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475 Commits

Author SHA1 Message Date
erwincoumans
6a7efac4c3 Quick first prototype/test to integrate pybullet into Unity, 
see readme.txt for details.
 2017-09-20 23:18:18 -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
erwincoumans
ffb05d74da Merge pull request #1308 from benelot/fix-gyms 
Fix gyms to make them work just like robotschool
 2017-09-14 07:40:51 -07:00
Benelot
3f57fb655a Enable randomized reset for Humanoid. 2017-09-14 12:53:12 +02:00
Benelot
2e8a86462f Remove tweaks added by me but not part of roboschool. 2017-09-14 12:52:21 +02:00
Erwin Coumans
74475479cf fix pybullet, checked wrong type after connection 2017-09-13 17:05:23 -07:00
Erwin Coumans
7e0ca070e0 fix return values in pybullet to be Pythonic. 2017-09-13 16:08:30 -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
ec25f663c2 fix getAABB.py on mac osx 
fix humanoid_benchmark.py and explain how to read/interpret that file in Google Chrome
 2017-09-11 19:46:54 -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
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
f38b2cf14d use SHARED_MEMORY as first connection attempt, to make visualization/OpenGL rendering easier 2017-09-11 09:23:14 -07:00
Erwin Coumans
ee082396d1 fixes in libdl/DL cmake 
minor tweaks in pybullet OpenAI gym locomotion envs (connect to shared memory before going GUI/DIRECT)
bump up pybullet version to 1.3.6
 2017-09-10 16:22:45 -07:00
Erwin Coumans
466c853489 add testMJCF.py script, to visualize MJCF file 2017-09-10 10:45:38 -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
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
c30e9aea92 revert minitaur.urdf to previous (backward compatibility) and add _v1 for better version. 2017-09-07 11:23:41 -07:00
Erwin Coumans
b0e50d0d5a pybullet Gym envs: add more sleep in the enjoy functions to see what's happening. 2017-09-07 11:17:38 -07:00
Erwin Coumans
3d702879c5 pybullet: improvements in Gym Ant environment (work-in-progress) 2017-09-07 11:06:42 -07:00
Erwin Coumans
cfc07565ac fix dumpLog.py 2017-09-06 14:34:10 -07:00
Erwin Coumans
ff0cd65346 fix __init__.py, add stadium without collision for testing 2017-09-05 21:47:35 -07:00
Erwin Coumans
3f21e528f0 revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't' 
make vr_kuka_setup.py load faster, by disabling rendering during loading
allow to setRealTimeSimulation(0) in VR
 2017-09-02 11:35:54 -07:00
erwincoumans
8319fa0380 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-02 01:06:47 -07:00
erwincoumans
1221c6d91d quadruped.py test, use generalized coordinates (not maximal coordinates) by default 2017-09-02 01:06:33 -07:00
erwincoumans
eb97e06280 fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping) 
fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates)
modify quadruped.py to test maximal coordinates
wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint
add 'j' key to show body frames in wireframe/debug mode
 2017-09-02 01:05:42 -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
erwincoumans
ee30479a28 add option to log joint torques (due to user applied torques and/or motor torques) 
See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
 2017-08-30 19:41:15 -07:00
erwincoumans
1f7db4519e enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control. 2017-08-29 19:14:27 -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
1900966805 small rename 2017-08-27 19:54:20 -07:00
Erwin Coumans
3f00c7bd49 small tweak in vr_kuka_setup.py example 2017-08-27 19:53:38 -07:00
Erwin Coumans
c8cb0a5f42 add missing sphere_small.urdf, add vr_kuka_setup.py example. 2017-08-27 19:41:40 -07:00
Erwin Coumans
1569f3845c more fixes in pybullet_gym envs/data. 
implement pybullet.setAdditionalSearchPath
 2017-08-27 19:34:00 -07:00
Erwin Coumans
d9faea8c1c add more URDF files to pybullet_data 2017-08-27 19:26:53 -07:00
Erwin Coumans
659e869b86 pybullet a bit more refactoring, moving around files. 
pybullet: move data to pybullet_data package, with getDataPath() method
 2017-08-27 18:08:46 -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
bcc60224f0 all methods (except connect, obviously) have the physicsClientId argument, even if they don't use it. This makes it easier to create a wrapper API to store the physics client. This allows easier multi-threaded versions with multiple Bullet DIRECT instances (or SHARED_MEMORY, TCP, UDP etc). 
See for example https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py and https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
 2017-08-25 14:04:45 -07:00
Erwin Coumans
1fc148d5d0 fixes in racecarGymEnv: implement 'render' rgb image, fix in naming, 
fix in observation bounds.
 2017-08-24 22:01:45 -07:00
Erwin Coumans
a975d094c3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-08-24 13:33:58 -07:00
Erwin Coumans
cb6914fa4c use better defauls values for minitaur 2017-08-24 13:33:45 -07:00
Erwin Coumans
f0c32b84c0 allow continuous control for MIT racecar gym environment, use differential drive version 2017-08-23 23:12:26 -07:00