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330 Commits

Author SHA1 Message Date
Erwin Coumans
c39afa61cb revert bullet_client.py 2020-01-01 20:27:27 -08:00
Erwin Coumans
a9455ce891 add 'runServer.py' script in pybullet_utils, this will run a GUI server 
that accepts SHARED_MEMORY connections. Handy if you run a pybullet_envs Gym environment
and want to visualize it. By default, bullet_client will try to connect to a shared memory connection first.
 2020-01-01 18:53:32 -08:00
Erwin Coumans
b6dea7ba64 fix a few pybullet Gym environments for rendering in stable_baselines 
if PYBULLET_EGL environment is set, try to enable EGL for faster rendering
bump up pybullet to 2.6.2
 2020-01-01 18:47:46 -08:00
Erwin Coumans
528bd28e34 increase plane from 30 to 200 (to allow quadrupeds to run further, not fall off cliff) 
fix issue with gym.wrappers in pybullet_envs.agents.visualize_ppo.py
 2019-12-31 18:13:49 -08:00
Erwin Coumans
ffc76fbf6d add xarm 6 example with inverse kinematics (IK) that runs about 150 microseconds (Ryzen 3900x) 2019-12-22 17:17:37 -08:00
Erwin Coumans
7241fe19b9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-12-13 09:21:00 -08:00
Erwin Coumans
30b42a14f0 add single-link arm urdf files for debugging 2019-12-13 09:20:46 -08:00
Erwin Coumans
3668bc5e2a tweak premake4 default batch file. 
add manual control for joint angles in XArm6 example.
 2019-12-12 07:02:27 -08:00
Erwin Coumans
1a245f4e11 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-12-11 16:49:04 -08:00
Erwin Coumans
2f6eb59e16 add z-up version of Laikago, centered along the chassis center of mass 2019-12-11 16:47:52 -08:00
Erwin Coumans
d254b65fee Merge remote-tracking branch 'bp/master' 2019-12-10 15:48:24 -08:00
Erwin Coumans
e7778502e7 fix pybullet_envs path 2019-12-10 15:48:07 -08:00
erwincoumans
880faef997 Merge pull request #2535 from erwincoumans/master 
Googley colors for xarm (debugging) and tweak example with table etc.…
 2019-12-09 09:26:47 -08:00
Erwin Coumans
1a491dc700 Googley colors for xarm (debugging) and tweak example with table etc. Add missing link6_vhacd.obj 2019-12-09 09:25:15 -08:00
erwincoumans
e0a43fb116 Merge pull request #2534 from erwincoumans/master 
remove duplicate xarm6.urdf
 2019-12-09 08:57:00 -08:00
Erwin Coumans
0a8ade5233 remove duplicate xarm6.urdf 2019-12-09 08:54:56 -08:00
erwincoumans
1b8d7be2b6 Merge pull request #2533 from erwincoumans/master 
also enable simplified convex decomposition collision meshes for xarm…
 2019-12-09 08:53:27 -08:00
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
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
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
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
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