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Author SHA1 Message Date
Erwin Coumans 4e2dfbe58e add minitaur duck environment 
see also  https://www.youtube.com/watch?v=SLwUCMZdKLo and
evolution strategies (hardmaru):
https://twitter.com/hardmaru/status/925074585984237568
 2017-10-31 16:05:52 -07:00
Erwin Coumans 55f5e52ecd add continuous versions of kukaGymEnv, kukaCamGymEnv, racecarZEDGymEnv etc. 
should be trainable with PPO or evolution strategies (ES) now
 2017-10-31 15:50:34 -07:00
Erwin Coumans 48f0f29812 add integrate.py example 2017-10-27 18:26:32 -07:00
Erwin Coumans 7f61efddfc Merge remote-tracking branch 'bp/master' 2017-10-26 08:27:17 -07:00
Erwin Coumans a5a73ba0d8 fix for issue 1400 
use default output name for VHACD test binary
 2017-10-26 08:11:58 -07:00
Erwin Coumans 9385f36505 add cartpole_bullet, should fix issue 1403 2017-10-25 08:37:01 -07:00
Erwin Coumans c21e7a8a8e fix potentially uninitialized data warning 2017-10-14 10:16:33 -07:00
Erwin Coumans 8750d49082 fix blocking plot.show() never terminating properly 2017-10-13 14:51:06 -07:00
Erwin Coumans 10527e12eb fix Mac OSX build, openvr 32bit/64bit was not selected, library out-of-date 2017-10-11 17:20:26 -07:00
Erwin Coumans f2c64fdf40 bump up openvr to 1.0.10 for Linux and Mac 2017-10-10 22:25:36 -07:00
Erwin Coumans 291afebad8 update pybullet version 2017-10-10 11:21:12 -07:00
Erwin Coumans 952c1a707d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-10 11:20:49 -07:00
Erwin Coumans a141b29d89 Merge remote-tracking branch 'bp/master' 2017-10-09 21:48:59 -07:00
Erwin Coumans d48e2a20af fix a string check issue 2017-10-09 12:28:39 -07:00
Erwin Coumans 91e08ec986 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-09 12:28:07 -07:00
Erwin Coumans 91d164d886 remove obsolete CartPoleBulletEnv 2017-10-09 09:44:54 -07:00
Erwin Coumans 463e3d3a1a Merge remote-tracking branch 'bp/master' 2017-10-08 18:46:23 -07:00
Erwin Coumans abdcb0a5a1 remove b3GjkPairDetector.cpp from cmake 2017-09-29 12:53:34 -07:00
Erwin Coumans 0948ce5984 import missing functools 2017-09-28 10:42:02 -07:00
Erwin Coumans 345836d670 revert to original agents train/visualize scripts, but using pybullet envs in configs.py (agents lacks a convenient way to extend environments) 2017-09-28 10:19:41 -07:00
Erwin Coumans a716752915 add __init__.py file in agents folder 2017-09-27 10:30:05 -07:00
Erwin Coumans 5082d6af15 bump up pybullet version, instruction to visualize agents ppo: 
python -m pybullet_envs.agents.visualize_ppo -config=pybullet_pendulum --logdir=pendulum/20170927T101514-pybullet_pendulum/ --outdir=vid

tensorboard --logdir=20170927T101514-pybullet_pendulum --port=2222
 2017-09-27 10:26:45 -07:00
Erwin Coumans 8a071e9b7b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-27 10:22:10 -07:00
Erwin Coumans e4a3b3fe38 add TensorFlow Agents PPO training script for various pybullet environments: 
example:

python -m pybullet_envs.agents.train_ppo --config=pybullet_pendulum --logdir=pendulum
 2017-09-27 10:20:38 -07:00
Erwin Coumans 36c9f2f93b bump up pybullet version 2017-09-27 09:09:43 -07:00
Erwin Coumans c37919604f add minitaur environment randomizer, enable it by default 
this improves PPO training ( more stable)
 2017-09-27 09:07:21 -07:00
Erwin Coumans 2d91e13886 tweak pybullet examples a bit (mac OSX OpenGL runs in mainloop, with python interpreter, 
so it needs some 'ping' command
bump up pybullet to version 1.4.6
 2017-09-24 21:37:31 -07:00
Erwin Coumans 97509dc9d0 add some missing files for premake, thanks to Jeff Bingham for the report 2017-09-24 16:10:14 -07:00
Erwin Coumans 27b02bfa78 Merge remote-tracking branch 'bp/master' 2017-09-24 16:01:50 -07:00
Erwin Coumans ebf78cb754 manually apply pull request 457 PR #457 
Thanks to aaronmjacobs!
 2017-09-24 10:45:08 -07:00
Erwin Coumans 70364445b8 Merge remote-tracking branch 'bp/master' 2017-09-24 09:49:53 -07:00
Erwin Coumans 63ee841bea trigger build system 2017-09-23 21:01:56 -07:00
Erwin Coumans 176c2512de add B3_SHARED_API definition for Mac / Linux / gcc 2017-09-21 08:37:00 -07:00
Erwin Coumans ae8f12e8ba more fixes for retina + glfw + opengl2 fallback 2017-09-20 13:09:18 -07:00
Erwin Coumans fb05763093 support retina / scale factor between pixel size and screen coordinate size 2017-09-20 10:07:18 -07:00
Erwin Coumans 2d3cd8d091 disable NUMPY build by default 2017-09-18 18:14:46 -07:00
Erwin Coumans 4108211ec8 attempt to re-enable pybullet in cmake 2017-09-18 18:11:08 -07:00
Erwin Coumans f4b28dddce fix rendering ("rgb_array") for pendulums/pendula 2017-09-15 16:33:22 -07:00
Erwin Coumans 81bf709ad7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-15 13:12:06 -07:00
Erwin Coumans 3d7ee317db fix pybullet gym environments: InvertedDoublePendulumBulletEnv-v0, 
InvertedPendulumBulletEnv-v0, InvertedPendulumSwingupBulletEnv-v0

motors were not disabled, extra gains applied etc.
 2017-09-15 13:09:05 -07:00
Erwin Coumans 06b695e051 remove some warning ,see also Pull Request #302 
bump up pybullet version
 2017-09-14 08:08:24 -07:00
Erwin Coumans 7e0ca070e0 fix return values in pybullet to be Pythonic. 2017-09-13 16:08:30 -07:00
Erwin Coumans 6942a9f8ef remove a debug printf 2017-09-13 13:48:37 -07:00
Erwin Coumans 941ffa2005 Merge remote-tracking branch 'bp/master' 2017-09-13 13:34:00 -07:00
Erwin Coumans c220513757 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-13 13:31:56 -07:00
Erwin Coumans 340a8f4704 add sigaction handler to Example Browser, to always shutdown shared memory 
make GUI_SERVER more reliable
next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI
allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage
 2017-09-13 13:30:16 -07:00
Erwin Coumans c250a5f0b9 re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT) 
suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
 2017-09-13 09:56:39 -07:00
Erwin Coumans de6d370b38 bump up pybullet version 2017-09-11 17:36:04 -07:00
Erwin Coumans 3891602784 enable continuous action space for racecarZEDGymEnv 
disable SHARED_MEMORY connection (it was just some debug test)
 2017-09-11 17:34:06 -07:00
Erwin Coumans b7e7415b46 bump up pybullet to 1.3.7 2017-09-11 09:39:48 -07:00
Erwin Coumans 20f97f78b8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-11 09:39:20 -07:00
Erwin Coumans 105c2c948f add simple 'runServer.py' script, that lets you run a GUI shared memory server to connect to 2017-09-11 09:38:55 -07:00
Erwin Coumans 416c29daf7 fix with shared memory connection while disabling rendering 2017-09-11 09:30:39 -07:00
Erwin Coumans f38b2cf14d use SHARED_MEMORY as first connection attempt, to make visualization/OpenGL rendering easier 2017-09-11 09:23:14 -07:00
Erwin Coumans 16c58de272 Merge remote-tracking branch 'bp/master' 2017-09-11 07:35:05 -07:00
Erwin Coumans 125380ce15 revert feet related reward in ant 2017-09-09 22:35:48 -07:00
Erwin Coumans de28334a70 tweak to testEnv.py, sample usage: 
python testEnv.py --rgb=1 --render=1 --step=100000 --env="HumanoidBulletEnv-v0"
 2017-09-09 16:36:42 -07:00
Erwin Coumans ce64aff7af ant env, fix feet_collision reward issue 2017-09-09 16:00:03 -07:00
Erwin Coumans 666c824b81 enable pybullet_env Ant Gym rendering, tinyRenderer has some issue with the ant.xml file though 2017-09-09 15:27:10 -07:00
Erwin Coumans c895bd244f track down DL/dl issue 2017-09-09 13:05:45 -07:00
Erwin Coumans 4f47a223ef more fixes in Gym Ant to make reward the same as Roboschool, 
apparently feet_collision_cost is not properly updated in Roboschool,
for now, disable it in pybullet too: see https://github.com/openai/roboschool/issues/63
 2017-09-09 12:36:53 -07:00
Erwin Coumans c144d9c045 add simple script to test some of the pybullet gym environments (work-in-progress/experimental) 2017-09-08 15:25:16 -07:00
Erwin Coumans 67eb59901a trigger travis again 2017-09-08 08:22:40 -07:00
Erwin Coumans 52c58a8886 turn off compiling pybullet using cmake, 
cmake's lack of finding python is broken beyond repair,
let's just use pip/setuptools instead.
See also: https://travis-ci.org/bulletphysics/bullet3/jobs/273121440
 2017-09-07 18:39:59 -07:00
Erwin Coumans 86840bf50d trigger travis 2017-09-07 17:24:17 -07:00
Erwin Coumans 03cde2ee9b fix build? (pybullet shouldn't be build by default) 2017-09-07 14:40:46 -07:00
Erwin Coumans 6671156652 tweak pybullet title and bump up version 2017-09-07 14:34:37 -07:00
Erwin Coumans 2d0d285377 Merge remote-tracking branch 'bp/master' 2017-09-07 12:26:02 -07:00
Erwin Coumans cfc07565ac fix dumpLog.py 2017-09-06 14:34:10 -07:00
Erwin Coumans c82131d16e cmake fixes 2017-09-06 14:18:35 -07:00
Erwin Coumans ff0cd65346 fix __init__.py, add stadium without collision for testing 2017-09-05 21:47:35 -07:00
Erwin Coumans a47e342ec4 bump up pybullet version 2017-09-02 11:42:58 -07:00
Erwin Coumans 6d940d7a02 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-31 10:00:24 -07:00
Erwin Coumans 6d0e2cd527 update pybullet docs, add getList to pybullet_envs 2017-08-31 09:59:40 -07:00
Erwin Coumans 9d404f5316 bump up pybullet version, pre-sort visual shapes 2017-08-29 21:36:56 -07:00
Erwin Coumans 3b472e4b12 Merge remote-tracking branch 'bp/master' 2017-08-28 19:29:06 -07:00
Erwin Coumans 029b4debad fix in minitaur.py and add render function in minitaur_gym_env.py 2017-08-28 19:28:20 -07:00
Erwin Coumans 04e7ebbe80 Merge remote-tracking branch 'bp/master' 2017-08-27 20:08:17 -07:00
Erwin Coumans 97cb6df00c bump up pybullet version 2017-08-26 15:00:54 -07:00
Erwin Coumans e267f5c3d2 move pybullet.connect into the Gym environment. 
If you like to enable rendering, call the env.render(mode="human") before calling the first env.reset
 2017-08-26 14:58:48 -07:00
Erwin Coumans 51b7e1040f more fixes in the pybullet gym environments: use main instead of demo_run, 
add missing main to some eaxmples.

pip install pybullet
train:
python -m pybullet_envs.examples.train_pybullet_cartpole

enjoy:
python -m pybullet_envs.examples.enjoy_pybullet_cartpole

enjoy pretrained environments:

python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HalfCheetahBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HopperBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_HumanoidBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may
python -m pybullet_envs.examples.enjoy_TF_Walker2DBulletEnv_v0_2017may

Run some gym environment test:
python -m pybullet_envs.examples.racecarGymEnvTest

Create/Import a specific Gym environment:

python
import pybullet_envs
env = gym.make("AntBulletEnv-v0")
env = gym.make("HalfCheetahBulletEnv-v0")
env = gym.make("HopperBulletEnv-v0")
env = gym.make("HumanoidBulletEnv-v0")
env = gym.make("Walker2DBulletEnv-v0")
env = gym.make("InvertedDoublePendulumBulletEnv-v0")
env = gym.make("InvertedPendulumBulletEnv-v0")
env = gym.make("MinitaurBulletEnv-v0")
env = gym.make("RacecarBulletEnv-v0")
env = gym.make("KukaBulletEnv-v0")
env = gym.make("CartPoleBulletEnv-v0")
 2017-08-26 13:13:53 -07:00
Erwin Coumans b1426322ed add gif to pybullet data 
add python files to .gitignore
pybullet bump up version to 1.2.5
 2017-08-25 18:08:53 -07:00
Erwin Coumans c7c3e76e56 Merge remote-tracking branch 'bp/master' 2017-08-24 21:42:32 -07:00
Erwin Coumans 16d9e2fb38 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-24 10:16:25 -07:00
Erwin Coumans 577ddd4f55 remote 'data' from MANIFEST.in 2017-08-23 23:58:53 -07:00
Erwin Coumans f19f28b5ed more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder. 2017-08-22 10:07:47 -07:00
Erwin Coumans 21ca6a90f0 more fixes for pybullet 2017-08-22 09:32:16 -07:00
Erwin Coumans dd4cc5f4ef add minitaur quadruped 2017-08-22 09:00:46 -07:00
Erwin Coumans e064d4b837 more fixes in pybullet_envs: fix path, add missing data resources 2017-08-22 08:59:39 -07:00
Erwin Coumans 21f9d1b816 refactor pybullet/gym to allow instantiating environments directly from a pybullet install: 
work-in-progress (need to add missing data files, fix paths etc)

example:

pip install pybullet
pip install gym

python
import gym
import pybullet
import pybullet_envs
env = gym.make("HumanoidBulletEnv-v0")
 2017-08-22 00:42:02 -07:00
Erwin Coumans c06ea72a4c improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster) 
disable vsync on Mac
fix setup.py file
 2017-08-20 18:11:53 -07:00
Erwin Coumans c4112ec5cc Merge remote-tracking branch 'bp/master' 2017-08-19 16:16:56 -07:00
Erwin Coumans b80a387a1e upgrade to latest OpenVR 1.0.9 (https://github.com/ValveSoftware/openvr) 
enable experimental Mac OSX OpenVR, tested using Apple External Graphics Development Kit.
 2017-08-19 09:48:32 -07:00
Erwin Coumans 226aaedc46 bump up pybullet setup.py version, make B3_NO_PYTHON_FRAMEWORK default on Mac 
minor fixes (arg name in header/cpp the same)
 2017-08-18 08:53:46 -07:00
Erwin Coumans 99beb44625 fix build issues in previous commit 2017-08-15 10:46:09 -07:00