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328 Commits

Author SHA1 Message Date
Erwin Coumans
efe9161670 fix cmake build 2018-05-26 08:46:12 +10:00
Erwin Coumans
5de53d7355 PyBullet: add ANYmal.py quadruped example, usage: 
pip install pybullet
python -m pybullet_envs.examples.ANYmal
 2018-05-25 07:54:38 +10:00
Erwin Coumans
ab7bbf4396 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-24 15:50:02 +10:00
Erwin Coumans
ff4d0b1777 add HelloBulletRobotics C++ example with similar API to PyBullet 
Add ANYmal quadruped robot URDF to pybullet_data
 2018-05-24 15:48:45 +10:00
erwincoumans
f1b4ffaf98 Merge pull request #1699 from benelot/fix-pendula-with-pbclient 
Fix pendulum & manipulator envs with pybullet client
 2018-05-23 08:20:40 +10:00
Benelot
4a16032820 Fix manipulators too. 2018-05-22 18:12:45 +02:00
Benelot
7b219e0ea6 Fix pendula to use the bullet-client. 2018-05-22 16:40:10 +02:00
Erwin Coumans
f5952a73e7 UrdfImporter: Collada DAE, rudimentary support for polylist (for ANYmal), assumes all polygons have 3 vertices 
remove obsolete env from __init__.py
 2018-05-23 00:28:49 +10:00
Erwin Coumans
9a706d9cfd PyBullet: fix Gym envs 2018-05-23 00:24:03 +10:00
Erwin Coumans
a0a1c9347c PyBullet: fix in Gym env 2018-05-23 00:18:17 +10:00
Erwin Coumans
a7a6e20d9c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-20 14:19:49 +10:00
Erwin Coumans
90939279f9 PyBullet: cmake build, enable DBUILD_PYBULLET_NUMPY=ON 
fix issue with HalfCheetahBulletEnv-v0 in previous commit
 2018-05-20 14:18:53 +10:00
Erwin Coumans
964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans
0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -07:00
Erwin Coumans
e86d11f7b9 PyBullet combineUrdf, make createMultiBody much faster, by temporarily disabling rendering 2018-05-10 20:52:51 -07:00
erwincoumans
06a23ecd6d PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed. 2018-05-10 18:37:48 -07:00
erwincoumans
e488603603 UrdfEditor: fix indentation, causing an issue when a link had no collision shape but visual shapes 2018-05-10 18:05:50 -07:00
erwincoumans
80bab22b9c urdfEditor: add euler -> quaternion conversions (otherwise orientations get silently ignored) 
urdfEditor: move combine code into UrdfEditor.joinUrdf
urdfEditor: Fix geom_length
 2018-05-10 15:08:00 -07:00
erwincoumans
3116cd82da fix MSVC 2010 compile issue 
urdfEditor: fix scale incorrectly saved in urdfEditor.saveUrdf
urdfEditor: fix linkMeshScaleArray in wrong location
 2018-05-10 12:04:13 -07:00
Erwin Coumans
a0e72b2ae3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
 2018-05-09 10:29:20 -07:00
Erwin Coumans
414b3ef9bb PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py 2018-05-09 10:28:12 -07:00
Erwin Coumans
be7c6ac967 PyBullet add getCameraImage to debug urdfEditor/createMultiBody 2018-05-08 23:23:53 -07:00
Erwin Coumans
1e51e2b859 tweaks in urdfEditor.py and combineUrdf.py, put KUKA on top of Husky as test. 2018-05-08 23:14:39 -07:00
Erwin Coumans
2d1689cba5 add example to joint two URDF files, using the urdfEditor (combineUrdf.py) 2018-05-08 17:18:58 -07:00
Erwin Coumans
d436be1d79 add __init__.py for pybullet_utils examples 2018-05-08 13:31:30 -07:00
Erwin Coumans
ad43de285c add bullet_client.py to pybullet_utils, with simple example 2018-05-08 10:12:19 -07:00
Erwin Coumans
3a4d1799d8 remove "DO NOT SUBMIT" comments, it blocks commits in google3 2018-05-07 17:35:55 -07:00
Jie Tan
20dd3d265b update README.md to include paper link in Arxiv. 2018-04-30 11:09:59 -07:00
Jie Tan
26cebc9aa5 rewrite the README file. 2018-04-26 21:26:08 -07:00
Jie
a375a349ce make sure that the pre-trained galloping and trotting policies work for the minitaur_reactive_env and minitaur_trotting_env environments. 2018-04-24 21:48:27 -07:00
Erwin Coumans
fcce77fe49 fix spaces/tab issue in urdfEditor.py 2018-04-12 14:01:17 -07:00
Erwin Coumans
bd0aed3e36 add ARS to train/eval Minitaur 2018-04-11 18:14:56 -07:00
Erwin Coumans
40b285ebfd fixes in minitaur leg mapping 2018-04-11 18:13:46 -07:00
erwincoumans
2bc246b0b1 fixes in relative imports 2018-04-11 18:00:43 -07:00
Erwin Coumans
ad75ea35b3 fix new minitaur envs for newer Gym (_step -> step etc), 
add extra sleep to sync Minitaur walk with RTC clock
 2018-04-11 13:22:25 -07:00
erwincoumans
ac945df07a remote 'render' arg 2018-04-11 10:14:24 -07:00
erwincoumans
698b20938f fix a number of issues in a series of new Minitaur environments 
add them to pybullet_envs through __init__.py
    id='MinitaurReactiveEnv-v0',
    id='MinitaurTrottingEnv-v0',
    id='MinitaurBallGymEnv-v0',
    id='MinitaurStandGymEnv-v0',
    id='MinitaurAlternatingLegsEnv-v0',
    id='MinitaurFourLegStandEnv-v0',

disable reflection of minitaur_four_leg_stand_env, since the floor changes orientation (reflection is a fixed plane with [0,0,1] normal)

from pybullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv
from pybullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv
from pybullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv
from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv
from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv
from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv
from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv
 2018-04-11 10:09:03 -07:00
erwincoumans
c2869e0a3c enable planar reflection in minitaur_gym_env.py and locomotion scenes 2018-04-11 08:50:29 -07:00
erwincoumans
39edcf699c bump up pybullet version, add missing sdf file 2018-04-10 22:59:53 -07:00
Erwin Coumans
7fa5e91cbd replace green stadium with blue checkered Bullet plane 
add missing files to pybullet setup.pu
 2018-04-10 19:55:26 -07:00
erwincoumans
5ff2a1d6c8 Update env_bases.py 2018-04-02 22:31:22 -07:00
erwincoumans
14d37ecb43 first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
jietan
413be3547b fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. 2018-03-12 21:06:19 -07:00
erwincoumans
d69fefd7e9 Merge pull request #1559 from shubhtuls/patch-1 
minor bugfix in image reshaping in kukaGymEnv.py
 2018-03-08 15:16:30 -08:00
Erwin Coumans
283d646e57 add random_urfs individually 2018-03-04 12:33:31 -08:00
Erwin Coumans
5688477bfb fix sdf warning 2018-02-23 18:56:11 -08:00
Erwin Coumans
15c46a0237 bump up pybullet version, add missing glad file(s) to MANIFEST.in 2018-02-21 11:46:53 -08:00
Erwin Coumans
8ba9644e78 fix __init__.py 2018-02-21 10:47:24 -08:00
Erwin Coumans
67318f3323 fix __init__.py 2018-02-21 10:45:06 -08:00
Erwin Coumans
a3c2ce1cef add __init__.py for pybullet_envs.prediction 2018-02-21 10:06:46 -08:00