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Author SHA1 Message Date
erwincoumans
c903bd8a49 tune kuka grasp gym env (make it a bit too easy) 2017-06-15 11:18:08 -07:00
erwincoumans
16f439d774 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-14 23:42:40 -07:00
erwincoumans
a547c8f3fc hook up kuka grasping to OpenAI dqn 2017-06-14 23:42:14 -07:00
erwincoumans
d2888f0884 add nicer meshes to kuka_with_gripper.sdf and add kuka_with_gripper2.sdf that can rotate without messing up IK 
fix tray/tray_textured4.obj and tray/tray.urdf
fix kuka_with_cube.py
allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter
bump up pybullet to 1.1.7
 2017-06-14 19:34:33 -07:00
erwincoumans
f8af33dc73 Merge pull request #1183 from lunkhound/pr-browser-gui 
example browser: GUI improvements for CommonRigidBodyMT based demos
 2017-06-14 08:12:37 -07:00
erwincoumans
3921ea88fa Merge pull request #1177 from YunfeiBai/master 
Bug fix. Only return friction coefficient when there is a valid link …
 2017-06-14 08:11:57 -07:00
erwincoumans
ff7a2bbc3b Merge pull request #1180 from lunkhound/pr-remove-override 
fix a stray override keyword (C++11) that slipped in
 2017-06-14 08:11:15 -07:00
erwincoumans
1f6872552d Merge pull request #1187 from erwincoumans/master 
add humanoid and kuka gym environments (experimental)
 2017-06-14 08:10:50 -07:00
erwincoumans
cc34ebab25 add humanoid and kuka gym environments (experimental) 2017-06-14 00:54:41 -07:00
erwincoumans
7929ba2929 Merge pull request #1186 from erwincoumans/master 
add debug view for getCameraImage (RGB, depth, segmentation mask)
 2017-06-13 18:55:11 -07:00
Erwin Coumans
a0ded43a69 use cnn_to_mlp to allow training of racecar using (extremely simplified) ZED camera pixel data using OpenAI baselines. 
add a red sphere to make training a bit easier for now.
 2017-06-13 18:33:32 -07:00
Erwin Coumans
ee8fd56c5e prepare to train racecar using ZED camera pixels (CNN+DQN) 2017-06-13 16:04:50 -07:00
Erwin Coumans
0958e8f473 only show debug camera RGB pixels by default 2017-06-13 14:07:58 -07:00
Erwin Coumans
d17faddff2 fix for b3RequestActualStateCommandComputeLinkVelocity/getLinkState link velocities for static links 2017-06-13 13:51:38 -07:00
Erwin Coumans
ab6d5c9c53 Merge remote-tracking branch 'bp/master' 2017-06-13 11:06:12 -07:00
Erwin Coumans
c84416d932 add debug view for getCameraImage (RGB, depth, segmentation mask) 2017-06-13 10:53:24 -07:00
erwincoumans
5692137554 Merge pull request #1185 from mbreyer/bugfix-uninitializedVariable 
fix uninitialized erp in pybullet_setPhysicsEngineParameter
 2017-06-13 08:28:24 -07:00
Michel Breyer
0c7cf47eb9 fix uninitialized erp in pybullet_setPhysicsEngineParameter 2017-06-13 17:24:35 +02:00
erwincoumans
e24dbec146 Merge pull request #1184 from mbreyer/bugfix-pybulletGetCameraImage 
fix memcpy of depth and segmentation images to numpy arrays
 2017-06-12 14:15:30 -07:00
Michel Breyer
6d84e5e159 fix memcpy of depth and segmentation images to numpy arrays 2017-06-12 16:28:21 +02:00
Lunkhound
79877116e7 CommonRigidBodyMTBase: replace 'stricmp' with 'strcmp' 2017-06-11 10:04:38 -07:00
Lunkhound
f86b9b4fc4 example browser: GUI improvements for CommonRigidBodyMT based demos 2017-06-11 08:15:28 -07:00
erwincoumans
00e85554fb Merge pull request #1181 from erwincoumans/master 
Implement OpenAI baselines dqn train/enjoy pybullet racecar
 2017-06-10 20:34:42 -07:00
erwincoumans
1752aa55ca train_pybullet_racecar.py works, self-driving car drives towards the ball using OpenAI baselines DQN :-) 
See https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.
 2017-06-10 18:46:36 -07:00
Lunkhound
e9ec5044d1 SequentialImpulseConstraintSolver: fix bugs with SOLVER_SIMD flag 2017-06-10 04:33:40 -07:00
Erwin Coumans
4a7469a1ba fix uninitialized-variable issues (were unused initialized, but triggers some memory checking tools) 2017-06-09 21:19:02 -07:00
Erwin Coumans
b361722500 Implement train_pybullet_racecar.py and enjoy_pybullet_racecar.py using OpenAI baselines DQN for the RacecarGymEnv. 2017-06-09 19:26:07 -07:00
Lunkhound
8b3f979c27 fix a stray override keyword that slipped in 2017-06-09 18:28:46 -07:00
erwincoumans
dc8c2e4d5e Merge pull request #1179 from erwincoumans/master 
add mimic constraint for differential gears
 2017-06-09 15:02:59 -07:00
Erwin Coumans
82e3c553b9 bump up pybullet version (some memory leaks were fixed since 1.1.3) 2017-06-09 14:03:47 -07:00
erwincoumans
b2a46a7edd mimicJointConstraint.py creates actual differential drive 
See https://www.youtube.com/watch?v=pK3PTPlRTGA  :-)
 2017-06-09 10:15:05 -07:00
Erwin Coumans
0aeb4d5058 add RacecarGymEnv as a gym experimentation environment 2017-06-08 19:45:48 -07:00
yunfeibai
037043467a Bug fix. Only return friction coefficient when there is a valid link collider. 2017-06-08 18:59:11 -07:00
Erwin Coumans
7ee8126d66 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-08 14:28:42 -07:00
Erwin Coumans
b325844b9a add missing 'wheel.urdf" and very simple procedural terrain generation (sine wave) 2017-06-08 14:28:33 -07:00
erwincoumans
e5ce067cb9 Merge pull request #1176 from erwincoumans/master 
mimic joint, enable btGearConstraint for multibody, expose contact stiffness/damping, erp to pybullet etc.
 2017-06-08 10:20:22 -07:00
erwincoumans
c1f6b7e9b8 fix memory leak in case a Wavefront .obj file had multiple shapes (texture was loaded multiple times, while only releasing one) 2017-06-08 09:21:32 -07:00
Erwin Coumans
9d422c9b08 bump up pybullet version 2017-06-07 19:02:23 -07:00
Erwin Coumans
c1e32e6428 fix potential memory leaks 2017-06-07 19:00:44 -07:00
Erwin Coumans
46f2f3db4e implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py 2017-06-07 16:22:02 -07:00
Erwin Coumans
60e3887456 enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. 
See examples\pybullet\examples\mimicJointConstraint.py
 2017-06-07 13:44:34 -07:00
Erwin Coumans
d08f3e5f91 expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor 2017-06-07 09:37:28 -07:00
Erwin Coumans
0c3a3cc466 pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping 2017-06-07 08:37:42 -07:00
erwincoumans
877e2cf9f9 Merge pull request #1174 from erwincoumans/master 
add MIT racecar and examples/python/examples/racecar.py, fix compile issue/warning
 2017-06-06 09:50:07 -07:00
erwincoumans
7e12034097 improve racecar visuals a little bit with a texture on the wheels 2017-06-06 09:45:06 -07:00
erwincoumans
ae00c24a5c add MIT racecar URDF, meshes and racecar.py quick test 2017-06-06 09:23:40 -07:00
erwincoumans
7b56db9f97 fix compile issue/warning 2017-06-06 06:59:41 -07:00
erwincoumans
fb6d623d24 Merge pull request #1171 from erwincoumans/master 
revert due to crashes on windows, when simulation speed is increased
 2017-06-05 16:49:22 -07:00
Erwin Coumans
91735acc7c also revert those 2 files 2017-06-05 14:19:28 -07:00
Erwin Coumans
b5962ab148 revert due to crashes on windows, when simulation speed is increased 2017-06-05 14:15:51 -07:00