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Commit Graph

69 Commits

Author SHA1 Message Date
Bart Moyaers
a59d9e4b09 add blender test 2020-04-27 12:01:03 +02:00
Bart Moyaers
70fb365601 update commands 2020-04-27 12:00:03 +02:00
Bart Moyaers
470f8caf1d edit grab goal random bounds 2020-02-19 10:30:42 +01:00
Bart Moyaers
ad1afa8547 correct linkpos for non-strike goals 2020-02-17 15:04:06 +01:00
Bart Moyaers
595d3af4f4 add target_link to Strike goal 2020-02-17 10:26:41 +01:00
Bart Moyaers
541a145e2d enable follow_rot to be set 
correct grab goal settings
enable different links for different goal types
 2020-02-13 14:39:21 +01:00
Bart Moyaers
92231d9c3c print goal type correctly 2020-02-13 14:36:59 +01:00
Bart Moyaers
d09f2cffe0 add grab goal + generalize strike goal 2020-02-13 13:23:16 +01:00
Bart Moyaers
644a69a066 random changes (to be undone when merging) 2020-02-12 10:55:54 +01:00
Bart Moyaers
ef20f9e62c Merge branch 'master' into merge_upstream 2020-01-15 13:24:59 +01:00
Erwin Coumans
7f9f514b7e enable self-collision for deep_mimic pybullet_envs and make it easier to try it out: 
python3 -m pybullet_envs.deep_mimic.testrl
 2019-11-30 13:19:28 -08:00
Erwin Coumans
56d0b7a09a deep_mimic, read velocity from poseInterpolator, not kinematic model 
This fixes issue #2401
 2019-11-29 08:05:54 -08:00
Bart Moyaers
75e20522b5 correct strike goal rotation 2019-08-14 11:13:07 +02:00
Bart Moyaers
e6d4cfc7da refactor goals 2019-08-14 11:13:07 +02:00
Bart Moyaers
e8d6b24933 disable goal rotation 2019-08-14 11:13:07 +02:00
Bart Moyaers
fa6b04668e normalize goal data 2019-08-14 11:13:07 +02:00
Bart Moyaers
f0bc50f738 log current goal type 2019-08-14 11:13:07 +02:00
Bart Moyaers
c216e4c613 rotate goal with start pos human model 2019-08-14 11:13:07 +02:00
Bart Moyaers
88120527b6 fix distance reward calculation 2019-08-14 11:13:07 +02:00
Bart Moyaers
9addf64ee9 disable redundant reward calculation 2019-08-14 11:13:07 +02:00
Bart Moyaers
b13afe32cf update goal every cycle 
make distinction between world pos and relative goal pos
 2019-08-14 11:13:06 +02:00
Bart Moyaers
d45f647bf7 make humanoid cyclecount available 2019-08-14 11:13:06 +02:00
Bart Moyaers
da66bbc657 add goal training 2019-08-14 11:13:06 +02:00
Bart Moyaers
c99a446ba0 faster thrown object removal 2019-08-14 11:13:06 +02:00
Bart Moyaers
c9b898c735 throw objects deepmimic env 2019-08-14 11:13:06 +02:00
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
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
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
Erwin Coumans
0d4392af58 rename laikago_walk.json -> txt 2019-04-18 14:18:34 -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
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