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Commit Graph

249 Commits

Author SHA1 Message Date
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
fb15aea414 add example robots in pybullet_robots module 2020-01-12 07:11:57 -08:00
erwincoumans
2dcb372080 Merge pull request #2565 from araffin/feat/sb-example 
Add Stable-Baselines example with SAC and TD3
 2020-01-08 11:51:35 -08:00
Erwin Coumans
3cdbc4cc29 fix CartPoleBulletEnv-v1 and add CartPoleContinuousBulletEnv-v0 (continuous version) 2020-01-02 19:33:57 -08:00
Antonin RAFFIN
adad4dc402 Update buffer size 2020-01-02 14:47:30 +01:00
Antonin RAFFIN
59c61a46bb Simplify imports 2020-01-02 11:12:45 +01:00
Antonin RAFFIN
da0483b03a Add colab notebook 2020-01-02 11:06:39 +01:00
Antonin RAFFIN
9c969614bc Add Stable-Baselines example with SAC and TD3 2020-01-02 11:00:45 +01:00
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
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
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
David Rusu
dd3bdf0da1 Use pybullet_utils.bullet_client for all our BulletClient needs 2019-12-08 20:10:12 -05:00
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
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
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
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