bodies 2019-06-24 15:52:27 +02:00
Erwin Coumans
8f9fac99bd add kinematic version that also updates the base position/orientation from the base 2019-06-13 13:26:52 -07:00
bla
3e32cf94e7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-06 21:54:47 +00:00
bla
6ab09fe06e fix testlaikago and pd_controller_stable 2019-06-06 21:54:22 +00:00
Erwin Coumans
3c74ae8366 Add approximate Mini Cheetah URDF and example in pybullet 
Thanks to Sangbae Kim and Donghyun Kim at the MIT Biomimetics Robotics Lab
 2019-05-31 14:21:10 -07:00
Erwin Coumans
1933661124 change quadruped, remove old files 2019-05-30 14:55:47 -07:00
erwincoumans
7a7652fd43 Merge pull request #2265 from akien-mga/dos2unix 
Convert DOS (CRLF) source files to Unix (LF) line endings
 2019-05-30 09:41:35 -07:00
Erwin Coumans
d7e863e51a update microtaur URDF and example, to be compatible with minitaur_rainbow_dash 2019-05-22 10:59:20 -04:00
Rémi Verschelde
d85b800702 Convert DOS (CRLF) source files to Unix (LF) line endings 
Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
 2019-05-22 10:01:32 +02:00
Erwin Coumans
af5bfb4089 added Microtaur URDF file, with basic system identification 
See https://www.youtube.com/watch?v=UmGnLgpEVTE
 2019-05-21 22:33:16 -04:00
Erwin Coumans
de8013ff75 add minitaur extended to pybullet_envs 2019-05-07 19:43:02 -07:00
Erwin Coumans
61c099460c apply yapf 2019-04-27 14:22:02 -07:00
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
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
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
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
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
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
Erwin Coumans
03e897d1f5 replace deep_mimic policies by versions trained using PyBullet, backflip works better now. 2019-02-24 20:12:18 -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
Somedaywilldo
59d58ce430 add Human3.6M support for deep_mimic env 2019-02-13 00:13:56 +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
d4292fdac3 PyBullet deep_mimic fix computeAngVelRel 2019-02-10 21:37:34 -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