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666 Commits

Author SHA1 Message Date
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
ffc808784b PyBullet: add planar reflection example, 
See examples/pybullet/examples/addPlanarReflection.py
 2018-04-11 01:03:36 -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
507d024f25 add example of a free moving sphere controlled by external torque 
add some toy shape sorter cube (not finished yet)
 2018-04-01 15:55:32 -07:00
erwincoumans
14d37ecb43 first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
erwincoumans
31ab72a0ed Merge pull request #1609 from YunfeiBai/master 
Add PyBullet API to set projective texture.
 2018-03-26 16:27:14 -07:00
Hervé Audren
a2e9ecd957 Fix jacobian computation 2018-03-26 18:40:42 +09:00
yunfeibai
37696dd87e Add Bullet C API and pybullet API to set projective texture matrices. 2018-03-18 18:45:54 -07:00
yunfeibai
fd7aa8d0e1 Expose using projective texture as a flag in pybullet getCameraImage API. 2018-03-18 17:01:23 -07:00
jietan
f4ca3f5963 Fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. Remove all unnecessary changes of white spaces. 2018-03-14 21:14:44 -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
Erwin Coumans
f5d7e5bed3 example for Issue #1586 2018-03-10 19:49:30 -08:00
erwincoumans
cce41a62ef Merge pull request #1594 from erwincoumans/master 
PyBullet: explicit sync transform right before hardware OpenGL getCam…
 2018-03-09 18:33:28 -08:00
Erwin Coumans
69d343386d PyBullet/C-API: implement createVisualShapeArray, with multiple visual shapes (require 1 texture max, since visual shapes are merged) 2018-03-09 18:02:06 -08:00
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
erwincoumans
6d326a79c8 Merge pull request #1575 from erwincoumans/master 
fix minor sdf warning in kiva_shelf/model.sdf
 2018-03-04 12:34:21 -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
erwincoumans
91f77dfb39 Merge pull request #1571 from erwincoumans/master 
fix __init__.py
 2018-02-21 12:42:37 -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
erwincoumans
3508a4523b Merge pull request #1560 from YunfeiBai/master 
Add shader and example for projective texture.
 2018-02-21 10:23:18 -08:00
Erwin Coumans
a3c2ce1cef add __init__.py for pybullet_envs.prediction 2018-02-21 10:06:46 -08:00
yunfeibai
5494aa72fa Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector. 2018-02-20 18:32:09 -08:00
erwincoumans
01f58f8f02 PyBullet: soft bodies are rendered, so we don't need to also render wireframes in regular mode. 
Use glBufferSubData instead of glMapBuffer/glUnmapBuffer, much faster soft body vertex sync.
Don't use a separate btSoftBodyWorldInfo, use the existing one in btSoftMultiBodyDynamicsWorld.
 2018-02-18 11:09:42 -08:00
erwincoumans
ddf304ca78 PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes 
(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
 2018-02-16 19:44:33 -08:00
yunfeibai
ef0ae4935b Minor change. 2018-02-15 18:37:23 -08:00
yunfeibai
36dcabbaf5 Merge remote-tracking branch 'upstream/master' 2018-02-15 14:31:34 -08:00
erwincoumans
d3fe21ef17 Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default. 
Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread
 2018-02-14 16:49:44 -08:00
erwincoumans
5e08d6d334 small test to create / simulate random box stacks 2018-02-14 15:37:50 -08:00
Shubham Tulsiani
5fdd7ed3b4 minor bugfix in image reshaping in kukaGymEnv 
Reshaped image array should be of size (RENDER_HEIGHT, RENDER_WIDTH, 4) instead of (RENDER_WIDTH, RENDER_HEIGHT, 4).
 2018-02-11 21:47:57 -08:00
yunfeibai
2947cd54ce Add shader for projective texture. 2018-02-11 21:29:02 -08:00
yunfeibai
08548e1ef0 Add example for projective texture. 2018-02-11 13:50:45 -08:00
Erwin Coumans
c143c90c11 add HelloPyBullet notebook 2018-02-11 06:58:45 -08:00
erwincoumans
19231434c2 gym env backward compatibility due to gym 0.9.6 breaking changes 2018-02-06 10:20:41 -08:00
Sam Wenke
ad3c236bfd pybullet support for gym.Env, including v0.9.x 2018-02-04 11:35:47 -05:00
erwincoumans
a576fd38cd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-31 22:17:39 -08:00
erwincoumans
13d67e8fc3 add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) 
center shadow around camera target
 2018-01-31 22:17:15 -08:00
Erwin Coumans
e88dca3152 update autogenerated NativeMethods.cs from latest PhysicsClientC_Api.h 2018-01-31 09:07:31 -08:00
erwincoumans
40482e0925 fix urdfEditor.py 2018-01-29 19:19:34 -08:00
Erwin Coumans
cb0e740422 fix error in __init__.py 2018-01-27 10:25:26 -08:00