a547c8f3fc
hook up kuka grasping to OpenAI dqn
erwincoumans
2017-06-14 23:42:14 -07:00
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
erwincoumans
2017-06-14 19:34:33 -07:00
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.
Erwin Coumans
2017-06-13 18:33:32 -07:00
ee8fd56c5e
prepare to train racecar using ZED camera pixels (CNN+DQN)
Erwin Coumans
2017-06-13 16:04:50 -07:00
0958e8f473
only show debug camera RGB pixels by default
Erwin Coumans
2017-06-13 14:07:58 -07:00
d17faddff2
fix for b3RequestActualStateCommandComputeLinkVelocity/getLinkState link velocities for static links
Erwin Coumans
2017-06-13 13:51:38 -07:00
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.
erwincoumans
2017-06-10 18:46:36 -07:00
e9ec5044d1
SequentialImpulseConstraintSolver: fix bugs with SOLVER_SIMD flag
Lunkhound
2017-06-10 04:21:49 -07:00
4a7469a1ba
fix uninitialized-variable issues (were unused initialized, but triggers some memory checking tools)
Erwin Coumans
2017-06-09 21:19:02 -07:00
b361722500
Implement train_pybullet_racecar.py and enjoy_pybullet_racecar.py using OpenAI baselines DQN for the RacecarGymEnv.
Erwin Coumans
2017-06-09 19:26:07 -07:00
8b3f979c27
fix a stray override keyword that slipped in
Lunkhound
2017-06-09 18:28:46 -07:00
c1f6b7e9b8
fix memory leak in case a Wavefront .obj file had multiple shapes (texture was loaded multiple times, while only releasing one)
erwincoumans
2017-06-08 09:21:32 -07:00
9d422c9b08
bump up pybullet version
Erwin Coumans
2017-06-07 19:02:23 -07:00
46f2f3db4e
implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py
Erwin Coumans
2017-06-07 16:22:02 -07:00
60e3887456
enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. See examples\pybullet\examples\mimicJointConstraint.py
Erwin Coumans
2017-06-07 13:44:34 -07:00
a7aed37632
work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) pybullet/C-API, expose linear/angular damping fix some warnings (param name needs to be same in .h and .cpp) fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread) fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
Erwin Coumans
2017-06-04 22:04:16 -07:00
03aa178ca5
example browser: fix 'clamp-to-integer' on GUI-sliders
Lunkhound
2017-05-22 00:48:07 -07:00
4a169d180e
Call reset right before using the clock.
Benjamin Ellenberger
2017-06-04 20:47:31 +02:00
b5a80a08aa
Revert b3Clock changes and use reset method instead.
Benjamin Ellenberger
2017-06-04 20:39:10 +02:00
0fc3ce69e9
fix thread index going out of range bug
Lunkhound
2017-06-03 04:16:57 -07:00
b23cb1dd2c
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
Erwin Coumans
2017-06-03 10:57:56 -07:00
3506603d60
Test conversion from view matrix to yaw pitch roll.
yunfeibai
2017-06-02 16:56:05 -07:00
1d1c822d52
btThreadsAreRunning wasn't defined if BT_THREADSAFE was not defined, causing compile errors using premake
Erwin Coumans
2017-06-02 16:25:28 -07:00
030d723db6
fix some warnings
Erwin Coumans
2017-06-01 16:48:07 -07:00
e6d1a8cf97
Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
yunfeibai
2017-06-01 15:30:37 -07:00
aa40b8487f
bump up SHARED_MEMORY_MAGIC_NUMBER versioning tag, remove humanoid_running_3.py bump up pybullet version to 1.1.0
Erwin Coumans
2017-06-01 13:33:53 -07:00
5c6045b61f
turn down effect of default specular a bit
Erwin Coumans
2017-06-01 13:15:58 -07:00
87293e835c
implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support. pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor Bug fixes in b3ResourcePath::findResourcePath resolution. add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium minor fixes to obj2sdf
Erwin Coumans
2017-06-01 12:32:44 -07:00
439e8c84cf
add new .obj files for kuka_iiwa/model.urdf
Erwin Coumans
2017-05-31 21:43:09 -07:00
3157093125
Implemented specular reflective lighting for OpenGL 3.x, everything looks shiny (will add APIs to make it less shiny ;-) Remove roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light is outside the room, bouncing against roof-top) Make kuka_iiwa/model.urdf more smooth, use .obj for per-vertex normals (using Blender, import STL, export OBJ, enable triangles, normals and Z-UP, Y forward)
Erwin Coumans
2017-05-31 20:32:45 -07:00
Erwin Coumans
Michel Breyer
Lunkhound
Erwin Coumans
yunfeibai
Benjamin Ellenberger