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4771bae9fa1b30c50fdd1fa4d22d2c51badbd063
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404 Commits

Author SHA1 Message Date
Benelot
4771bae9fa Merge branch 'master' into bullet-gym 2017-08-10 22:50:12 +02:00
erwincoumans
0eb3898c76 Merge pull request #1244 from erwincoumans/master 
add 'createObstacleCourse.py' example, helps reproducing
 2017-07-29 13:20:14 +02:00
Erwin Coumans
d28dd2f80a add 'createObstacleCourse.py' example, helps reproducing 
Parkour paper: https://arxiv.org/abs/1707.02286
 2017-07-29 13:18:49 +02:00
yunfeibai
cfc7917586 Add init function and module for pybullet with EGL. 2017-07-18 13:52:29 -07:00
Erwin Coumans
c9b41737c0 add example of faster URDF/SDF loading in VR/GUI mode, 
by temporary disabling rendering
 2017-07-14 23:32:53 +01:00
Benjamin Ellenberger
a6aade2e21 Add nearly all gym environments using pybullet together with the latest tf model from the roboschool model zoo. 2017-07-14 23:38:15 +02:00
Erwin Coumans
5178ad4abc add proper pointer casts 2017-07-01 10:28:28 -07:00
Erwin Coumans
9cf747b35b a few compile/warning fixes 2017-07-01 10:01:55 -07:00
Erwin Coumans
88897cc744 implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 
See also examples\pybullet\examples\changeTexture.py
 2017-06-30 19:11:43 -07:00
Erwin Coumans
dd3d55610b fixes in pybullet.loadTexture, changeVisualShape replacing texture. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -07:00
Erwin Coumans
bf800e30d5 Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm 
Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful)
https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
See also http://www.trossenrobotics.com/widowxrobotarm
 2017-06-29 17:54:04 -07:00
erwincoumans
d5fe67cf57 Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer 2017-06-24 19:38:31 -07:00
erwincoumans
a651cb9ab4 Implement first pass of transparent graphics object for GLInstancingRenderer 
remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
 2017-06-24 13:41:33 -07:00
erwincoumans
c777e61d48 fix pybullet compilation on some WIN32 version of MSVC 2017-06-23 20:36:19 -07:00
Erwin Coumans
65e22ba3e9 allow auxilary link to be used for gear btMultiBodyGearConstraint. 2017-06-23 20:24:04 -07:00
Erwin Coumans
9672c3a330 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-23 16:19:10 -07:00
Erwin Coumans
9aed6b08f1 don't set the numSolverIterations that high, was a debug left-over 2017-06-23 16:18:42 -07:00
Erwin Coumans
2ab56b4d62 Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies. 2017-06-23 14:43:28 -07:00
Erwin Coumans
a136098120 add a few more discrete actions to cartpole_bullet.py so it trains faster + add option to train without rendering, enjoy with rendering. 2017-06-22 16:49:14 -07:00
Erwin Coumans
9213f944f1 add kukaCamGymEnv.py with camera observations (preliminary) 
show camera position in example browser
disable per-vertex and per-fragment profile timings
 2017-06-21 09:33:46 -07:00
Erwin Coumans
71170d6384 reduce stack usage (cause some crashes in low-stack tests) 
fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
 2017-06-20 20:22:14 -07:00
Erwin Coumans
61f27a5c72 also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody 
updated createMultiBodyLinks.py example.
 2017-06-19 17:13:20 -07:00
Erwin Coumans
7441515c0e Preliminary version of pybullet.createMultiBody including links connected to parent by a joint. 
See createMultiBodyLinks.py example.
 2017-06-19 13:15:05 -07:00
Erwin Coumans
f3c11b6f31 add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape 
preparation to add links to pybullet.createMultiBody
 2017-06-19 10:14:26 -07:00
Erwin Coumans
2e6f8c271e allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking 
pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
 2017-06-17 13:29:14 -07:00
Erwin Coumans
5ea4da87d7 improve getAABB.py drawing 2017-06-16 19:11:35 -07:00
Erwin Coumans
23b155a2b4 add getAABB.py example. 
fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
 2017-06-16 18:10:10 -07:00
Erwin Coumans
40cb8006ee fix gym/envs/bullet/cartpole_bullet.py (velocity hyperparameter still needs to be tuned) 
add enjoy_pybullet_cartpole.py
 2017-06-16 17:06:11 -07:00
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
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
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
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
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
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
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
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
704269afe1 don't pass second parameter, pybullet func 2017-06-04 22:24:14 -07:00