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1135 Commits

Author SHA1 Message Date
Erwin Coumans
67905efd0f also enable simplified convex decomposition collision meshes for xarm6_robot.urdf 2019-12-09 08:51:02 -08:00
David Rusu
dd3bdf0da1 Use pybullet_utils.bullet_client for all our BulletClient needs 2019-12-08 20:10:12 -05:00
jackson-waschura
0b33d940e4 Actually use self collisions when specified 2019-12-08 13:54:38 +01:00
Erwin Coumans
70329ca2ad added Apache 2 license for Panda Franka URDF 2019-12-08 00:40:10 -08:00
Erwin Coumans
4cfd30f19c add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda) 
add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm
 2019-12-08 00:38:49 -08:00
Erwin Coumans
146a751eb4 enable intermediate log for walk, so you can restart if stuck in local maximum 2019-12-05 08:34:34 -08:00
erwincoumans
c74b88b436 Merge pull request #2522 from erwincoumans/master 
update Laikago robot with textures, and a version with toes to enable…
 2019-12-04 21:14:21 -08:00
Erwin Coumans
7c5796b67d update Laikago robot with textures, and a version with toes to enable inverse kinematics. 2019-12-04 14:48:28 -08:00
erwincoumans
ef08e9b415 Merge pull request #2517 from erwincoumans/master 
enable self-collision for deep_mimic pybullet_envs, fix Mac Catalina pybullet pip build
 2019-12-04 08:56:42 -08:00
erwincoumans
44f21e462a Merge pull request #2509 from xhan0619/separate-bending-stiffness 
Separate in-plane and bending stiffness for mass spring model
 2019-12-04 07:34:28 -08:00
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
cf67e7af0a Merge remote-tracking branch 'bp/master' 2019-11-29 08:06:53 -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
Xuchen Han
7bce5d61f4 separate in-plane and bending stiffness for mass spring model for easier parameter tuning 2019-11-27 11:40:10 -08:00
Xuchen Han
39df98465e set a smaller dt for deformable_ball.py for stability and typo fix 2019-11-25 17:07:00 -08:00
Xuchen Han
f237a40621 add a pybullet example to compare the result of soft body and deformable body 2019-11-21 00:09:32 -08:00
Xuchen Han
fa7cb25c95 revert the default world to SOFT_MULTIBODY_WORLD 2019-11-20 23:47:15 -08:00
Xuchen Han
edffb0cc55 update pybullet examples 2019-11-19 23:10:13 -08:00
Erwin Coumans
66951ac102 fix Mac version of deformable_anchor.py 2019-11-19 19:35:28 -08:00
Erwin Coumans
96deb42aa5 pybullet.createSoftBodyAnchor 2019-11-19 19:20:08 -08:00
Erwin Coumans
1f6d504e44 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 10:22:56 -08:00
Xuchen Han
bca87426f4 enable real time simulation 2019-11-15 22:38:47 -08:00
Xuchen Han
a86710c5b6 add python binding to allow loading deformable objects 2019-11-15 21:25:11 -08:00
Erwin Coumans
72e0e7c223 fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-14 21:20:42 -08:00
Erwin Coumans
24a76614f8 PyBullet: fix memory leak in changeTexture command 
Fixes #2481
 2019-11-14 17:07:08 -08:00
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
Erwin Coumans
b5715c96cf Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-11-04 15:46:23 -08:00
Erwin Coumans
f1f04aef53 add simple sceneAABB example 2019-11-04 15:45:58 -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
Chuyuan Fu
e74ffa2f65 add body type info to dynamics info 2019-09-28 14:43:40 -07:00
Erwin Coumans
95a7488310 PyBullet: fix createMultiBodyBatch.py example 2019-09-13 07:38:00 -07:00
Erwin Coumans
64ea8e9f27 PyBullet createMultiBody(Batch), return all body unique ids 
PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method
 2019-09-09 16:41:25 -07:00
erwincoumans
9cf50846d6 Merge pull request #2393 from muupan/fix-typo-duration 
Fix typo: s/duraction/duration/g
 2019-09-04 09:37:57 -07:00
Chuyuan Fu
ecc28d6472 revert testing example 2019-09-03 14:35:33 -07:00
Chuyuan Fu
e4a5f9e06e add body type info to dynamics info 2019-09-03 14:27:19 -07:00
muupan
4c209a4834 Fix typo: s/duraction/duration/g 2019-09-03 17:29:43 +09:00
Erwin Coumans
648844e898 minor fixes, bump up pybullet to 2.5.5 2019-08-14 21:30:10 -07:00
Erwin Coumans
88d1788ee5 PyBullet: allow to update an existing heightfield shape 
Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
 2019-08-14 21:06:10 -07:00
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
40a61b92e5 log every 50 iterations 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
3ac19409fc add more args 2019-08-14 11:13:06 +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