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1429 Commits
Author SHA1 Message Date
jingyuc c2072b5538 add mass scaling for reduced deformable model 2021-11-11 12:27:36 -05:00
jingyuc 7fafbd7718 reduced deformable is now working with pybullet 2021-11-05 18:02:15 -04:00
jingyuc 0a6f278663 reduced deformable cube free fall example is now working in pybullet 2021-11-02 01:12:09 -04:00
erwincoumans 33cceed500 Merge pull request #3982 from RedTachyon/patch-1 
Explicitly state the datatypes in creating action/obs spaces
 2021-10-25 09:09:47 -07:00
Wenhao Yu af0bfc62ec Merge branch 'bulletphysics:master' into master 2021-10-13 15:53:04 -07:00
Wenhao Yu fd96062972 Add config for visual locomotion env with two cameras and random stepstone. 2021-10-13 15:48:47 -07:00
Erwin Coumans a8f088d4d3 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-10-11 12:56:29 -07:00
Erwin Coumans 00567a5261 remote tensorflow requirement from envs_v2 2021-10-11 12:56:15 -07:00
erwincoumans aa49e19385 Update README.md 
remote tensorflow requirement
 2021-10-11 12:14:45 -07:00
Erwin Coumans 6390db4bd6 Merge remote-tracking branch 'bp/master' 2021-10-04 15:37:12 -07:00
Erwin Coumans 931f93d266 Merge remote-tracking branch 'bp/master' into master 2021-10-03 15:19:58 -07:00
Erwin Coumans 34d77242e5 tweak gear (mimic) constraint example, enable erp (to avoid positional relative drift) and position camera at the gears. 2021-10-03 15:18:40 -07:00
Ariel Kwiatkowski 496e614f77 Explicitly state the datatypes in creating action/obs spaces 
This should get rid of the annoying warnings that pop up whenever an environment is created. Numpy's default datatype is float64, gym's is float32, the env is actually float32, but the initialization doesn't make it explicit so it causes redundant warnings.
```
/path/lib/python3.9/site-packages/gym/logger.py:34: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize("%s: %s" % ("WARN", msg % args), "yellow"))
```
 2021-09-29 23:10:18 +02:00
erwincoumans 9c37ca5185 Merge pull request #3950 from bttner/fix_external_force_command 
Fix: reference frame issue of external force command processor (Physics Server)
 2021-09-20 14:34:52 -07:00
Erwin Coumans 87605ca4c8 revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network. 2021-09-20 12:22:30 -07:00
erwincoumans b638300fe4 Merge pull request #3951 from erwincoumans/master 
implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
 2021-09-02 18:03:23 -07:00
Erwin Coumans b6df08b553 implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms. 2021-09-02 17:27:05 -07:00
Felix Büttner 4b6ec20b30 External force and torque frame fix 2021-09-02 17:40:18 +02:00
erwincoumans 31b8841efc Merge pull request #3948 from erwincoumans/master 
add low-resolution Laikago (for faster rendering in CPU renderer) and cleanup sdf files
 2021-08-30 13:01:15 -07:00
Erwin Coumans 68424feb2d don't use empty frame for pose in sdf files 
use hint for clang that if (0) is intentional
 2021-08-30 19:40:20 +00:00
erwin coumans 7ac95be8cd add training and run/eval scripts to train envs_v2 Laikago pmtg 2021-08-17 08:56:30 -07:00
erwin coumans e399944982 add simplified Laikago model for faster CPU rendering (getCameraImage in direct mode using TinyRenderer) 2021-08-03 13:26:39 -07:00
Antonin Raffin 13f3778c22 Fix SB3 comment 2021-07-29 15:24:46 +02:00
Antonin Raffin 2f8b44c702 Migrate to Stable-Baselines3 2021-07-29 15:21:49 +02:00
erwincoumans a435fb7a41 Merge pull request #3819 from cadop/bullet-client-subprocess-safety 
Fix for bullet_client to be used from a class instance during multiprocessing
 2021-05-12 13:54:00 -07:00
erwin coumans e952ac6f63 Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1]) 
This is an alternative to passing options="--background_color_red=red --background_color_green=green --background_color_blue=blue" in the connect method.
 2021-05-06 18:08:22 -07:00
erwin coumans 8e85dedaa9 PyUnicode_AsUTF8 breaks python 2.x compatibility 2021-05-06 10:19:15 -07:00
cadop ace34c4d08 check the process id before disconnecting 2021-04-27 19:33:37 -04:00
Erwin Coumans fc2992b75a Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 20:41:45 -07:00
Erwin Coumans 184b7816d0 LICENSE should have no txt extension 2021-04-22 16:45:29 -07:00
Erwin Coumans c915e82d49 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 16:20:31 -07:00
Erwin Coumans 83a5fe2d31 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-21 22:14:38 -07:00
Erwin Coumans 9f91e6837a remove type annotations 
bump up pybullet version
 2021-04-20 15:50:12 -07:00
erwin coumans e58e5bdf95 PyBullet: 
expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
 2021-04-20 11:29:27 -07:00
erwin coumans 84a63cf221 allow to use the useMultiBody argument for loadMJCF command 
note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
 2021-04-19 20:37:26 -07:00
Erwin Coumans 973d8c128f Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-07 22:13:18 -07:00
jaraujo98 dcf9c8d6a5 Replace xrange with range 
The xrange function was deprecated in Python 3. Removing it for compatibility.
 2021-04-06 11:26:39 -07:00
erwincoumans 21d1b8fc71 Merge pull request #3339 from erwincoumans/master 
add pybullet_examples, fix pybullet_envs.minitaur.envs_v2, bump up pybullet 3.1.2
 2021-04-05 19:53:38 -07:00
Erwin Coumans 5205dafcc2 add __init__.py 2021-04-05 19:51:38 -07:00
Erwin Coumans 29f388a5d8 add selected examples under pybullet_examples 2021-04-05 19:50:46 -07:00
Erwin Coumans 513e3a7db4 add more __init__.py files 2021-04-05 18:07:39 -07:00
Erwin Coumans 674c82db89 bump up pybullet version to 3.1.2 
add missing __init__.py files
 2021-04-05 17:58:25 -07:00
erwincoumans 2c3318f86d Merge pull request #3331 from erwincoumans/master 
add performCollisionDetection (stepSimulation also calls this, but do…
 2021-04-05 12:54:39 -07:00
erwin coumans 8b8c1af6a4 Cleaned-up/fixed version of this Pull Request #3239, thanks to Wenlong Lu 2021-04-05 11:40:45 -07:00
erwin coumans 4d34ba7310 add updated Laikago envs_v2, with PMTG and MPC examples. 
python -m pybullet_envs.minitaur.envs_v2.locomotion_gym_env_test
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_mpc_wrapper_example
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_static_gait_example
python -m pybullet_envs.minitaur.agents.baseline_controller.locomotion_controller_example
PMTG example, not well tuned:
python -m pybullet_envs.minitaur.envs_v2.examples.laikago_pmtg_example
 2021-04-05 11:35:19 -07:00
Erwin Coumans 58d47935a3 Merge remote-tracking branch 'bp/master' 2021-03-26 11:53:37 -07:00
erwin coumans d1c4c41b9a add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration) 2021-03-26 10:31:13 -07:00
erwincoumans 93be7e6440 Merge pull request #3311 from erwincoumans/master 
allow to compile pybullet using btDiscreteDynamicsWorld (no btMultiBody, no btSoftBody, no btDeformableBody)
 2021-03-26 10:29:04 -07:00
erwin coumans 546212b158 add mug obj 2021-03-22 16:53:17 -07:00
erwincoumans 395e17c7bf Merge pull request #3238 from yycho0108/add-link-names-to-createmultibody 
Add linkNames argument to CreateMultibody
 2021-03-15 22:48:33 -07:00