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305 Commits
Author SHA1 Message Date
Erwin Coumans 9f44d76b67 fix issue in BulletClient (pybullet_utils.bullet_client) that may disconnect multiple times, causing issues when repeatedly creating a gym env 
bump up pybullet to version 2.5.7
 2019-11-07 10:47:56 -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
Erwin Coumans 38d56a42de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-29 20:29:29 -07:00
Erwin Coumans 51fba6f78d export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:23:38 -07:00
Erwin Coumans 4bb5d07e3e pybullet_envs.deep_mimic: add pretrained spinkick model (only trained for 20 million steps, may need more for nicer mimic) 2019-07-29 08:22:57 -07:00
Erwin Coumans cc2d15cd89 pybullet_envs.deep_mimic add pretrained jump weights 2019-07-29 08:11:15 -07:00
Erwin Coumans 3ba34f45b7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 18:13:48 -07:00
Erwin Coumans 020e569ece pybullet_envs.deep_mimic add pretrained crawl policy 2019-07-28 18:01:37 -07:00
Erwin Coumans 09bea429f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 17:24:37 -07:00
Erwin Coumans 1e21000d07 pybullet_envs.deep_mimic: update humanoid3d_cartwheel pretrained policy 2019-07-28 17:23:54 -07:00
Erwin Coumans 45c393e86e Merge remote-tracking branch 'bp/master' 2019-07-27 10:25:31 -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 36f3adc03f copy/move heightfield files around (part of pybullet_data) 
prepare for heightfield support in pybullet (first step, needs a bit more)
 2019-07-25 13:01:26 -07:00
Erwin Coumans 3eedb2a6f2 fix rotational friction between btMultiBody and btRigidBody 2019-07-24 22:07:16 -07:00
Erwin Coumans 654a91057b remove temp file 2019-07-23 18:15:15 -07:00
Erwin Coumans a0b7b2a47c add friction_anchor to microtaur.urdf 2019-07-23 18:13:54 -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 b9d4206053 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-22 17:19:33 -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 0630c245c8 update walk policy trained using latest PyBullet 2.5.2. Still need to update backflip policy. 2019-07-22 14:00:19 -07:00
Erwin Coumans d82c2043f0 enable useArray for deep_mimic reward 2019-07-21 13:56:10 -07:00
Erwin Coumans 0cf6685041 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-21 13:13:25 -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
Erwin Coumans 4732acfcb1 remove tabs from urdf 2019-07-17 12:57:44 -07:00
Erwin Coumans ac0bfb0bfa remove trailing whitespace 2019-07-17 12:55:13 -07:00
Erwin Coumans dff277ad7b add laikago urdf with toes (for inverse kinematics, and control over stiffness/damping to model rubber) 2019-07-17 12:30:49 -07:00
Bart Moyaers 2e2169690c parse fall contact bodies 2019-06-24 15:52:27 +02:00
Erwin Coumans 16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
 2019-06-19 12:07:26 -07:00
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 4247104050 add toes to Mini Cheetah 2019-05-31 15:04:53 -07:00
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 093986f1ee revert to previous leg style of Microtaur 2019-05-22 23:42:32 -04:00
Erwin Coumans e13df4ce48 add toe endeffectors for IK of Microtaur 2019-05-22 22:08:45 -04:00
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